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@ -16,6 +16,7 @@ import threading
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import struct
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import struct
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from enum import Enum, auto
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from enum import Enum, auto
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from abc import ABC, abstractmethod
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from abc import ABC, abstractmethod
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from dataclasses import dataclass
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# # XBee 模組
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# # XBee 模組
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# from xbee.frame import APIFrame
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# from xbee.frame import APIFrame
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@ -28,7 +29,7 @@ from .utils import RingBuffer, setup_logger
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logger = setup_logger(os.path.basename(__file__))
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logger = setup_logger(os.path.basename(__file__))
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MODULE_VER = "0.80"
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MODULE_VER = "0.80"
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rx_module_ack = RingBuffer(capacity=256, buffer_id=253)
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rx_module_ack = RingBuffer(capacity=64, buffer_id=253)
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# ====================== State DEFINITION =====================
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# ====================== State DEFINITION =====================
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@ -39,6 +40,29 @@ class SerialMode(Enum):
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XBEEAPI2AT = auto() # XBee API 模式
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XBEEAPI2AT = auto() # XBee API 模式
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NOT_USE = auto() # 不使用
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NOT_USE = auto() # 不使用
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# ====================== AT Frame Data Classes =====================
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@dataclass
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class ATRequest:
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"""送往 dongle 的 AT 指令"""
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command: bytes # 例如 b'DB'
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parameter: bytes # 寫入用指令的參數，讀取型通常為空
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frame_id: int # XBee frame id；0x00 表示不要求回應
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@dataclass
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class ATResponse:
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"""dongle 回傳的 AT Response (0x88)"""
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frame_id: int
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command: bytes
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status: int
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data: bytes
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@property
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def is_ok(self) -> bool:
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return self.status == 0x00
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# ====================== Frame Processor Base and Implementation =====================
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# ====================== Frame Processor Base and Implementation =====================
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class FrameProcessor(ABC):
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class FrameProcessor(ABC):
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@ -229,49 +253,51 @@ class ATCommandHandler:
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"""由 SerialHandler 注入實際寫入 serial 的 callable"""
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"""由 SerialHandler 注入實際寫入 serial 的 callable"""
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self.writer = writer
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self.writer = writer
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def send_command(self, command: bytes, parameter: bytes, frame_id: int):
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def send_command(self, request: ATRequest):
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"""
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"""發送一筆 AT 指令給 dongle"""
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發送一筆 AT 指令給 dongle
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- command: 2 bytes AT 指令名稱，例如 b'DB'
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- parameter: 指令參數 bytes（讀取用指令通常為空）
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- frame_id: XBee frame id，用來配對回應（0x00 表示不要求回應）
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"""
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if self.writer is None:
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if self.writer is None:
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logger.warning(
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logger.warning(
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f"[{self.serial_port}] AT writer 尚未就緒，指令 {command!r} 丟棄"
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f"[{self.serial_port}] AT writer 尚未就緒，指令 {request.command!r} 丟棄"
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)
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)
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return
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return
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frame_bytes = self._build_at_request(command, parameter, frame_id)
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self.writer(self._build_at_request(request))
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self.writer(frame_bytes)
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# logger.debug(
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# logger.debug(
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# f"[{self.serial_port}] send AT {command.decode(errors='replace')} "
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# f"[{self.serial_port}] send AT {request.command.decode(errors='replace')} "
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# f"(frame_id=0x{frame_id:02X})"
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# f"(frame_id=0x{request.frame_id:02X})"
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# ) # dev
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# ) # dev
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@staticmethod
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@staticmethod
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def _build_at_request(command: bytes, parameter: bytes, frame_id: int) -> bytes:
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def _build_at_request(request: ATRequest) -> bytes:
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"""
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"""將 ATRequest 組成 XBee API AT Command Request frame (0x08) bytes"""
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將 AT 指令組成 XBee API AT Command Request frame (0x08)
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callers 必須明確指定 frame_id
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"""
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frame_type = ATCommandHandler.FRAME_TYPE_AT_COMMAND
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frame_type = ATCommandHandler.FRAME_TYPE_AT_COMMAND
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frame = struct.pack(">B", frame_type) + struct.pack(">B", frame_id)
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frame = struct.pack(">B", frame_type) + struct.pack(">B", request.frame_id)
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frame += command + parameter
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frame += request.command + request.parameter
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checksum = 0xFF - (sum(frame) & 0xFF)
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checksum = 0xFF - (sum(frame) & 0xFF)
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return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
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return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
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# ---- 接收端 ----
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# ---- 接收端 ----
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def handle_frame(self, frame: bytes) -> None:
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def handle_frame(self, frame: bytes) -> None:
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"""接收一整個 AT Response frame，內部完成 parse + dispatch"""
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"""
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接收一整個 AT Response frame：
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1. 解析成 ATResponse
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2. 推進 rx_module_ack 供其他模組消費
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3. 本地 dispatch 給對應的 _handle_xxx
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"""
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parsed = self._parse(frame)
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parsed = self._parse(frame)
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if parsed is None:
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if parsed is None:
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return
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return
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if not rx_module_ack.put(parsed):
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logger.warning(
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f"[{self.serial_port}] rx_module_ack overflow, drop {parsed.command!r}"
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)
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self._dispatch(parsed)
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self._dispatch(parsed)
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@staticmethod
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@staticmethod
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def _parse(frame: bytes) -> dict:
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def _parse(frame: bytes) -> ATResponse:
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"""解析 AT Command Response (0x88)；不符格式回傳 None"""
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"""解析 AT Command Response (0x88)；不符格式回傳 None"""
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if len(frame) < 8:
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if len(frame) < 8:
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return None
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return None
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@ -279,44 +305,40 @@ class ATCommandHandler:
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if frame[3] != 0x88:
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if frame[3] != 0x88:
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return None
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return None
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frame_id = frame[4]
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return ATResponse(
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at_command = frame[5:7]
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frame_id=frame[4],
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status = frame[7]
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command=frame[5:7],
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data = frame[8:] if len(frame) > 8 else b''
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status=frame[7],
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data=frame[8:] if len(frame) > 8 else b'',
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return {
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)
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'frame_id': frame_id,
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'command': at_command,
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'status': status,
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'data': data,
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'is_ok': status == 0x00,
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}
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def _dispatch(self, response: dict) -> None:
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def _dispatch(self, response: ATResponse) -> None:
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"""根據 AT 指令類型分派處理"""
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"""根據 AT 指令類型分派處理"""
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# print(f"[{self.serial_port}] AT Response: {response}") # dev
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# print(f"[{self.serial_port}] AT Response: {response}") # dev
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if not response['is_ok']:
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if not response.is_ok:
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logger.warning(
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logger.warning(
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f"[{self.serial_port}] AT {response['command'].decode()} "
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f"[{self.serial_port}] AT {response.command.decode()} "
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f"失敗，狀態碼: {response['status']}"
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f"失敗，狀態碼: {response.status}"
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)
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)
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return
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return
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handler = self.handlers.get(response['command'])
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handler = self.handlers.get(response.command)
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if handler:
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if handler:
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handler(response['data'])
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handler(response.data)
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else:
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else:
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logger.debug(
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logger.debug(
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f"[{self.serial_port}] 未處理的 AT 指令: "
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f"[{self.serial_port}] 未處理的 AT 指令: "
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f"{response['command'].decode()}"
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f"{response.command.decode()}"
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)
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)
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def _handle_rssi(self, data: bytes):
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def _handle_rssi(self, data: bytes):
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"""處理 DB (RSSI) 回應：單 byte 無號值，單位 dBm"""
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"""處理 DB (RSSI) 回應：單 byte 無號值，單位 dBm"""
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if data:
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pass
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print(f"[{self.serial_port}] RSSI = -{data[0]} dBm") # dev
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# if data:
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# print(f"[{self.serial_port}] RSSI = -{data[0]} dBm") # dev
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# logger.debug(f"[{self.serial_port}] RSSI = -{data[0]} dBm") # dev
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def _handle_serial_high(self, data: bytes):
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def _handle_serial_high(self, data: bytes):
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"""處理 SH (Serial Number High)"""
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"""處理 SH (Serial Number High)"""
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pass
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pass
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@ -644,13 +666,11 @@ class serial_manager:
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ret[key] = obj.serial_port
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ret[key] = obj.serial_port
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return ret
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return ret
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def send_at_command(self, serial_id, command: bytes, parameter: bytes = b'', frame_id: int = 0x52) -> bool:
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def send_at_command(self, serial_id, request: ATRequest) -> bool:
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"""
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"""
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對指定 serial_id 的 XBee dongle 發送一筆 AT 指令（thread-safe）
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對指定 serial_id 的 XBee dongle 發送一筆 AT 指令（thread-safe）
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- serial_id: create_serial_link 取得的編號
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- serial_id: create_serial_link 取得的編號
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- command: 例如 b'DB'
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- request: ATRequest 物件，攜帶 command / parameter / frame_id
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- parameter: 指令參數，讀取型指令通常為空
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- frame_id: XBee frame id，0x00 代表不要求回應
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回傳是否成功排進事件圈
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回傳是否成功排進事件圈
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"""
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"""
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if not self.running or not self.loop:
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if not self.running or not self.loop:
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@ -670,9 +690,7 @@ class serial_manager:
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return False
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return False
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at_handler = serial_obj.serial_handler.processor.at_handler
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at_handler = serial_obj.serial_handler.processor.at_handler
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self.loop.call_soon_threadsafe(
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self.loop.call_soon_threadsafe(at_handler.send_command, request)
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at_handler.send_command, command, parameter, frame_id
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)
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return True
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return True
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@staticmethod
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@staticmethod
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@ -727,8 +745,9 @@ if __name__ == '__main__':
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# 等 connection_made 完成 writer 注入，再發一筆 AT 指令測試
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# 等 connection_made 完成 writer 注入，再發一筆 AT 指令測試
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time.sleep(5)
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time.sleep(5)
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rssi_request = ATRequest(command=b'DB', parameter=b'', frame_id=0x52)
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for i in range(60):
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for i in range(60):
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sm.send_at_command(1, b'DB', frame_id=0x52)
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sm.send_at_command(1, rssi_request)
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time.sleep(1)
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time.sleep(1)
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sm.remove_serial_link(1)
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sm.remove_serial_link(1)
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