完善Xbee新功能整合到 mainOrchestrator

- Added support for a new XBee communication type (XBee(API-API) espv1) in mainOrchestrator.py.
- Changed logging level for publisher creation in mavlinkROS2Nodes.py from info to debug for improved verbosity.
- 移除 mainOrchestrator 啟動時的版本檢驗 改為用 logger 紀錄
- Py3.8 語法修正

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -435,6 +435,10 @@ class ControlPanel:
                         state.serial_info_temp["CommunicationType"] = "XBee(API-AT)"
                         menu_stack.pop()
                         idx_stack.pop()
+                    elif selected.action == "SET_SERIAL_COMM_XBEE_ESP":
+                        state.serial_info_temp["CommunicationType"] = "XBee(API-API) espv1"
+                        menu_stack.pop()
+                        idx_stack.pop()
                     elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
                         state.serial_info_temp["CommunicationType"] = "TELEMETRY"
                         menu_stack.pop()
@@ -812,6 +816,7 @@ class ControlPanel:
                 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(API-API)", "XBee 模式(with ESP)", "SET_SERIAL_COMM_XBEE_ESP"),
                         MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
                     ]),
                     MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"),
@@ -1595,6 +1600,7 @@ class Orchestrator:
         # 定義通訊類型映射表
         COMM_TYPE_MAP = {
             "XBee(API-AT)": sm.SerialMode.XBEEAPI2AT,
+            "XBee(API-AT)": sm.SerialMode.XBEEAPI_espv1,
             "TELEMETRY": sm.SerialMode.STRAIGHT,
             # 新增區
         }
@@ -1638,25 +1644,7 @@ class Orchestrator:
 
 def main():
 
-    # =========== 各項模組的版本先驗 ===========
-    # 除非你有在做這幾項模組的改版 不然動到這邊的版本號 代表執行環境有很大的問題!!!!!!
-    version_check = True
-    if mo.MODULE_VER != "1.50":
-        print("Module Version Error! : mavlinkObkect")
-        version_check = False
-    if mros.MODULE_VER != "2.50":
-        print("Module Version Error! : mavlinkROS2Nodes")
-        version_check = False
-    if mvv.MODULE_VER != "1.10":
-        print("Module Version Error! : mavlinkVehicleView")
-        version_check = False
-    if sm.MODULE_VER != "2.00":
-        print("Module Version Error! : serialManager")
-        version_check = False
-    if version_check == False:
-        print("Environment Obstacle! Check YOUR Execution System Path First!!")
-        return
-    # ========================================
+    logger.info(f"Each Module Running Version at mavlinkObkect:{mo.MODULE_VER}, mavlinkROS2Nodes:{mros.MODULE_VER}, mavlinkVehicleView:{mvv.MODULE_VER}, serialManager:{sm.MODULE_VER}")
 
     stop_evt = threading.Event()
     def signal_handler(signum, frame):

src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py

@@ -214,7 +214,7 @@ class VehicleStatusPublisher(Node):
             topic_name = f'{self.topicString_prefix}/sys{sysid}/{topic}'
             publisher = self.create_publisher(msg_type, topic_name, qos)
             self.fc_publishers[key] = publisher
-            logger.info(f"Created publisher: {topic_name}")
+            logger.debug(f"Created publisher: {topic_name}")
         return self.fc_publishers[key]
     
     def _publish_position_gnss(self, sysid: int, status: mvv.ComponentStatus):

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -19,6 +19,7 @@ from enum import Enum, auto
 from abc import ABC, abstractmethod
 from dataclasses import dataclass
 from typing import Callable, Optional
+from typing import List
 
 # # XBee 模組
 # from xbee.frame import APIFrame
@@ -449,11 +450,11 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         return len(self.gcs_transmit_queue)
 
     # 把 gcs_transmit_queue 的 mavlink 封包依照大小打包出來
-    def _pop_flush_batch(self, max_bytes: int) -> list[bytes]:
+    def _pop_flush_batch(self, max_bytes: int) -> List[bytes]:
         if not self.gcs_transmit_queue:
             return []
 
-        batch: list[bytes] = []
+        batch: List[bytes] = []
         total_bytes = 0
 
         while self.gcs_transmit_queue:
@@ -507,7 +508,7 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
     # ---- POLL 排程輔助 ----
 
     # 計算下次要 poll 的對象跟大小
-    def _pick_poll_target(self) -> tuple[Optional[bytes], int]:
+    def _pick_poll_target(self):
         poll_devices = [
             pollStrategy.PollDevice(
                 address_64=address_64,
@@ -529,7 +530,7 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         stale_addresses = [
             address_64
             for address_64, device in self.esp32_address_mapping.items()
-            if (now - device.last_hello_time > self.device_offline_timeout) and \ 
+            if (now - device.last_hello_time > self.device_offline_timeout) and \
                (now - device.last_done_time > self.device_offline_timeout)
         ]
         for address_64 in stale_addresses:

src/fc_network_adapter/fc_network_adapter/utils/pollStrategy.py

@@ -5,6 +5,7 @@ POLL 輪詢策略，供 XBeeFrameProcessor_ESPv1 使用。
 """
 
 from dataclasses import dataclass
+from typing import List
 
 
 @dataclass(frozen=True)
@@ -23,10 +24,9 @@ class PollSchedulerState:
 
 
 def pick_next(
-    devices: list[PollDevice],
-    scheduler_state: PollSchedulerState,
-    # default_grant_bytes: int = 600,
-) -> tuple[bytes | None, int]:
+    devices: List[PollDevice],
+    scheduler_state: PollSchedulerState
+):
     """
     選下一個 POLL 目標。