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@ -194,7 +194,7 @@ class ControlPanel:
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port_menu = MenuNode(f"{port}", children=[
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MenuNode("Set Comm Type", "設定通訊形態", "SET_SERIAL_COMM", children=[
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MenuNode("XBee(API-AT)", "XBee 模式", "SET_SERIAL_COMM_XBEE"),
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MenuNode("Xbee(AT-AT)", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
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# MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
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]),
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MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"),
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MenuNode("Create", "建立此串口", "CREATE_SERIAL_PORT"),
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@ -323,7 +323,7 @@ class ControlPanel:
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def menu_tree(self):
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"""建立多層選單結構"""
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return MenuNode("Main Menu", children=[
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MenuNode("MavLink Object", "控制 MavLink 物件", children=[
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MenuNode("MavLink Object", "MavLink 通道選項", children=[
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MenuNode("New+", children=[
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MenuNode("UDP InBound", children=[
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MenuNode("IP(Listen)", "設定監聽的 IP 位址", "TEXT_UDP_IP"),
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@ -335,10 +335,13 @@ class ControlPanel:
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MenuNode("Port(Target)", "設定目標的 Port", "TEXT_UDP_PORT"),
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MenuNode("Create", "建立 UDP OutBound 連結口", "CREATE_UDP_OUTBOUND"),
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]),
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MenuNode("Serial InBound", action = "LIST_SERIAL_RES"),
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]),
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MenuNode("ListAll", "顯示並管理所有連結口", "LIST_MAV_OBJECT"),
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]),
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MenuNode("Serial Manager", "Serial 連接埠選項", children=[
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MenuNode("New+", "新增 Serial 連接埠", action = "LIST_SERIAL_RES"),
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MenuNode("ListAll", "顯示已連線的 Serial", action = "LIST_SERIAL_LINKS"),
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]),
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MenuNode("Engineer Mode", "工程模式", children=[
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MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"),
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MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"),
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@ -410,10 +413,6 @@ class ControlPanel:
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stdscr.addstr(4, 2, f"Socket Object number : {len(state.socket_object_list)}")
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stdscr.addstr(2, 36, f"Serial Manager State : {state.serial_manager_state}")
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# stdscr.addstr(2, 25, f"{state.mavlink_bridge_state}")
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# stdscr.addstr(3, 25, f"{state.object_manager_state}")
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# stdscr.addstr(4, 25, f"{len(state.socket_object_list)} ")
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# 顯示當前選單項目
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start_line = 6
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for i, child in enumerate(current_menu.children):
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@ -611,29 +610,6 @@ class ControlPanel:
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menu_stack.append(created_list_menu)
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idx_stack.append(0)
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# elif selected.action == "PREV_PAGE":
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# # 上一頁
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# if hasattr(selected, 'page'):
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# menu_stack.pop()
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# idx_stack.pop()
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# if menu_stack[-1].name == "Serial Port List":
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# created_list_menu = self.create_serial_port_menu(state, page=selected.page)
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# elif menu_stack[-1].name == "Object List":
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# created_list_menu = self.create_object_list_menu(state, page=selected.page)
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# menu_stack.append(created_list_menu)
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# idx_stack.append(0)
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# elif selected.action == "NEXT_PAGE":
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# # 下一頁
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# if hasattr(selected, 'page'):
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# menu_stack.pop()
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# idx_stack.pop()
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# if menu_stack[-1].name == "Serial Port List":
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# created_list_menu = self.create_serial_port_menu(state, page=selected.page)
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# elif menu_stack[-1].name == "Object List":
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# created_list_menu = self.create_object_list_menu(state, page=selected.page)
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# menu_stack.append(created_list_menu)
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# idx_stack.append(0)
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elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
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if hasattr(selected, 'page'):
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current_list_menu = menu_stack[-1]
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@ -932,8 +908,8 @@ class Orchestrator:
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# 定義通訊類型映射表
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COMM_TYPE_MAP = {
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"XBee(API-AT)": sm.CommunicationType.XBee_API_AT,
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# "XBee(AT-AT)": sm.CommunicationType.XBee_AT_AT, # TODO: 之後再弄
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"XBee(API-AT)": sm.SerialReceiverType.XBEEAPI2AT,
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# "XBee(AT-AT)": sm.SerialReceiverType.TELEMETRY, # TODO: 之後再弄
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# 新增區
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}
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@ -953,11 +929,11 @@ class Orchestrator:
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)
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return
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ret = self.plumber.create_serial_port(
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port=self.panelState.serial_info_temp['Port'],
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ret = self.plumber.create_serial_link(
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serial_port=self.panelState.serial_info_temp['Port'],
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baudrate=self.panelState.serial_info_temp['Baud'],
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target_port=udp_port_tmp,
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communication_type=comm_type_tmp,
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receiver_type=comm_type_tmp,
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)
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if not ret:
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