From de8b153f9270302feddcfb931455288056ced2e1 Mon Sep 17 00:00:00 2001 From: Chiyu Chen Date: Tue, 4 Aug 2026 11:01:23 +0800 Subject: [PATCH] tmpCommit --- .../fc_network_adapter/mavlinkVehicleView.py | 6 ++++++ .../fc_network_adapter/serialManager.py | 9 +++++---- 2 files changed, 11 insertions(+), 4 deletions(-) diff --git a/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py b/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py index 6184974..94ea6a0 100644 --- a/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py +++ b/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py @@ -277,6 +277,12 @@ class RFModule: self.status = RFStatus() self.socket_info = SocketInfo() + self.poll_data_times: deque[int] = deque([0] * N,maxlen=N) # ms + self.poll_data_sizes: deque[int] = deque([0] * N, maxlen=N) # num + self.poll_total_time = 0 # ms + self.poll_total_size = 0 # num + self.remain_bytes = 0 # num + def update_avg_bandwidth(self, bandwidth: float, timestamp: Optional[float] = None) -> None: self.status.avg_bandwidth = bandwidth if timestamp: diff --git a/src/fc_network_adapter/fc_network_adapter/serialManager.py b/src/fc_network_adapter/fc_network_adapter/serialManager.py index 6d4fd9a..db24f24 100644 --- a/src/fc_network_adapter/fc_network_adapter/serialManager.py +++ b/src/fc_network_adapter/fc_network_adapter/serialManager.py @@ -461,9 +461,7 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): logger.debug(f"send Completed !") if delivery != 0x00: - logger.warning( - f"TX failed fid=0x{frame[4]:02X} delivery=0x{delivery:02X}" - ) + logger.warning( f"TX failed fid=0x{frame[4]:02X} delivery=0x{delivery:02X}" ) # 把 udp_transmit_queue 的 mavlink 封包依照大小打包出來 def _pop_flush_batch(self, max_bytes: int) -> List[bytes]: @@ -587,14 +585,17 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base): self.esp32_address_mapping[sender_address_64] = self.Esp32DeviceInfo( 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()}")