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AirTrapMine
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chiyu
Chiyu Chen 1 month ago
parent 22ccd6f15e
commit 8adb9c6bf3
2 changed files with 47 additions and 25 deletions
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4
src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py
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@ -436,7 +436,7 @@ class ControlPanel:
menu_stack.pop()
idx_stack.pop()
elif selected.action == "SET_SERIAL_COMM_XBEE_ESP":
state.serial_info_temp["CommunicationType"] = "XBee(API-API) espv1"
state.serial_info_temp["CommunicationType"] = "XBee(API-API)espv1"
menu_stack.pop()
idx_stack.pop()
elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
@ -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
}

68
src/fc_network_adapter/fc_network_adapter/serialManager.py
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@ -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_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.MAX_mavPack_interval_timeout = 100 # 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.last_discovery_time = 0.0 # 這個是最後做廣播 discovery 的時間
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.mavPack_interval_timeout = 150 # ms，poll 期間 MAVLink/DONE 最大閒置間隔
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]
logger.debug(
f"TX Status raw={frame.hex()}, api_len={length}, "
f"fid=0x{frame[4]:02X}, dest16=0x{(frame[5]<<8)|frame[6]:04X}, "
f"retry={frame[7]}, delivery={frame[8]}, discovery={frame[9]}"
)
# length = (frame[1] << 8) | frame[2]
# logger.debug(
# f"TX Status raw={frame.hex()}, api_len={length}, "
# f"fid=0x{frame[4]:02X}, dest16=0x{(frame[5]<<8)|frame[6]:04X}, "
# 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 (
time.time() - self.last_discovery_time
>= self.discovery_interval_seconds
)
return (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:

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