From 99e42dd996332489c279132abd45704a569e8471 Mon Sep 17 00:00:00 2001 From: Chiyu Chen Date: Sun, 9 Aug 2026 15:38:52 +0800 Subject: [PATCH] tmpConnit --- .../fc_network_adapter/mainOrchestrator.py | 6 +- .../fc_network_adapter/mavlinkVehicleView.py | 11 +- .../fc_network_adapter/serialManager.py | 114 ++++++++++++------ 3 files changed, 89 insertions(+), 42 deletions(-) diff --git a/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py b/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py index a70ab50..188f9f9 100644 --- a/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py +++ b/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py @@ -29,7 +29,7 @@ from .utils import acquireSerial, acquirePort from .utils.acquirePort import find_available_port logger = setup_logger(os.path.basename(__file__)) -PROJECT_VER = "v1.20" +PROJECT_VER = "v1.25" class PanelState: def __init__(self): @@ -1696,4 +1696,8 @@ if __name__ == "__main__": 2025.05.28 1. 工程模式 新增 Node 重啟的功能 +2026.08.05 (ver 1.25) +1. 增加對於 esp32 連線模式的支援 + + ''' diff --git a/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py b/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py index 94ea6a0..7b515ca 100644 --- a/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py +++ b/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py @@ -277,11 +277,12 @@ class RFModule: self.status = RFStatus() self.socket_info = SocketInfo() - self.poll_data_times: deque[int] = deque([0] * N,maxlen=N) # ms - self.poll_data_sizes: deque[int] = deque([0] * N, maxlen=N) # num - self.poll_total_time = 0 # ms - self.poll_total_size = 0 # num - self.remain_bytes = 0 # num + # # only for ESP32 + # self.poll_data_times: deque[int] = None + # self.poll_data_sizes: deque[int] = None + # self.poll_total_time = None + # self.poll_total_size = None + # self.remain_bytes = None def update_avg_bandwidth(self, bandwidth: float, timestamp: Optional[float] = None) -> None: self.status.avg_bandwidth = bandwidth diff --git a/src/fc_network_adapter/fc_network_adapter/serialManager.py b/src/fc_network_adapter/fc_network_adapter/serialManager.py index db24f24..bf1f2c3 100644 --- a/src/fc_network_adapter/fc_network_adapter/serialManager.py +++ b/src/fc_network_adapter/fc_network_adapter/serialManager.py @@ -102,12 +102,42 @@ class FrameProcessor(ABC): class RawFrameProcessor(FrameProcessor): """原始數據直通處理器""" + def __init__(self): + N = 10 + self.tx_interval_bytes: deque[int] = deque([0] * N,maxlen=N) + self.tx_interval_rate: deque[float] = deque([0] * N,maxlen=N) + self.tx_record_byte: int = 0 + self.tx_record_time = time.time() + self.rx_interval_bytes: deque[int] = deque([0] * N, maxlen=N) + self.rx_interval_rate: deque[float] = deque([0] * N,maxlen=N) + self.rx_record_byte: int = 0 + self.rx_record_time = time.time() + def process_incoming(self, data: bytes) -> bytes: """直接返回原始數據，不進行緩衝""" + + interval = time.time() - self.tx_record_time + if interval >= 1: + self.tx_interval_bytes.append(self.tx_record_byte) + self.tx_interval_rate.append(self.tx_record_byte/interval) + self.tx_record_time = time.time() + self.tx_record_byte = 0 + else: + self.tx_record_byte += len(data) + return [data] if data else [] def process_outgoing(self, data: bytes) -> bytes: """直接返回原始數據，不進行封裝""" + interval = time.time() - self.rx_record_time + if interval >= 1: + self.rx_interval_bytes.append(self.rx_record_byte) + self.tx_interval_rate.append(self.tx_record_byte/interval) + self.rx_record_time = time.time() + self.rx_record_byte = 0 + else: + self.rx_record_byte += len(data) + return data @@ -300,7 +330,7 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): MAX_BYTES_PER_FLUSH = 150 MAX_PAYLOAD_PER_FRAME = 80 - CHUNK_SEND_INTERVAL_SEC = 0.005 + CHUNK_SEND_INTERVAL_SEC = 0.020 @@ -316,6 +346,10 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): self.received_len = 0 # 收到封包累計 self.poll_miss_count = 0 # poll 封包連續丟失的累計數 + self.esp_state = 1 # 紀錄每個 esp 連線狀態 + # 1 : 物件剛創建 剛接到 HELO 但是還沒有在 mavlinkVehicleView 建立物件 + # 2 : 已經擁有 mavlinkVehicleView 物件 + # 9 : 連續的 poll failure 視為斷線 def __init__(self, at_handler: "ATCommandHandler" = None): super().__init__(at_handler) @@ -586,17 +620,6 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): system_id, sender_address_64, time.time() ) - vehicle = vehicle_registry.get(system_id) - if vehicle and not vehicle.rf_module: - N = 10 - vehicle.rf_module = RFModule(RFModuleType.XBEE_ESP) - vehicle.rf_module.poll_data_times: deque[int] = deque([0] * N,maxlen=N) # ms - vehicle.rf_module.poll_data_sizes: deque[int] = deque([0] * N, maxlen=N) # num - vehicle.rf_module.poll_total_time = 0 # ms - vehicle.rf_module.poll_total_size = 0 # num - vehicle.rf_module.remain_bytes = 0 # num - logger.debug(f"mark A") - logger.debug( f"new HELO system_id={system_id}, address_64={sender_address_64.hex()}") else: @@ -818,17 +841,31 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): # 主要迴圈 Main Loop async def _operator_tick(self) -> None: - # 1. 更新資訊 - # for src64, INFO in self.esp32_address_mapping.items(): - # vehicle = vehicle_registry.get(INFO.system_id) - # if vehicle and vehicle.rf_module: + # 1. 更新資訊 對於每個 ESP 裝置的資訊更新 + for src64, INFO in self.esp32_address_mapping.items(): - # speed = vehicle.rf_module.poll_total_size / (vehicle.rf_module.poll_total_time + 1) - - # logger.debug(f"now speed: {speed:.2f} / total_size: {vehicle.rf_module.poll_total_size}") - + vehicle = vehicle_registry.get(INFO.system_id) + # 初始化 mavlinkVehicleView + if vehicle and INFO.esp_state == 1 : + N = 10 + vehicle.rf_module = RFModule(RFModuleType.XBEE_ESP) + vehicle.rf_module.poll_data_times: deque[int] = deque([0] * N,maxlen=N) # ms + vehicle.rf_module.poll_data_sizes: deque[int] = deque([0] * N, maxlen=N) # num + vehicle.rf_module.poll_total_time = 0 # ms + vehicle.rf_module.poll_total_size = 0 # num + vehicle.rf_module.remain_bytes = 0 # num + vehicle.rf_module.rssi = 0 # db + INFO.esp_state = 2 + + elif vehicle and INFO.esp_state == 2: + + pass + # speed = vehicle.rf_module.poll_total_size / (vehicle.rf_module.poll_total_time + 1) + + # logger.debug(f"now speed: {speed:.2f} / total_size: {vehicle.rf_module.poll_total_size}") + # 2. 移除沒反應 dongle self._prune_stale_devices() @@ -1591,25 +1628,30 @@ if __name__ == '__main__': serial_id = 1 processor = sm.get_espv1_processor(serial_id) - if processor is not None: - # for x in range(10): - # processor.request_discovery() - # time.sleep(1) - # print(f"mark N{x}") - # processor.request_poll(target_system_id=1) - # processor.request_poll(target_system_id=1, grant_bytes=200) - print(processor.get_status_snapshot()) - print(processor.get_gcs_queue_byte_count()) + if processor is None: + return + + # for x in range(10): + # processor.request_discovery() + # time.sleep(1) + # print(f"mark N{x}") + # processor.request_poll(target_system_id=1) + # processor.request_poll(target_system_id=1, grant_bytes=200) + print(processor.get_status_snapshot()) + print(processor.get_gcs_queue_byte_count()) # rssi_request = ATRequest(command=b'DB', parameter=b'', frame_id=0xFE) # for i in range(3): - # processor = sm.get_espv1_processor(serial_id) - # if processor is not None: - # deadline = time.time() + 5.0 # 最多等 5 秒，避免永遠卡住 - # while processor.operator_busy and time.time() < deadline: - # time.sleep(0.01) - # sm.send_at_command(1, rssi_request) - # time.sleep(1) + # deadline = time.time() + 5.0 # 最多等 5 秒，避免永遠卡住 + # while processor.operator_busy and time.time() < deadline: + # time.sleep(0.01) + # sm.send_at_command(1, rssi_request) + # time.sleep(1) + + for i in range(20): + print(f"received: {processor.tx_interval_bytes}") + time.sleep(1) + time.sleep(120) sm.remove_serial_link(serial_id)