tmpConnit

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
+
+
 '''

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
+        # # only for ESP32
-        self.poll_data_sizes: deque[int] = deque([0] * N, maxlen=N) # num
+        # self.poll_data_times: deque[int] = None
-        self.poll_total_time = 0 # ms
+        # self.poll_data_sizes: deque[int] = None
-        self.poll_total_size = 0 # num
+        # self.poll_total_time = None
-        self.remain_bytes = 0 # num
+        # 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

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
+        # 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():
+        for src64, INFO in self.esp32_address_mapping.items():
-        #     vehicle = vehicle_registry.get(INFO.system_id)
-        #     if vehicle and vehicle.rf_module:
 
-        #         speed = vehicle.rf_module.poll_total_size / (vehicle.rf_module.poll_total_time + 1)
+            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}")
+                # 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:
+    if processor is None:
-        # for x in range(10):
+        return
-        #     processor.request_discovery()
+
-        #     time.sleep(1)
+    # for x in range(10):
-        #     print(f"mark N{x}")
+    #     processor.request_discovery()
-        # processor.request_poll(target_system_id=1)
+    #     time.sleep(1)
-        # processor.request_poll(target_system_id=1, grant_bytes=200)
+    #     print(f"mark N{x}")
-        print(processor.get_status_snapshot())
+    # processor.request_poll(target_system_id=1)
-        print(processor.get_gcs_queue_byte_count())
+    # 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)
+        # deadline = time.time() + 5.0  # 最多等 5 秒，避免永遠卡住
-    #     if processor is not None:
+        # while processor.operator_busy and time.time() < deadline:
-    #         deadline = time.time() + 5.0  # 最多等 5 秒，避免永遠卡住
+        # time.sleep(0.01)
-    #         while processor.operator_busy and time.time() < deadline:
+        # sm.send_at_command(1, rssi_request)
-    #             time.sleep(0.01)
+        # time.sleep(1)
-    #     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)