1. serialManager 功能完成

2. mainOrchestrator 把serial端口整合到介面中了
3. 新增獲取系統 serial 資源的 util 工具

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -20,7 +20,11 @@ from pymavlink import mavutil
 
 # 自定義的 import
 from . import mavlinkObject as mo
+from . import serialManager as sm
+
 from .utils import RingBuffer, setup_logger
+from .utils import acquireSerial, acquirePort
+from .utils.acquirePort import find_available_port
 
 
 
@@ -32,11 +36,13 @@ class PanelState:
         termination_start_time = None
         self.mavlink_bridge_state = "Stopped"
         self.object_manager_state = "Stopped"
+        self.serial_manager_state = "Stopped"
         self.socket_object_list = []
         self.panel_info_msg_list = [] # 顯示在面板上的資訊訊息 
 
         # 這邊是儲存關於 socket object 的資料
         self.udp_info_temp = {"IP": "127.0.0.1", "Port": "", "Direction": ""} # 暫存 UDP 設定資訊
+        self.serial_info_temp = {"Port": "", "Baud": 115200, "CommunicationType": "", "Go2Middleware": True} # 暫存 Serial 設定資訊
         self.socket_info_single = {"socket_type": "", "socket_state": "", "bridge_msg_types": "", "return_msg_types": "",
                                    "target_sockets": "", "primary_socket_id": "", "socket_connection_string": "",
                                    "InfoReady": False} # 暫存單一 socket 的資訊
@@ -122,7 +128,7 @@ class ControlPanel:
         
         return user_input
 
-    def create_object_list_menu(self, state: PanelState, page=0, items_per_page=5):
+    def create_object_list_menu(self, state: PanelState, page=0, items_per_page=8):
         """動態創建 mavlink_object 列表選單（支持分頁）"""
         children = []
         
@@ -166,7 +172,56 @@ class ControlPanel:
         menu = MenuNode("Object List", f"連結口列表 (第 {page + 1} 頁)", children=children)
         menu.current_page = page
         return menu
-    
+
+    def create_serial_port_menu(self, state: PanelState, page=0, items_per_page=8):
+        """動態創建 serial port 列表選單（支持分頁）"""
+        children = []
+        
+        # 獲取可用的 Serial 連接埠列表
+        # serial_ports = acquireSerial.get_serial_ports() # debug 全部抓一抓
+        serial_ports = acquireSerial.get_serial_ports_with_filter('/dev/ttyUSB*')
+        
+        if not serial_ports:
+            children.append(MenuNode("(空)", "目前沒有串口設備", None))
+        else:
+            total_items = len(serial_ports)
+            total_pages = (total_items + items_per_page - 1) // items_per_page
+            start_idx = page * items_per_page
+            end_idx = min(start_idx + items_per_page, total_items)
+            
+            # 顯示當前頁的串口
+            for port in serial_ports[start_idx:end_idx]:
+                port_menu = MenuNode(f"{port}", children=[
+                    MenuNode("Set Comm Type", "設定通訊形態", "SET_SERIAL_COMM", children=[
+                        MenuNode("XBee(API-AT)", "XBee 模式", "SET_SERIAL_COMM_XBEE"),
+                        MenuNode("Xbee(AT-AT)", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
+                    ]),
+                    MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"),
+                    MenuNode("Create", "建立此串口", "CREATE_SERIAL_PORT"),
+                    MenuNode("返回", "回到列表", "BACK"),
+                ])
+                # 將 port 附加到每個子選單項目上
+                for child in port_menu.children:
+                    child.port = port
+                children.append(port_menu)
+            
+            # 添加分頁控制
+            if total_pages > 1:
+                children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
+                if page > 0:
+                    prev_node = MenuNode("◀ Prev", "上頁", "PREV_PAGE")
+                    prev_node.page = page - 1
+                    children.append(prev_node)
+                if page < total_pages - 1:
+                    next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE")
+                    next_node.page = page + 1
+                    children.append(next_node)
+        
+        children.append(MenuNode("返回", "回到上層選單", "BACK"))
+        menu = MenuNode("Serial Port List", f"串口列表 (第 {page + 1} 頁)", children=children)
+        menu.current_page = page
+        return menu
+
     def show_object_info(self, stdscr, socket_id, state: PanelState):
         """顯示物件詳細資訊的對話框"""
         height, width = stdscr.getmaxyx()
@@ -280,12 +335,14 @@ class ControlPanel:
                             MenuNode("Port(Target)", "設定目標的 Port", "TEXT_UDP_PORT"),
                             MenuNode("Create", "建立 UDP OutBound 連結口", "CREATE_UDP_OUTBOUND"),
                         ]),
+                        MenuNode("Serial InBound", action = "LIST_SERIAL_RES"), 
                     ]),
                     MenuNode("ListAll", "顯示並管理所有連結口", "LIST_MAV_OBJECT"),
                 ]),
                 MenuNode("Engineer Mode", "工程模式", children=[
-                    MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"), #TODO: 尚未實作
+                    MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"), 
-                    MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"), #TODO: 尚未實作
+                    MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"), 
+                    MenuNode("Stop Serial M.", "停止 Serial 端口轉接", "STOP_SERIAL_MANAGER"), 
                 ]),
                 MenuNode("Shutdown", "關閉整個系統", children=[
                     MenuNode("Return", "繼續運行", "BACK"),
@@ -304,11 +361,11 @@ class ControlPanel:
                 curses.echo()
                 curses.endwin()
 
-        def panel_shutdown():
+        def pre_panel_shutdown():
             # 先關閉所有模組 再關閉面板
             cmd_q.put("SHUTDOWN_BRIDGE")
             cmd_q.put("SHUTDOWN_MANAGER")
-
+            cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
 
         def draw_menu(screen):
             nonlocal stdscr
@@ -325,9 +382,6 @@ class ControlPanel:
             state.intoSTART() # 設定狀態為運行中
             
             while not stop_evt.is_set():
-                # 檢查是否需要退出
-                if stop_evt.is_set():
-                    break
 
                 current_menu = menu_stack[-1]
                 current_idx = idx_stack[-1]
@@ -335,20 +389,27 @@ class ControlPanel:
                 # 獲取終端機尺寸
                 height, width = stdscr.getmaxyx()
                 # 簡單暴力的限制視窗的大小
-                if height < 20 or width < 60:
+                MIN_HEIGHT = (
+                    2 + # 邊界
+                    6 + # 狀態列 操作說明列 一個空白
+                    11+ # 最大選單 與 空白區
+                    5   # 訊息區域
+                    )
+                if height < MIN_HEIGHT or width < 60:
                     logger.error("Terminal size too small for Control Panel.")
                     break
                 
                 stdscr.clear()
-
                 stdscr.border()
+
+                # 更新模組狀態顯示
                 stdscr.addstr(0, 10, " MavLink MiddleWare ", curses.A_BOLD)
                 stdscr.addstr(1, 2, f"   Panel  Status     : {state.panel_status}")
-                stdscr.addstr(2, 2, f"mavlink Bridge State : {state.mavlink_bridge_state}")
+                stdscr.addstr(2, 2, f"Object Manager State : {state.object_manager_state}")
-                stdscr.addstr(3, 2, f"Object Manager State : {state.object_manager_state}")
+                stdscr.addstr(3, 2, f"Mavlink Bridge State : {state.mavlink_bridge_state}")
                 stdscr.addstr(4, 2, f"Socket Object number : {len(state.socket_object_list)}")
+                stdscr.addstr(2, 36, f"Serial Manager State : {state.serial_manager_state}")
 
-                # # 更新模組狀態顯示
                 # stdscr.addstr(2, 25, f"{state.mavlink_bridge_state}")
                 # stdscr.addstr(3, 25, f"{state.object_manager_state}")
                 # stdscr.addstr(4, 25, f"{len(state.socket_object_list)} ")
@@ -363,6 +424,10 @@ class ControlPanel:
                         desc = f"{child.desc} [{state.udp_info_temp['IP']}]"
                     elif child.action == "TEXT_UDP_PORT" and state.udp_info_temp["Port"]:
                         desc = f"{child.desc} [{state.udp_info_temp['Port']}]"
+                    elif child.action == "SET_SERIAL_COMM" and state.serial_info_temp["CommunicationType"]:
+                        desc = f"{child.desc} [{state.serial_info_temp['CommunicationType']}]"
+                    elif child.action == "TEXT_BAUD_SERIAL" and state.serial_info_temp["Baud"]:
+                        desc = f"{child.desc} [{state.serial_info_temp['Baud']}]"
                     
                     line = f"{marker}{child.name:15s} – {desc}"
                     attr = curses.A_REVERSE if i == current_idx else curses.A_NORMAL
@@ -404,25 +469,29 @@ class ControlPanel:
                 stdscr.refresh()
 
                 # 若進入 TERMINATION 狀態，畫面可以刷新 但是不能操作
-                # 驗證 bridge 跟 manager 狀態 兩者都停止後 就進入 STOPPED 狀態並跳出迴圈
+                # 驗證 其他附屬模組的狀態都停止後 就進入 STOPPED 狀態並跳出迴圈
                 # 超過幾秒沒有反應就強制關閉
                 if state.panel_status == "Terminating":
-                    if time.time() - state.termination_start_time > 3:
+                    if time.time() - state.termination_start_time > 7: # 其他組件設定5秒 這邊給多一點
                         logger.warning("Control Panel forced shutdown after timeout.")
                         state.intoSTOPPED()
-                        stop_evt.set()
+                        # stop_evt.set()
-                        continue
+                        # continue
+                        break
                     time.sleep(0.1)
-                    if state.mavlink_bridge_state == "Stopped" and state.object_manager_state == "Stopped":
+                    if (state.mavlink_bridge_state == "Stopped" and 
+                        state.object_manager_state == "Stopped" and 
+                        state.serial_manager_state == "Stopped"):
                         state.intoSTOPPED()
-                        stop_evt.set()
+                        # stop_evt.set()
+                        break
                     continue
 
                 # 設定短暫的 timeout，讓執行緒能夠響應 stop_evt
-                stdscr.timeout(100)  # 100ms timeout
+                stdscr.timeout(100)
                 ch = stdscr.getch()
                 
-                if ch == -1:  # timeout，繼續檢查 stop_evt
+                if ch == -1: # 沒有操作
                     continue
                     
                 # 處理按鍵
@@ -456,7 +525,7 @@ class ControlPanel:
                 elif ch in (ord('q'), 27):
                     if state.panel_status == "Engineer":
                         state.intoTERMINATION()
-                        panel_shutdown()
+                        pre_panel_shutdown()
 
                 elif ch in (curses.KEY_ENTER, 10, 13):
                     selected = current_menu.children[current_idx]
@@ -473,7 +542,7 @@ class ControlPanel:
                             
                     elif selected.action == "QUIT":
                         state.intoTERMINATION()
-                        panel_shutdown()
+                        pre_panel_shutdown()
                     
                     elif selected.action == "TEXT_UDP_IP":
                         result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 IP 位址: ")
@@ -484,15 +553,15 @@ class ControlPanel:
                         result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 Port: ")
                         if result is not None:
                             state.udp_info_temp["Port"] = result
-                    
+
                     elif selected.action == "CREATE_UDP_INBOUND":
                         cmd_q.put("CREATE_UDP_INBOUND")
                         # 確認後回到上兩層
                         if len(menu_stack) > 1:
                             menu_stack.pop()
                             idx_stack.pop()
-                            menu_stack.pop()
+                            # menu_stack.pop()
-                            idx_stack.pop()
+                            # idx_stack.pop()
                     
                     elif selected.action == "CREATE_UDP_OUTBOUND":
                         cmd_q.put("CREATE_UDP_OUTBOUND")
@@ -500,31 +569,89 @@ class ControlPanel:
                         if len(menu_stack) > 1:
                             menu_stack.pop()
                             idx_stack.pop()
+                            # menu_stack.pop()
+                            # idx_stack.pop()
+
+                    elif selected.action == "TEXT_BAUD_SERIAL":
+                        result = ControlPanel.input_dialog(stdscr, "請輸入 Baud Rate (e.g., 9600, 115200): ")
+                        if result is not None:
+                            try:
+                                baud_rate = int(result)
+                            except ValueError:
+                                state.panel_info_msg_list.append(("Invalid Baud Rate input.", time.time()))
+                            state.serial_info_temp["Baud"] = baud_rate
+
+                    elif selected.action == "SET_SERIAL_COMM_XBEE":
+                        state.serial_info_temp["CommunicationType"] = "XBee(API-AT)"
+                        menu_stack.pop()
+                        idx_stack.pop()
+                    elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
+                        state.serial_info_temp["CommunicationType"] = "XBee(AT-AT)"
+                        menu_stack.pop()
+                        idx_stack.pop()
+
+                    elif selected.action == "CREATE_SERIAL_PORT":
+                        state.serial_info_temp["Port"] = menu_stack[-1].name  # 從選單取得 Port 名稱
+                        cmd_q.put("CREATE_SERIAL_PORT")
+                        # 確認後回到上兩層
+                        if len(menu_stack) > 1:
                             menu_stack.pop()
                             idx_stack.pop()
+                            menu_stack.pop()
+                            idx_stack.pop()
+
+                    elif selected.action == "LIST_SERIAL_RES":
+                        created_list_menu = self.create_serial_port_menu(state, page=0)
+                        menu_stack.append(created_list_menu)
+                        idx_stack.append(0)
                     
                     elif selected.action == "LIST_MAV_OBJECT":
                         # 動態生成 mavlink_object 列表選單
-                        object_list_menu = self.create_object_list_menu(state, page=0)
+                        created_list_menu = self.create_object_list_menu(state, page=0)
-                        menu_stack.append(object_list_menu)
+                        menu_stack.append(created_list_menu)
                         idx_stack.append(0)
                     
-                    elif selected.action == "PREV_PAGE":
+                    # elif selected.action == "PREV_PAGE":
-                        # 上一頁
+                    #     # 上一頁
-                        if hasattr(selected, 'page'):
+                    #     if hasattr(selected, 'page'):
-                            menu_stack.pop()
+                    #         menu_stack.pop()
-                            idx_stack.pop()
+                    #         idx_stack.pop()
-                            object_list_menu = self.create_object_list_menu(state, page=selected.page)
+                    #         if menu_stack[-1].name == "Serial Port List":
-                            menu_stack.append(object_list_menu)
+                    #             created_list_menu = self.create_serial_port_menu(state, page=selected.page)
-                            idx_stack.append(0)
+                    #         elif menu_stack[-1].name == "Object List":
+                    #             created_list_menu = self.create_object_list_menu(state, page=selected.page)
+                    #         menu_stack.append(created_list_menu)
+                    #         idx_stack.append(0)
                     
-                    elif selected.action == "NEXT_PAGE":
+                    # elif selected.action == "NEXT_PAGE":
-                        # 下一頁
+                    #     # 下一頁
+                    #     if hasattr(selected, 'page'):
+                    #         menu_stack.pop()
+                    #         idx_stack.pop()
+                    #         if menu_stack[-1].name == "Serial Port List":
+                    #             created_list_menu = self.create_serial_port_menu(state, page=selected.page)
+                    #         elif menu_stack[-1].name == "Object List":
+                    #             created_list_menu = self.create_object_list_menu(state, page=selected.page)
+                    #         menu_stack.append(created_list_menu)
+                    #         idx_stack.append(0)
+                    elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
                         if hasattr(selected, 'page'):
+                            current_list_menu = menu_stack[-1]
                             menu_stack.pop()
                             idx_stack.pop()
-                            object_list_menu = self.create_object_list_menu(state, page=selected.page)
+                            
-                            menu_stack.append(object_list_menu)
+                            # 依據選單種類 重新建立分頁
+                            if current_list_menu.name == "Serial Port List":
+                                created_list_menu = self.create_serial_port_menu(state, page=selected.page)
+                            elif current_list_menu.name == "Object List":
+                                created_list_menu = self.create_object_list_menu(state, page=selected.page)
+                            else:
+                                # 不支援的選單類型，回到原本的選單
+                                menu_stack.append(current_list_menu)
+                                idx_stack.append(0)
+                                continue
+                            
+                            menu_stack.append(created_list_menu)
                             idx_stack.append(0)
                     
                     elif selected.action == "INSPECT_MAV_OBJECT":
@@ -583,6 +710,13 @@ class ControlPanel:
                             state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
                             continue  # 只有在工程模式下才能操作
                         cmd_q.put("SHUTDOWN_BRIDGE")
+
+                    elif selected.action == "STOP_SERIAL_MANAGER":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
+
                     elif callable(selected.action):
                         # 執行函式
                         cmd_q.put(selected.action)
@@ -592,14 +726,13 @@ class ControlPanel:
         except KeyboardInterrupt:
             pass
         finally:
-            stop_evt.set()
             cleanup()
 
 
 
 class Orchestrator:
     def __init__(self, stop_sig):
-        self.stop_evt = stop_sig
+        self.stop_evt = stop_sig # 外部操作去中斷 "面板" 執行緒的訊號 (內部自己停止的話不需要用這個)
 
         # === 1) 面板部分的準備 ===
         self.cmd_q = queue.Queue()
@@ -613,6 +746,9 @@ class Orchestrator:
         self.manager = mo.async_io_manager()
         self.bridge = mo.mavlink_bridge()
 
+        # === 3) serial_manager 部分的準備 ===
+        self.plumber = sm.serial_manager()
+
     def engageWholeSystem(self):
         """啟動整個系統"""
         # === 1) 面板部分的啟動 ===
@@ -623,10 +759,14 @@ class Orchestrator:
         self.manager.start()
         self.bridge.start()
 
+        # === 3) serial_manager 部分的啟動 ===
+        self.plumber.start()
+
     def mainLoop(self):
         logger.info("Main orchestrator started <-")
         try:
-            while not self.stop_evt.is_set():
+            # while not self.stop_evt.is_set():
+            while self.panel_thread.is_alive():
 
                 # A. 更新模組狀態
                 if self.manager.running:
@@ -642,6 +782,11 @@ class Orchestrator:
                 else:
                     self.panelState.mavlink_bridge_state = 'Stopped'
 
+                if self.plumber.running:
+                    self.panelState.serial_manager_state = 'Running'
+                else:
+                    self.panelState.serial_manager_state = 'Stopped'
+
                 # 取出面板丟過來的「動作」
                 try:
                     cmd = self.cmd_q.get_nowait()
@@ -686,10 +831,14 @@ class Orchestrator:
                     elif cmd == "CREATE_UDP_OUTBOUND":
                         self.panelState.udp_info_temp["direction"] = "outbound"
                         self.create_udp_object()
+                    elif cmd == "CREATE_SERIAL_PORT":
+                        self.create_serial_port_object()
                     elif cmd == "SHUTDOWN_BRIDGE":
                         self.bridge.stop()
                     elif cmd == "SHUTDOWN_MANAGER":
                         self.manager.shutdown()
+                    elif cmd == "SHUTDOWN_SERIAL_MANAGER":
+                        self.plumber.shutdown()
                 except queue.Empty:
                     pass
                 except Exception as e:
@@ -703,17 +852,31 @@ class Orchestrator:
         except Exception as e:
             logger.error(f"Unexpected error in main loop: {e}")
         finally:
-            logger.info("Main orchestrator END!")
 
-            # 關閉 mavlink_bridge (裡面有一個執行緒)
+            # 驗證並確保所有模組都被下達關閉訊號 
-            self.bridge.stop()
+            # 若是由面板操作結束系統 這些關閉行為將於 ControlPanel.pre_panel_shutdown() 觸發 
+            if self.bridge.thread.is_alive():
+                if self.bridge.running:
+                    self.bridge.stop()
+                self.bridge.thread.join(timeout=2)
 
-            # 關閉 async_io_manager (裡面有一個執行緒)
+            if self.manager.thread.is_alive():
-            self.manager.shutdown()
+                if self.manager.running:
+                    self.manager.shutdown()
+                self.manager.thread.join(timeout=2)
+
+            if self.plumber.thread.is_alive():
+                if self.plumber.running:
+                    self.plumber.shutdown()
+                self.plumber.thread.join(timeout=2)
 
             # 關閉面板執行緒
             if self.panel_thread.is_alive():
                 self.panel_thread.join(timeout=2)
+                
+            logger.info("Main orchestrator END!")
+
+    # =============== 面板動作 - Mavlink Object ===============
 
     def create_udp_object(self):
         if self.panelState.udp_info_temp["direction"] == "inbound":
@@ -761,6 +924,46 @@ class Orchestrator:
         else:
             self.panelState.panel_info_msg_list.append((f"Fail Removing target {target_id} from socket {source_id}", time.time()))
 
+    # =============== 面板動作 - Serial Manager ===============
+
+    def create_serial_port_object(self):
+        # 獲取可用的 udp port 
+        udp_port_tmp = find_available_port(19000, 20000)
+
+        # 定義通訊類型映射表
+        COMM_TYPE_MAP = {
+            "XBee(API-AT)": sm.CommunicationType.XBee_API_AT,
+            # "XBee(AT-AT)": sm.CommunicationType.XBee_AT_AT,  # TODO: 之後再弄
+            # 新增區
+        }
+
+        # 驗證輸入
+        comm_type = self.panelState.serial_info_temp['CommunicationType']
+        if not comm_type:
+            self.panelState.panel_info_msg_list.append(
+                ("Please select Communication Type first.", time.time())
+            )
+            return
+        
+        # 查找對應的通訊類型
+        comm_type_tmp = COMM_TYPE_MAP.get(comm_type)
+        if comm_type_tmp is None:
+            self.panelState.panel_info_msg_list.append(
+                (f"Communication type '{comm_type}' not supported yet.", time.time())
+            )
+            return
+
+        ret = self.plumber.create_serial_port(
+            port=self.panelState.serial_info_temp['Port'],
+            baudrate=self.panelState.serial_info_temp['Baud'],
+            target_port=udp_port_tmp,
+            communication_type=comm_type_tmp,
+        )
+
+        if not ret:
+            self.panelState.panel_info_msg_list.append((f"Failed to create Serial Port object at {self.panelState.serial_info_temp['Port']}.", time.time()))
+            return
+
 def main():
 
     stop_evt = threading.Event()

src/fc_network_adapter/fc_network_adapter/mavlinkObject.py

@@ -128,7 +128,7 @@ class mavlink_bridge:
         """停止 mavlink_bridge 的運作"""
         self.running = False
         if self.thread and self.thread.is_alive():
-            self.thread.join(timeout=3.0)
+            self.thread.join(timeout=5.0)
 
     # === Thread 區塊 ===
     def _run_thread(self):
@@ -632,12 +632,10 @@ class async_io_manager:
         
         # 等待線程結束
         if self.thread and self.thread.is_alive():
-            self.thread.join(timeout=10.0)
+            self.thread.join(timeout=5.0)
             if self.thread.is_alive():
                 logger.warning("async_io_manager thread did not stop gracefully")
                 os.kill(os.getpid(), signal.SIGTERM) # 強制終止程序
-        
-
             
         logger.info("async_io_manager thread END!")
     

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -11,6 +11,9 @@ import os
 import sys
 import serial
 import signal
+import time
+import threading
+import struct
 from enum import Enum, auto
 
 # # XBee 模組
@@ -63,9 +66,10 @@ class XBeeFrameHandler:
         #     'data': frame[15:-1]
         # }
         pass
+        return None
 
     @staticmethod
-    def encapsulate_data(data: bytes, dest_addr64: bytes, frame_id=0x01) -> bytes:
+    def encapsulate_data(data: bytes, dest_addr64: bytes = b'\x00\x00\x00\x00\x00\x00\xFF\xFF', frame_id = 0x01) -> bytes:
         """
         將數據封裝為 XBee API 傳輸幀
         
@@ -117,7 +121,6 @@ class XBeeFrameHandler:
         return data
 
 
-
 class ATCommandHandler:
     """AT 指令回應處理器"""
     
@@ -171,16 +174,18 @@ class ATCommandHandler:
         # print(f"[SYSID:{sysid}] RSSI = -{rssi_value} dBm")
     
     def _handle_serial_high(self, data: bytes):
-        """處理 SH (Serial Number High) - 範例"""
+        # """處理 SH (Serial Number High) - 範例"""
-        if len(data) >= 4:
+        # if len(data) >= 4:
-            serial_high = int.from_bytes(data[:4], 'big')
+        #     serial_high = int.from_bytes(data[:4], 'big')
-            print(f"[{self.serial_port}] Serial High: 0x{serial_high:08X}")
+        #     print(f"[{self.serial_port}] Serial High: 0x{serial_high:08X}")
+        pass
     
     def _handle_serial_low(self, data: bytes):
-        """處理 SL (Serial Number Low) - 範例"""
+        # """處理 SL (Serial Number Low) - 範例"""
-        if len(data) >= 4:
+        # if len(data) >= 4:
-            serial_low = int.from_bytes(data[:4], 'big')
+        #     serial_low = int.from_bytes(data[:4], 'big')
-            print(f"[{self.serial_port}] Serial Low: 0x{serial_low:08X}")
+        #     print(f"[{self.serial_port}] Serial Low: 0x{serial_low:08X}")
+        pass
 
 
 
@@ -188,7 +193,7 @@ class SerialHandler(asyncio.Protocol): # asyncio.Protocol 用於處理 Serial
     def __init__(self, udp_handler, serial_port_str):
         self.udp_handler = udp_handler # UDP 的傳輸把手
         self.serial_port_str = serial_port_str
-        self.at_handler = ATCommandHandler(serial_port)
+        self.at_handler = ATCommandHandler(serial_port_str)
 
         self.buffer = bytearray()  # 用於緩存接收到的資料
         self.transport = None # Serial 自己的傳輸物件
@@ -199,7 +204,7 @@ class SerialHandler(asyncio.Protocol): # asyncio.Protocol 用於處理 Serial
         self.transport = transport
         if hasattr(self.udp_handler, 'set_serial_handler'):
             self.udp_handler.set_serial_handler(self)
-        logger.info(f"Serial port {self.serial_port_str} connected.")
+        # logger.info(f"Serial port {self.serial_port_str} connected.") # debug
 
     # Serial 收到資料的處理過程
     def data_received(self, data):
@@ -222,27 +227,30 @@ class SerialHandler(asyncio.Protocol): # asyncio.Protocol 用於處理 Serial
                 break
 
             # 6. 提取完整 frame 並從緩衝區移除
-            frame_payload = self.buffer[:full_length]
+            an_frame = self.buffer[:full_length]
             del self.buffer[:full_length]
 
             # 7. 判斷 frame 類型
-            frame_type = frame[3]
+            frame_type = an_frame[3]
             
             if frame_type == 0x88:
                 # 處理 AT Command 回應
-                # response = XBeeFrameHandler.parse_at_command_response(frame)
+                # response = XBeeFrameHandler.parse_at_command_response(an_frame)
                 # self.at_handler.handle_response(response)
                 pass # debug
                 
             elif frame_type == 0x90:
                 # Receive Packet (RX) payload 先解碼 
-                processed_data = XBeeFrameHandler.decapsulate_data(bytes(frame_payload))
+                processed_data = XBeeFrameHandler.decapsulate_data(bytes(an_frame))
                 # 轉換失敗就捨棄了
                 if processed_data is None: 
-                    break
+                    continue
                 # 再透過 UDP 送出
                 self.udp_handler.transport.sendto(processed_data, (self.udp_handler.LOCAL_HOST_IP, self.udp_handler.target_port))
 
+            elif frame_type == 0x8B:
+                pass
+
             else:
                 # 其他類型的 frame 未來可擴展處理 現在忽略
                 logger.warning(f"[{self.serial_port_str}] Undefined frame type: 0x{frame_type:02X}")
@@ -295,7 +303,7 @@ class UDPHandler(asyncio.DatagramProtocol): # asyncio.DatagramProtocol 用於處
 
     def connection_made(self, transport):
         self.transport = transport
-        print("UDP transport ready. Waiting for serial data before sending...")
+        # logger.info(f"UDP transport ready. Waiting for serial data before sending.") # debug
 
     def set_serial_handler(self, serial_handler):
         self.serial_handler = serial_handler
@@ -328,7 +336,7 @@ class UDPHandler(asyncio.DatagramProtocol): # asyncio.DatagramProtocol 用於處
 class SerialReceiverType(Enum):
     """連接類型"""
     TELEMETRY = auto() 
-    XBEEAPI = auto() 
+    XBEEAPI2AT = auto() 
     OTHER = auto() 
 
 
@@ -388,7 +396,30 @@ class serial_manager:
             return False
 
     def shutdown(self):
-        pass
+        """停止 serial_manager 和其管理的所有 serial_object"""
+        # 自己在 running 狀態下才執行停止程序
+        if not self.running:
+            logger.warning("serial_manager is not running")
+            return
+
+        # 停止所有被管理的 serial_object
+        for serial_id in list(self.serial_objects.keys()):
+            self.remove_serial_link(serial_id)
+
+        # 停止自己
+        self.running = False
+
+        # 解開事件循環的阻塞
+        if self.loop:
+            self.loop.call_soon_threadsafe(self.loop.stop)
+
+        # 等待線程結束
+        if self.thread and self.thread.is_alive():
+            self.thread.join(timeout=5.0)
+            if self.thread.is_alive():
+                logger.warning("serial_manager thread did not stop gracefully")
+        
+        logger.info("serial_manager thread END!")
 
     def _run_event_loop(self):
         """在獨立線程中運行 asyncio 事件循環"""
@@ -414,53 +445,142 @@ class serial_manager:
 
     def create_serial_link(self, serial_port, baudrate, target_port, receiver_type: SerialReceiverType):
 
-        if self.loop is None:
+        if not self.running or not self.loop:
             logger.error("Event loop not running, cannot create serial link")
             return False
 
         # 檢查 serial port 有效
-        self.check_serial_port(serial_port)
+        if not self.check_serial_port(serial_port, baudrate):
+            logger.error(f"Serial port {serial_port} validation failed")
+            return False
 
-        serial_obj = self.serial_object(serial_port, baudrate, target_port, receiver_type)
+        # 使用 run_coroutine_threadsafe 執行協程並獲取結果
+        future = asyncio.run_coroutine_threadsafe(
+            self._async_create_serial_link(serial_port, baudrate, target_port, receiver_type),
+            self.loop
+        )
 
-        # 建立 UDP 處理器 並指定目標端口位置
-        serial_obj.udp_handler = UDPHandler(target_port)
-        # 建立 UDP 傳輸，不指定接收端口(自己)，讓系統自動分配
         try:
-            serial_obj.transport, serial_obj.protocol = await self.loop.create_datagram_endpoint(
+            # 等待結果，設定合理的超時時間
+            result = future.result(timeout=5.0)
+            if result:
+                logger.info(f"Create Serial Link: {serial_port} -> UDP {target_port}")
+            return True
+        except asyncio.TimeoutError:
+            logger.error(f"Timeout creating serial link for {serial_port}")
+            return False
+        except Exception as e:
+            logger.error(f"Failed to create serial link for {serial_port}: {e}")
+            return False
+
+
+    async def _async_create_serial_link(self, serial_port, baudrate, target_port, receiver_type: SerialReceiverType):
+        """在事件循環線程中執行實際的連接創建"""
+        try:
+            # 創建 serial_object 實例
+            serial_obj = self.serial_object(serial_port, baudrate, target_port, receiver_type)
+
+            # 建立 UDP 處理器並指定目標端口位置
+            serial_obj.udp_handler = UDPHandler(target_port)
+            
+            # 建立 UDP 傳輸，不指定接收端口(自己)，讓系統自動分配
+            udp_transport, udp_protocol = await self.loop.create_datagram_endpoint(
                 lambda: serial_obj.udp_handler,
                 local_addr=('0.0.0.0', 0)  # 使用端口 0 讓系統自動分配可用端口
             )
+            serial_obj.transport = udp_transport
+            serial_obj.protocol = udp_protocol
+            
+            # logger.info(f"UDP endpoint created for {serial_port}") # debug
+
+            # 建立 Serial 處理器，將 UDP 處理器傳給它
+            serial_obj.serial_handler = SerialHandler(serial_obj.udp_handler, serial_port)
+
+            # 建立 Serial 連接
+            serial_transport, _ = await serial_asyncio.create_serial_connection(
+                self.loop, 
+                lambda: serial_obj.serial_handler, 
+                serial_port, 
+                baudrate=baudrate
+            )
+            
+            # logger.info(f"Serial connection created for {serial_port}") # debug
+
+            # 將 serial_object 加入管理列表
+            serial_id = self.serial_count + 1
+            self.serial_objects[serial_id] = serial_obj
+            self.serial_count += 1
+            
+            # logger.info(f"Serial object {serial_id} added to manager") # debug
+            return True
+            
         except Exception as e:
-            logger.error(f"Cannot Create UDP Endpoint: {str(e)}")
+            logger.error(f"Exception in _async_create_serial_link for {serial_port}: {str(e)}")
+            # 清理已創建的資源
+            if 'serial_obj' in locals():
+                if hasattr(serial_obj, 'transport') and serial_obj.transport:
+                    serial_obj.transport.close()
             return False
 
-        # 建立 Serial 傳輸，將 UDP 處理器傳給它
+    def remove_serial_link(self, serial_id):
+        """移除串口連接（線程安全方式）"""
+        # 確保事件循環正在運行
+        if not self.loop:
+            logger.error("Event loop not running")
+            return False
+        
+        # 檢查 serial_id 是否存在
+        if serial_id not in self.serial_objects:
+            logger.warning(f"Serial object {serial_id} not found")
+            return False
+
+        # 使用 run_coroutine_threadsafe 執行協程
+        future = asyncio.run_coroutine_threadsafe(
+            self._async_remove_serial_link(serial_id),
+            self.loop
+        )
+        
         try:
-            serial_obj.serial_handler = SerialHandler(serial_obj.udp_handler)
+            result = future.result(timeout=3.0)
-
+            if result:
-            _, serial_transport = await serial_asyncio.create_serial_connection(
+                logger.info(f"Remove Serial Link {serial_id}")
-                self.loop, lambda: serial_obj.serial_handler, serial_port, baudrate=baudrate
+            return result
-            )
+        except asyncio.TimeoutError:
+            logger.error(f"Timeout removing serial link {serial_id}")
+            return False
         except Exception as e:
-            logger.error(f"Cannot Create Serial Connection: {str(e)}")
+            logger.error(f"Failed to remove serial link {serial_id}: {e}")
-            serial_obj.transport.close()
+            return False
-            return
-
-        # self.serial_objects.append(serial_obj)
-        self.serial_objects[serial_count+1] = serial_obj
-        serial_count += 1
-
-    async def _async_create_serial_link(self, serial_port, baudrate, target_port):
-        pass
-
-    def remove_serial_link(serial_id):
-        pass
 
     async def _async_remove_serial_link(self, serial_id):
-        pass
+        """在事件循環線程中執行實際的連接移除"""
+        if serial_id not in self.serial_objects:
+            logger.warning(f"Serial object {serial_id} not in managed list")
+            return False
+        
+        try:
+            serial_obj = self.serial_objects[serial_id]
+            
+            # 關閉 UDP transport
+            if hasattr(serial_obj, 'transport') and serial_obj.transport:
+                serial_obj.transport.close()
+            
+            # 關閉 Serial transport
+            if hasattr(serial_obj, 'serial_handler') and serial_obj.serial_handler:
+                if hasattr(serial_obj.serial_handler, 'transport') and serial_obj.serial_handler.transport:
+                    serial_obj.serial_handler.transport.close()
+            
+            # 從管理列表中移除
+            del self.serial_objects[serial_id]
+            # logger.info(f"Serial object {serial_id} removed from manager") # debug
+            return True
+            
+        except Exception as e:
+            logger.error(f"Exception in _async_remove_serial_link for {serial_id}: {str(e)}")
+            return False
 
-    def check_serial_port(serial_port):
+    @staticmethod
+    def check_serial_port(serial_port, baudrate):
         """檢查串口是否存在與可用"""
         # 檢查設備是否存在
         if not os.path.exists(serial_port):
@@ -469,7 +589,9 @@ class serial_manager:
             
         # 檢查是否有權限訪問設備
         try:
-            os.access(serial_port, os.R_OK | os.W_OK)
+            if not os.access(serial_port, os.R_OK | os.W_OK):
+                logger.error(f"No permission to access {serial_port}")
+                return False
         except Exception as e:
             logger.error(f"Cannot Access Serial Device {serial_port}: {str(e)}")
             return False
@@ -477,7 +599,7 @@ class serial_manager:
         # 檢查是否被占用
         try:
             # 嘗試打開串口
-            ser = serial.Serial(serial_port, SERIAL_BAUDRATE)
+            ser = serial.Serial(serial_port, baudrate)
             ser.close()  # 打開成功後立即關閉
             return True
         except serial.SerialException as e:
@@ -488,12 +610,14 @@ class serial_manager:
             return False
 
 
-if __main__ == '__main__':
+if __name__ == '__main__':
     sm = serial_manager()
     sm.start()
 
     SERIAL_PORT = '/dev/ttyUSB0'  # 手動指定
     SERIAL_BAUDRATE = 115200
-    UDP_REMOTE_IP = '127.0.0.1'
+    UDP_REMOTE_PORT = 14571
-    UDP_REMOTE_PORT = 14560
+    sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialReceiverType.XBEEAPI2AT)
-    sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_IP, SerialReceiverType.XBEEAPI)
+
+    time.sleep(10)
+    sm.shutdown()

src/fc_network_adapter/fc_network_adapter/utils/acquireSerial.py

@@ -0,0 +1,96 @@
+"""
+Serial Port Discovery Utility
+
+This module provides functions to discover available serial ports on the system.
+It uses glob pattern matching to find serial device files in /dev/.
+"""
+
+import glob
+from typing import List
+
+
+def get_serial_ports() -> List[str]:
+    """
+    獲取系統中所有可用的串口設備列表
+    
+    在 Linux 系統中，會搜尋以下模式的設備：
+    - /dev/ttyUSB*  (USB 串口設備)
+    - /dev/ttyACM*  (USB CDC ACM 設備)
+    - /dev/ttyS*    (標準串口)
+    
+    Returns:
+        List[str]: 包含所有找到的串口設備路徑的列表
+        
+    Example:
+        >>> ports = get_serial_ports()
+        >>> print(ports)
+        ['/dev/ttyUSB0', '/dev/ttyUSB1', '/dev/ttyS0']
+    """
+    serial_ports = []
+    
+    # 搜尋不同類型的串口設備
+    patterns = [
+        '/dev/ttyUSB*',  # USB 串口轉換器
+        '/dev/ttyACM*',  # USB CDC ACM 設備（如 Arduino）
+        '/dev/ttyS*',    # 標準串口
+    ]
+    
+    for pattern in patterns:
+        serial_ports.extend(glob.glob(pattern))
+    
+    # 排序以便於閱讀
+    serial_ports.sort()
+    
+    return serial_ports
+
+
+def get_serial_ports_with_filter(filter_pattern: str = None) -> List[str]:
+    """
+    獲取串口設備列表，可選擇性地使用自訂篩選模式
+    
+    Args:
+        filter_pattern (str, optional): 自訂的 glob 模式，例如 '/dev/ttyUSB*'
+                                       如果為 None，則使用預設模式搜尋所有串口
+    
+    Returns:
+        List[str]: 符合條件的串口設備路徑列表
+        
+    Example:
+        >>> # 只搜尋 USB 串口
+        >>> usb_ports = get_serial_ports_with_filter('/dev/ttyUSB*')
+        >>> print(usb_ports)
+        ['/dev/ttyUSB0', '/dev/ttyUSB1']
+    """
+    if filter_pattern:
+        serial_ports = glob.glob(filter_pattern)
+        serial_ports.sort()
+        return serial_ports
+    else:
+        return get_serial_ports()
+
+
+if __name__ == "__main__":
+    # 使用範例
+    print("=== Serial Port Discovery ===\n")
+    
+    # 1. 獲取所有串口設備
+    all_ports = get_serial_ports()
+    print(f"找到 {len(all_ports)} 個串口設備:")
+    for port in all_ports:
+        print(f"  - {port}")
+    
+    print("\n" + "="*30 + "\n")
+    
+    # 2. 只搜尋 USB 串口
+    usb_ports = get_serial_ports_with_filter('/dev/ttyUSB*')
+    print(f"找到 {len(usb_ports)} 個 USB 串口設備:")
+    for port in usb_ports:
+        print(f"  - {port}")
+    
+    print("\n" + "="*30 + "\n")
+    
+    # 3. 只搜尋 ACM 設備
+    acm_ports = get_serial_ports_with_filter('/dev/ttyACM*')
+    print(f"找到 {len(acm_ports)} 個 ACM 設備:")
+    for port in acm_ports:
+        print(f"  - {port}")