tmpCommit

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -491,6 +491,10 @@ class ControlPanel:
                                 menu_stack.pop()
                                 idx_stack.pop()
                     
+                    elif selected.action == "DO_DISCOVERY_PANEL":
+                        if hasattr(selected, 'serial_id'):
+                            cmd_q.put(("DO_DISCOVERY", selected.serial_id))
+
                     # related with -> 列表選單
                     elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
                         if hasattr(selected, 'page'):
@@ -868,6 +872,7 @@ class ControlPanel:
                 obj_menu = MenuNode(f"Serial #{serial_id}", f"連結口 {serial_id}", None, children=[
                     MenuNode("Info", "查看詳細資訊", "INSPECT_LINKED_SERIAL"),
                     MenuNode("Remove", "移除此連結口", "REMOVE_LINKED_SERIAL"),
+                    MenuNode("Discovery", "搜尋遠端RF(Only XBEE-ESP32)", "DO_DISCOVERY_PANEL"),
                     # MenuNode("Change UDP Target", "變更目標 UDP (工程)", "CHANGE_LINKED_SERIAL_TARGET"),
                     MenuNode("GoUp", "回到列表", "BACK"),
                 ])
@@ -1319,6 +1324,11 @@ class Orchestrator:
                         elif action == "REMOVE_LINKED_SERIAL":
                             serial_id = cmd[1]
                             self.plumber.remove_serial_link(serial_id)
+                        elif action == "DO_DISCOVERY":
+                            serial_id = cmd[1]
+                            processor = self.plumber.get_espv1_processor(serial_id)
+                            if processor:
+                                processor.request_discovery()
 
                         elif action == "INSPECT_VEHICLE":
                             sysid, compid = cmd[1], cmd[2]

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -349,7 +349,7 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         self.max_time_tolerance_poll_interval = 150  # (msec) poll 期間 每筆 MAVLink 資料 /DONE 最大閒置間隔
         self.discovery_interval_seconds = 200.0 # (sec) 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 = 0.01 # 
+        self.operator_tick_interval_seconds = 0.005 # 
         self.guard_milliseconds = 50 # POLL DONE 的保底時間間隔
 
         self.pending_manual_discovery = False

src/fc_network_adapter/fc_network_adapter/utils/pollStrategy.py

@@ -7,7 +7,7 @@ POLL 輪詢策略，供 XBeeFrameProcessor_ESPv1 使用。
 from dataclasses import dataclass
 from typing import List
 
-MIN_TRIGGER_INTERVAL_MS = 50
+MIN_TRIGGER_INTERVAL_MS = 5
 
 @dataclass(frozen=True)
 class PollDevice:
@@ -34,10 +34,13 @@ def pick_next(devices: List[PollDevice], now_time):
 
     for i in range(device_count):
         gap = int((now_time - devices[i].last_poll_time)*1000)
-        # 時間大於觸發間隔 才會計算
-        if gap >= MIN_TRIGGER_INTERVAL_MS:
-            weights[i] += devices[i].remain_bytes
-            weights[i] += gap
+        # # 時間大於觸發間隔 才會計算
+        # if gap >= MIN_TRIGGER_INTERVAL_MS:
+        #     weights[i] += devices[i].remain_bytes
+        #     weights[i] += gap
+
+        weights[i] += devices[i].remain_bytes
+        weights[i] += gap
 
     maxarg = weights.index(max(weights))