mavlink_object 架構改善新增功能轉接不同 socket 的數據流

有時候不穩定會有些小問題之後再改善另外 devRun 也更新了幾個範例 20號項可以獨立測試 node 功能 12號項展示最簡單的轉接到 GCS 功能
2025-05-07 16:19:17 +08:00
parent 0af71f8c8e
commit f79aaf86fa
3 changed files with 319 additions and 59 deletions
@@ -13,29 +13,93 @@ import mavlinkObject as mo

 # ====================== 分割線 =====================

-test_item = 3
+test_item = 12
 print('test_item : ', test_item)

 if test_item == 1:
+    # 測試 updateMultiplexingList 的輸出
+    print('===> Start of Program .Test ', test_item)
+    mavlink_object_none = mo.mavlink_object(None)
+
+    print('=====================')
+    print('正常範例')
+    mavlink_object_none.multiplexingToAnalysis = []
+    mavlink_object_none.multiplexingToReturn = []
+    # mavlink_object_none.multiplexingToSwap = [[]]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+    print('multiplexingList : ', mavlink_object_none._multiplexingList)
+
+    print('=====================')
+    print('錯誤範例 長度不一致')
+    mavlink_object_none.multiplexingToSwap = [[-1], [11,12,13], [14,15,16],]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+
+    print('=====================')
+    print('正常範例')
+    mo.swap_queues.append(queue.Queue())
+    mo.swap_queues.append(queue.Queue())
+    mavlink_object_none.multiplexingToAnalysis = [0, 1, 2, 3, 4, 5]
+    mavlink_object_none.multiplexingToReturn = [6, 7, 8, 9, 10]
+    mavlink_object_none.multiplexingToSwap = [[-1], [11,12,13], [14,15,16],]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+    print('multiplexingList : ', mavlink_object_none._multiplexingList)
+
+    print('=====================')
+    print('錯誤範例 multiplexingToAnalysis 不可以有 -1')
+    mavlink_object_none.multiplexingToAnalysis = [-1, 1, 2, 3, 4, 5]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+
+    print('End of Program')
+
+
+elif test_item == 2:
+    # 測試 updateMultiplexingList 的輸出
+    print('===> Start of Program .Test ', test_item)
+    mavlink_object_none1 = mo.mavlink_object(None)
+    mavlink_object_none2 = mo.mavlink_object(None)
+    mavlink_object_none3 = mo.mavlink_object(None)
+    del mavlink_object_none2
+
+    print(len(mo.swap_queues))
+
+    mavlink_object_none2 = mo.mavlink_object(None)
+    print(len(mo.swap_queues))
+
+    print(mavlink_object_none1._multiplexingList)
+
+    print('End of Program')
+
+
+elif test_item == 10:
    # 這邊是測試代碼 運行10秒 過程中把三個 queue 的資料印出來
    # 只啟用了 mavlink_object 的功能
-    print('Start of Program .Test 1')
+    print('===> Start of Program .Test ', test_item)
+    mavlink_object_none = mo.mavlink_object(None)
+
    connection_string="udp:127.0.0.1:14550"
    mavlink_socket = mavutil.mavlink_connection(connection_string)

    mavlink_object1 = mo.mavlink_object(mavlink_socket)
+
+    print(mavlink_object1.multiplexingToSwap)
+    print(mo.swap_queues)
    mavlink_object1.multiplexingToAnalysis = [30] # only ATTITUDE
    mavlink_object1.multiplexingToReturn = [0] # only HEARTBEAT
-    mavlink_object1.multiplexingToConvert = [[74,]] # only VFR_HUD 
+    mavlink_object1.multiplexingToSwap[0] = [74, ] # only VFR_HUD 
+    # mavlink_object1.multiplexingToSwap[0] = [-1, ] # all

-    # 做一個空的 queue list 驗證 multiplexingToConvert
-    mo.swap_queues.append(queue.Queue())
    # 啟動連線的模組
    mavlink_object1.run()

+    print(mavlink_object1._multiplexingList)
+
    # 運行幾秒並印出 queue 的資料
    start_time = time.time()
-    while time.time() - start_time < 2:
+    while time.time() - start_time < 3:
        while not mo.fixed_stream_bridge_queue.empty():
            print('fixed_stream_bridge_queue:')
            t = mo.fixed_stream_bridge_queue.get()
@@ -43,32 +107,35 @@ if test_item == 1:
        while not mo.return_packet_processor_queue.empty():
            print('return_packet_processor_queue:')
            t = mo.return_packet_processor_queue.get()
-            # print('from {} : {}'.format(t[0],t[2]))
-            print(t[2].type)
+            print('from {} : {}'.format(t[0],t[2]))
+            # print(t[2].get_msgbuf())
+            # print(t[2].type)
        
-        for q in mo.swap_queues:
+        for n in range(len(mo.swap_queues)):
+            q = mo.swap_queues[n]
            while not q.empty():
                print('swap_queues:')
                t = q.get()
-                print('from {} : {}'.format(t[0],t[2]))
+                print('{} gets : {}'.format(n,t))
+                

    # 結束程式 退出所有 thread
    mavlink_object1.running = False
    mavlink_object1.thread.join()
    mavlink_socket.close()
-    print('End of Program .Test 1')
+    print('End of Program')

-elif test_item == 2:
+
+elif test_item == 11:
    # 這邊是測試代碼 確認 analyzer 運行後對於 device object 的建立與封包統計狀況
    # 啟用 mavlink_object 與 mavlink_bridge的thread區塊 的功能
-    print('Start of Program .Test 2')
+    print('===> Start of Program .Test ', test_item)
    connection_string="udp:127.0.0.1:14550"
    mavlink_socket = mavutil.mavlink_connection(connection_string)

    mavlink_object2 = mo.mavlink_object(mavlink_socket)
    mavlink_object2.multiplexingToAnalysis = [0] # only HEARTBEAT
-    mavlink_object2.multiplexingToReturn = [] # only HEARTBEAT
-    mavlink_object2.multiplexingToConvert = [] #
+    mavlink_object2.multiplexingToReturn = []

    # 啟動 mavlink_bridge
    analyzer = mo.mavlink_bridge()
@@ -105,11 +172,137 @@ elif test_item == 2:
    analyzer = mo.mavlink_bridge() # 這邊是測試是否只有一個 instance
    analyzer.thread.join()
    mavlink_socket.close()
-    print('End of Program .Test 2')
+    print('End of Program')

-elif test_item == 3:
+elif test_item == 12:
+    # 我這邊會測試 mavlink object 作為交換器的功能
+    print('===> Start of Program .Test ', test_item)
+
+    # 初始化兩個通道
+    connection_string_in="udp:127.0.0.1:15551"
+    mavlink_socket_in = mavutil.mavlink_connection(connection_string_in)
+
+    mavlink_object_in = mo.mavlink_object(mavlink_socket_in)
+    mavlink_object_in.multiplexingToAnalysis = [0] # only HEARTBEAT
+
+    connection_string_out="udpout:127.0.0.1:14553"
+    mavlink_socket_out = mavutil.mavlink_connection(connection_string_out, source_system=17, source_component=200)
+
+    mavlink_object_out = mo.mavlink_object(mavlink_socket_out)
+    mavlink_object_out.multiplexingToAnalysis = [0]
+
+
+    # 讓兩個通道互相傳輸
+    mavlink_object_in.multiplexingToSwap[mavlink_object_out.socket_id] = [-1, ] # all
+    mavlink_object_out.multiplexingToSwap[mavlink_object_in.socket_id] = [-1, ] # all
+
+    # 做一個空的通道驗證
+    mavlink_object_none = mo.mavlink_object(None)
+    # mavlink_object_out.multiplexingToSwap[mavlink_object_none.socket_id] = [-1, ] # all
+
+    # 啟動連線的模組
+    analyzer = mo.mavlink_bridge()
+
+    # 啟動通道
+    mavlink_object_in.run()
+    mavlink_object_out.run()
+
+    start_time = time.time()
+    show_time = time.time() 
+    print("connection established!")
+
+    print(type(mavlink_socket_out))
+    print(type(mavlink_socket_out.mav))
+
+    while time.time() - start_time < 10:
+        try:
+            test = mo.swap_queues[mavlink_object_none.socket_id].get(block=False)
+            print('none object : ', test)
+        except queue.Empty:
+            pass
+
+        if (time.time() - show_time) >= 2:
+            show_time = time.time()
+            for sysid in analyzer.mavlink_systems:
+                for compid in analyzer.mavlink_systems[sysid].components:
+                    print("Sysid : {} ,目前收到的訊息數量 : {}".format(sysid, analyzer.mavlink_systems[sysid].components[compid].msg_count))
+
+
+                analyzer.mavlink_systems[sysid].resetComponentPacketCount(compid)
+            print("===================")
+
+    print('目前所有的系統 : ')
+    for sysid in analyzer.mavlink_systems:
+        print(analyzer.mavlink_systems[sysid])
+
+
+    # 結束程式 退出所有 thread
+    mavlink_object_in.stop()
+    mavlink_object_in.thread.join()
+    mavlink_object_out.stop()
+    mavlink_object_out.thread.join()
+    mavlink_socket_in.close()
+    mavlink_socket_out.close()
+
+    analyzer.stop()
+    print('End of Program')
+
+elif test_item == 20:
+    sysid = 1
+    compid = 1
+
+    # 這邊測試 node 生成 topic 的功能
+    rclpy.init() # 注意要初始化 rclpy 才能使用 node
+    # mavlink_object_none = mo.mavlink_object(None)
+
+    # 啟動 mavlink_bridge
+    analyzer = mo.mavlink_bridge()
+
+    from pymavlink.dialects.v20 import common as mavlink2
+
+    mav = mavlink2.MAVLink(None)
+    mav.srcSystem = sysid
+    mav.srcComponent = compid
+
+    # 這是一個 heartbeat 封包
+    fake_heartbeat = mavlink2.MAVLink_heartbeat_message(
+                        type=mavlink2.MAV_TYPE_QUADROTOR,
+                        autopilot=mavlink2.MAV_AUTOPILOT_ARDUPILOTMEGA,
+                        base_mode=3,
+                        custom_mode=0,
+                        system_status=0,
+                        mavlink_version=3
+    )
+    mavlink_bytes = fake_heartbeat.pack(mav)
+    fake_heartbeat_msg = mav.parse_char(mavlink_bytes)
+
+    print(analyzer.mavlink_systems)
+
+    mo.fixed_stream_bridge_queue.put((0, 0, fake_heartbeat_msg)) # socket id, timestamp, data
+    time.sleep(0.1) 
+    print(analyzer.mavlink_systems)
+
+    analyzer._init_node()
+
+    analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid]) # sysid, compid
+    print("topic created")
+    time.sleep(5)
+
+    analyzer.emit_info()
+
+    # 結束程式
+    analyzer.running = False
+    analyzer.destroy_node()
+
+    rclpy.shutdown()
+    analyzer.stop()
+    analyzer.thread.join()
+    print('End of Program')
+
+
+elif test_item == 21:
    # 這邊是測試代碼 引入 rclpy 來測試 node 的運行
-    print('Start of Program .Test 3')
+    print('===> Start of Program .Test ', test_item)
    rclpy.init() # 注意要初始化 rclpy 才能使用 node
    connection_string="udp:127.0.0.1:14550"
    mavlink_socket = mavutil.mavlink_connection(connection_string)
@@ -117,7 +310,7 @@ elif test_item == 3:
    mavlink_object3 = mo.mavlink_object(mavlink_socket)
    mavlink_object3.multiplexingToAnalysis = [0] # only HEARTBEAT
    mavlink_object3.multiplexingToReturn = [] # only HEARTBEAT
-    mavlink_object3.multiplexingToConvert = [] #
+    mavlink_object3.multiplexingToSwap = [] #

    # 啟動 mavlink_bridge
    analyzer = mo.mavlink_bridge()
@@ -163,4 +356,4 @@ elif test_item == 3:
    analyzer.thread.join()

    mavlink_socket.close()
-    print('End of Program .Test 3')
+    print('End of Program')
@@ -6,7 +6,11 @@ from theLogger import setup_logger

 logger = setup_logger("mavlinkDevice.py")

+# 用來記錄每個 system 的資訊
+# 資料格式 { sysid : mavlink_device object }
+mavlink_systems = {}

+# ====================== 分割線 =====================

 # 這個 class 是用來記錄每個 system 的資訊 每個 system 可能會有多個 component
 class mavlink_device():
@@ -23,7 +23,7 @@ from pymavlink import mavutil
 from rclpy.node import Node

 # 自定義的 import
-from mavlinkDevice import mavlink_device
+from mavlinkDevice import mavlink_device, mavlink_systems
 from mavlinkPublish import mavlink_publisher
 from theLogger import setup_logger

@@ -35,10 +35,6 @@ fixed_stream_bridge_queue = queue.Queue()
 return_packet_processor_queue = queue.Queue()
 swap_queues = [] # 這個 list 用來存放轉拋串流的 queue # 這些 queue 同時也是各自 mavlink_object 的 output buffer

-# 用來記錄每個 system 的資訊
-# 資料格式 { sysid : mavlink_device object }
-mavlink_systems = {} 
-
 # ====================== 分割線 =====================

 class mavlink_bridge(Node, mavlink_publisher):
@@ -163,31 +159,39 @@ class mavlink_object():
    分流表的控制在三個 list 分別為
        multiplexingToAnalysis : 這個 list 是用來分流到固定串流橋接器的
        multiplexingToReturn : 這個 list 是用來分流到回傳封包處理器的
-        multiplexingToConvert : 這個 list 是用來分流到轉拋串流的
+        multiplexingToSwap : 這個 list 是用來分流到轉拋串流的
    透過先更新上述三個 list 後再執行 updateMultiplexingList 可以變更分流行為
    '''
    mavlinkObjects = {} # 用來記錄所有的 mavlink_object instance 資料格式 { socket_id(序號) : mavlink_object(物件實例) }
+    socket_num = 0 # 用來記錄目前的 socket 數量
    def __new__(cls, *args, **kwargs):
        # 每創建一個實例 就將其添加到 mavlinkObjects 列表中
        # 創建時 會檢查 mavlinkObjects 列表中空缺的 socket_id 序號 
        # 若序號無中斷 則 socket_id 往後加一 若序號有中斷 則填補最小的序號
-        # socket_id 從 1 開始
+        # socket_id 從 0 開始

        instance = super().__new__(cls)
-        socket_id = 1
+        socket_id = 0
        for k in cls.mavlinkObjects.keys():
            if k == socket_id:
                socket_id += 1
            else:
                break
        instance.socket_id = socket_id
+        cls.socket_num += 1
        cls.mavlinkObjects[socket_id] = instance
        return instance

    def __init__(self, socket):
        self.mavlink_socket = socket
-        self.msg_count = {}
-        self.multiplexingList = []
+        # 這邊變數是執行的時候被使用的 不要直接寫入它
+        self._multiplexingList = []
+        # 存放要發送的訊息的 queue 或稱 buffer
+        self.output_buffer = queue.Queue()
+        if self.socket_id >= len(swap_queues):
+            swap_queues.append(self.output_buffer)
+        else:
+            swap_queues[self.socket_id] = self.output_buffer

        # 關聯到全域變數
        global mavlink_systems
@@ -195,27 +199,57 @@ class mavlink_object():

        # 這三個 list 用來分配不同的訊息到不同的 queue
        self.multiplexingToAnalysis = [
-            0, # HEARTBEAT
-            24, # GPS_RAW_INT
-            30, # ATTITUDE
-            33, # GLOBAL_POSITION_INT
-            74, # VFR_HUD
-            147, # BATTERY_STATUS
-        ]
-        self.multiplexingToReturn = [
-            0, # HEARTBEAT
+            0, # HEARTBEAT # 挺必要的項目
+        #     24, # GPS_RAW_INT
        #     30, # ATTITUDE
+        #     33, # GLOBAL_POSITION_INT
+        #     74, # VFR_HUD
+        #     147, # BATTERY_STATUS
        ]
-        self.multiplexingToConvert = [
+        self.multiplexingToReturn = []
+        self.multiplexingToSwap = [
+            [] for _ in range(len(swap_queues))
        ]
+
+        # 刷新其他 mavlink_object 的 multiplexingToSwap
+        for k, object in self.mavlinkObjects.items():
+            if (k != self.socket_id) and (len(object.multiplexingToSwap) <= self.socket_id):
+                object.multiplexingToSwap.append([])
+                object.updateMultiplexingList()
+
        logger.info('mavlink_object instance {} created'.format(self.socket_id))

    def __del__(self):
+        # 停下自己的 thread
+        if self.mavlink_socket != None:
            self.mavlink_socket.close()
            self.stop()
+
+        # 移除其他 mavlink_object 的 multiplexingToSwap
+        for k, object in self.mavlinkObjects.items():
+            if (k != self.socket_id) and (len(object.multiplexingToSwap) > self.socket_id):
+                object.multiplexingToSwap[self.socket_id] = []
+                object.updateMultiplexingList()
+
+        # 移除自己的 swap_queues
+        swap_queues[self.socket_id] = None
+
+        # 處理 class 的 instance 記錄
+        self.socket_num -= 1
        self.mavlinkObjects.pop(self.socket_id) # 刪除這個 instance

+        # logger 模組在這邊會一直掛掉 找不到問題 先用 print 代替
+        print('mavlink_object instance {} deleted'.format(self.socket_id)) # debug 
+        # logger.info('mavlink_object instance {} deleted'.format(self.socket_id))
+        # try:
+        #     logger.info('mavlink_object instance {} deleted'.format(self.socket_id))
+        # except Exception as e:
+        #     print(f"Error logging in __del__: {e}")
+        # if 'logger' in globals() and logger:
+        #     logger.info('mavlink_object instance {} deleted'.format(self.socket_id))
+
    def run(self):
+        # TODO 檢查 socket 是否有連線
        self.thread = threading.Thread(target=self._run_thread)
        self.running = self.updateMultiplexingList()
        self.thread.start()
@@ -247,15 +281,13 @@ class mavlink_object():
                    # mavlinkMsg.get_type() # mavlinkMsg.get_msgId() # 前者是字串 後者是 int 都是代表 mavlink 類型
                    mavlink_systems[sysid].updateComponentPacketCount(compid, mavlinkMsg.get_seq(), mavlinkMsg.get_msgId(), timestamp)

-                # print(type(mavlinkMsg.pack)) # debug
-                # print("mark A")
-                # # print(dir(mavlinkMsg)) # debug
-                # print(mavlinkMsg.pack()) # debug
-                # break # Debug
+                # break # Debug function can put here you can see the input data from mavlink

                # 將訊息依照 multiplexing list 分發到不同的 queue
-                for i in range(len(self.multiplexingList)):
-                    if mavlinkMsg.get_msgId() in self.multiplexingList[i]:
+                for i in range(len(self._multiplexingList)):
+                    if (self._multiplexingList[i] == []):
+                        continue
+                    elif (mavlinkMsg.get_msgId() in self._multiplexingList[i]) or (self._multiplexingList[i][0] == -1):
                        if i == 0:
                            fixed_stream_bridge_queue.put((self.socket_id,timestamp,mavlinkMsg))
                        elif i == 1:
@@ -266,6 +298,20 @@ class mavlink_object():
                            _queue.put(mavlinkMsg)

            # 處理要送出的封包
+            # 如果 有資料在 output_buffer 中則將其取出並發送
+            # 沒有就略過發送
+
+            try:
+                mavlinkMsg_send = self.output_buffer.get(block=False)
+            except queue.Empty:
+                mavlinkMsg_send = None
+            # except Exception as e:
+            #     logger.error(f"Error getting data from output_buffer: {e}")
+            #     mavlinkMsg_send = None
+
+            if mavlinkMsg_send:
+                # self.mavlink_socket.mav.send(mavlinkMsg_send)
+                self.mavlink_socket.write(mavlinkMsg_send.get_msgbuf()) # 這邊會將封包寫入 socket 中

        # thread 結束
        logger.info('End of mavlink_object._run_thread id : {}'.format(self.socket_id))
@@ -274,20 +320,37 @@ class mavlink_object():
        '''
        更新 multiplexing list 並做簡單的檢查
        '''
+        # 檢查 multiplexingToAnalysis 與 multiplexingToReturn 是否有 -1 值
+        check = (-1 in self.multiplexingToAnalysis) or (-1 in self.multiplexingToReturn)
+        if check:
+            logger.error('MultiplexingToAnalysis or MultiplexingToReturn NOT all type spilt. socket id : {}'.format(self.socket_id))
+            return False

-        # 更新 multiplexing list 
-        self.multiplexingList = [self.multiplexingToAnalysis, self.multiplexingToReturn] + self.multiplexingToConvert
+        # 檢查 multiplexingToSwap 與 swap_queues 的長度是否一致 而且 swap_queues 的長度不能為 0
+        check = len(self.multiplexingToSwap) != len(swap_queues) or len(swap_queues) == 0
+        if check:
+            logger.error('Multiplexing Queue not fit List , Please check the list. socket id : {}'.format(self.socket_id))
+            return False

-        # 檢查 multiplexing list 格式是否有錯誤
-        check = all(isinstance(i, list) and all(isinstance(j, int) for j in i) for i in self.multiplexingList)
+        # 對應到自己的 multiplexingToSwap 必需為空  避免對自己迴圈轉拋
+        try:
+            self.multiplexingToSwap[self.socket_id] = []
+        except IndexError:
+            logger.error('Multiplexing List of self socket id should be void. socket id : {}'.format(self.socket_id))
+            return False 
+
+        # 組合 multiplexing list
+        multiL_tmp = [self.multiplexingToAnalysis, self.multiplexingToReturn] + self.multiplexingToSwap
+
+        # 檢查 multiplexing list 格式是否有錯誤 # 全部都要是 list 每個 list 裡面都要是 int
+        check = all(isinstance(i, list) and all(isinstance(j, int) for j in i) for i in multiL_tmp)
        if not check:
-            logger.error('Multiplexing List Format Error, Please check the list')
+            logger.error('Multiplexing List Format Error, Please check the list. socket id : {}'.format(self.socket_id))
            return False # 若有錯誤則回傳 False

-        check = len(self.multiplexingToConvert) != len(swap_queues)
-        if check:
-            logger.error('Multiplexing Queue not fit List , Please check the list')
-            return False
+        # 更新 multiplexing list 
+        self._multiplexingList = multiL_tmp
+
        return True

 # ====================== 分割線 =====================