comflict

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -1600,7 +1600,7 @@ class Orchestrator:
         # 定義通訊類型映射表
         COMM_TYPE_MAP = {
             "XBee(API-AT)": sm.SerialMode.XBEEAPI2AT,
-            "XBee(API-AT)": sm.SerialMode.XBEEAPI_espv1,
+            "XBee(API-API)espv1": sm.SerialMode.XBEEAPI_espv1,
             "TELEMETRY": sm.SerialMode.STRAIGHT,
             # 新增區
         }

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -231,7 +231,7 @@ class XBeeFrameProcessor_Base(FrameProcessor):
     def _encapsulate(
         data: bytes,
         dest_addr64: bytes = DEST_ADDR64_BRAODCAST,
-        dest_addr16 = DEST_ADDR16_BRAODCAST,
+        dest_addr16: bytes = DEST_ADDR16_BRAODCAST,
         frame_id: int = 0x01,
     ) -> bytes:
         """
@@ -247,6 +247,8 @@ class XBeeFrameProcessor_Base(FrameProcessor):
         frame += dest_addr64 + dest_addr16
         frame += struct.pack(">BB", broadcast_radius, options) + data
         checksum = 0xFF - (sum(frame) & 0xFF)
+        # ret = b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum) 
+        # logger.debug(ret.hex())
         return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
 
     @staticmethod
@@ -290,10 +292,7 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
     MAX_PAYLOAD_PER_FRAME = 80
     CHUNK_SEND_INTERVAL_SEC = 0.01
 
-    # ADDR16 選項
-    DEST_ADDR16_BRAODCAST = b'\xFF\xFF'
    
-    DEST_ADDR64_BRAODCAST = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'
 
     class Esp32DeviceInfo:
         def __init__(self, system_id, address_64, last_hello_time):
@@ -306,6 +305,8 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
             self.last_done_time = 0.0 # 最後送出Done的時間
             self.received_len = 0 # 收到封包累計
 
+            
+
     def __init__(self, at_handler: "ATCommandHandler" = None):
         super().__init__(at_handler)
 
@@ -316,6 +317,10 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         self.operator_busy = False
         self.operator_running = False
 
+        # ADDR16 選項
+        self.DEST_ADDR16_BRAODCAST = b'\xFF\xFE'
+        self.DEST_ADDR64_BRAODCAST = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'
+
         self.serial_writer: Optional[Callable[[bytes], None]] = None
         self.event_loop: Optional[asyncio.AbstractEventLoop] = None
         self.serial_baudrate = 115200
@@ -328,10 +333,10 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         self.current_poll_address_64: Optional[bytes] = None
         self.current_poll_time = 0 # 本次 poll 丟出的時間紀錄
 
-        self.last_discovery_time = 0.0 # 最後做廣播 discovery 的時間  
+        self.last_discovery_time = 0.0 # 這個是最後做廣播 discovery 的時間  
-        self.last_recieve_mavlink = 0.0 # 最後收到 mavlink payload 時間 為了定義 poll-done 之間不要超時用的
+        self.last_recieve_mavlink = 0.0 # 這個是最後收到 mavlink payload 時間 為了定義 poll-done 之間不要超時用的
-        self.MAX_mavPack_interval_timeout = 100  # ms，poll 期間 MAVLink/DONE 最大閒置間隔
+        self.mavPack_interval_timeout = 150  # ms，poll 期間 MAVLink/DONE 最大閒置間隔
-        self.discovery_interval_seconds = 30.0 # 每次做 discovery 程序的間隔時間
+        self.discovery_interval_seconds = 200.0 # 每次做 discovery 程序的間隔時間
         self.device_offline_timeout = self.discovery_interval_seconds * 2 # 遠端沒有回應會被踢出 超時時限
         self.operator_tick_interval_seconds = 0.03 # 
         self.guard_milliseconds = 50 # POLL DONE 的保底時間間隔
@@ -391,12 +396,12 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
             return None
 
         if frame_type == self.FRAME_TYPE_TX_STATUS:
-            length = (frame[1] << 8) | frame[2]
+            # length = (frame[1] << 8) | frame[2]
-            logger.debug(
+            # logger.debug(
-                f"TX Status raw={frame.hex()}, api_len={length}, "
+            #     f"TX Status raw={frame.hex()}, api_len={length}, "
-                f"fid=0x{frame[4]:02X}, dest16=0x{(frame[5]<<8)|frame[6]:04X}, "
+            #     f"fid=0x{frame[4]:02X}, dest16=0x{(frame[5]<<8)|frame[6]:04X}, "
-                f"retry={frame[7]}, delivery={frame[8]}, discovery={frame[9]}"
+            #     f"retry={frame[7]}, delivery={frame[8]}, discovery={frame[9]}"
-            )
+            # )
             return None
 
         logger.warning(f"Unknown XBee frame type: 0x{frame_type:02X}")
@@ -405,7 +410,8 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
     # ---- DISC / POLL 封裝 ----
 
     def pack_discovery(self) -> bytes:
-        return self._encapsulate(self.DISC_HEADER, frame_id=0x00)
+        # logger.debug(f"pack discovery")
+        return self._encapsulate(self.DISC_HEADER, dest_addr16 = self.DEST_ADDR16_BRAODCAST, dest_addr64 = self.DEST_ADDR64_BRAODCAST , frame_id=0x00)
 
     # 處理每個裝置回傳的 Hello 訊息
     def handle_hello_report(self, payload: bytes, sender_address_64: bytes) -> None:   
@@ -451,8 +457,11 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         if remote_device is None:
             return
 
+
+        system_id, sent_length, remain_length = struct.unpack('>BHH', payload[4:9])
+        remote_device.remain_bytes = remain_length
+
         # 這段是有問題的 因為會有整數封包切割問題 以及載具端的 buffer 存量不足 故回傳的資訊量會與要求的不一致
-        # system_id, sent_length, remain_length = struct.unpack('>BHH', payload[4:9])
         # if sent_length != remote_device.received_len:
         #     logger.info(
         #         f"POLL may be missing packets sent={sent_length} "
@@ -462,7 +471,6 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         # TODO 傳送速率
         # TODO 累積速率預測
         remote_device.received_len = 0
-        remote_device.remain_bytes = remain_length
         remote_device.last_done_time = time.time()
 
         if (
@@ -582,12 +590,9 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
     def _should_run_discovery(self) -> bool:
         # 條件1. 目前沒有任何遠端ESP裝置被紀錄 或者 手動啟動
         if (not self.esp32_address_mapping) or (self.pending_manual_discovery):
-            return True
+            return (time.time() - self.last_discovery_time) > 2
         # 條件2. 每個固定週期 會做一次
-        return (
+        return (time.time() - self.last_discovery_time) > self.discovery_interval_seconds
-            time.time() - self.last_discovery_time
-            >= self.discovery_interval_seconds
-        )
 
     # ---- 手動請求（thread-safe 對外 API）----
 
@@ -753,6 +758,23 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         self.is_discovery_phase = False
         self.pending_manual_discovery = False
 
+    async def _wait_poll_done_with_idle_timeout(self) -> bool:
+        idle_timeout_sec = self.mavPack_interval_timeout / 1000.0
+        poll_tick = min(0.02, idle_timeout_sec)
+
+        while not self.poll_done_event.is_set():
+            if time.time() - self.last_recieve_mavlink >= idle_timeout_sec:
+                return False
+            # try:
+            await asyncio.wait_for(
+                self.poll_done_event.wait(),
+                timeout=poll_tick,
+            )
+            
+            # except asyncio.TimeoutError:
+                # continue
+        return True
+
     # poll 程序
     async def _run_one_poll(self, target_address_64: bytes, grant_bytes: int) -> None:
         if self.serial_writer is None: