chiyu1468/AirTrapMine
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Author SHA1 Message Date
chiyu1468 7e56d5b190 tmpCommit1 2026-08-10 16:07:38 +08:00
chiyu1468 6aa37ed7eb tmp commit 2026-08-10 14:09:23 +08:00
chiyu1468 99e42dd996 tmpConnit 2026-08-09 15:38:52 +08:00
chiyu1468 de8b153f92 tmpCommit 2026-08-04 11:01:23 +08:00
chiyu1468 a68d937872 tmpCommit 2026-07-28 14:23:12 +08:00
chiyu1468 9707be2252 tempCommit 2026-07-27 15:30:59 +08:00
chiyu1468 1e07d1fa54 TempCommit 2026-07-20 14:27:42 +08:00
chiyu1468 2542663e9e tmp commit 2026-07-11 22:41:07 +08:00
chiyu1468 82d5e90460 wtf? 2026-07-01 11:39:28 +08:00
chiyu1468 8adb9c6bf3 comflict 2026-07-01 11:37:13 +08:00
chiyu1468 22ccd6f15e tempCommit 2026-07-01 11:16:59 +08:00
chiyu1468 fd949fca47 (modify) serialManager.py 
- 修正 POLL-DONE 程序的 timeout 判定方式
- 修正為 py3.8 語法
- 不在判定要求量跟實收量一致性
 2026-06-29 15:53:03 +08:00
chiyu1468 d734a7bfee 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
 2026-06-22 15:44:09 +08:00
chiyu1468 4c3fe226d6 Update serialManager.py to support XBEE new mode (combine ESP32 function) 
- Introduce XBeeFrameProcessor_ESPv1 class for handling send and process special MAGIC header for esp32
- Refactored request_discovery and request_poll methods for thread-safe operation.
 2026-06-19 04:53:22 +08:00
chiyu1468 ab616ceb54 add vehicleDiagShow.py for vehicle diagnostics 
- Introduced vehicleDiagShow.py, 這個簡易的終端機介面 顯示載具的自檢驗與狀態
 2026-06-11 09:09:42 +08:00
chiyu1468 bc841156cb Merge branch 'chiyu' 2026-06-11 07:58:03 +08:00
chiyu1468 324fced754 Enhance mavlink handling and add status text support 
- Added handling for SYS_STATUS and STATUSTEXT messages in mainOrchestrator.py and mavlinkObject.py.
- Introduced a new StatusTextEntry data class in mavlinkVehicleView.py to manage status text messages.
- Updated topic management in mavlinkROS2Nodes.py to include new status text functionality.
 2026-06-11 07:50:50 +08:00
chiyu1468 0a84bb68fe Add SystemDiagnostics message and integrate into network adapter 
- Added SystemDiagnosticsRaw.msg to define system diagnostics data structure.
- Enhanced mainOrchestrator.py and mavlinkObject.py to handle SYS_STATUS messages and publish system diagnostics.
- Introduced a new method in VehicleStatusPublisher to publish system diagnostics data.
- Updated mavlinkVehicleView.py to include SystemDiagnostics data class.
 2026-06-11 02:50:33 +08:00
chiyu1468 cc9d005392 (update) ntrip_client.py 
Introduced threading locks and stop event for safer socket management. Updated the receive loop to handle connection interruptions.
 2026-06-09 14:06:44 +08:00
chiyu1468 2c7f2afc45 (Add) ntrip_client.py GGA sentence generation and sending 2026-06-08 23:09:14 +08:00
chiyu1468 0ee7dd1fcf (hot_fix) 
1. 把測試用參數關閉
2. 修正錯誤回傳值
3. 臨時加入 node 失效後 自動重啟功能
 2026-06-01 21:09:49 +08:00
chiyu1468 61e283cd25 node重啟功能 與 定義檔優化 
---
(Adding)
1. mavlinkROS2Nodes.py 各別 node 重啟的功能
2.  mainRochestrator.py 開發對應介面
(modify)
 1. 定義檔優化 移除 ackEnum.py 新增 ServiceAckResult.msg
 2026-05-30 15:15:25 +08:00
chiyu1468 5c14c45823 # RTK function update 
---
1. mavlinkROS2Node 新增 RtcmRelay Node 監聽 RTCM topic 並轉發到 mavlinkObject bus (GPS_RTCM_DATA)
2. 新增 fc_network_module ros2 package 作為協同附屬模組的放置空間
3. Create a new fc_network_module with NtripClientNode for connecting to NTRIP casters and publishing RTCM data to ROS2 topics.
4. (modify) mainOrchestrator adjust the publishing rates for GNSS topics
 2026-05-13 18:14:47 +08:00
chiyu1468 c8f070bfb9 1. (modify) 更新 ros2 對於 GNSS topic 的發佈, 使其包涵 epv eph 衛星數與 fix_type 
2. (adding) 新增相應的 msg 檔案與修改 CMakeLists, package
3. (adding) test_vehicleStatusPublisher 相對應修正
 2026-05-13 18:14:47 +08:00
chiyu1468 7f8babfa5e (update) 
1. mavlinkROS2Nodes.py 更新姿態發佈的 topic
2. 新增 interface AttitudeRaw 與對應的 package.xml & CMakeList
 2026-04-29 11:37:06 +08:00
chiyu1468 38d8d23514 Merge branch 'chiyu' 2026-04-28 15:45:56 +08:00
chiyu1468 cc00427848 # (update) 
1. serialManager.py - AT command 支援與架構重整
2. mainOrchestrator.py - serial 介面功能開啟
 2026-04-28 15:41:50 +08:00
chiyu1468 7b7e02a9e7 (update) serialManager: 增加 AT 指令處理功能與串口寫入支持，更新版本號至 0.80 2026-04-27 15:12:38 +08:00
chiyu1468 06463d71bc (modify) serialManager 架構調整 詳見改版記錄 2026-04-20 18:02:50 +08:00
chiyu1468 7ce094d211 (temp) 整理檔案與註解 2026-04-20 15:02:47 +08:00
chiyu1468 b0f1bd56f5 Merge branch 'master' of http://140.120.108.238:49308/chiyu1468/AirTrapMine 
主專案整合
 2026-04-14 11:11:42 +08:00
chiyu1468 2990de2f3f 1. (update) mavlinkROS2Nodes 新增 local_position 資訊 2026-04-14 11:00:54 +08:00
chiyu1468 cf213fc556 1. (adding) mainOrchestrator 增加版本先驗程序 
2. (adding) mavlinkVehicleView 增加 read_all 快速讀取
3. (modify) 優化 longCommand 與 navigation 使其更好引用
4. (adding) 提供一個完整的 example_wholeMoving 作為範例
4. (remove) 移除 fc_network_app 重複功能
5. (modify) 修改 overview_table 部分顯示文字
 2026-04-13 21:34:42 +08:00
chiyu1468 017dd4923d 更新說明檔 fc_network_adapter 2026-04-09 17:58:56 +08:00
chiyu1468 c4f178bb75 Merge branch 'chiyu' 
1. 初步完善 ros2 service 功能 包含解鎖起飛降落與 goto
2. 為了整合到 GUI 去使用
 2026-04-07 12:35:12 +08:00
chiyu1468 eb2f0af58e (tested) 
1. 新增 ros2 接收 SET_POSITION_TARGET_LOCAL_NED 功能, 因應新增 MavPositionTargetGlobalInt.srv 的介面定義檔, 並相應新增使用者的外層包裝 navigation.py
2. 改善 ros2 service 的 response ack 數值對應, 新增 ackEnum.py
3. 改善 longCommand.py 內的呼叫層次, 把 longCommand 相關整合到同樣的 class 下, 僅以 def function 區分內部套用那種 MAV_CMD
4. 新增 example_position_goto.py, example_takeoff_land.py 作為使用範例 ( land.py arm_disarm.py ... 這些下個版本會被刪除)
5. 剩下就是一些註解的修正與更新
 2026-04-07 12:28:11 +08:00
chiyu1468 44d53f51fb (tested) 1. 增加各種 command long 的功能與使用範例 2. 刪除無用的 mavlinkPublish.py 3. 2026-03-31 15:54:07 +08:00
chiyu1468 e4585134cc (tested) 將 commandLong 的 ros2 service 包裝為一個函式庫 changeMode 並附上一個臨時範例 2026-03-27 16:00:45 +08:00
chiyu1468 60d6eba8cd (tested) 完成 ros2 service 結構與 timesync command_long 協議 2026-03-27 08:11:51 +08:00
chiyu1468 5374e2b9d9 timesync 初步做好 2026-03-26 17:19:38 +08:00
chiyu1468 1d49ca12e9 (temp) 暫存 2026-02-12 15:45:08 +08:00
chiyu1468 3d48b1d9fe (fix) 1. 把 bridge 的種類補上可以跟 ros2 搭配 
2. 一些 ros2 service 的基底 仍在開發
 2026-01-29 14:23:36 +08:00
chiyu1468 bbd120d25a (Tested) 將ROS2 Topic 納入 mainOrchestrator 系統 2026-01-26 13:16:21 +08:00
chiyu1468 e0165c9aab (add) 1. 增加 ros2 topic publish 2026-01-21 17:00:58 +08:00
chiyu1468 fa0a2d0831 (Tested) 
新增刪除載具功能
代碼優化
詳見改版記錄
 2026-01-16 12:58:23 +08:00
chiyu1468 c12959d964 (Sort Out) 1. 新增 fc_network_adapter.md 
整理並記錄專案結構
程式功能無改動 修正排版與命名
 2026-01-08 13:00:00 +08:00
chiyu1468 f8f5ff5a15 Tested 
(modify) 1. 新增已連線載具的基礎資訊功能
 2025-12-29 12:58:38 +08:00
chiyu1468 e00880c6de 1. (modify) acquireSerial.py 撈取多個端口字串功能 
2. (modify) 調整面板的顯示字串
3. (remove) serial_udp_bitrans.py 用不到了
 2025-12-26 12:17:00 +08:00
chiyu1468 62356cc056 (Tested) fix mainOrchestrator.py 
完善 serial 支援
 2025-12-23 14:45:19 +08:00
chiyu1468 5134fa8466 commit to merge 
serial port 功能已驗證
 2025-12-19 10:04:26 +08:00
chiyu1468 f31cc8742a (Tested) 1. mainOrchestrator.py 修正呼叫錯誤 2025-12-18 12:09:54 +08:00
chiyu1468 a8aefe7853 1. serialManager 功能完成 
2. mainOrchestrator 把serial端口整合到介面中了
3. 新增獲取系統 serial 資源的 util 工具
 2025-12-17 16:08:54 +08:00
chiyu1468 bcccdec927 modify: mainOrchestrator.py 改善顯示介面 
add: serialManager.py 添加Serial 連結功能 (未完成)
 2025-12-11 13:22:38 +08:00
chiyu1468 0ce78b964a before merge change nothing 2025-12-01 21:24:56 +08:00
chiyu1468 d2e90a93c9 Fix geographic_info branch to ros2 2025-12-01 21:15:57 +08:00
chiyu1468 7158e9548a Add external package 
geographic_info and angles and mavros_msgs
 2025-12-01 18:14:42 +08:00
chiyu1468 6a71e4530f 1. 大量添增終端機介面功能 
2. 優化 mavlink_object 與 manager 的流程
 2025-12-01 14:53:55 +08:00
chiyu1468 7af138b02a 1. 調整檔案結構 變動 import 的路徑與方法 
2. 新增 mainOrchestrator.py 作為接下來開發介面化統合工具的主要檔案
 2025-11-12 20:26:49 +08:00
chiyu1468 2c4fc4583e Hotfix : mavlink_object 內 process_data 的 try 迴圈刪減 
(try 嚴重影響效能)
 2025-06-09 18:34:13 +08:00
chiyu1468 6fab72ac97 重大更新 : 
1. 修正不同 socket 轉傳間效能低落問題
於 mavlinkObject.py
重構 mavlink_object
增加 async_io_manager
(版本目標功能調整 寫於程式碼註解中)
2. 調整各個程式碼的檔案位置 讓測試用程式與專案程式分離
 2025-06-09 17:27:31 +08:00
chiyu1468 7f7753d0b4 1. (中繼的存檔) 準備對 mavlinkObject.py 的 mavlink_object 重構 
2. 新增 ringBuffer.py 作為 queue 取代
3. 新增 tests 資料夾分離程式與測試檔案
4. asyncioManager.py 是參考用的範例
 2025-06-03 02:04:51 +08:00
chiyu1468 417d9e8f57 1. 新增 serial_udp_bitrans.py 該程式連結 serial 的封包 經過轉換後 再向 udp 口丟出 (反之亦然) 
2. 其餘檔案只是 名稱與註解修正
 2025-05-26 22:43:57 +08:00
chiyu1468 5769f9ab3b XMerge branch 'lunu' into chiyu 2025-05-19 15:33:08 +08:00
chiyu1468 a25372979b 整合後項目修正 
1. mavlinkObject.py 統合 msg_id 參數名稱
2. mavlinkDevice.py 移除在預期操作下 仍會大量跳錯誤訊息的警示
3. devRun.py 重新驗證 merge 項目與版本調整
 2025-05-17 16:33:33 +08:00
chiyu1468 4d82b92a11 Merge branch 'ken' into chiyu 2025-05-16 23:28:21 +08:00
chiyu1468 f9080a5015 1. 修改 mavlinkObject.py 無法順利識別多台 vehicle 的重大bug 
2. 重新編寫 devRun.py 讓其更好閱讀
 2025-05-16 22:37:40 +08:00
chiyu1468 84119b788e 測試功能整理 有bug修正中 
講解程式先 commit 一版
 2025-05-14 09:51:54 +08:00
chiyu1468 f79aaf86fa 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
chiyu1468 0af71f8c8e 1. 重要參數命名變更 
2. mavlink_object 建構式變更
3. 把開發代碼獨立到額外檔案 devRun.py
 2025-04-18 15:09:24 +08:00
chiyu1468 5c08a961cf code 沒有動 只是調整版面 與 新增一些註解 增加可讀性 2025-04-09 11:25:40 +08:00
chiyu1468 bdd6cceb96 完成固定串流分析器的基礎結構並連結到 node topic 
更嚴格的模組化 分析器 & socket adapter(mavlink object) & device 之間
程式可測試進入點為 mavlinkObject.py  依開發進度提供三個測試項目
新增 logger 功能 記錄執行狀況
 2025-04-07 18:26:16 +08:00
chiyu1468 b6c730f74a MAVLink simple message receiver 接通了 再來要實裝 node topic 2025-03-30 16:19:30 +08:00
chiyu1468 d21bc6b069 Merge branch 'wenchun' 
march 11 alignment
 2025-03-11 13:40:18 +08:00
chiyu1468 c9802e3eb1 Merge branch 'lunu' 
march 11 alignment
 2025-03-11 13:39:45 +08:00
chiyu1468 4d8ffc4a95 Merge branch 'ken' 
march 11 alignment
 2025-03-11 13:30:39 +08:00
chiyu1468 ac272a6c3d Enhance mavlinkObject with multiplexing capabilities and add error handling; update README with team member assignments 2025-03-10 17:25:27 +08:00
chiyu1468 cd9d055409 temp commit for share code 2025-03-07 16:41:05 +08:00
chiyu1468 5c5cadc9da mavlink to gazebo devtest 02 2025-02-18 17:42:01 +08:00
chiyu1468 eecdab8985 dev test for some mavlink command 2025-02-10 11:41:41 +08:00
chiyu1468 b5ff857ef8 初始化專案 2025-01-21 15:35:51 +08:00