commit to merge

serial port 功能已驗證

README.md

@@ -14,6 +14,7 @@ Python
 2. conda-forge 中的 pyserial-asyncio
 3. importlib_metadata -> Version: 8.5.0
 4. setuptools -> Version: 58.2.0 (版本太新不行)
+5. pyserial-asyncio
 
 
 ROS2

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -20,7 +20,11 @@ from pymavlink import mavutil
 
 # 自定義的 import
 from . import mavlinkObject as mo
+from . import serialManager as sm
+
 from .utils import RingBuffer, setup_logger
+from .utils import acquireSerial, acquirePort
+from .utils.acquirePort import find_available_port
 
 
 
@@ -32,13 +36,17 @@ class PanelState:
         termination_start_time = None
         self.mavlink_bridge_state = "Stopped"
         self.object_manager_state = "Stopped"
-        self.socket_object_list = []
+        self.serial_manager_state = "Stopped"
+        self.socket_object_list = [] # 已有的 mavlink object 
+        self.linked_serial_dict = {} # 已連線的 serial 端口
         self.panel_info_msg_list = [] # 顯示在面板上的資訊訊息 
 
         # 這邊是儲存關於 socket object 的資料
         self.udp_info_temp = {"IP": "127.0.0.1", "Port": "", "Direction": ""} # 暫存 UDP 設定資訊
+        self.serial_info_temp = {"Port": "", "Baud": 115200, "CommunicationType": "", "Go2Middleware": True} # 暫存 Serial 設定資訊
         self.socket_info_single = {"socket_type": "", "socket_state": "", "bridge_msg_types": "", "return_msg_types": "",
-                                   "target_sockets": "", "primary_socket_id": "", "InfoReady": False} # 暫存單一 socket 的資訊
+                                   "target_sockets": "", "primary_socket_id": "", "socket_connection_string": "",
+                                   "InfoReady": False} # 暫存單一 socket 的資訊
 
     def intoSTART(self):
         self.panel_status = "Running"
@@ -121,7 +129,9 @@ class ControlPanel:
         
         return user_input
 
-    def create_object_list_menu(self, state: PanelState, page=0, items_per_page=5):
+# ================ 關於 mavlink object 的部份 =================== 
+
+    def create_object_list_menu(self, state: PanelState, page=0, items_per_page=8):
         """動態創建 mavlink_object 列表選單（支持分頁）"""
         children = []
         
@@ -139,9 +149,9 @@ class ControlPanel:
                 obj_menu = MenuNode(f"Socket #{socket_id}", f"連結口 {socket_id}", None, children=[
                     MenuNode("Info", "查看詳細資訊", "INSPECT_MAV_OBJECT"),
                     MenuNode("Make Link", "建立轉發連結", "MAVOBJ_MAKE_LINK"),
-                    MenuNode("Remove", "移除此連結口", "REMOVE_MAV_OBJECT"),
+                    MenuNode("Cancel Link", "取消轉發連結", "MAVOBJ_CANCEL_LINK"),
                     MenuNode("Add Target", "添加轉發目標(工程)", "MAVOBJ_ADD_TARGET"),
-                    MenuNode("Remove Target", "移除轉發目標(工程)", "MAVOBJ_REMOVE_TARGET"),
+                    MenuNode("Remove", "移除此連結口", "REMOVE_MAV_OBJECT"),
                     MenuNode("返回", "回到列表", "BACK"),
                 ])
                 # 將 socket_id 附加到每個子選單項目上
@@ -151,13 +161,13 @@ class ControlPanel:
 
             # 添加分頁控制
             if total_pages > 1:
-                children.append(MenuNode("---", "---", None))
+                children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
                 if page > 0:
-                    prev_node = MenuNode("◀ 上一頁", f"第 {page}/{total_pages} 頁", "PREV_PAGE")
+                    prev_node = MenuNode("◀ Prev", "上頁", "PREV_PAGE")
                     prev_node.page = page - 1
                     children.append(prev_node)
                 if page < total_pages - 1:
-                    next_node = MenuNode("下一頁 ▶", f"第 {page + 2}/{total_pages} 頁", "NEXT_PAGE")
+                    next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE")
                     next_node.page = page + 1
                     children.append(next_node)
 
@@ -183,9 +193,10 @@ class ControlPanel:
         
         # 這裡顯示基本資訊
         dialog_win.addstr(2, 2, f"Socket ID     : {socket_id}")
-        dialog_win.addstr(3, 2, f"Socket status : 運行中")
+        # dialog_win.addstr(3, 2, f"Socket status : 運行中")
         # show_str = ", ".join(map(str, state.socket_info_single.get('socket_type', '')))
         dialog_win.addstr(4, 2, f"Socket Type : {state.socket_info_single.get('socket_type', '')}")
+        dialog_win.addstr(4, 30, f"{state.socket_info_single.get('socket_connection_string', '')}")
         show_str = ",".join(map(str, state.socket_info_single.get('bridge_msg_types', '')))
         dialog_win.addstr(5, 2, f"Bridge Pack : {show_str if show_str else 'N/A'}")
         show_str = ",".join(map(str, state.socket_info_single.get('return_msg_types', '')))
@@ -263,10 +274,110 @@ class ControlPanel:
                 stdscr.refresh()
                 return None
 
+# ================ 關於 serial link 的部份 ===================
+
+    def create_serial_port_menu(self, state: PanelState, page=0, items_per_page=8):
+        """動態創建 serial port 列表選單（支持分頁）"""
+        children = []
+        
+        # 獲取可用的 Serial 連接埠列表
+        # serial_ports = acquireSerial.get_serial_ports() # debug 全部抓一抓
+        serial_ports = acquireSerial.get_serial_ports_with_filter('/dev/ttyUSB*')
+        
+        if not serial_ports:
+            children.append(MenuNode("(空)", "目前沒有串口設備", None))
+        else:
+            total_items = len(serial_ports)
+            total_pages = (total_items + items_per_page - 1) // items_per_page
+            start_idx = page * items_per_page
+            end_idx = min(start_idx + items_per_page, total_items)
+            
+            # 顯示當前頁的串口
+            for port in serial_ports[start_idx:end_idx]:
+                port_menu = MenuNode(f"{port}", children=[
+                    MenuNode("Set Comm Type", "設定通訊形態", "SET_SERIAL_COMM", children=[
+                        MenuNode("XBee(API-AT)", "XBee 模式", "SET_SERIAL_COMM_XBEE"),
+                        # MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
+                    ]),
+                    MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"),
+                    MenuNode("Create", "建立此串口", "CREATE_SERIAL_PORT"),
+                    MenuNode("返回", "回到列表", "BACK"),
+                ])
+                # 將 port 附加到每個子選單項目上
+                for child in port_menu.children:
+                    child.port = port
+                children.append(port_menu)
+            
+            # 添加分頁控制
+            if total_pages > 1:
+                children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
+                if page > 0:
+                    prev_node = MenuNode("◀ Prev", "上頁", "PREV_PAGE")
+                    prev_node.page = page - 1
+                    children.append(prev_node)
+                if page < total_pages - 1:
+                    next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE")
+                    next_node.page = page + 1
+                    children.append(next_node)
+        
+        children.append(MenuNode("返回", "回到上層選單", "BACK"))
+        menu = MenuNode("Serial Port List", f"串口列表 (第 {page + 1} 頁)", children=children)
+        menu.current_page = page
+        return menu
+
+    def create_linked_serial_menu(self, state: PanelState, page=0, items_per_page=8):
+        """動態創建 已連線的 serial port 列表選單（支持分頁）並包含後續管理功能"""
+        children = []
+        
+        if not state.linked_serial_dict:
+            children.append(MenuNode("(空)", "目前沒有連結口", None))
+        else:
+            total_items = len(state.linked_serial_dict)
+            total_pages = (total_items + items_per_page - 1) // items_per_page
+            start_idx = page * items_per_page
+            end_idx = min(start_idx + items_per_page, total_items)
+            
+            # 顯示當前頁的物件
+            linked_serial_id_list = list(state.linked_serial_dict.keys())
+            for serial_id in linked_serial_id_list[start_idx:end_idx]:
+                # 為每個 socket 創建子選單
+                obj_menu = MenuNode(f"Serial #{serial_id}", f"連結口 {serial_id}", None, children=[
+                    MenuNode("Info", "查看詳細資訊", "INSPECT_LINKED_SERIAL"),
+                    MenuNode("Remove", "移除此連結口", "REMOVE_LINKED_SERIAL"),
+                    # MenuNode("Change UDP Target", "變更目標 UDP (工程)", "CHANGE_LINKED_SERIAL_TARGET"),
+                    MenuNode("返回", "回到列表", "BACK"),
+                ])
+                # 將 serial_id 附加到每個子選單項目上
+                for child in obj_menu.children:
+                    child.serial_id = serial_id
+                children.append(obj_menu)
+            
+            # 添加分頁控制
+            if total_pages > 1:
+                children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
+                if page > 0:
+                    prev_node = MenuNode("◀ Prev", "上頁", "PREV_PAGE")
+                    prev_node.page = page - 1
+                    children.append(prev_node)
+                if page < total_pages - 1:
+                    next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE")
+                    next_node.page = page + 1
+                    children.append(next_node)
+        
+        children.append(MenuNode("返回", "回到上層選單", "BACK"))
+        menu = MenuNode("Linked Serial List", f"連結口列表 (第 {page + 1} 頁)", children=children)
+        menu.current_page = page
+        return menu
+
+    def show_linked_serial_info(self):
+        pass
+
+# ================ 關於 主要選單 的部份 ===================
+
     def menu_tree(self):
         """建立多層選單結構"""
         return MenuNode("Main Menu", children=[
-                MenuNode("MavLink Object", "控制 MavLink 物件", children=[
+                MenuNode("MavLink Object", "MavLink 通道選項", children=[
                     MenuNode("New+", children=[
                         MenuNode("UDP InBound", children=[
                             MenuNode("IP(Listen)", "設定監聽的 IP 位址", "TEXT_UDP_IP"),
@@ -281,9 +392,14 @@ class ControlPanel:
                     ]),
                     MenuNode("ListAll", "顯示並管理所有連結口", "LIST_MAV_OBJECT"),
                 ]),
+                MenuNode("Serial Manager", "Serial 連接埠選項", children=[
+                    MenuNode("New+", "新增 Serial 連接埠", action = "LIST_SERIAL_RES"),
+                    MenuNode("ListAll", "顯示已連線的 Serial", action = "LIST_SERIAL_LINKS"),
+                ]),
                 MenuNode("Engineer Mode", "工程模式", children=[
-                    MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"), #TODO: 尚未實作
+                    MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"), 
-                    MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"), #TODO: 尚未實作
+                    MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"), 
+                    MenuNode("Stop Serial M.", "停止 Serial 端口轉接", "STOP_SERIAL_MANAGER"), 
                 ]),
                 MenuNode("Shutdown", "關閉整個系統", children=[
                     MenuNode("Return", "繼續運行", "BACK"),
@@ -302,11 +418,11 @@ class ControlPanel:
                 curses.echo()
                 curses.endwin()
 
-        def panel_shutdown():
+        def pre_panel_shutdown():
             # 先關閉所有模組 再關閉面板
             cmd_q.put("SHUTDOWN_BRIDGE")
             cmd_q.put("SHUTDOWN_MANAGER")
-
+            cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
 
         def draw_menu(screen):
             nonlocal stdscr
@@ -323,9 +439,6 @@ class ControlPanel:
             state.intoSTART() # 設定狀態為運行中
             
             while not stop_evt.is_set():
-                # 檢查是否需要退出
-                if stop_evt.is_set():
-                    break
 
                 current_menu = menu_stack[-1]
                 current_idx = idx_stack[-1]
@@ -333,23 +446,26 @@ class ControlPanel:
                 # 獲取終端機尺寸
                 height, width = stdscr.getmaxyx()
                 # 簡單暴力的限制視窗的大小
-                if height < 20 or width < 60:
+                MIN_HEIGHT = (
+                    2 + # 邊界
+                    6 + # 狀態列 操作說明列 一個空白
+                    11+ # 最大選單 與 空白區
+                    5   # 訊息區域
+                    )
+                if height < MIN_HEIGHT or width < 60:
                     logger.error("Terminal size too small for Control Panel.")
                     break
                 
                 stdscr.clear()
-
                 stdscr.border()
+
+                # 更新模組狀態顯示
                 stdscr.addstr(0, 10, " MavLink MiddleWare ", curses.A_BOLD)
                 stdscr.addstr(1, 2, f"   Panel  Status     : {state.panel_status}")
-                stdscr.addstr(2, 2, f"mavlink Bridge State : {state.mavlink_bridge_state}")
+                stdscr.addstr(2, 2, f"Object Manager State : {state.object_manager_state}")
-                stdscr.addstr(3, 2, f"Object Manager State : {state.object_manager_state}")
+                stdscr.addstr(3, 2, f"Mavlink Bridge State : {state.mavlink_bridge_state}")
                 stdscr.addstr(4, 2, f"Socket Object number : {len(state.socket_object_list)}")
-
+                stdscr.addstr(2, 36, f"Serial Manager State : {state.serial_manager_state}")
-                # # 更新模組狀態顯示
-                # stdscr.addstr(2, 25, f"{state.mavlink_bridge_state}")
-                # stdscr.addstr(3, 25, f"{state.object_manager_state}")
-                # stdscr.addstr(4, 25, f"{len(state.socket_object_list)} ")
 
                 # 顯示當前選單項目
                 start_line = 6
@@ -361,6 +477,10 @@ class ControlPanel:
                         desc = f"{child.desc} [{state.udp_info_temp['IP']}]"
                     elif child.action == "TEXT_UDP_PORT" and state.udp_info_temp["Port"]:
                         desc = f"{child.desc} [{state.udp_info_temp['Port']}]"
+                    elif child.action == "SET_SERIAL_COMM" and state.serial_info_temp["CommunicationType"]:
+                        desc = f"{child.desc} [{state.serial_info_temp['CommunicationType']}]"
+                    elif child.action == "TEXT_BAUD_SERIAL" and state.serial_info_temp["Baud"]:
+                        desc = f"{child.desc} [{state.serial_info_temp['Baud']}]"
                     
                     line = f"{marker}{child.name:15s} – {desc}"
                     attr = curses.A_REVERSE if i == current_idx else curses.A_NORMAL
@@ -397,30 +517,34 @@ class ControlPanel:
                 # 操作說明
                 # help_line = start_line + len(current_menu.children) + 2
                 help_line = height - 2
-                stdscr.addstr(help_line, 2, "操作: ↑↓選擇 Enter確認 ←返回上層 →進入下層 q退出", curses.A_DIM)
+                stdscr.addstr(help_line, 2, "操作: ↑↓選擇 Enter確認 ←返回上層 →進入下層", curses.A_DIM)
 
                 stdscr.refresh()
 
                 # 若進入 TERMINATION 狀態，畫面可以刷新 但是不能操作
-                # 驗證 bridge 跟 manager 狀態 兩者都停止後 就進入 STOPPED 狀態並跳出迴圈
+                # 驗證 其他附屬模組的狀態都停止後 就進入 STOPPED 狀態並跳出迴圈
                 # 超過幾秒沒有反應就強制關閉
                 if state.panel_status == "Terminating":
-                    if time.time() - state.termination_start_time > 3:
+                    if time.time() - state.termination_start_time > 7: # 其他組件設定5秒 這邊給多一點
                         logger.warning("Control Panel forced shutdown after timeout.")
                         state.intoSTOPPED()
-                        stop_evt.set()
+                        # stop_evt.set()
-                        continue
+                        # continue
+                        break
                     time.sleep(0.1)
-                    if state.mavlink_bridge_state == "Stopped" and state.object_manager_state == "Stopped":
+                    if (state.mavlink_bridge_state == "Stopped" and 
+                        state.object_manager_state == "Stopped" and 
+                        state.serial_manager_state == "Stopped"):
                         state.intoSTOPPED()
-                        stop_evt.set()
+                        # stop_evt.set()
+                        break
                     continue
 
                 # 設定短暫的 timeout，讓執行緒能夠響應 stop_evt
-                stdscr.timeout(100)  # 100ms timeout
+                stdscr.timeout(100)
                 ch = stdscr.getch()
                 
-                if ch == -1:  # timeout，繼續檢查 stop_evt
+                if ch == -1: # 沒有操作
                     continue
                     
                 # 處理按鍵
@@ -431,9 +555,13 @@ class ControlPanel:
                     idx_stack[-1] = (current_idx + 1) % len(current_menu.children)
 
                 elif ch == (ord('O')):
-                    # 直接進入工程模式
+                    # 進入工程模式
                     state.intoENGINEER()
 
+                elif ch == (ord('o')):
+                    # 離開工程模式
+                    state.intoSTART()                
+                    
                 elif ch == curses.KEY_LEFT:
                     # 返回上層
                     if len(menu_stack) > 1:
@@ -448,8 +576,9 @@ class ControlPanel:
                         idx_stack.append(0)
 
                 elif ch in (ord('q'), 27):
+                    if state.panel_status == "Engineer":
                         state.intoTERMINATION()
-                    panel_shutdown()
+                        pre_panel_shutdown()
 
                 elif ch in (curses.KEY_ENTER, 10, 13):
                     selected = current_menu.children[current_idx]
@@ -466,7 +595,7 @@ class ControlPanel:
                             
                     elif selected.action == "QUIT":
                         state.intoTERMINATION()
-                        panel_shutdown()
+                        pre_panel_shutdown()
                     
                     elif selected.action == "TEXT_UDP_IP":
                         result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 IP 位址: ")
@@ -484,40 +613,82 @@ class ControlPanel:
                         if len(menu_stack) > 1:
                             menu_stack.pop()
                             idx_stack.pop()
-                            menu_stack.pop()
+                            # menu_stack.pop()
-                            idx_stack.pop()
+                            # idx_stack.pop()
                     
                     elif selected.action == "CREATE_UDP_OUTBOUND":
                         cmd_q.put("CREATE_UDP_OUTBOUND")
                         # 確認後回到上兩層
+                        if len(menu_stack) > 1:
+                            menu_stack.pop()
+                            idx_stack.pop()
+                            # menu_stack.pop()
+                            # idx_stack.pop()
+
+                    elif selected.action == "TEXT_BAUD_SERIAL":
+                        result = ControlPanel.input_dialog(stdscr, "請輸入 Baud Rate (e.g., 9600, 115200): ")
+                        if result is not None:
+                            try:
+                                baud_rate = int(result)
+                            except ValueError:
+                                state.panel_info_msg_list.append(("Invalid Baud Rate input.", time.time()))
+                            state.serial_info_temp["Baud"] = baud_rate
+
+                    elif selected.action == "SET_SERIAL_COMM_XBEE":
+                        state.serial_info_temp["CommunicationType"] = "XBee(API-AT)"
+                        menu_stack.pop()
+                        idx_stack.pop()
+                    elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
+                        state.serial_info_temp["CommunicationType"] = "XBee(AT-AT)"
+                        menu_stack.pop()
+                        idx_stack.pop()
+
+                    elif selected.action == "CREATE_SERIAL_PORT":
+                        state.serial_info_temp["Port"] = menu_stack[-1].name  # 從選單取得 Port 名稱
+                        cmd_q.put("CREATE_SERIAL_PORT")
+                        # 確認後回到上兩層
                         if len(menu_stack) > 1:
                             menu_stack.pop()
                             idx_stack.pop()
                             menu_stack.pop()
                             idx_stack.pop()
 
+                    elif selected.action == "LIST_SERIAL_RES":
+                        created_list_menu = self.create_serial_port_menu(state, page=0)
+                        menu_stack.append(created_list_menu)
+                        idx_stack.append(0)
+
+                    elif selected.action == "LIST_SERIAL_LINKS":
+                        created_list_menu = self.create_linked_serial_menu(state, page=0)
+                        menu_stack.append(created_list_menu)
+                        idx_stack.append(0)                        
+                    
                     elif selected.action == "LIST_MAV_OBJECT":
                         # 動態生成 mavlink_object 列表選單
-                        object_list_menu = self.create_object_list_menu(state, page=0)
+                        created_list_menu = self.create_object_list_menu(state, page=0)
-                        menu_stack.append(object_list_menu)
+                        menu_stack.append(created_list_menu)
                         idx_stack.append(0)
 
-                    elif selected.action == "PREV_PAGE":
+                    elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
-                        # 上一頁
                         if hasattr(selected, 'page'):
+                            current_list_menu = menu_stack[-1]
                             menu_stack.pop()
                             idx_stack.pop()
-                            object_list_menu = self.create_object_list_menu(state, page=selected.page)
+                            
-                            menu_stack.append(object_list_menu)
+                            # 依據選單種類 重新建立分頁
+                            if current_list_menu.name == "Serial Port List":
+                                created_list_menu = self.create_serial_port_menu(state, page=selected.page)
+                            elif current_list_menu.name == "Object List":
+                                created_list_menu = self.create_object_list_menu(state, page=selected.page)
+                            elif current_list_menu.name == "Linked Serial List":
+                                created_list_menu = self.create_linked_serial_menu(state, page=selected.page)
+                            else:
+                                # 不支援的選單類型，回到原本的選單
+                                menu_stack.append(current_list_menu)
                                 idx_stack.append(0)
+                                continue
                             
-                    elif selected.action == "NEXT_PAGE":
+                            menu_stack.append(created_list_menu)
-                        # 下一頁
-                        if hasattr(selected, 'page'):
-                            menu_stack.pop()
-                            idx_stack.pop()
-                            object_list_menu = self.create_object_list_menu(state, page=selected.page)
-                            menu_stack.append(object_list_menu)
                             idx_stack.append(0)
                     
                     elif selected.action == "INSPECT_MAV_OBJECT":
@@ -537,22 +708,23 @@ class ControlPanel:
                             # 反正刷新列表會出錯 乾脆再退一層 在下一次進入列表時刷新就好
                                 menu_stack.pop()
                                 idx_stack.pop()
-                            # # 刷新列表頁面
-                            # if len(menu_stack) > 1:
-                            #     current_page = menu_stack[-1].current_page if hasattr(menu_stack[-1], 'current_page') else 0
-                            #     menu_stack.pop()
-                            #     idx_stack.pop()
-                            #     time.sleep(0.1)  # 等待物件被移除
-                            #     object_list_menu = self.create_object_list_menu(state, page=current_page)
-                            #     menu_stack.append(object_list_menu)
-                            #     idx_stack.append(0)
 
                     elif selected.action == "MAVOBJ_MAKE_LINK":
                         # 建立轉發連結
                         if hasattr(selected, 'socket_id'):
                             target_id = self.select_target_socket(stdscr, selected.socket_id, state)
                             if target_id is not None:
-                                cmd_q.put(("MAVOBJ_MAKE_LINK", selected.socket_id, target_id))
+                                # cmd_q.put(("MAVOBJ_MAKE_LINK", selected.socket_id, target_id))
+                                cmd_q.put(("MAVOBJ_ADD_TARGET", selected.socket_id, target_id))
+                                cmd_q.put(("MAVOBJ_ADD_TARGET", target_id, selected.socket_id))  # 雙向連結
+
+                    elif selected.action == "MAVOBJ_CANCEL_LINK":
+                        # 取消轉發連結
+                        if hasattr(selected, 'socket_id'):
+                            target_id = self.select_target_socket(stdscr, selected.socket_id, state, remove_mode=True)
+                            if target_id is not None:
+                                cmd_q.put(("MAVOBJ_REMOVE_TARGET", selected.socket_id, target_id))
+                                cmd_q.put(("MAVOBJ_REMOVE_TARGET", target_id, selected.socket_id))  # 雙向取消連結
 
                     elif selected.action == "MAVOBJ_ADD_TARGET":
                         # 添加目標端口
@@ -564,16 +736,6 @@ class ControlPanel:
                             if target_id is not None:
                                 cmd_q.put(("MAVOBJ_ADD_TARGET", selected.socket_id, target_id))
 
-                    elif selected.action == "MAVOBJ_REMOVE_TARGET":
-                        # 移除目標端口
-                        if state.panel_status != "Engineer":
-                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
-                            continue  # 只有在工程模式下才能操作
-                        if hasattr(selected, 'socket_id'):
-                            target_id = self.select_target_socket(stdscr, selected.socket_id, state, remove_mode=True)
-                            if target_id is not None:
-                                cmd_q.put(("MAVOBJ_REMOVE_TARGET", selected.socket_id, target_id))
-
                     elif selected.action == "STOP_MANAGER":
                         if state.panel_status != "Engineer":
                             state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
@@ -585,6 +747,13 @@ class ControlPanel:
                             state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
                             continue  # 只有在工程模式下才能操作
                         cmd_q.put("SHUTDOWN_BRIDGE")
+
+                    elif selected.action == "STOP_SERIAL_MANAGER":
+                        if state.panel_status != "Engineer":
+                            state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
+
                     elif callable(selected.action):
                         # 執行函式
                         cmd_q.put(selected.action)
@@ -594,14 +763,13 @@ class ControlPanel:
         except KeyboardInterrupt:
             pass
         finally:
-            stop_evt.set()
             cleanup()
 
 
 
 class Orchestrator:
     def __init__(self, stop_sig):
-        self.stop_evt = stop_sig
+        self.stop_evt = stop_sig # 外部操作去中斷 "面板" 執行緒的訊號 (內部自己停止的話不需要用這個)
 
         # === 1) 面板部分的準備 ===
         self.cmd_q = queue.Queue()
@@ -615,6 +783,9 @@ class Orchestrator:
         self.manager = mo.async_io_manager()
         self.bridge = mo.mavlink_bridge()
 
+        # === 3) serial_manager 部分的準備 ===
+        self.plumber = sm.serial_manager()
+
     def engageWholeSystem(self):
         """啟動整個系統"""
         # === 1) 面板部分的啟動 ===
@@ -625,10 +796,14 @@ class Orchestrator:
         self.manager.start()
         self.bridge.start()
 
+        # === 3) serial_manager 部分的啟動 ===
+        self.plumber.start()
+
     def mainLoop(self):
         logger.info("Main orchestrator started <-")
         try:
-            while not self.stop_evt.is_set():
+            # while not self.stop_evt.is_set():
+            while self.panel_thread.is_alive():
 
                 # A. 更新模組狀態
                 if self.manager.running:
@@ -644,6 +819,14 @@ class Orchestrator:
                 else:
                     self.panelState.mavlink_bridge_state = 'Stopped'
 
+                if self.plumber.running:
+                    self.panelState.serial_manager_state = 'Running'
+                else:
+                    self.panelState.serial_manager_state = 'Stopped'
+
+                linked_serial_dict = self.plumber.get_serial_link()
+                self.panelState.linked_serial_dict = linked_serial_dict
+
                 # 取出面板丟過來的「動作」
                 try:
                     cmd = self.cmd_q.get_nowait()
@@ -661,10 +844,6 @@ class Orchestrator:
                                     self.remove_target_from_object(s_id, socket_id)   
                             # 再移除該物件
                             self.delete_mavlink_object(socket_id)
-                        elif action == "MAVOBJ_MAKE_LINK":
-                            source_id, target_id = cmd[1], cmd[2]
-                            self.add_target_to_object(source_id, target_id)
-                            self.add_target_to_object(target_id, source_id)  # 雙向連結
                         elif action == "MAVOBJ_ADD_TARGET":
                             source_id, target_id = cmd[1], cmd[2]
                             self.add_target_to_object(source_id, target_id)
@@ -681,6 +860,9 @@ class Orchestrator:
                                 self.panelState.socket_info_single["return_msg_types"] = mav_obj.return_msg_types
                                 self.panelState.socket_info_single["primary_socket_id"] = mav_obj.primary_socket_id
                                 self.panelState.socket_info_single["target_sockets"] = mav_obj.target_sockets
+                                ip_info = mav_obj.mavlink_socket.port.getsockname()
+                                self.panelState.socket_info_single["socket_connection_string"] = f"{ip_info[0]}:{ip_info[1]}"
+                                # getattr(mav_obj.mavlink_socket, "connection_string", "")
                                 self.panelState.socket_info_single["InfoReady"] = True # 標記資訊已準備好
 
                     elif cmd == "CREATE_UDP_INBOUND":
@@ -689,10 +871,14 @@ class Orchestrator:
                     elif cmd == "CREATE_UDP_OUTBOUND":
                         self.panelState.udp_info_temp["direction"] = "outbound"
                         self.create_udp_object()
+                    elif cmd == "CREATE_SERIAL_PORT":
+                        self.create_serial_port_object()
                     elif cmd == "SHUTDOWN_BRIDGE":
                         self.bridge.stop()
                     elif cmd == "SHUTDOWN_MANAGER":
                         self.manager.shutdown()
+                    elif cmd == "SHUTDOWN_SERIAL_MANAGER":
+                        self.plumber.shutdown()
                 except queue.Empty:
                     pass
                 except Exception as e:
@@ -706,18 +892,32 @@ class Orchestrator:
         except Exception as e:
             logger.error(f"Unexpected error in main loop: {e}")
         finally:
-            logger.info("Main orchestrator END!")
 
-            # 關閉 mavlink_bridge (裡面有一個執行緒)
+            # 驗證並確保所有模組都被下達關閉訊號 
+            # 若是由面板操作結束系統 這些關閉行為將於 ControlPanel.pre_panel_shutdown() 觸發 
+            if self.bridge.thread.is_alive():
+                if self.bridge.running:
                     self.bridge.stop()
+                self.bridge.thread.join(timeout=2)
 
-            # 關閉 async_io_manager (裡面有一個執行緒)
+            if self.manager.thread.is_alive():
+                if self.manager.running:
                     self.manager.shutdown()
+                self.manager.thread.join(timeout=2)
+
+            if self.plumber.thread.is_alive():
+                if self.plumber.running:
+                    self.plumber.shutdown()
+                self.plumber.thread.join(timeout=2)
 
             # 關閉面板執行緒
             if self.panel_thread.is_alive():
                 self.panel_thread.join(timeout=2)
                 
+            logger.info("Main orchestrator END!")
+
+    # =============== 面板動作 - Mavlink Object ===============
+
     def create_udp_object(self):
         if self.panelState.udp_info_temp["direction"] == "inbound":
             connection_string = f"udp:{self.panelState.udp_info_temp['IP']}:{self.panelState.udp_info_temp['Port']}"
@@ -764,6 +964,46 @@ class Orchestrator:
         else:
             self.panelState.panel_info_msg_list.append((f"Fail Removing target {target_id} from socket {source_id}", time.time()))
 
+    # =============== 面板動作 - Serial Manager ===============
+
+    def create_serial_port_object(self):
+        # 獲取可用的 udp port 
+        udp_port_tmp = find_available_port(19000, 20000)
+
+        # 定義通訊類型映射表
+        COMM_TYPE_MAP = {
+            "XBee(API-AT)": sm.SerialReceiverType.XBEEAPI2AT,
+            # "XBee(AT-AT)": sm.SerialReceiverType.TELEMETRY,  # TODO: 之後再弄
+            # 新增區
+        }
+
+        # 驗證輸入
+        comm_type = self.panelState.serial_info_temp['CommunicationType']
+        if not comm_type:
+            self.panelState.panel_info_msg_list.append(
+                ("Please select Communication Type first.", time.time())
+            )
+            return
+        
+        # 查找對應的通訊類型
+        comm_type_tmp = COMM_TYPE_MAP.get(comm_type)
+        if comm_type_tmp is None:
+            self.panelState.panel_info_msg_list.append(
+                (f"Communication type '{comm_type}' not supported yet.", time.time())
+            )
+            return
+
+        ret = self.plumber.create_serial_link(
+            serial_port=self.panelState.serial_info_temp['Port'],
+            baudrate=self.panelState.serial_info_temp['Baud'],
+            target_port=udp_port_tmp,
+            receiver_type=comm_type_tmp,
+        )
+
+        if not ret:
+            self.panelState.panel_info_msg_list.append((f"Failed to create Serial Port object at {self.panelState.serial_info_temp['Port']}.", time.time()))
+            return
+
 def main():
 
     stop_evt = threading.Event()

src/fc_network_adapter/fc_network_adapter/mavlinkObject.py

@@ -1,40 +1,35 @@
 '''
-# 不同的匯流排只有單一種通訊協定 
+這個檔案是對 udp 進來的 mavlink 訊息做 "分流" "轉拋" 的地方 (並不會做 "分析")
-# 匯流排接到訊息後透過 ring buffer 傳送到橋接器
+概念上 把每個 udp 接口 視為一個獨立的 mavlink bus 針對 bus 來統籌管理
-# 會有兩種 RingBuffer 分別作為 1. 固定串流橋接器 2. 回傳封包處理器
-# 橋接器會將解析得到的結論 再透過 ros2 的 publisher 發送出去
 
-# 關於 mavlink 採用 pymavlink 這個套件 製作匯流排
+主要的重點部分:
-# pymavlink 的 socket 會由其他地方製作(例如 main) 再放到 mavlink_object 裡面
+1. stream_bridge_ring & return_packet_ring
-# 這邊的 main 會是用來初始化 mavlink_object 並啟動他的 run function
+2. mavlink_object & async_io_manager
+3. mavlink_bridge
 
-================= 改版記錄 ============================
 
-2025年 6月 20日
+stream_bridge_ring & return_packet_ring:
-1. mavlink_object 中 由於 Queue 的效能太差 會完全移除
+    這兩個 ring buffer 是用來做 mavlink 訊息的分流
-    其中 multiplexingToAnalysis multiplexingToReturn 的功能會改用 ring_buffer 來實現
+    stream_bridge_ring 這邊的資訊比較是給會固定更新的資訊 (例如 HEARTBEAT, ATTITUDE 之類的)
-    而 multiplexingToSwap 會完全被移除代替方式下一條描述
+    return_packet_ring 比較是處理指令後的回應封包 (例如 PARAM_VALUE, MISSION_ITEM 等等)
-2. mavlink_object 會捨棄每個通道單獨 thread 的實現 轉而採用 asyncio 的方式 將需要資料轉換的通道 以群組方式處理其數據流
+
-    (註解: 因為本專案的規模還不大 目前不做動態分配 asyncio thread 而是簡單的採用單一 thread 處理所有的 mavlink_object)
+mavlink_object:
-    因此 資料轉換直接使用通道的 socket 寫出 進而節省任何資料的複製與搬移
+    每個 mavlink bus 都會有一個 mavlink_object
-    並且 完全捨棄 multiplexingToSwap 不會再對需要轉傳的資料進行過濾 而是將全部的 mavlink_msg 直接 socket 透過寫出
+    使用 asyncio 處理資料流 用 RingBuffer 來分配訊息
-3. mavlink_object 需要加上 state 去管理其狀態
+    內容中沒有獨立的執行緒 只有一個個 asyncio function 會被放到 async_io_manager 裡面執行
-4. mavlink_object 需要加上 target port 去管理寫出的目標
+
-5. mavlink_object 要容忍髒資料流入 而不是直接關閉通道
+    關於分流與轉拋的具體實現是在 process_data 這個 asyncio function 裡面
-6. 基於第1,2項 updateMultiplexingList 會被完全移除
+
-7. 基於第2項 需要新建一個 async_io_manager 類別去管理所有的 mavlink_object
+async_io_manager:
-8. 基於第1項全域變數 fixed_stream_bridge_queue  return_packet_processor_queue 會用 stream_bridge_ring 與 return_packet_ring 來取代 另外 swap_queues 會被完全移除
+    首先它紀律並管理所有 mavlink_object 實例
+    有自己一個獨立的執行緒 執行 asyncio loop (mavlink_object 裡面的 asyncio function 都會被放到這個 loop 裡面執行)
+    
+mavlink_bridge:
+    專門處理 stream_bridge_ring 裡面的訊息流
+    會把訊息流解開後 存放到 mavlinkVehicleView.py 定義的載具結構視圖
+
 
 
-2025年 11月 15日
-1. mavlink_bridge 類別新增為 singleton 模式 確保全系統只有一個實例在運行
-2. mavlink_bridge 處理封包改為映射表 (需要在 _init_message_handlers 中新增處理器函式)
-3. mavlink_bridge 的主要迴圈 增加 send_message 功能 可指定目標 sysid 或 socket_id 發送 mavlink 封包
-4. async_io_manager 循環邏輯大改動 優化 mavlink_object 加入與移除的邏輯 並使得 task 與 evenlt loop 分層更清楚
-5. mavlink_object 移除不必要的 start 與 stop 方法 由 async_io_manager 統一管理其生命週期
-6. mavlink_object 優化 send_message 方法 避免無效判斷 與 增加一些防呆檢驗 並與 mavlink_bridge 連動工作
-7. 移除迴圈內的 try except 堆疊 增加效能
-8. 移除對於 mavlinkDevice 的依賴 改用 vehicle_registry 來管理所有的載具
 
 '''
 
@@ -61,7 +56,6 @@ from .mavlinkVehicleView import (
 )
 from .utils import RingBuffer, setup_logger
 
-
 # ====================== 分割線 =====================
 
 logger = setup_logger(os.path.basename(__file__))
@@ -134,7 +128,7 @@ class mavlink_bridge:
         """停止 mavlink_bridge 的運作"""
         self.running = False
         if self.thread and self.thread.is_alive():
-            self.thread.join(timeout=3.0)
+            self.thread.join(timeout=5.0)
 
     # === Thread 區塊 ===
     def _run_thread(self):
@@ -331,8 +325,6 @@ class mavlink_bridge:
         mav_obj = mavlink_object.mavlinkObjects[socket_id]
         return mav_obj.send_message(message_bytes)
 
-# ====================== 分割線 =====================
-
 # 定義 mavlink_object 的狀態
 class MavlinkObjectState(Enum):
     INIT = auto()         # 初始化狀態
@@ -560,6 +552,7 @@ class async_io_manager:
     start 方法 會先做一個新的執行緒 然後讓新的執行緒 透過 _run_event_loop 方法來建立一個空的事件循環 self.loop
     然後在 _run_event_loop 方法中 會建立一個異步任務 _main_task 來監控和管理所有的 mavlink_object 任務
     """
+
     _instance = None
     _lock = threading.Lock()
     
@@ -639,13 +632,11 @@ class async_io_manager:
         
         # 等待線程結束
         if self.thread and self.thread.is_alive():
-            self.thread.join(timeout=10.0)
+            self.thread.join(timeout=5.0)
             if self.thread.is_alive():
                 logger.warning("async_io_manager thread did not stop gracefully")
                 os.kill(os.getpid(), signal.SIGTERM) # 強制終止程序
             
-
-            
         logger.info("async_io_manager thread END!")
     
     def _run_event_loop(self):
@@ -789,3 +780,36 @@ class async_io_manager:
 
 if __name__ == '__main__':
     pass
+
+
+'''
+================= 改版記錄 ============================
+
+2025年 6月 20日
+1. mavlink_object 中 由於 Queue 的效能太差 會完全移除
+    其中 multiplexingToAnalysis multiplexingToReturn 的功能會改用 ring_buffer 來實現
+    而 multiplexingToSwap 會完全被移除代替方式下一條描述
+2. mavlink_object 會捨棄每個通道單獨 thread 的實現 轉而採用 asyncio 的方式 將需要資料轉換的通道 以群組方式處理其數據流
+    (註解: 因為本專案的規模還不大 目前不做動態分配 asyncio thread 而是簡單的採用單一 thread 處理所有的 mavlink_object)
+    因此 資料轉換直接使用通道的 socket 寫出 進而節省任何資料的複製與搬移
+    並且 完全捨棄 multiplexingToSwap 不會再對需要轉傳的資料進行過濾 而是將全部的 mavlink_msg 直接 socket 透過寫出
+3. mavlink_object 需要加上 state 去管理其狀態
+4. mavlink_object 需要加上 target port 去管理寫出的目標
+5. mavlink_object 要容忍髒資料流入 而不是直接關閉通道
+6. 基於第1,2項 updateMultiplexingList 會被完全移除
+7. 基於第2項 需要新建一個 async_io_manager 類別去管理所有的 mavlink_object
+8. 基於第1項全域變數 fixed_stream_bridge_queue  return_packet_processor_queue 會用 stream_bridge_ring 與 return_packet_ring 來取代 另外 swap_queues 會被完全移除
+
+
+2025年 11月 15日
+1. mavlink_bridge 類別新增為 singleton 模式 確保全系統只有一個實例在運行
+2. mavlink_bridge 處理封包改為映射表 (需要在 _init_message_handlers 中新增處理器函式)
+3. mavlink_bridge 的主要迴圈 增加 send_message 功能 可指定目標 sysid 或 socket_id 發送 mavlink 封包
+4. async_io_manager 循環邏輯大改動 優化 mavlink_object 加入與移除的邏輯 並使得 task 與 evenlt loop 分層更清楚
+5. mavlink_object 移除不必要的 start 與 stop 方法 由 async_io_manager 統一管理其生命週期
+6. mavlink_object 優化 send_message 方法 避免無效判斷 與 增加一些防呆檢驗 並與 mavlink_bridge 連動工作
+7. 移除迴圈內的 try except 堆疊 增加效能
+8. 移除對於 mavlinkDevice 的依賴 改用 vehicle_registry 來管理所有的載具
+
+'''
+

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -0,0 +1,631 @@
+'''
+
+
+'''
+
+# 基礎功能的 import
+import asyncio
+import serial_asyncio
+
+import os
+import sys
+import serial
+import signal
+import time
+import threading
+import struct
+from enum import Enum, auto
+
+# # XBee 模組
+# from xbee.frame import APIFrame
+
+# 自定義的 import
+from .utils import setup_logger
+
+# ====================== 分割線 =====================
+
+logger = setup_logger(os.path.basename(__file__))
+
+# ====================== 分割線 =====================
+class XBeeFrameHandler:
+    """XBee API Frame 處理器"""
+    
+    @staticmethod
+    def parse_at_command_response(frame: bytes) -> dict:
+        """解析 AT Command Response (0x88)"""
+        if len(frame) < 8:
+            return None
+        
+        frame_type = frame[3]
+        if frame_type != 0x88:
+            return None
+        
+        frame_id = frame[4]
+        at_command = frame[5:7]
+        status = frame[7]
+        data = frame[8:] if len(frame) > 8 else b''
+        
+        return {
+            'frame_id': frame_id,
+            'command': at_command,
+            'status': status,
+            'data': data,
+            'is_ok': status == 0x00
+        }
+    
+    @staticmethod
+    def parse_receive_packet(frame: bytes) -> dict:
+        # """解析 RX Packet (0x90) - 未來擴展用"""
+        # if len(frame) < 15 or frame[3] != 0x90:
+        #     return None
+        
+        # return {
+        #     'source_addr': frame[4:12],
+        #     'reserved': frame[12:14],
+        #     'options': frame[14],
+        #     'data': frame[15:-1]
+        # }
+        pass
+        return None
+
+    @staticmethod
+    def encapsulate_data(data: bytes, dest_addr64: bytes = b'\x00\x00\x00\x00\x00\x00\xFF\xFF', frame_id = 0x01) -> bytes:
+        """
+        將數據封裝為 XBee API 傳輸幀
+        
+        使用 XBee API 格式封裝數據:
+        - 傳輸請求幀 (0x10)
+        - 使用廣播地址
+        - 添加適當的頭部和校驗和
+        """
+        frame_type = 0x10
+        dest_addr16 = b'\xFF\xFE'
+        broadcast_radius = 0x00
+        options = 0x00
+
+        frame = struct.pack(">B", frame_type) + struct.pack(">B", frame_id)
+        frame += dest_addr64 + dest_addr16
+        frame += struct.pack(">BB", broadcast_radius, options) + data
+        checksum = 0xFF - (sum(frame) & 0xFF)
+        return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
+
+    @staticmethod
+    def decapsulate_data(data: bytes):
+        # 這裡可以根據需要進行數據解封裝
+
+        # XBee API 幀格式: 
+        # 起始分隔符(1字節) + 長度(2字節) + API標識符(1字節) + 數據 + 校驗和(1字節)
+        
+        # 檢查幀起始符 (0x7E)
+        if not data or len(data) < 5 or data[0] != 0x7E:
+            return data
+            
+        # 獲取數據長度 (不包括校驗和)
+        # length = (data[1] << 8) + data[2]
+        length = (data[1] << 8) | data[2]
+        
+        # 檢查幀完整性
+        if len(data) < length + 4:  # 起始符 + 長度(2字節) + 數據 + 校驗和
+            return data
+            
+        # 提取API標識符和數據
+        frame_type = data[3]
+        # frame_data = data[4:4+length-1]  # 減1是因為API標識符已經算在長度中
+        
+        # 根據不同的幀類型進行處理
+        if frame_type == 0x90:  # 例如，這是"接收數據包"類型
+            rf_data_start = 3 + 12
+            return data[rf_data_start:3 + length]
+        else:
+            return None          
+        return data
+
+
+class ATCommandHandler:
+    """AT 指令回應處理器"""
+    
+    def __init__(self, serial_port: str):
+        self.serial_port = serial_port
+        self.handlers = {
+            b'DB': self._handle_rssi,
+            b'SH': self._handle_serial_high,
+            b'SL': self._handle_serial_low,
+            # 可擴展其他 AT 指令
+        }
+    
+    def handle_response(self, response: dict):
+        """根據 AT 指令類型分派處理"""
+        if not response or not response['is_ok']:
+            if response:
+                print(f"[{self.serial_port}] AT {response['command'].decode()} 失敗，狀態碼: {response['status']}")
+            return
+        
+        command = response['command']
+        handler = self.handlers.get(command)
+        
+        if handler:
+            handler(response['data'])
+        else:
+            print(f"[{self.serial_port}] 未處理的 AT 指令: {command.decode()}")
+    
+    def _handle_rssi(self, data: bytes):
+        """處理 DB (RSSI) 回應"""
+        if not data:
+            return
+        
+        rssi_value = data[0]
+        now = time.time()
+        
+        # 檢查是否最近有收到 MAVLink
+        last_mavlink_time = serial_last_mavlink_time.get(self.serial_port, 0)
+        if now - last_mavlink_time > 0.5:
+            print(f"[{self.serial_port}] 超過 0.5 秒未接收 MAVLink，RSSI = -{rssi_value} dBm 已忽略")
+            return
+        
+        # 取得對應的 sysid
+        sysid = serial_to_sysid.get(self.serial_port)
+        if sysid is None:
+            print(f"[{self.serial_port}] 找不到 sysid 對應，RSSI = -{rssi_value} dBm，已忽略")
+            return
+        
+        # 記錄 RSSI
+        rssi_history[sysid].append(-rssi_value)
+        time_history[sysid].append(now)
+        # print(f"[SYSID:{sysid}] RSSI = -{rssi_value} dBm")
+    
+    def _handle_serial_high(self, data: bytes):
+        # """處理 SH (Serial Number High) - 範例"""
+        # if len(data) >= 4:
+        #     serial_high = int.from_bytes(data[:4], 'big')
+        #     print(f"[{self.serial_port}] Serial High: 0x{serial_high:08X}")
+        pass
+    
+    def _handle_serial_low(self, data: bytes):
+        # """處理 SL (Serial Number Low) - 範例"""
+        # if len(data) >= 4:
+        #     serial_low = int.from_bytes(data[:4], 'big')
+        #     print(f"[{self.serial_port}] Serial Low: 0x{serial_low:08X}")
+        pass
+
+
+
+class SerialHandler(asyncio.Protocol): # asyncio.Protocol 用於處理 Serial 收發
+    def __init__(self, udp_handler, serial_port_str):
+        self.udp_handler = udp_handler # UDP 的傳輸把手
+        self.serial_port_str = serial_port_str
+        self.at_handler = ATCommandHandler(serial_port_str)
+
+        self.buffer = bytearray()  # 用於緩存接收到的資料
+        self.transport = None # Serial 自己的傳輸物件
+        # self.first_data = True  # 標記是否為第一次收到資料
+        # self.has_processed = False # 測試模式用 處理數據旗標 # debug
+
+    def connection_made(self, transport):
+        self.transport = transport
+        if hasattr(self.udp_handler, 'set_serial_handler'):
+            self.udp_handler.set_serial_handler(self)
+        # logger.info(f"Serial port {self.serial_port_str} connected.") # debug
+
+    # Serial 收到資料的處理過程
+    def data_received(self, data):
+        # 1. 把收到的資料加入緩衝區
+        self.buffer.extend(data) 
+
+        # 2. 需要完整的 header 才能解析
+        while len(self.buffer) >= 3:
+            # 3. 瞄準 XBee API Frame (0x7E 開頭的封包) 
+            if self.buffer[0] != 0x7E:
+                self.buffer.pop(0) # 如果不是就丟掉
+                continue
+
+            # 4. 讀取 payload 長度
+            length = (self.buffer[1] << 8) | self.buffer[2]
+            full_length = 3 + length + 1
+
+            # 5. 等待完整封包
+            if len(self.buffer) < full_length:
+                break
+
+            # 6. 提取完整 frame 並從緩衝區移除
+            an_frame = self.buffer[:full_length]
+            del self.buffer[:full_length]
+
+            # 7. 判斷 frame 類型
+            frame_type = an_frame[3]
+            
+            if frame_type == 0x88:
+                # 處理 AT Command 回應
+                # response = XBeeFrameHandler.parse_at_command_response(an_frame)
+                # self.at_handler.handle_response(response)
+                pass # debug
+                
+            elif frame_type == 0x90:
+                # Receive Packet (RX) payload 先解碼 
+                processed_data = XBeeFrameHandler.decapsulate_data(bytes(an_frame))
+                # 轉換失敗就捨棄了
+                if processed_data is None: 
+                    continue
+                # 再透過 UDP 送出
+                self.udp_handler.transport.sendto(processed_data, (self.udp_handler.LOCAL_HOST_IP, self.udp_handler.target_port))
+
+            elif frame_type == 0x8B:
+                pass
+
+            else:
+                # 其他類型的 frame 未來可擴展處理 現在忽略
+                logger.warning(f"[{self.serial_port_str}] Undefined frame type: 0x{frame_type:02X}")
+
+            # # RSSI
+            # if frame[3] == 0x88 and frame[5:7] == b'DB': # frame[3] == 0x88 AT -> API 封包
+            #                                              # frame[5:7] == b'DB' -> API 封包的DB參數
+            #     status = frame[7]                        # 
+            #     if status == 0x00 and len(frame) > 8:    # status == 0x00 -> 這個封包是有效封包
+            #         rssi_value = frame[8]
+            #         now = time.time()
+
+            #         # === 優化 1：僅信任最近 0.5 秒內有接收 MAVLink 的 port
+            #         last_time = serial_last_mavlink_time.get(self.serial_port, 0)
+            #         if now - last_time <= 0.5:
+            #             sysid = serial_to_sysid.get(self.serial_port, None)
+            #             if sysid is not None:
+            #                 rssi_history[sysid].append(-rssi_value)
+            #                 time_history[sysid].append(now)
+            #                 # print(f"[SYSID:{sysid}] RSSI = -{rssi_value} dBm")
+            #             else:
+            #                 print(f"[{self.serial_port}] 找不到 sysid 對應，RSSI = -{rssi_value} dBm，已忽略")
+            #         else:
+            #             print(f"[{self.serial_port}] 超過 0.5 秒未接收 MAVLink，RSSI = -{rssi_value} dBm 已忽略")
+            #     else:
+            #         print(f"[{self.serial_port}] DB 指令失敗，狀態碼: {status}")
+        
+
+    # def write_to_serial(self, data):
+    #     # 在資料透過 Serial 發送之前進行處理
+    #     processed_data = self.encapsulate_data(data)
+
+    #     # 處理失敗就不發送
+    #     if processed_data not None:
+    #         self.transport.write(processed_data)
+
+
+
+class UDPHandler(asyncio.DatagramProtocol): # asyncio.DatagramProtocol 用於處理 UDP 收發
+    
+    LOCAL_HOST_IP = '127.0.0.1'  # 只送給本地端IP
+
+    def __init__(self, target_port):
+        self.target_port = target_port # 目標 UDP 端口
+
+        self.serial_handler = None # Serial 的傳輸物件
+        self.transport = None # UDP 自己的傳輸物件
+        self.remote_addr = None  # 儲存動態獲取的遠程地址 # debug
+        # self.has_processed = False # 測試模式用 處理數據旗標 # debug
+
+    def connection_made(self, transport):
+        self.transport = transport
+        # logger.info(f"UDP transport ready. Waiting for serial data before sending.") # debug
+
+    def set_serial_handler(self, serial_handler):
+        self.serial_handler = serial_handler
+
+    # UDP 收到資料的處理過程
+    def datagram_received(self, data, addr):
+        # 儲存對方的地址（這樣就能向同一個來源回傳數據）
+        # self.remote_addr = addr
+        # print(f"Received UDP data from {addr}, setting as remote address")
+        
+        processed_data = XBeeFrameHandler.encapsulate_data(data)
+
+        if self.serial_handler:
+            self.serial_handler.transport.write(processed_data)
+
+
+    # def send_udp(self, data):
+    #     # 藉由 UDP 發送資料出去
+
+    #     # 在透過 UDP 發送數據之前進行解封裝
+    #     decoded_data = self.decapsulate_data(data)
+    #     if decoded_data is None:
+    #         return
+        
+    #     if self.transport:
+    #         self.transport.sendto(decoded_data, (self.LOCAL_HOST_IP, self.target_port))
+    
+#==================================================================
+
+class SerialReceiverType(Enum):
+    """連接類型"""
+    TELEMETRY = auto() 
+    XBEEAPI2AT = auto() 
+    OTHER = auto() 
+
+
+class serial_manager:
+
+    class serial_object:
+        def __init__(self, serial_port, baudrate, target_port, receiver_type: SerialReceiverType):
+            self.serial_port = serial_port # /dev/ttyUSB or COM3 ...etc
+            self.baudrate = baudrate
+            self.receiver_type = receiver_type
+            self.target_port = target_port # 指向的 UPD 端口
+
+            self.transport = None
+            self.protocol = None
+            self.udp_handler = None
+            self.serial_handler = None
+
+    def __init__(self):
+        self.thread = None
+        self.loop = None
+        self.running = False
+        self.serial_count = 0
+        self.serial_objects = {} # serial id num : serial object
+
+    def __del__(self):
+        self.loop = None
+        self.thread = None
+
+    def start(self):
+
+        if self.running:
+            logger.warning("serial_manager already running")
+            return
+        
+        self.running = True
+
+        # 啟動獨立線程 命名為 SerialManager
+        self.thread = threading.Thread(
+            target=self._run_event_loop, 
+            name="SerialManager"
+        )
+        self.thread.daemon = False  # 不設為 daemon，確保正確關閉
+        self.thread.start()
+
+        # 等待 _run_event_loop 建立事件循環的物件 self.loop
+        start_timeout = 2.0
+        start_time = time.time()
+        while not self.loop and time.time() - start_time < start_timeout:
+            time.sleep(0.1)
+
+        # 檢查另一個執行緒有沒有成功建立事件循環物件 self.loop
+        if self.loop:
+            logger.info("serial_manager thread started <-")
+            return True
+        else:
+            logger.error("serial_manager failed to start")
+            return False
+
+    def shutdown(self):
+        """停止 serial_manager 和其管理的所有 serial_object"""
+        # 自己在 running 狀態下才執行停止程序
+        if not self.running:
+            logger.warning("serial_manager is not running")
+            return
+
+        # 停止所有被管理的 serial_object
+        for serial_id in list(self.serial_objects.keys()):
+            self.remove_serial_link(serial_id)
+
+        # 停止自己
+        self.running = False
+
+        # 解開事件循環的阻塞
+        if self.loop:
+            self.loop.call_soon_threadsafe(self.loop.stop)
+
+        # 等待線程結束
+        if self.thread and self.thread.is_alive():
+            self.thread.join(timeout=5.0)
+            if self.thread.is_alive():
+                logger.warning("serial_manager thread did not stop gracefully")
+        
+        logger.info("serial_manager thread END!")
+
+    def _run_event_loop(self):
+        """在獨立線程中運行 asyncio 事件循環"""
+        self.loop = asyncio.new_event_loop()
+        asyncio.set_event_loop(self.loop)
+
+        # # 為每個 serial_object 建立連接
+        # for serial_obj in self.serial_objects:
+        #     coro = serial_asyncio.create_serial_connection(
+        #         self.loop,
+        #         lambda: SerialProtocol(serial_obj.receiver_type),
+        #         serial_obj.serial_port,
+        #         baudrate=serial_obj.baudrate
+        #     )
+        #     transport, protocol = self.loop.run_until_complete(coro)
+        #     serial_obj.transport = transport
+        #     serial_obj.protocol = protocol
+
+        try:
+            self.loop.run_forever()
+        finally:
+            self.loop.close()
+
+    def create_serial_link(self, serial_port, baudrate, target_port, receiver_type: SerialReceiverType):
+
+        if not self.running or not self.loop:
+            logger.error("Event loop not running, cannot create serial link")
+            return False
+
+        # 檢查 serial port 有效
+        if not self.check_serial_port(serial_port, baudrate):
+            logger.error(f"Serial port {serial_port} validation failed")
+            return False
+
+        # 使用 run_coroutine_threadsafe 執行協程並獲取結果
+        future = asyncio.run_coroutine_threadsafe(
+            self._async_create_serial_link(serial_port, baudrate, target_port, receiver_type),
+            self.loop
+        )
+
+        try:
+            # 等待結果，設定合理的超時時間
+            result = future.result(timeout=5.0)
+            if result:
+                logger.info(f"Create Serial Link: {serial_port} -> UDP {target_port}")
+            return True
+        except asyncio.TimeoutError:
+            logger.error(f"Timeout creating serial link for {serial_port}")
+            return False
+        except Exception as e:
+            logger.error(f"Failed to create serial link for {serial_port}: {e}")
+            return False
+
+    async def _async_create_serial_link(self, serial_port, baudrate, target_port, receiver_type: SerialReceiverType):
+        """在事件循環線程中執行實際的連接創建"""
+        try:
+            # 創建 serial_object 實例
+            serial_obj = self.serial_object(serial_port, baudrate, target_port, receiver_type)
+
+            # 建立 UDP 處理器並指定目標端口位置
+            serial_obj.udp_handler = UDPHandler(target_port)
+            
+            # 建立 UDP 傳輸，不指定接收端口(自己)，讓系統自動分配
+            udp_transport, udp_protocol = await self.loop.create_datagram_endpoint(
+                lambda: serial_obj.udp_handler,
+                local_addr=('0.0.0.0', 0)  # 使用端口 0 讓系統自動分配可用端口
+            )
+            serial_obj.transport = udp_transport
+            serial_obj.protocol = udp_protocol
+            
+            # logger.info(f"UDP endpoint created for {serial_port}") # debug
+
+            # 建立 Serial 處理器，將 UDP 處理器傳給它
+            serial_obj.serial_handler = SerialHandler(serial_obj.udp_handler, serial_port)
+
+            # 建立 Serial 連接
+            serial_transport, _ = await serial_asyncio.create_serial_connection(
+                self.loop, 
+                lambda: serial_obj.serial_handler, 
+                serial_port, 
+                baudrate=baudrate
+            )
+            
+            # logger.info(f"Serial connection created for {serial_port}") # debug
+
+            # 將 serial_object 加入管理列表
+            serial_id = self.serial_count + 1
+            self.serial_objects[serial_id] = serial_obj
+            self.serial_count += 1
+            
+            # logger.info(f"Serial object {serial_id} added to manager") # debug
+            return True
+            
+        except Exception as e:
+            logger.error(f"Exception in _async_create_serial_link for {serial_port}: {str(e)}")
+            # 清理已創建的資源
+            if 'serial_obj' in locals():
+                if hasattr(serial_obj, 'transport') and serial_obj.transport:
+                    serial_obj.transport.close()
+            return False
+
+    def remove_serial_link(self, serial_id):
+        """移除串口連接（線程安全方式）"""
+        # 確保事件循環正在運行
+        if not self.loop:
+            logger.error("Event loop not running")
+            return False
+        
+        # 檢查 serial_id 是否存在
+        if serial_id not in self.serial_objects:
+            logger.warning(f"Serial object {serial_id} not found")
+            return False
+
+        # 使用 run_coroutine_threadsafe 執行協程
+        future = asyncio.run_coroutine_threadsafe(
+            self._async_remove_serial_link(serial_id),
+            self.loop
+        )
+        
+        try:
+            result = future.result(timeout=3.0)
+            if result:
+                logger.info(f"Remove Serial Link {serial_id}")
+            return result
+        except asyncio.TimeoutError:
+            logger.error(f"Timeout removing serial link {serial_id}")
+            return False
+        except Exception as e:
+            logger.error(f"Failed to remove serial link {serial_id}: {e}")
+            return False
+
+    async def _async_remove_serial_link(self, serial_id):
+        """在事件循環線程中執行實際的連接移除"""
+        if serial_id not in self.serial_objects:
+            logger.warning(f"Serial object {serial_id} not in managed list")
+            return False
+        
+        try:
+            serial_obj = self.serial_objects[serial_id]
+            
+            # 關閉 UDP transport
+            if hasattr(serial_obj, 'transport') and serial_obj.transport:
+                serial_obj.transport.close()
+            
+            # 關閉 Serial transport
+            if hasattr(serial_obj, 'serial_handler') and serial_obj.serial_handler:
+                if hasattr(serial_obj.serial_handler, 'transport') and serial_obj.serial_handler.transport:
+                    serial_obj.serial_handler.transport.close()
+            
+            # 從管理列表中移除
+            del self.serial_objects[serial_id]
+            # logger.info(f"Serial object {serial_id} removed from manager") # debug
+            return True
+            
+        except Exception as e:
+            logger.error(f"Exception in _async_remove_serial_link for {serial_id}: {str(e)}")
+            return False
+
+    def get_serial_link(self):
+        ret = {} # serial id num : serial_port string
+        for key, obj in self.serial_objects.items():
+            ret[key] = obj.serial_port
+        return ret
+
+    @staticmethod
+    def check_serial_port(serial_port, baudrate):
+        """檢查串口是否存在與可用"""
+        # 檢查設備是否存在
+        if not os.path.exists(serial_port):
+            logger.error(f"Serial Device {serial_port} Not Found")
+            return False
+            
+        # 檢查是否有權限訪問設備
+        try:
+            if not os.access(serial_port, os.R_OK | os.W_OK):
+                logger.error(f"No permission to access {serial_port}")
+                return False
+        except Exception as e:
+            logger.error(f"Cannot Access Serial Device {serial_port}: {str(e)}")
+            return False
+        
+        # 檢查是否被占用
+        try:
+            # 嘗試打開串口
+            ser = serial.Serial(serial_port, baudrate)
+            ser.close()  # 打開成功後立即關閉
+            return True
+        except serial.SerialException as e:
+            logger.error(f"Serial Device {serial_port} is Occupied or Inaccessible: {str(e)}")
+            return False
+        except Exception as e:
+            logger.error(f"Unknown Error: {str(e)}")
+            return False
+
+
+if __name__ == '__main__':
+    sm = serial_manager()
+    sm.start()
+
+    SERIAL_PORT = '/dev/ttyUSB0'  # 手動指定
+    SERIAL_BAUDRATE = 115200
+    UDP_REMOTE_PORT = 14571
+    sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialReceiverType.XBEEAPI2AT)
+
+    linked_serial = sm.get_serial_link()
+    print(linked_serial)
+
+    time.sleep(10)
+    sm.shutdown()

src/fc_network_adapter/fc_network_adapter/socketManager.py

@@ -1,14 +0,0 @@
-
-'''
-
-透過某個地方 得到 udp 或 uart 接口
-對於每個接口 視為一個獨立的物件 
-
-物件對於不同的接口 是為不同類型的物件
-
-每個類型的物件 創建一個獨立的執行緒 來處理資料
-關於執行緒的實作 是寫在另一個模組
-
-物件之間 也可以做資料轉換/轉拋
-
-'''

src/fc_network_adapter/fc_network_adapter/utils/acquirePort.py

@@ -0,0 +1,129 @@
+import socket
+import random
+import os
+
+
+def get_used_ports():
+    """
+    從 /proc/net/tcp 和 /proc/net/udp 讀取系統已占用的 port
+    直接讀取 Linux 系統資訊，避免暴力嘗試
+    
+    Returns:
+        set: 已被占用的 port 號集合
+    """
+    used_ports = set()
+    
+    # 讀取 TCP 占用的 port (包含 IPv4 和 IPv6)
+    for filepath in ['/proc/net/tcp', '/proc/net/tcp6']:
+        if os.path.exists(filepath):
+            try:
+                with open(filepath, 'r') as f:
+                    lines = f.readlines()[1:]  # 跳過標題行
+                    for line in lines:
+                        parts = line.split()
+                        if len(parts) > 1:
+                            # local_address 格式: "0100007F:1F90" (hex)
+                            local_addr = parts[1]
+                            port_hex = local_addr.split(':')[1]
+                            port = int(port_hex, 16)
+                            used_ports.add(port)
+            except (IOError, PermissionError):
+                pass
+    
+    # 讀取 UDP 占用的 port (包含 IPv4 和 IPv6)
+    for filepath in ['/proc/net/udp', '/proc/net/udp6']:
+        if os.path.exists(filepath):
+            try:
+                with open(filepath, 'r') as f:
+                    lines = f.readlines()[1:]  # 跳過標題行
+                    for line in lines:
+                        parts = line.split()
+                        if len(parts) > 1:
+                            local_addr = parts[1]
+                            port_hex = local_addr.split(':')[1]
+                            port = int(port_hex, 16)
+                            used_ports.add(port)
+            except (IOError, PermissionError):
+                pass
+    
+    return used_ports
+
+
+def is_port_available(port):
+    """
+    測試指定 port 是否可用 (TCP 和 UDP 都測試)
+    
+    Args:
+        port (int): 要測試的 port 號
+    
+    Returns:
+        bool: True 表示可用，False 表示被占用
+    """
+    # 測試 TCP
+    try:
+        with socket.socket(socket.AF_INET, socket.SOCK_STREAM) as sock:
+            sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            sock.bind(('', port))
+    except OSError:
+        return False
+    
+    # 測試 UDP
+    try:
+        with socket.socket(socket.AF_INET, socket.SOCK_DGRAM) as sock:
+            sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+            sock.bind(('', port))
+    except OSError:
+        return False
+    
+    return True
+
+
+def find_available_port(start_port=1024, end_port=65535):
+    """
+    在指定的 port 區間內隨機找出一個未被占用的 port
+    使用 Linux /proc/net 系統資訊來過濾已占用的 port，避免暴力嘗試
+    確保 TCP 和 UDP 都可用
+    
+    Args:
+        start_port (int): 起始 port 號 (預設 1024)
+        end_port (int): 結束 port 號 (預設 65535)
+    
+    Returns:
+        int: 可用的 port 號，如果找不到則返回 None
+    """
+    if start_port < 1 or end_port > 65535 or start_port >= end_port:
+        raise ValueError("Port 範圍必須在 1-65535 之間，且起始 port 必須小於結束 port")
+    
+    # 從系統讀取已占用的 port
+    used_ports = get_used_ports()
+    
+    # 計算可用的 port 列表 (排除已占用的)
+    available_ports = [p for p in range(start_port, end_port + 1) if p not in used_ports]
+    
+    if not available_ports:
+        return None
+    
+    # 隨機打亂順序
+    random.shuffle(available_ports)
+    
+    # 從可用列表中挑選，再用 socket 雙重確認 TCP 和 UDP 都可用
+    for port in available_ports:
+        if is_port_available(port):
+            return port
+    
+    # 如果都不可用
+    return None
+
+
+if __name__ == "__main__":
+    # 使用範例
+    port = find_available_port(8000, 9000)
+    if port:
+        print(f"找到可用的 port: {port}")
+    else:
+        print("找不到可用的 port")
+    
+    # 自訂範圍範例
+    port = find_available_port(10000, 20000)
+    if port:
+        print(f"在 10000-20000 範圍找到可用的 port: {port}")

src/fc_network_adapter/fc_network_adapter/utils/acquireSerial.py

@@ -0,0 +1,96 @@
+"""
+Serial Port Discovery Utility
+
+This module provides functions to discover available serial ports on the system.
+It uses glob pattern matching to find serial device files in /dev/.
+"""
+
+import glob
+from typing import List
+
+
+def get_serial_ports() -> List[str]:
+    """
+    獲取系統中所有可用的串口設備列表
+    
+    在 Linux 系統中，會搜尋以下模式的設備：
+    - /dev/ttyUSB*  (USB 串口設備)
+    - /dev/ttyACM*  (USB CDC ACM 設備)
+    - /dev/ttyS*    (標準串口)
+    
+    Returns:
+        List[str]: 包含所有找到的串口設備路徑的列表
+        
+    Example:
+        >>> ports = get_serial_ports()
+        >>> print(ports)
+        ['/dev/ttyUSB0', '/dev/ttyUSB1', '/dev/ttyS0']
+    """
+    serial_ports = []
+    
+    # 搜尋不同類型的串口設備
+    patterns = [
+        '/dev/ttyUSB*',  # USB 串口轉換器
+        '/dev/ttyACM*',  # USB CDC ACM 設備（如 Arduino）
+        '/dev/ttyS*',    # 標準串口
+    ]
+    
+    for pattern in patterns:
+        serial_ports.extend(glob.glob(pattern))
+    
+    # 排序以便於閱讀
+    serial_ports.sort()
+    
+    return serial_ports
+
+
+def get_serial_ports_with_filter(filter_pattern: str = None) -> List[str]:
+    """
+    獲取串口設備列表，可選擇性地使用自訂篩選模式
+    
+    Args:
+        filter_pattern (str, optional): 自訂的 glob 模式，例如 '/dev/ttyUSB*'
+                                       如果為 None，則使用預設模式搜尋所有串口
+    
+    Returns:
+        List[str]: 符合條件的串口設備路徑列表
+        
+    Example:
+        >>> # 只搜尋 USB 串口
+        >>> usb_ports = get_serial_ports_with_filter('/dev/ttyUSB*')
+        >>> print(usb_ports)
+        ['/dev/ttyUSB0', '/dev/ttyUSB1']
+    """
+    if filter_pattern:
+        serial_ports = glob.glob(filter_pattern)
+        serial_ports.sort()
+        return serial_ports
+    else:
+        return get_serial_ports()
+
+
+if __name__ == "__main__":
+    # 使用範例
+    print("=== Serial Port Discovery ===\n")
+    
+    # 1. 獲取所有串口設備
+    all_ports = get_serial_ports()
+    print(f"找到 {len(all_ports)} 個串口設備:")
+    for port in all_ports:
+        print(f"  - {port}")
+    
+    print("\n" + "="*30 + "\n")
+    
+    # 2. 只搜尋 USB 串口
+    usb_ports = get_serial_ports_with_filter('/dev/ttyUSB*')
+    print(f"找到 {len(usb_ports)} 個 USB 串口設備:")
+    for port in usb_ports:
+        print(f"  - {port}")
+    
+    print("\n" + "="*30 + "\n")
+    
+    # 3. 只搜尋 ACM 設備
+    acm_ports = get_serial_ports_with_filter('/dev/ttyACM*')
+    print(f"找到 {len(acm_ports)} 個 ACM 設備:")
+    for port in acm_ports:
+        print(f"  - {port}")

src/fc_network_adapter/tests/demo_integration.py

@@ -19,7 +19,7 @@ from ..fc_network_adapter import mavlinkVehicleView as mvv
 
 # ====================== 分割線 =====================
 
-test_item = 10
+test_item = 1
 running_time = 3
 
 
@@ -31,7 +31,24 @@ print('test_item : ', test_item)
 測試項 1X 表示 mavlink_object 的功能 測試連線的能力
 '''
 
-if test_item == 10:
+if test_item == 1:
+    print('===> Start of Program .Test ', test_item)
+
+    connection_string="udp:127.0.0.1:14591"
+    mavlink_socket1 = mavutil.mavlink_connection(connection_string)
+    # mavlink_object1 = mo.mavlink_object(mavlink_socket1)
+
+    time.sleep(1)
+
+    print("mark A")
+
+    # print("Socket IP:", mavlink_socket1.target_system)
+    print("Socket port:", mavlink_socket1.port.getsockname())
+
+    # print("=== ", dir(mavlink_socket1.port))
+
+
+elif test_item == 10:
     # 需要開啟一個 ardupilot 的模擬器
     # 測試 mavlink_object 放入 ring buffer 的應用
     print('===> Start of Program .Test ', test_item)