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This commit is contained in:
ken910606
2026-07-06 07:29:56 +08:00
parent fd949fca47
commit f141311173
8 changed files with 442 additions and 33 deletions
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src/.codex
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src/GUI/communication.py
+124
View File
@@ -69,6 +69,18 @@ except ImportError as e:
_log("ERROR", f"錯誤: {e}")
GnssRaw = None
try:
from fc_interfaces.msg import SystemDiagnosticsRaw
except ImportError as e:
_log("WARN", f"SystemDiagnosticsRaw 尚不可用，略過 sys_diags 訂閱: {e}")
SystemDiagnosticsRaw = None
try:
from fc_interfaces.msg import FcNetworkLog
except ImportError as e:
_log("WARN", f"FcNetworkLog 尚不可用，略過 FC Network 紀錄訂閱: {e}")
FcNetworkLog = None
class DroneSignals(QObject):
update_signal = pyqtSignal(str, str, object) # (msg_type, drone_id, data)
@@ -801,6 +813,16 @@ class DroneMonitor(Node):
# 主题检测定时器
self.create_timer(1.0, self.scan_topics)
# FC Network 使用專用結構化紀錄 topic，不再解析 /rosout。
self.fc_network_log_sub = None
if FcNetworkLog is not None:
self.fc_network_log_sub = self.create_subscription(
FcNetworkLog,
'/fc_network/logs',
self.fc_network_log_callback,
200
)
def get_next_socket_id(self):
"""取得目前最小的未使用 socket_id（從 0 開始）。"""
with self.socket_id_lock:
@@ -969,6 +991,32 @@ class DroneMonitor(Node):
setattr(self, subs_attr, subs)
except Exception:
pass
if isinstance(subs, dict) and 'sys_diags' not in subs and SystemDiagnosticsRaw is not None:
base_topic = f'/fc_network/vehicle/{sys_id}'
try:
sys_diags_sub = self.create_subscription(
SystemDiagnosticsRaw,
f'{base_topic}/sys_diags',
lambda msg, sid=sys_id: self.sys_diags_callback(sid, msg),
10
)
subs['sys_diags'] = sys_diags_sub
setattr(self, subs_attr, subs)
except Exception:
pass
if isinstance(subs, dict) and 'status_text' not in subs:
base_topic = f'/fc_network/vehicle/{sys_id}'
try:
status_text_sub = self.create_subscription(
String,
f'{base_topic}/status_text',
lambda msg, sid=sys_id: self.status_text_callback(sid, msg),
10
)
subs['status_text'] = status_text_sub
setattr(self, subs_attr, subs)
except Exception:
pass
def setup_drone(self, sys_id):
# sys_id 格式： sys11, sys12, ...
@@ -1041,6 +1089,21 @@ class DroneMonitor(Node):
10
)
if SystemDiagnosticsRaw is not None:
subs['sys_diags'] = self.create_subscription(
SystemDiagnosticsRaw,
f'{base_topic}/sys_diags',
lambda msg, sid=sys_id: self.sys_diags_callback(sid, msg),
10
)
subs['status_text'] = self.create_subscription(
String,
f'{base_topic}/status_text',
lambda msg, sid=sys_id: self.status_text_callback(sid, msg),
10
)
setattr(self, f'drone_{sys_id}_subs', subs)
# ================================================================================
@@ -1299,6 +1362,67 @@ class DroneMonitor(Node):
'voltage': msg.voltage
}
def sys_diags_callback(self, sys_id, msg):
"""轉送 /fc_network/vehicle/sysN/sys_diags 到 GUI 紀錄區。"""
stamp = getattr(msg, 'stamp', None)
data = {
'stamp': {
'sec': getattr(stamp, 'sec', 0),
'nanosec': getattr(stamp, 'nanosec', 0),
},
'sensors_install_mask': int(msg.sensors_install_mask),
'sensors_enabled_mask': int(msg.sensors_enabled_mask),
'sensors_health_mask': int(msg.sensors_health_mask),
'mcu_load': int(msg.mcu_load),
'mcu_load_percent': float(msg.mcu_load) / 10.0,
'bus_error_rate': int(msg.bus_error_rate),
'bus_error_rate_percent': float(msg.bus_error_rate) / 10.0,
'bus_error_count': int(msg.bus_error_count),
'errors_count1': int(msg.errors_count1),
'errors_count2': int(msg.errors_count2),
'errors_count3': int(msg.errors_count3),
'errors_count4': int(msg.errors_count4),
}
self.signals.update_signal.emit('sys_diags', sys_id, data)
def status_text_callback(self, sys_id, msg):
"""轉送飛控 STATUSTEXT（飛行檢查、警告與錯誤）。"""
raw = msg.data.strip()
if not raw:
return
match = re.match(r'^\[([\d.]+)\]\s*\[(-?\d+)\]\s*(.*)$', raw)
if match:
vehicle_timestamp = float(match.group(1))
severity = int(match.group(2))
text = match.group(3)
else:
vehicle_timestamp = None
severity = -1
text = raw
self.signals.update_signal.emit('status_text', sys_id, {
'severity': severity,
'text': text,
'vehicle_timestamp': vehicle_timestamp,
'raw': raw,
})
def fc_network_log_callback(self, msg):
"""接收 /fc_network/logs 的結構化紀錄。"""
stamp = getattr(msg, 'stamp', None)
self.signals.update_signal.emit('fc_network_log', msg.source or 'fc_network', {
'stamp': {
'sec': getattr(stamp, 'sec', 0),
'nanosec': getattr(stamp, 'nanosec', 0),
},
'level': int(msg.level),
'source': msg.source,
'event_code': msg.event_code,
'sysid': int(msg.sysid),
'message': msg.message,
})
def state_callback(self, drone_id, msg):
mode = msg.mode
if mode in self.filtered_modes:
src/GUI/gui.py
+188 -27
View File
@@ -18,11 +18,9 @@ import re
import threading
from concurrent.futures import ThreadPoolExecutor
def _log(level, message):
print(f"[{level}] {message}", flush=True)
# 導入分離的類別
from communication import DroneMonitor, UDPMavlinkReceiver, WebSocketMavlinkReceiver
from map_layout import DroneMap
@@ -148,7 +146,7 @@ class ToggleSwitch(QWidget):
class ControlStationUI(QMainWindow):
planning_finished = pyqtSignal(object)
VERSION = '2.6.0'
VERSION = '2.7.0'
FONT_SCALE_MIN = 70
FONT_SCALE_MAX = 180
FONT_SCALE_DEFAULT = 100
@@ -211,8 +209,15 @@ class ControlStationUI(QMainWindow):
self._attitude_cache = {}
self._overview_cache = {}
self._map_dirty_drones = set()
self.message_history = []
# 「紀錄」分頁分成三個獨立來源；message_history 保留為 GUI 操作紀錄的
# 相容別名，避免既有程式仍存取舊屬性時失效。
self.drone_message_history = []
self.gui_operation_history = []
self.fcnetwork_history = []
self.message_history = self.gui_operation_history
self.max_message_history = 500
self._sys_diags_warning_signatures = {}
self._suppressed_status_message = None
# 初始化UI
self.drones = {}
@@ -448,19 +453,19 @@ class ControlStationUI(QMainWindow):
self.statusBar().messageChanged.connect(self._on_status_bar_message_changed)
def _create_message_history_tab(self):
"""建立左側訊息歷史分頁。"""
"""建立上、中、下三區的紀錄分頁。"""
widget = QWidget()
layout = QVBoxLayout(widget)
layout.setContentsMargins(10, 10, 10, 10)
layout.setSpacing(8)
header_layout = QHBoxLayout()
title = QLabel("操作與訊息歷史")
title = QLabel("訊息與操作紀錄")
title.setStyleSheet("color: #DDD; font-size: 14px; font-weight: bold;")
header_layout.addWidget(title)
header_layout.addStretch()
clear_btn = QPushButton("清空")
clear_btn = QPushButton("全部清空")
clear_btn.setStyleSheet("""
QPushButton { background-color: #555; color: white; border: none;
padding: 5px 10px; border-radius: 4px; font-size: 12px; }
@@ -470,9 +475,7 @@ class ControlStationUI(QMainWindow):
header_layout.addWidget(clear_btn)
layout.addLayout(header_layout)
self.message_history_view = QPlainTextEdit()
self.message_history_view.setReadOnly(True)
self.message_history_view.setStyleSheet("""
history_style = """
QPlainTextEdit {
background-color: #1E1E1E;
color: #DDD;
@@ -482,9 +485,67 @@ class ControlStationUI(QMainWindow):
font-family: monospace;
font-size: 12px;
}
""")
self.message_history_view.setPlaceholderText("左下角狀態訊息會顯示在這裡...")
layout.addWidget(self.message_history_view)
"""
def create_section(section_title, category):
section = QWidget()
section_layout = QVBoxLayout(section)
section_layout.setContentsMargins(0, 0, 0, 0)
section_layout.setSpacing(4)
section_header = QHBoxLayout()
section_label = QLabel(section_title)
section_label.setStyleSheet(
"color: #CCC; font-size: 12px; font-weight: bold;")
section_header.addWidget(section_label)
section_header.addStretch()
section_clear_btn = QPushButton("清空")
section_clear_btn.setStyleSheet("""
QPushButton { background-color: #444; color: #DDD; border: none;
padding: 3px 8px; border-radius: 3px; font-size: 11px; }
QPushButton:hover { background-color: #555; }
""")
section_clear_btn.clicked.connect(
lambda _checked=False, name=category:
self._clear_message_history(name)
)
section_header.addWidget(section_clear_btn)
section_layout.addLayout(section_header)
view = QPlainTextEdit()
view.setReadOnly(True)
view.setStyleSheet(history_style)
view.document().setMaximumBlockCount(self.max_message_history)
section_layout.addWidget(view)
return section, view
history_splitter = QSplitter(Qt.Orientation.Vertical)
history_splitter.setChildrenCollapsible(False)
gui_section, self.gui_operation_history_view = create_section(
"操作紀錄", "gui")
drone_section, self.drone_message_history_view = create_section(
"無人機狀態", "drone")
fcnetwork_section, self.fcnetwork_history_view = create_section(
"FC Network", "fcnetwork")
history_splitter.addWidget(gui_section)
history_splitter.addWidget(drone_section)
history_splitter.addWidget(fcnetwork_section)
history_splitter.setStretchFactor(0, 1)
history_splitter.setStretchFactor(1, 1)
history_splitter.setStretchFactor(2, 1)
history_splitter.setSizes([220, 220, 220])
layout.addWidget(history_splitter)
self._history_views = {
'drone': self.drone_message_history_view,
'gui': self.gui_operation_history_view,
'fcnetwork': self.fcnetwork_history_view,
}
# 舊名稱指向 GUI 操作紀錄，保留向後相容性。
self.message_history_view = self.gui_operation_history_view
return widget
@@ -741,27 +802,114 @@ class ControlStationUI(QMainWindow):
return super().eventFilter(obj, event)
def _clear_message_history(self):
"""清空訊息歷史。"""
self.message_history.clear()
if hasattr(self, 'message_history_view'):
self.message_history_view.clear()
def _history_list(self, category):
return {
'drone': self.drone_message_history,
'gui': self.gui_operation_history,
'fcnetwork': self.fcnetwork_history,
}.get(category)
def _on_status_bar_message_changed(self, message):
"""同步狀態列訊息到歷史紀錄。"""
def _append_history(self, category, message):
"""加入指定來源的紀錄並讓畫面保持在最新一筆。"""
if not message:
return
timestamp = time.strftime("%H:%M:%S")
entry = f"[{timestamp}] {message}"
self.message_history.append(entry)
if len(self.message_history) > self.max_message_history:
self.message_history = self.message_history[-self.max_message_history:]
history = self._history_list(category)
if history is None:
return
history.append(entry)
if len(history) > self.max_message_history:
del history[:-self.max_message_history]
if hasattr(self, 'message_history_view'):
self.message_history_view.appendPlainText(entry)
scrollbar = self.message_history_view.verticalScrollBar()
view = getattr(self, '_history_views', {}).get(category)
if view is not None:
view.appendPlainText(entry)
scrollbar = view.verticalScrollBar()
scrollbar.setValue(scrollbar.maximum())
def _clear_message_history(self, category=None):
"""清空單一來源；未指定來源時清空全部。"""
categories = (category,) if category else ('drone', 'gui', 'fcnetwork')
for name in categories:
history = self._history_list(name)
if history is not None:
history.clear()
view = getattr(self, '_history_views', {}).get(name)
if view is not None:
view.clear()
def _record_drone_status(self, sys_id, data):
"""顯示由 status_text topic 收到的飛行檢查與報錯。"""
severity_labels = {
0: 'EMERGENCY', 1: 'ALERT', 2: 'CRITICAL', 3: 'ERROR',
4: 'WARNING', 5: 'NOTICE', 6: 'INFO', 7: 'DEBUG'
}
severity = data.get('severity', -1)
label = severity_labels.get(severity, 'STATUS')
self._append_history(
'drone', f"/fc_network/vehicle/{sys_id}/status_text "
f"[{label}] {data.get('text', '')}")
def _record_sys_diags_warning(self, sys_id, data):
"""sys_diags 只在診斷值異常或內容改變時顯示警告。"""
installed = int(data.get('sensors_install_mask', 0))
enabled = int(data.get('sensors_enabled_mask', 0))
healthy = int(data.get('sensors_health_mask', 0))
unhealthy_mask = installed & enabled & ~healthy
load = float(data.get('mcu_load_percent', 0.0))
bus_rate = float(data.get('bus_error_rate_percent', 0.0))
error_counts = tuple(int(data.get(f'errors_count{i}', 0)) for i in range(1, 5))
warnings = []
if unhealthy_mask:
warnings.append(f"感測器異常 mask=0x{unhealthy_mask:08X}")
if load >= 90.0:
warnings.append(f"MCU 負載過高 {load:.1f}%")
if bus_rate > 0.0 or int(data.get('bus_error_count', 0)) > 0:
warnings.append(
f"匯流排錯誤率 {bus_rate:.1f}% / "
f"count={int(data.get('bus_error_count', 0))}")
if any(error_counts):
warnings.append(f"錯誤計數={error_counts}")
signature = tuple(warnings)
if not signature:
self._sys_diags_warning_signatures.pop(sys_id, None)
return
if self._sys_diags_warning_signatures.get(sys_id) == signature:
return
self._sys_diags_warning_signatures[sys_id] = signature
self._append_history(
'drone', f"/fc_network/vehicle/{sys_id}/sys_diags [WARNING] "
+ "；".join(warnings))
def _record_fcnetwork_log(self, logger_name, data):
"""顯示 /fc_network/logs 的結構化 FC Network 紀錄。"""
level_labels = {
10: 'DEBUG', 20: 'INFO', 30: 'WARN', 40: 'ERROR', 50: 'FATAL'
}
level = level_labels.get(data.get('level'), str(data.get('level', '')))
context = []
if data.get('event_code'):
context.append(data['event_code'])
if data.get('sysid', -1) >= 0:
context.append(f"sys{data['sysid']}")
context_text = f" [{' / '.join(context)}]" if context else ''
self._append_history(
'fcnetwork', f"/fc_network/logs [{level}] [{logger_name}]"
f"{context_text} {data.get('message', '')}")
def _on_status_bar_message_changed(self, message):
"""同步 GUI 狀態列訊息到操作紀錄。"""
if not message:
return
if message == self._suppressed_status_message:
self._suppressed_status_message = None
return
self._append_history('gui', message)
def _setup_stream_redirector(self):
"""將 stdout/stderr 同步到左下角狀態列與訊息紀錄。"""
self._original_stdout = sys.stdout
@@ -783,10 +931,14 @@ class ControlStationUI(QMainWindow):
sys.stderr = self._original_stderr
def show_in_bottom_left(self, text):
"""將重導向的輸出顯示在左下角狀態列。"""
"""背景輸出只短暫顯示在狀態列，不混入三類紀錄。"""
if not text:
return
# 背景輸出仍沿用既有狀態列提示，但避免又被當成 GUI 操作紀錄。
self._suppressed_status_message = text
self.statusBar().showMessage(text, 5000)
if self._suppressed_status_message == text:
self._suppressed_status_message = None
# ================================================================================
@@ -1660,6 +1812,15 @@ class ControlStationUI(QMainWindow):
def update_ui(self, msg_type, drone_id, data):
"""只做數據快取，不在這裡更新 UI"""
if msg_type == 'status_text':
self._record_drone_status(drone_id, data)
return
if msg_type == 'sys_diags':
self._record_sys_diags_warning(drone_id, data)
return
if msg_type == 'fc_network_log':
self._record_fcnetwork_log(drone_id, data)
return
if msg_type == 'connection_type':
conn_type = data.get('type', 'Unknown')
parts = drone_id.split('_')
src/fc_interfaces/CMakeLists.txt
+1
View File
@@ -15,6 +15,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
"msg/AttitudeRaw.msg"
"msg/GnssRaw.msg"
"msg/SystemDiagnosticsRaw.msg"
"msg/FcNetworkLog.msg"
"msg/ServiceAckResult.msg"
"srv/MavPing.srv"
"srv/MavCommandLong.srv"
src/fc_interfaces/msg/FcNetworkLog.msg
+12
View File
@@ -0,0 +1,12 @@
uint8 DEBUG=10
uint8 INFO=20
uint8 WARN=30
uint8 ERROR=40
uint8 FATAL=50
builtin_interfaces/Time stamp
uint8 level
string source
string event_code
int32 sysid
string message
src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py
+73 -4
View File
@@ -1,6 +1,6 @@
"""
MAVLink ROS2 Nodes
主要包含三個獨立的 ROS2 Node :
主要包含四個獨立的 ROS2 Node :
1. VehicleStatusPublisher - 發布載具狀態到 ROS2 topics
從 vehicle_registry 讀取狀態數據，頻率控制，模組化設計
2. MavlinkCommandService - 提供 MAVLink 指令 service 介面
@@ -8,6 +8,7 @@ MAVLink ROS2 Nodes
並不會包含額外的功能
3. RtcmRelay - 訂閱 RTCM topic 並轉發為 MAVLink GPS_RTCM_DATA 給所有載具
過期丟棄、去重、節流、分片
4. FcNetworkLogPublisher - 將 FC Network logging queue 發布到 /fc_network/logs
與一個節點管理器
- fc_ros_manager
@@ -18,6 +19,7 @@ import os
import time
import math
import hashlib
import queue
import threading
from typing import Dict, Optional
@@ -42,7 +44,7 @@ from fc_interfaces.msg import ServiceAckResult
# 自定義 imports
from . import mavlinkVehicleView as mvv
from . import mavlinkObject as mo
from .utils import setup_logger
from .utils import get_ros_log_queue, setup_logger
logger = setup_logger(os.path.basename(__file__))
MODULE_VER = "2.50"
@@ -1179,6 +1181,58 @@ class RtcmRelay(Node):
# logger.info("RtcmRelay stopped")
# ============================================================================
# FC Network Log Publisher Node
# ============================================================================
class FcNetworkLogPublisher(Node):
"""從 Python logging queue 發布結構化 /fc_network/logs 訊息。"""
def __init__(self):
super().__init__('fc_network_log_publisher')
qos = QoSProfile(
history=HistoryPolicy.KEEP_LAST,
depth=200,
reliability=ReliabilityPolicy.RELIABLE,
durability=DurabilityPolicy.VOLATILE,
)
self.publisher = self.create_publisher(
fcmsg.FcNetworkLog, '/fc_network/logs', qos)
self.log_queue = get_ros_log_queue()
self.running = True
self.timer = self.create_timer(0.05, self._drain_queue)
def _drain_queue(self):
if not self.running:
return
for _ in range(100):
try:
item = self.log_queue.get_nowait()
except queue.Empty:
break
created = max(0.0, float(item.get('created', 0.0)))
seconds = int(created)
nanoseconds = int((created - seconds) * 1_000_000_000)
msg = fcmsg.FcNetworkLog()
msg.stamp.sec = seconds
msg.stamp.nanosec = min(max(nanoseconds, 0), 999_999_999)
msg.level = min(max(int(item.get('level', 20)), 0), 255)
msg.source = str(item.get('source', 'fc_network'))
msg.event_code = str(item.get('event_code', ''))
msg.sysid = min(
max(int(item.get('sysid', -1)), -2_147_483_648),
2_147_483_647
)
msg.message = str(item.get('message', ''))
self.publisher.publish(msg)
def stop(self):
self.running = False
# ============================================================================
# ROS2 節點管理器
# ============================================================================
@@ -1192,10 +1246,11 @@ class fc_ros_manager:
stop 是停下止 ROS2 nodes 的運行，但不銷毀節點實例，允許後續再次 start。
shutdown 是完全關閉 ROS2 並銷毀節點實例。
管理三個獨立的 ROS2 Node :
管理四個獨立的 ROS2 Node :
- VehicleStatusPublisher
- MavlinkCommandService
- RtcmRelay
- FcNetworkLogPublisher
提供統一的啟動/停止介面給 mainOrchestrator
@@ -1215,6 +1270,7 @@ class fc_ros_manager:
self.status_publisher: Optional[VehicleStatusPublisher] = None
self.command_service: Optional[MavlinkCommandService] = None
self.rtcm_relay: Optional[RtcmRelay] = None
self.log_publisher: Optional[FcNetworkLogPublisher] = None
# Executor & Thread
self.spin_thread: Optional[threading.Thread] = None
@@ -1235,12 +1291,19 @@ class fc_ros_manager:
self.status_publisher = VehicleStatusPublisher()
self.command_service = MavlinkCommandService()
self.rtcm_relay = RtcmRelay()
if hasattr(fcmsg, 'FcNetworkLog'):
self.log_publisher = FcNetworkLogPublisher()
else:
logger.warning(
"FcNetworkLog interface unavailable; /fc_network/logs disabled")
# 創建執行者 MultiThreadedExecutor 並把 node 加入其中
self.executor = MultiThreadedExecutor()
self.executor.add_node(self.status_publisher)
self.executor.add_node(self.command_service)
self.executor.add_node(self.rtcm_relay)
if self.log_publisher:
self.executor.add_node(self.log_publisher)
self.initialized = True
# logger.info("fc_ros_manager initialized")
@@ -1266,6 +1329,8 @@ class fc_ros_manager:
self.status_publisher.running = True
self.command_service.running = True
self.rtcm_relay.running = True
if self.log_publisher:
self.log_publisher.running = True
self.spin_thread = threading.Thread(
target=self._spin_executor,
@@ -1391,6 +1456,8 @@ class fc_ros_manager:
self.command_service.stop()
if self.rtcm_relay:
self.rtcm_relay.stop()
if self.log_publisher:
self.log_publisher.stop()
# 等待 spin 執行緒結束
if self.spin_thread and self.spin_thread.is_alive():
@@ -1417,6 +1484,8 @@ class fc_ros_manager:
self.command_service.destroy_node()
if self.rtcm_relay:
self.rtcm_relay.destroy_node()
if self.log_publisher:
self.log_publisher.destroy_node()
# 關閉 ROS2
if rclpy.ok():
@@ -1435,6 +1504,7 @@ class fc_ros_manager:
'status_publisher_active': self.status_publisher is not None and self.status_publisher.running,
'command_service_active': self.command_service is not None,
'rtcm_relay_active': self.rtcm_relay is not None and self.rtcm_relay.running,
'log_publisher_active': self.log_publisher is not None and self.log_publisher.running,
}
@@ -1489,4 +1559,3 @@ TODO
1. service 部分會需要跟 mavlinkobject 大量互動 也許需要考慮對方的生命週期
'''
src/fc_network_adapter/fc_network_adapter/utils/__init__.py
+2 -2
View File
@@ -2,6 +2,6 @@
共用工具模組
"""
from .ringBuffer import RingBuffer
from .theLogger import setup_logger
from .theLogger import get_ros_log_queue, setup_logger
__all__ = ['RingBuffer', 'setup_logger']
__all__ = ['RingBuffer', 'get_ros_log_queue', 'setup_logger']
src/fc_network_adapter/fc_network_adapter/utils/theLogger.py
+42
View File
@@ -1,9 +1,47 @@
import logging
import os
import queue
from logging.handlers import TimedRotatingFileHandler
# 全域 Logger 實例
_global_logger = None
_ros_log_queue = queue.Queue(maxsize=2000)
class RosTopicQueueHandler(logging.Handler):
"""將 FC Network log record 非阻塞地排入 ROS publisher 佇列。"""
def emit(self, record: logging.LogRecord) -> None:
try:
sysid = int(getattr(record, 'sysid', -1))
except (TypeError, ValueError):
sysid = -1
item = {
'created': float(record.created),
'level': int(record.levelno),
'source': str(record.name),
'event_code': str(getattr(record, 'event_code', '')),
'sysid': sysid,
'message': record.getMessage(),
}
try:
_ros_log_queue.put_nowait(item)
except queue.Full:
# GUI 不應反過來拖慢通訊；滿載時淘汰最舊一筆。
try:
_ros_log_queue.get_nowait()
except queue.Empty:
return
try:
_ros_log_queue.put_nowait(item)
except queue.Full:
pass
def get_ros_log_queue():
"""供 ROS publisher node 取得共用、thread-safe 的紀錄佇列。"""
return _ros_log_queue
def setup_logger(name: str, log_dir: str = "logs", level=logging.DEBUG) -> logging.Logger:
global _global_logger
@@ -37,6 +75,10 @@ def setup_logger(name: str, log_dir: str = "logs", level=logging.DEBUG) -> loggi
console_handler.setFormatter(formatter)
_global_logger.addHandler(console_handler)
ros_queue_handler = RosTopicQueueHandler()
ros_queue_handler.setLevel(logging.INFO)
_global_logger.addHandler(ros_queue_handler)
# 為每個模組建立子 Logger，並設定名稱
module_logger = _global_logger.getChild(name)
module_logger.name = name # 修改子 Logger 的名稱，僅保留子 Logger 名稱