1. 大量添增終端機介面功能

2. 優化 mavlink_object 與 manager 的流程

README.md

@@ -33,6 +33,16 @@ Package 簡述
 2. fc_network_adapter 
     建立、維護與飛控韌體的連接 
     構築 mavlink 封包
-    同時處理與 Gazebo 的 ardupilot_plugin 溝通的 FDM/JSON 訊息
     處理無線模組的通訊格式 (XBee)
+    --同時處理與 Gazebo 的 ardupilot_plugin 溝通的 FDM/JSON 訊息 (移除)--
+
+N. logs 是執行時期的記錄檔
+
+===
+請一律在 ~/AirTrapMine/src/ 資料夾下 以模組化啟動程式
+
+例如 在 ~/AirTrapMine/src/ 資料夾下 
+> python -m fc_network_adapter.fc_network_adapter.mainOrchestrator
+> python -m fc_network_adapter.tests.test_ringBuffer
+> python -m fc_network_adapter.tests.demo_integration
 

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -0,0 +1,786 @@
+
+'''
+
+主要調配流程的程式
+
+這個檔案包含 Terminal Utility Layer (TUL) 作為人機互動介面，並調用 mavlinkDevice 和 mavlinkObject 來處理 MAVLink 通訊和物件管理。
+
+'''
+
+import os
+import time
+import sys
+
+import curses
+import threading
+import queue
+import signal
+
+from pymavlink import mavutil
+
+# 自定義的 import
+from . import mavlinkObject as mo
+from .utils import RingBuffer, setup_logger
+
+
+
+logger = setup_logger(os.path.basename(__file__))
+
+class PanelState:
+    def __init__(self):
+        self.panel_status = "Idle"
+        termination_start_time = None
+        self.mavlink_bridge_state = "Stopped"
+        self.object_manager_state = "Stopped"
+        self.socket_object_list = []
+        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.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
+
+    def intoSTART(self):
+        self.panel_status = "Running"
+
+    def intoTERMINATION(self):
+        self.termination_start_time = time.time()
+        self.panel_status = "Terminating"
+
+    def intoENGINEER(self):
+        self.panel_status = "Engineer"
+
+    def intoSTOPPED(self):
+        self.panel_status = "Stopped"
+
+    def set_user_input(self, text):
+        self.user_input = text
+
+class MenuNode:
+    def __init__(self, name, desc="", action=None, children=None):
+        self.name = name
+        self.desc = desc
+        self.action = action  # 可以是函式或特殊字串
+        self.children = children or []  # 子選單列表
+
+class ControlPanel:
+    def __init__(self):
+        pass
+
+    def input_dialog(stdscr, prompt="請輸入文字: "):
+        """顯示輸入對話框"""
+        height, width = stdscr.getmaxyx()
+        
+        # 建立輸入視窗
+        dialog_height = 5
+        dialog_width = min(60, width - 4)
+        start_y = (height - dialog_height) // 2
+        start_x = (width - dialog_width) // 2
+        
+        # 建立視窗邊框
+        dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x)
+        dialog_win.border()
+        dialog_win.addstr(1, 2, prompt)
+        dialog_win.addstr(3, 2, "按 Enter 確認, ESC 取消")
+        dialog_win.refresh()
+        
+        # 輸入區域
+        input_win = curses.newwin(1, dialog_width - 6, start_y + 2, start_x + 2)
+        input_win.keypad(True)
+        
+        curses.echo()
+        curses.curs_set(1)
+        
+        user_input = ""
+        
+        while True:
+            input_win.clear()
+            input_win.addstr(0, 0, user_input[-dialog_width+8:])  # 顯示輸入內容（滾動）
+            input_win.refresh()
+            
+            ch = input_win.getch()
+            
+            if ch == 27:  # ESC
+                user_input = None
+                break
+            elif ch in (curses.KEY_ENTER, 10, 13):  # Enter
+                break
+            elif ch in (curses.KEY_BACKSPACE, 127, 8):  # Backspace
+                user_input = user_input[:-1]
+            elif 32 <= ch <= 126:  # 可打印字符
+                user_input += chr(ch)
+        
+        curses.noecho()
+        curses.curs_set(0)
+        
+        # 清理視窗
+        del input_win
+        del dialog_win
+        stdscr.clear()
+        stdscr.refresh()
+        
+        return user_input
+
+    def create_object_list_menu(self, state: PanelState, page=0, items_per_page=5):
+        """動態創建 mavlink_object 列表選單（支持分頁）"""
+        children = []
+        
+        if not state.socket_object_list:
+            children.append(MenuNode("(空)", "目前沒有連結口", None))
+        else:
+            total_items = len(state.socket_object_list)
+            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
+            for socket_id in state.socket_object_list[start_idx:end_idx]:
+                # 為每個 socket 創建子選單
+                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("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("返回", "回到列表", "BACK"),
+                ])
+                # 將 socket_id 附加到每個子選單項目上
+                for child in obj_menu.children:
+                    child.socket_id = socket_id
+                children.append(obj_menu)
+            
+            # 添加分頁控制
+            if total_pages > 1:
+                children.append(MenuNode("---", "---", None))
+                if page > 0:
+                    prev_node = MenuNode("◀ 上一頁", f"第 {page}/{total_pages} 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.page = page + 1
+                    children.append(next_node)
+        
+        children.append(MenuNode("返回", "回到上層選單", "BACK"))
+        menu = MenuNode("Object List", f"連結口列表 (第 {page + 1} 頁)", children=children)
+        menu.current_page = page
+        return menu
+    
+    def show_object_info(self, stdscr, socket_id, state: PanelState):
+        """顯示物件詳細資訊的對話框"""
+        height, width = stdscr.getmaxyx()
+        dialog_height = 15
+        dialog_width = min(70, width - 4)
+        start_y = (height - dialog_height) // 2
+        start_x = (width - dialog_width) // 2
+        
+        dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x)
+        dialog_win.border()
+        dialog_win.addstr(0, 2, f" Socket #{socket_id} 詳細資訊 ", curses.A_BOLD)
+
+        while not state.socket_info_single.get('InfoReady', False):
+            time.sleep(0.05)  # 等待資訊準備好
+        
+        # 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")
+        # 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', '')}")
+        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', '')))
+        dialog_win.addstr(6, 2, f"Return Pack : {show_str if show_str else 'N/A'}")
+        dialog_win.addstr(7, 2, f"Primary Socket ID: {state.socket_info_single.get('primary_socket_id', 'It Self')}")
+        show_str = ",".join(map(str, state.socket_info_single.get('target_sockets', '')))
+        dialog_win.addstr(8, 2, f"Switching Targets: {show_str if show_str else 'N/A'}")
+
+        state.socket_info_single['InfoReady'] = False  # 重置狀態以便下次使用
+        
+        dialog_win.addstr(dialog_height - 2, 2, "按任意鍵返回...")
+        dialog_win.refresh()
+        
+        dialog_win.getch()
+        del dialog_win
+        stdscr.clear()
+        stdscr.refresh()
+    
+    def select_target_socket(self, stdscr, source_socket_id, state: PanelState, remove_mode=False):
+        """選擇目標 socket 的對話框"""
+        height, width = stdscr.getmaxyx()
+        dialog_height = min(15, len(state.socket_object_list) + 5)
+        dialog_width = min(50, width - 4)
+        start_y = (height - dialog_height) // 2
+        start_x = (width - dialog_width) // 2
+        
+        dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x)
+        dialog_win.keypad(True)
+        
+        title = "選擇要移除的目標" if remove_mode else "選擇轉發目標"
+        available_sockets = [sid for sid in state.socket_object_list if sid != source_socket_id]
+        
+        if not available_sockets:
+            dialog_win.border()
+            dialog_win.addstr(0, 2, f" {title} ", curses.A_BOLD)
+            dialog_win.addstr(2, 2, "沒有可用的目標")
+            dialog_win.addstr(4, 2, "按任意鍵返回...")
+            dialog_win.refresh()
+            dialog_win.getch()
+            del dialog_win
+            stdscr.clear()
+            stdscr.refresh()
+            return None
+        
+        selected_idx = 0
+        
+        while True:
+            dialog_win.clear()
+            dialog_win.border()
+            dialog_win.addstr(0, 2, f" {title} ", curses.A_BOLD)
+            
+            for i, socket_id in enumerate(available_sockets):
+                marker = "➤" if i == selected_idx else " "
+                attr = curses.A_REVERSE if i == selected_idx else curses.A_NORMAL
+                dialog_win.addstr(2 + i, 2, f"{marker} Socket #{socket_id}", attr)
+            
+            dialog_win.addstr(dialog_height - 2, 2, "Enter確認 ESC取消")
+            dialog_win.refresh()
+            
+            ch = dialog_win.getch()
+            
+            if ch in (curses.KEY_UP, ord('k')):
+                selected_idx = (selected_idx - 1) % len(available_sockets)
+            elif ch in (curses.KEY_DOWN, ord('j')):
+                selected_idx = (selected_idx + 1) % len(available_sockets)
+            elif ch in (curses.KEY_ENTER, 10, 13):
+                result = available_sockets[selected_idx]
+                del dialog_win
+                stdscr.clear()
+                stdscr.refresh()
+                return result
+            elif ch == 27:  # ESC
+                del dialog_win
+                stdscr.clear()
+                stdscr.refresh()
+                return None
+    
+    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("New+", children=[
+                        MenuNode("UDP InBound", children=[
+                            MenuNode("IP(Listen)", "設定監聽的 IP 位址", "TEXT_UDP_IP"),
+                            MenuNode("Port(Listen)", "設定監聽的 Port", "TEXT_UDP_PORT"),
+                            MenuNode("Create", "建立 UDP InBound 連結口", "CREATE_UDP_INBOUND"),
+                        ]),
+                        MenuNode("UDP OutBound", children=[
+                            MenuNode("IP(Target)", "設定目標的 IP 位址", "TEXT_UDP_IP"),
+                            MenuNode("Port(Target)", "設定目標的 Port", "TEXT_UDP_PORT"),
+                            MenuNode("Create", "建立 UDP OutBound 連結口", "CREATE_UDP_OUTBOUND"),
+                        ]),
+                    ]),
+                    MenuNode("ListAll", "顯示並管理所有連結口", "LIST_MAV_OBJECT"),
+                ]),
+                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 Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"), #TODO: 尚未實作
+                ]),
+                MenuNode("Shutdown", "關閉整個系統", children=[
+                    MenuNode("Return", "繼續運行", "BACK"),
+                    MenuNode("Confirm", "關閉系統", "QUIT"),
+                ]),
+        ])
+
+    def panel_thread(self, cmd_q: queue.Queue, state: PanelState, stop_evt: threading.Event):
+        stdscr = None
+    
+        def cleanup():
+            """清理 curses 狀態"""
+            if stdscr:
+                stdscr.keypad(False)
+                curses.nocbreak()
+                curses.echo()
+                curses.endwin()
+
+        def panel_shutdown():
+            # 先關閉所有模組 再關閉面板
+            cmd_q.put("SHUTDOWN_BRIDGE")
+            cmd_q.put("SHUTDOWN_MANAGER")
+
+
+        def draw_menu(screen):
+            nonlocal stdscr
+            stdscr = screen
+            
+            curses.curs_set(0)
+            stdscr.nodelay(False)  # 阻塞讀鍵
+            stdscr.keypad(True)
+
+            # 選單導航狀態
+            menu_stack = [self.menu_tree()]  # 選單堆疊
+            idx_stack = [0]  # 索引堆疊
+
+            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]
+                
+                # 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:
+                    logger.error("Terminal size too small for Control Panel.")
+                    break
+                
+                stdscr.clear()
+
+                stdscr.border()
+                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(3, 2, f"Object Manager State : {state.object_manager_state}")
+                stdscr.addstr(4, 2, f"Socket Object number : {len(state.socket_object_list)}")
+
+                # # 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
+                for i, child in enumerate(current_menu.children):
+                    marker = "➤ " if i == current_idx else "  "
+                    # 動態顯示已輸入的值
+                    desc = child.desc
+                    if child.action == "TEXT_UDP_IP" and state.udp_info_temp["IP"]:
+                        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']}]"
+                    
+                    line = f"{marker}{child.name:15s} – {desc}"
+                    attr = curses.A_REVERSE if i == current_idx else curses.A_NORMAL
+                    stdscr.addstr(start_line + i, 4, line, attr)
+
+                # 顯示訊息區域 
+                # info_start_line = start_line + len(current_menu.children) + 1
+                info_start_line = height - 8
+                max_msg_lines = 5  # 最多顯示 5 行訊息
+                current_time = time.time()
+                
+                    # 清理過時的訊息
+                state.panel_info_msg_list = [
+                    (msg, timestamp)  for msg, timestamp in state.panel_info_msg_list
+                    if current_time - timestamp < 2.0 #秒數
+                ]
+                
+                    # 只顯示最新的 max_msg_lines 條訊息
+                display_msgs = state.panel_info_msg_list[-max_msg_lines:]
+                
+                for i, msg_data in enumerate(display_msgs):
+                    if info_start_line + i >= help_line - 1:  # 避免超出邊界
+                        break
+                    msg = msg_data[0] if isinstance(msg_data, tuple) else msg_data
+                    # 截斷過長的訊息
+                    max_msg_width = width - 6
+                    if len(msg) > max_msg_width:
+                        msg = msg[:max_msg_width-3] + "..."
+
+                    stdscr.addstr(info_start_line + i, 2, f"💬 {msg}", curses.A_BOLD)
+
+                
+                
+                # 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.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
+                # 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:
+                        logger.warning("Control Panel forced shutdown after timeout.")
+                        state.intoSTOPPED()
+                        stop_evt.set()
+                        continue
+                    time.sleep(0.1)
+                    if state.mavlink_bridge_state == "Stopped" and state.object_manager_state == "Stopped":
+                        state.intoSTOPPED()
+                        stop_evt.set()
+                    continue
+
+                # 設定短暫的 timeout，讓執行緒能夠響應 stop_evt
+                stdscr.timeout(100)  # 100ms timeout
+                ch = stdscr.getch()
+                
+                if ch == -1:  # timeout，繼續檢查 stop_evt
+                    continue
+                    
+                # 處理按鍵
+                if ch in (curses.KEY_UP, ord('k')):
+                    idx_stack[-1] = (current_idx - 1) % len(current_menu.children)
+                    
+                elif ch in (curses.KEY_DOWN, ord('j')):
+                    idx_stack[-1] = (current_idx + 1) % len(current_menu.children)
+
+                elif ch == (ord('O')):
+                    # 直接進入工程模式
+                    state.intoENGINEER()
+                    
+                elif ch == curses.KEY_LEFT:
+                    # 返回上層
+                    if len(menu_stack) > 1:
+                        menu_stack.pop()
+                        idx_stack.pop()
+                
+                elif ch == curses.KEY_RIGHT:
+                    # 進入下層 (但不執行動作)
+                    selected = current_menu.children[current_idx]
+                    if selected.children:  # 有子選單
+                        menu_stack.append(selected)
+                        idx_stack.append(0)
+
+                elif ch in (ord('q'), 27):
+                    state.intoTERMINATION()
+                    panel_shutdown()
+
+                elif ch in (curses.KEY_ENTER, 10, 13):
+                    selected = current_menu.children[current_idx]
+                    
+                    # 處理不同類型的動作
+                    if selected.children:  # 有子選單
+                        menu_stack.append(selected)
+                        idx_stack.append(0)
+                        
+                    elif selected.action == "BACK":
+                        if len(menu_stack) > 1:
+                            menu_stack.pop()
+                            idx_stack.pop()
+                            
+                    elif selected.action == "QUIT":
+                        state.intoTERMINATION()
+                        panel_shutdown()
+                    
+                    elif selected.action == "TEXT_UDP_IP":
+                        result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 IP 位址: ")
+                        if result is not None:
+                            state.udp_info_temp["IP"] = result
+                    
+                    elif selected.action == "TEXT_UDP_PORT":
+                        result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 Port: ")
+                        if result is not None:
+                            state.udp_info_temp["Port"] = result
+                    
+                    elif selected.action == "CREATE_UDP_INBOUND":
+                        cmd_q.put("CREATE_UDP_INBOUND")
+                        # 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 == "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 == "LIST_MAV_OBJECT":
+                        # 動態生成 mavlink_object 列表選單
+                        object_list_menu = self.create_object_list_menu(state, page=0)
+                        menu_stack.append(object_list_menu)
+                        idx_stack.append(0)
+                    
+                    elif selected.action == "PREV_PAGE":
+                        # 上一頁
+                        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 == "NEXT_PAGE":
+                        # 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":
+                        # 顯示物件詳細資訊
+                        if hasattr(selected, 'socket_id'):
+                            cmd_q.put(("INSPECT_MAV_OBJECT", selected.socket_id))
+                            self.show_object_info(stdscr, selected.socket_id, state)
+                    
+                    elif selected.action == "REMOVE_MAV_OBJECT":
+                        # 移除物件
+                        if hasattr(selected, 'socket_id'):
+                            cmd_q.put(("REMOVE_OBJECT", selected.socket_id))
+                            # 返回上層（回到列表）
+                            if len(menu_stack) > 1:
+                                menu_stack.pop()
+                                idx_stack.pop()
+                            # 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))
+
+                    elif selected.action == "MAVOBJ_ADD_TARGET":
+                        # 添加目標端口
+                        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)
+                            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()))
+                            continue  # 只有在工程模式下才能操作
+                        cmd_q.put("SHUTDOWN_MANAGER")
+
+                    elif selected.action == "STOP_BRIDGE":
+                        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_BRIDGE")
+                    elif callable(selected.action):
+                        # 執行函式
+                        cmd_q.put(selected.action)
+                        
+        try:
+            curses.wrapper(draw_menu)
+        except KeyboardInterrupt:
+            pass
+        finally:
+            stop_evt.set()
+            cleanup()
+
+
+
+class Orchestrator:
+    def __init__(self, stop_sig):
+        self.stop_evt = stop_sig
+
+        # === 1) 面板部分的準備 ===
+        self.cmd_q = queue.Queue()
+        self.panelState = PanelState() # 面板的狀態儲存
+        self.cPanel = ControlPanel() # 面板的功能
+        self.panel_thread = None
+
+        # === 2) async_io_manager & mavlink_bridge 部分的準備 ===
+        mo.stream_bridge_ring.clear()
+        mo.return_packet_ring.clear()
+        self.manager = mo.async_io_manager()
+        self.bridge = mo.mavlink_bridge()
+
+    def engageWholeSystem(self):
+        """啟動整個系統"""
+        # === 1) 面板部分的啟動 ===
+        self.panel_thread = threading.Thread(target=self.cPanel.panel_thread, args=(self.cmd_q, self.panelState, self.stop_evt)) 
+        self.panel_thread.start()
+
+        # === 2) async_io_manager & mavlink_bridge 部分的啟動 ===
+        self.manager.start()
+        self.bridge.start()
+
+    def mainLoop(self):
+        logger.info("Main orchestrator started <-")
+        try:
+            while not self.stop_evt.is_set():
+
+                # A. 更新模組狀態
+                if self.manager.running:
+                    self.panelState.object_manager_state = 'Running'
+                else:
+                    self.panelState.object_manager_state = 'Stopped'
+
+                socketid_list = self.manager.get_managed_objects()
+                self.panelState.socket_object_list = socketid_list
+
+                if self.bridge.running:
+                    self.panelState.mavlink_bridge_state = 'Running'
+                else:
+                    self.panelState.mavlink_bridge_state = 'Stopped'
+
+                # 取出面板丟過來的「動作」
+                try:
+                    cmd = self.cmd_q.get_nowait()
+                    if callable(cmd):
+                        cmd()  # 執行對應動作
+                    elif isinstance(cmd, tuple):
+                        # 處理多參數命令
+                        action = cmd[0]
+                        if action == "REMOVE_OBJECT":
+                            socket_id = cmd[1]
+                            # 先移除所有跟他關聯的 target sockets
+                            for s_id in mo.mavlink_object.mavlinkObjects:
+                                s_obj = mo.mavlink_object.mavlinkObjects[s_id]
+                                if socket_id in s_obj.target_sockets:
+                                    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)
+                        elif action == "MAVOBJ_REMOVE_TARGET":
+                            source_id, target_id = cmd[1], cmd[2]
+                            self.remove_target_from_object(source_id, target_id)
+                        elif action == "INSPECT_MAV_OBJECT":
+                            socket_id = cmd[1]
+                            mav_obj = self.manager.managed_objects.get(socket_id, None)
+                            if mav_obj:
+                                self.panelState.socket_info_single["socket_type"] = mav_obj.socket_type
+                                # self.panelState.socket_info_single["socket_state"] = "Running" if mav_obj.running
+                                self.panelState.socket_info_single["bridge_msg_types"] = mav_obj.bridge_msg_types
+                                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
+                                self.panelState.socket_info_single["InfoReady"] = True # 標記資訊已準備好
+
+                    elif cmd == "CREATE_UDP_INBOUND":
+                        self.panelState.udp_info_temp["direction"] = "inbound"
+                        self.create_udp_object()
+                    elif cmd == "CREATE_UDP_OUTBOUND":
+                        self.panelState.udp_info_temp["direction"] = "outbound"
+                        self.create_udp_object()
+                    elif cmd == "SHUTDOWN_BRIDGE":
+                        self.bridge.stop()
+                    elif cmd == "SHUTDOWN_MANAGER":
+                        self.manager.shutdown()
+                except queue.Empty:
+                    pass
+                except Exception as e:
+                    logger.error(f"Error processing command: {e}")
+
+                    
+                time.sleep(0.1)
+
+        except KeyboardInterrupt:
+            pass
+        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)
+            self.bridge.stop()
+
+            # 關閉 async_io_manager (裡面有一個執行緒)
+            self.manager.shutdown()
+
+            # 關閉面板執行緒
+            if self.panel_thread.is_alive():
+                self.panel_thread.join(timeout=2)
+
+    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']}"
+        elif self.panelState.udp_info_temp["direction"] == "outbound":
+            connection_string = f"udpout:{self.panelState.udp_info_temp['IP']}:{self.panelState.udp_info_temp['Port']}"
+        
+        try:
+            mavlink_socket = mavutil.mavlink_connection(connection_string)
+        except Exception as e:
+            self.panelState.panel_info_msg_list.append((f"Failed to create UDP {self.panelState.udp_info_temp['direction']} object: {e}", time.time()-1))
+            return
+        mavlink_object = mo.mavlink_object(mavlink_socket)
+        mavlink_object.socket_type = "UDP " + self.panelState.udp_info_temp['direction'].capitalize()
+        self.manager.add_mavlink_object(mavlink_object)
+        self.panelState.panel_info_msg_list.append((f"Created UDP {self.panelState.udp_info_temp['direction']} object: {connection_string}", time.time()))
+    
+    def delete_mavlink_object(self, socket_id):
+        """移除指定的 mavlink_object"""
+        self.manager.remove_mavlink_object(socket_id)
+
+    def add_target_to_object(self, source_id, target_id):
+        """為 mavlink_object 添加轉發目標"""
+        if source_id in mo.mavlink_object.mavlinkObjects:
+            source_obj = mo.mavlink_object.mavlinkObjects[source_id]
+        else:
+            self.panelState.panel_info_msg_list.append((f"Source object {source_id} not found", time.time()))
+            return
+
+        if source_obj.add_target_socket(target_id):
+            self.panelState.panel_info_msg_list.append((f"Added target {target_id} to socket {source_id}", time.time()))
+        else:
+            self.panelState.panel_info_msg_list.append((f"Fail Adding target {target_id} to socket {source_id}", time.time()))
+
+    def remove_target_from_object(self, source_id, target_id):
+        """從 mavlink_object 移除轉發目標"""
+        if source_id in mo.mavlink_object.mavlinkObjects:
+            source_obj = mo.mavlink_object.mavlinkObjects[source_id]
+        else:
+            self.panelState.panel_info_msg_list.append((f"Source object {source_id} not found", time.time()))
+            return
+
+        if source_obj.remove_target_socket(target_id):
+            self.panelState.panel_info_msg_list.append((f"Removed target {target_id} from socket {source_id}", time.time()))
+        else:
+            self.panelState.panel_info_msg_list.append((f"Fail Removing target {target_id} from socket {source_id}", time.time()))
+
+def main():
+
+    stop_evt = threading.Event()
+
+    def signal_handler(signum, frame):
+        """處理 Ctrl+C 信號 藉此訊號 會結束下面的 while 迴圈 並逐步關閉各模組"""
+        stop_evt.set()
+
+    # 註冊信號處理器
+    signal.signal(signal.SIGINT, signal_handler)
+    signal.signal(signal.SIGTERM, signal_handler)
+
+    orchestrator = Orchestrator(stop_evt)
+    orchestrator.engageWholeSystem()
+    orchestrator.mainLoop() # 程式會 block 在這邊 直到收到中斷信號
+
+if __name__ == "__main__":
+    main()
+
+

src/fc_network_adapter/fc_network_adapter/mavlinkDevice.py

@@ -1,10 +1,12 @@
 
+import os
+
 # 自定義的 import
-from .theLogger import setup_logger
+from .utils import setup_logger
 
 # ====================== 分割線 =====================
 
-logger = setup_logger("mavlinkDevice.py")
+logger = setup_logger(os.path.basename(__file__))
 
 # 用來記錄每個 system 的資訊
 # 資料格式 { sysid : mavlink_device object }

src/fc_network_adapter/fc_network_adapter/mavlinkPublish.py

@@ -9,6 +9,8 @@
 publisher topic name 命名規則為 <前綴詞>/s<sysid>/<具體 topic>
 '''
 
+import os
+
 # ROS2 的 import
 import std_msgs.msg
 import sensor_msgs.msg
@@ -18,9 +20,9 @@ import mavros_msgs.msg
 import math
 
 # 自定義的 import
-from .theLogger import setup_logger
+from .utils import setup_logger
 
-logger = setup_logger("mavlinkPublish.py")
+logger = setup_logger(os.path.basename(__file__))
 
 class mavlink_publisher():
 

src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py

@@ -0,0 +1,435 @@
+"""
+VehicleView - Pure State Container
+純粹的狀態容器，不主動通訊、不背景下載參數、不搶 RF/MAVLink 流量
+只提供狀態存取介面，由外部手動餵資料（push state）
+"""
+
+import os
+from typing import Dict, Optional, Any
+from dataclasses import dataclass, field
+from enum import Enum
+
+from .utils import setup_logger
+
+logger = setup_logger(os.path.basename(__file__))
+
+
+# ====================== Enums =====================
+
+class ConnectionType(Enum):
+    """連接類型"""
+    SERIAL = "serial"
+    UDP = "udp"
+    TCP = "tcp"
+    OTHER = "other"
+
+
+class ComponentType(Enum):
+    """組件類型"""
+    AUTOPILOT = "autopilot"
+    GCS = "gcs"
+    CAMERA = "camera"
+    GIMBAL = "gimbal"
+    OTHER = "other"
+
+
+class RFModuleType(Enum):
+    """RF模組類型"""
+    XBEE = "xbee"
+    UDP = "udp"
+    TCP = "tcp"
+    OTHER = "other"
+
+
+# ====================== Data Classes =====================
+
+@dataclass
+class Position:
+    """位置資訊"""
+    latitude: Optional[float] = None  # 緯度 (度)
+    longitude: Optional[float] = None  # 經度 (度)
+    altitude: Optional[float] = None  # 海拔高度 (公尺)
+    relative_altitude: Optional[float] = None  # 相對高度 (公尺)
+    timestamp: Optional[float] = None  # 時間戳記
+
+
+@dataclass
+class Attitude:
+    """姿態資訊"""
+    roll: Optional[float] = None  # 橫滾角 (弧度)
+    pitch: Optional[float] = None  # 俯仰角 (弧度)
+    yaw: Optional[float] = None  # 偏航角 (弧度)
+    rollspeed: Optional[float] = None  # 橫滾速度 (弧度/秒)
+    pitchspeed: Optional[float] = None  # 俯仰速度 (弧度/秒)
+    yawspeed: Optional[float] = None  # 偏航速度 (弧度/秒)
+    timestamp: Optional[float] = None  # 時間戳記
+
+
+@dataclass
+class FlightMode:
+    """飛行模式資訊"""
+    base_mode: Optional[int] = None  # MAVLink base mode
+    custom_mode: Optional[int] = None  # 自定義模式
+    mode_name: Optional[str] = None  # 模式名稱 (例如: "GUIDED", "AUTO")
+    timestamp: Optional[float] = None  # 時間戳記
+
+
+@dataclass
+class Battery:
+    """電池資訊"""
+    voltage: Optional[float] = None  # 電壓 (V)
+    current: Optional[float] = None  # 電流 (A)
+    remaining: Optional[int] = None  # 剩餘電量 (%)
+    temperature: Optional[float] = None  # 溫度 (攝氏)
+    timestamp: Optional[float] = None  # 時間戳記
+
+
+@dataclass
+class EKF:
+    """EKF狀態資訊"""
+    flags: Optional[int] = None  # EKF 旗標
+    velocity_variance: Optional[float] = None  # 速度變異
+    pos_horiz_variance: Optional[float] = None  # 水平位置變異
+    pos_vert_variance: Optional[float] = None  # 垂直位置變異
+    compass_variance: Optional[float] = None  # 羅盤變異
+    terrain_alt_variance: Optional[float] = None  # 地形高度變異
+    timestamp: Optional[float] = None  # 時間戳記
+
+
+@dataclass
+class GPS:
+    """GPS資訊"""
+    fix_type: Optional[int] = None  # GPS fix 類型 (0=無, 1=無fix, 2=2D, 3=3D, 4=DGPS, 5=RTK)
+    satellites_visible: Optional[int] = None  # 可見衛星數
+    eph: Optional[int] = None  # GPS HDOP 水平精度因子
+    epv: Optional[int] = None  # GPS VDOP 垂直精度因子
+    timestamp: Optional[float] = None  # 時間戳記
+
+
+@dataclass
+class VFR:
+    """VFR HUD資訊"""
+    airspeed: Optional[float] = None  # 空速 (m/s)
+    groundspeed: Optional[float] = None  # 地速 (m/s)
+    heading: Optional[int] = None  # 航向 (度)
+    throttle: Optional[int] = None  # 油門 (%)
+    climb: Optional[float] = None  # 爬升率 (m/s)
+    timestamp: Optional[float] = None  # 時間戳記
+
+
+@dataclass
+class ComponentStatus:
+    """組件狀態容器"""
+    position: Position = field(default_factory=Position)
+    attitude: Attitude = field(default_factory=Attitude)
+    mode: FlightMode = field(default_factory=FlightMode)
+    battery: Battery = field(default_factory=Battery)
+    ekf: EKF = field(default_factory=EKF)
+    gps: GPS = field(default_factory=GPS)
+    vfr: VFR = field(default_factory=VFR)
+    
+    # 系統狀態
+    system_status: Optional[int] = None  # MAV_STATE
+    armed: Optional[bool] = None  # 解鎖狀態
+    
+    # 其他自定義狀態
+    custom_status: Dict[str, Any] = field(default_factory=dict)
+
+
+@dataclass
+class PacketStats:
+    """封包統計資訊"""
+    received_count: int = 0  # 接收封包數
+    lost_count: int = 0  # 遺失封包數
+    last_seq: Optional[int] = None  # 最後序號
+    last_msg_time: Optional[float] = None  # 最後訊息時間
+    msg_type_count: Dict[int, int] = field(default_factory=dict)  # 各類訊息計數 {msg_type: count}
+
+
+@dataclass
+class RFStatus:
+    """RF模組狀態"""
+    rssi: Optional[int] = None  # 信號強度
+    noise: Optional[int] = None  # 噪音水平
+    at_response: Optional[str] = None  # AT 命令回應
+    link_quality: Optional[int] = None  # 連接品質
+    timestamp: Optional[float] = None  # 時間戳記
+    custom_status: Dict[str, Any] = field(default_factory=dict)  # 其他自定義狀態
+
+
+@dataclass
+class SocketInfo:
+    """Socket連接資訊"""
+    ip: Optional[str] = None  # IP位址
+    port: Optional[int] = None  # 埠號
+    local_ip: Optional[str] = None  # 本地IP
+    local_port: Optional[int] = None  # 本地埠號
+    connected: bool = False  # 連接狀態
+
+
+# ====================== Component Class =====================
+
+class VehicleComponent:
+    """載具組件 - 代表一個 MAVLink component"""
+    
+    def __init__(self, component_id: int, comp_type: ComponentType = ComponentType.OTHER):
+        self.component_id = component_id
+        self.type = comp_type
+        
+        # MAVLink 組件資訊
+        self.mav_type: Optional[int] = None  # MAV_TYPE
+        self.mav_autopilot: Optional[int] = None  # MAV_AUTOPILOT
+        
+        # 狀態容器
+        self.status = ComponentStatus()
+        
+        # 參數容器 (只存放，不主動下載)
+        self.parameters: Dict[str, Any] = {}
+        
+        # 封包統計
+        self.packet_stats = PacketStats()
+    
+    def update_packet_stats(self, seq: int, msg_type: int, timestamp: float) -> None:
+        """
+        更新封包統計
+        
+        Args:
+            seq: 訊息序號
+            msg_type: 訊息類型
+            timestamp: 時間戳記
+        """
+        stats = self.packet_stats
+        
+        # 檢查遺失封包
+        if stats.last_seq is not None:
+            expected_seq = (stats.last_seq + 1) % 256
+            diff = seq - expected_seq
+            if diff < 0:
+                diff += 256
+            stats.lost_count += diff
+        
+        # 更新統計資訊
+        stats.received_count += 1
+        stats.last_seq = seq
+        stats.last_msg_time = timestamp
+        
+        # 更新訊息類型計數
+        if msg_type in stats.msg_type_count:
+            stats.msg_type_count[msg_type] += 1
+        else:
+            stats.msg_type_count[msg_type] = 1
+    
+    def reset_packet_stats(self) -> None:
+        """重置封包統計"""
+        self.packet_stats = PacketStats()
+    
+    def set_parameter(self, param_name: str, param_value: Any) -> None:
+        """設定參數 (手動餵入)"""
+        self.parameters[param_name] = param_value
+    
+    def get_parameter(self, param_name: str, default: Any = None) -> Any:
+        """取得參數"""
+        return self.parameters.get(param_name, default)
+    
+    def __str__(self) -> str:
+        return (f"Component(id={self.component_id}, type={self.type.value}, "
+                f"mav_type={self.mav_type}, received={self.packet_stats.received_count}, "
+                f"lost={self.packet_stats.lost_count})")
+
+
+# ====================== RF Module Class =====================
+
+class RFModule:
+    """RF模組資訊容器"""
+    
+    def __init__(self, rf_type: RFModuleType = RFModuleType.OTHER):
+        self.type = rf_type
+        self.status = RFStatus()
+        self.socket_info = SocketInfo()
+    
+    def update_rssi(self, rssi: int, timestamp: Optional[float] = None) -> None:
+        """更新RSSI"""
+        self.status.rssi = rssi
+        if timestamp:
+            self.status.timestamp = timestamp
+    
+    def update_at_response(self, response: str, timestamp: Optional[float] = None) -> None:
+        """更新AT命令回應"""
+        self.status.at_response = response
+        if timestamp:
+            self.status.timestamp = timestamp
+    
+    def update_socket_info(self, ip: str = None, port: int = None, 
+                          local_ip: str = None, local_port: int = None,
+                          connected: bool = None) -> None:
+        """更新Socket資訊"""
+        if ip is not None:
+            self.socket_info.ip = ip
+        if port is not None:
+            self.socket_info.port = port
+        if local_ip is not None:
+            self.socket_info.local_ip = local_ip
+        if local_port is not None:
+            self.socket_info.local_port = local_port
+        if connected is not None:
+            self.socket_info.connected = connected
+    
+    def __str__(self) -> str:
+        return (f"RFModule(type={self.type.value}, rssi={self.status.rssi}, "
+                f"connected={self.socket_info.connected})")
+
+
+# ====================== Main VehicleView Class =====================
+
+class VehicleView:
+    """
+    載具視圖 - 純狀態容器
+    
+    特點:
+    1. 只有狀態容器，沒有任何主動通訊功能
+    2. 不主動通訊、不背景下載參數、不搶 RF/MAVLink 流量
+    3. 可以手動餵資料 (push state)
+    4. 可擴充 (支援 RF 模組狀態)
+    """
+    
+    def __init__(self, sysid: int):
+        # Meta 資訊
+        self.sysid = sysid
+        self.kind: Optional[str] = None  # 載具種類描述 (例如: "Copter", "Plane")
+        self.vehicle_type: Optional[int] = None  # MAV_TYPE
+        self.connected_via: ConnectionType = ConnectionType.OTHER
+        
+        # 組件容器 {component_id: VehicleComponent}
+        self.components: Dict[int, VehicleComponent] = {}
+        
+        # RF模組
+        self.rf_module: Optional[RFModule] = None
+        
+        # 其他自定義meta資訊
+        self.custom_meta: Dict[str, Any] = {}
+    
+    def add_component(self, component_id: int, comp_type: ComponentType = ComponentType.OTHER) -> VehicleComponent:
+        """
+        新增組件
+        
+        Args:
+            component_id: 組件ID
+            comp_type: 組件類型
+            
+        Returns:
+            VehicleComponent: 新增的組件
+        """
+        if component_id not in self.components:
+            self.components[component_id] = VehicleComponent(component_id, comp_type)
+            logger.info(f"Added component {component_id} to system {self.sysid}")
+        return self.components[component_id]
+    
+    def get_component(self, component_id: int) -> Optional[VehicleComponent]:
+        """取得組件"""
+        return self.components.get(component_id)
+    
+    def remove_component(self, component_id: int) -> bool:
+        """移除組件"""
+        if component_id in self.components:
+            del self.components[component_id]
+            logger.info(f"Removed component {component_id} from system {self.sysid}")
+            return True
+        return False
+    
+    def set_rf_module(self, rf_type: RFModuleType) -> RFModule:
+        """設定RF模組"""
+        self.rf_module = RFModule(rf_type)
+        return self.rf_module
+    
+    def get_rf_module(self) -> Optional[RFModule]:
+        """取得RF模組"""
+        return self.rf_module
+    
+    def __str__(self) -> str:
+        comp_list = ", ".join([str(cid) for cid in self.components.keys()])
+        return (f"VehicleView(sysid={self.sysid}, kind={self.kind}, "
+                f"connected_via={self.connected_via.value}, "
+                f"components=[{comp_list}], "
+                f"rf_module={self.rf_module is not None})")
+    
+    def to_dict(self) -> Dict[str, Any]:
+        """轉換為字典格式 (方便序列化/除錯)"""
+        return {
+            'meta': {
+                'sysid': self.sysid,
+                'kind': self.kind,
+                'vehicle_type': self.vehicle_type,
+                'connected_via': self.connected_via.value,
+                'custom_meta': self.custom_meta
+            },
+            'components': {
+                cid: {
+                    'component_id': comp.component_id,
+                    'type': comp.type.value,
+                    'mav_type': comp.mav_type,
+                    'mav_autopilot': comp.mav_autopilot,
+                    'packet_stats': {
+                        'received': comp.packet_stats.received_count,
+                        'lost': comp.packet_stats.lost_count,
+                        'last_seq': comp.packet_stats.last_seq,
+                        'last_msg_time': comp.packet_stats.last_msg_time
+                    },
+                    'parameters_count': len(comp.parameters)
+                }
+                for cid, comp in self.components.items()
+            },
+            'rf_module': {
+                'type': self.rf_module.type.value,
+                'rssi': self.rf_module.status.rssi,
+                'socket_connected': self.rf_module.socket_info.connected
+            } if self.rf_module else None
+        }
+
+
+# ====================== Registry =====================
+
+class VehicleViewRegistry:
+    """載具視圖註冊表 - 管理所有的 VehicleView"""
+    
+    def __init__(self):
+        self._vehicles: Dict[int, VehicleView] = {}
+    
+    def register(self, sysid: int) -> VehicleView:
+        """註冊新的載具視圖"""
+        if sysid not in self._vehicles:
+            self._vehicles[sysid] = VehicleView(sysid)
+            logger.info(f"Registered new VehicleView for system {sysid}")
+        return self._vehicles[sysid]
+    
+    def get(self, sysid: int) -> Optional[VehicleView]:
+        """取得載具視圖"""
+        return self._vehicles.get(sysid)
+    
+    def unregister(self, sysid: int) -> bool:
+        """註銷載具視圖"""
+        if sysid in self._vehicles:
+            del self._vehicles[sysid]
+            logger.info(f"Unregistered VehicleView for system {sysid}")
+            return True
+        return False
+    
+    def get_all(self) -> Dict[int, VehicleView]:
+        """取得所有載具視圖"""
+        return self._vehicles.copy()
+    
+    def clear(self) -> None:
+        """清空所有載具視圖"""
+        self._vehicles.clear()
+        logger.info("Cleared all VehicleViews")
+    
+    def __len__(self) -> int:
+        return len(self._vehicles)
+    
+    def __contains__(self, sysid: int) -> bool:
+        return sysid in self._vehicles
+
+
+# ====================== Global Instance =====================
+
+# 全域註冊表實例
+vehicle_registry = VehicleViewRegistry()

src/fc_network_adapter/fc_network_adapter/utils/__init__.py

@@ -0,0 +1,7 @@
+"""
+共用工具模組
+"""
+from .ringBuffer import RingBuffer
+from .theLogger import setup_logger
+
+__all__ = ['RingBuffer', 'setup_logger']

src/fc_network_adapter/fc_network_adapter/utils/theLogger.py

@@ -5,7 +5,7 @@ from logging.handlers import TimedRotatingFileHandler
 # 全域 Logger 實例
 _global_logger = None
 
-def setup_logger(name: str, log_dir: str = "log", level=logging.DEBUG) -> logging.Logger:
+def setup_logger(name: str, log_dir: str = "logs", level=logging.DEBUG) -> logging.Logger:
     global _global_logger
 
     if _global_logger is None:

src/fc_network_adapter/setup.py

@@ -20,6 +20,7 @@ setup(
     tests_require=['pytest'],
     entry_points={
         'console_scripts': [
+            'mavlink_orchestrator = fc_network_adapter.mainOrchestrator:main',
         ],
     },
 )

src/fc_network_adapter/tests/demo_integration.py

@@ -0,0 +1,260 @@
+import os
+import sys
+sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
+
+# 基礎功能的 import
+import queue
+import time
+
+# ROS2 的 import
+import rclpy
+
+# mavlink 的 import
+from pymavlink import mavutil
+
+# 自定義的 import
+from ..fc_network_adapter import mavlinkObject as mo
+from ..fc_network_adapter import mavlinkVehicleView as mvv
+# from ..fc_network_adapter import mavlinkDevice as md
+
+# ====================== 分割線 =====================
+
+test_item = 10
+running_time = 3
+
+
+print('test_item : ', test_item)
+
+'''
+測試項 個位數 表示分離的功能
+
+測試項 1X 表示 mavlink_object 的功能 測試連線的能力
+'''
+
+if 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)
+
+    # 清空 ring buffer
+    mo.stream_bridge_ring.clear()
+    mo.return_packet_ring.clear()
+
+    manager = mo.async_io_manager()
+    manager.start()
+    time.sleep(0.5)  # 等待事件循環啟動
+
+    # 初始化輸入通道
+    connection_string="udp:127.0..1:14571"
+    mavlink_socket1 = mavutil.mavlink_connection(connection_string)
+    mavlink_object1 = mo.mavlink_object(mavlink_socket1)
+
+    sock = mavlink_socket1.port
+    print("Socket port:", sock)
+
+    manager.add_mavlink_object(mavlink_object1)
+
+    start_time = time.time()
+    while (time.time() - start_time) < running_time:
+        items_a = mo.stream_bridge_ring.get_all()
+        items_b = mo.return_packet_ring.get_all()
+        try:
+            print(f"data num {len(items_a)} in return_packet_ring, first data : {items_a[0][2]}")
+        except IndexError:
+            print("stream_bridge_ring is empty")
+
+        try:
+            print(f"data num {len(items_b)} in return_packet_ring, first data : {items_b[0][2]}")
+        except IndexError:
+            print("return_packet_ring is empty")
+        time.sleep(1)
+
+    manager.shutdown()
+
+    print('<=== End of Program')
+
+elif test_item == 11:
+    # 需要開啟一個 ardupilot 的模擬器
+    # 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
+    print('===> Start of Program .Test ', test_item)
+
+    # 清空 ring buffer
+    mo.stream_bridge_ring.clear()
+    mo.return_packet_ring.clear()
+
+    manager = mo.async_io_manager()
+    manager.start()
+    time.sleep(0.5)  # 等待事件循環啟動
+
+    # 初始化輸入通道
+    connection_string="udp:127.0.0.1:14571"
+    mavlink_socket1 = mavutil.mavlink_connection(connection_string)
+    mavlink_object1 = mo.mavlink_object(mavlink_socket1)
+    manager.add_mavlink_object(mavlink_object1)
+
+    # 啟動 mavlink_bridge
+    bridge = mo.mavlink_bridge()
+    bridge.start()
+
+    time.sleep(3)
+
+    # 印出目前所有 mavlink_systems 的內容
+    print('目前所有的系統 : ')
+    all_vehicles = mvv.vehicle_registry.get_all()
+    for sysid, vehicle in all_vehicles.items():
+        print(f"  System {sysid}: {vehicle}")
+
+    start_time = time.time()
+    show_time = time.time()
+    while time.time() - start_time < running_time:
+        if (time.time() - show_time) >= 2:
+            # print("mark B")
+
+            show_time = time.time()
+            for sysid, vehicle in all_vehicles.items():
+                for compid in vehicle.components:
+                    comp = vehicle.get_component(compid)
+                    print("Sysid : {} ,目前收到的訊息數量 : {}".format(sysid, comp.packet_stats.received_count))
+                comp.reset_packet_stats()
+            print("===================")
+
+    manager.shutdown()
+    bridge.stop()
+
+    print('<=== End of Program')
+
+elif test_item == 12:
+    # 需要開啟一個 ardupilot 的模擬器 與 GCS 
+    # 這邊是測試 mavlink object 作為交換器功能的代碼
+    print('===> Start of Program .Test ', test_item)
+
+    # 清空 ring buffer
+    mo.stream_bridge_ring.clear()
+    mo.return_packet_ring.clear()
+
+    manager = mo.async_io_manager()
+    manager.start()
+    time.sleep(0.5)  # 等待事件循環啟動
+
+    # 初始化輸入通道
+    connection_string="udp:127.0.0.1:14571"
+    mavlink_socket_in1 = mavutil.mavlink_connection(connection_string)
+    mavlink_object_in1 = mo.mavlink_object(mavlink_socket_in1)
+
+    connection_string="udp:127.0.0.1:14571"
+    mavlink_socket_in2 = mavutil.mavlink_connection(connection_string)
+    mavlink_object_in2 = mo.mavlink_object(mavlink_socket_in2)
+
+    # 初始化輸出通道
+    connection_string="udpout:127.0.0.1:14551"
+    mavlink_socket_out = mavutil.mavlink_connection(connection_string)
+    mavlink_object_out = mo.mavlink_object(mavlink_socket_out)
+
+    manager.add_mavlink_object(mavlink_object_out)
+    manager.add_mavlink_object(mavlink_object_in1)
+    manager.add_mavlink_object(mavlink_object_in2)
+
+    time.sleep(1)  # 等待通道啟動
+
+    mavlink_object_in1.add_target_socket(mavlink_object_out.socket_id)  
+    mavlink_object_out.add_target_socket(mavlink_object_in1.socket_id)
+
+    mavlink_object_in2.add_target_socket(mavlink_object_out.socket_id)  
+    mavlink_object_out.add_target_socket(mavlink_object_in2.socket_id)
+
+    start_time = time.time()
+    while (time.time() - start_time) < running_time:
+
+        time.sleep(1)
+
+    manager.shutdown()
+
+    print('<=== End of Program')
+
+
+
+elif test_item == 21:
+    # 需要開啟一個 ardupilot 的模擬器
+    # 這邊是測試代碼 引入 rclpy 來測試 node 的運行
+    
+    print('===> Start of Program .Test ', test_item)
+    # 初始化 rclpy 才能使用 node
+    rclpy.init() 
+
+    # 清空 ring buffer
+    mo.stream_bridge_ring.clear()
+    mo.return_packet_ring.clear()
+
+    manager = mo.async_io_manager()
+    manager.start()
+
+    # 啟動 mavlink_bridge
+    analyzer = mo.mavlink_bridge()
+    # 關於 Node 的初始化
+    show_time = time.time()
+    analyzer._init_node() # 初始化 node
+    print('初始化 node 完成 耗時 : ',time.time() - show_time)
+
+    time.sleep(0.5)  # 系統 Setup 完成
+
+    
+    # 創建通道
+    connection_string="udp:127.0.0.1:14560"
+    mavlink_socket = mavutil.mavlink_connection(connection_string)
+    mavlink_object3 = mo.mavlink_object(mavlink_socket)
+    manager.add_mavlink_object(mavlink_object3)
+
+    print('=== waiting for mavlink data ...')
+    time.sleep(2) # 等待 2 秒鐘 讓 device object 收到足夠的 mavlink 訊息
+    
+    print('目前所有的系統 : ')
+    for sysid in analyzer.mavlink_systems:
+        print(analyzer.mavlink_systems[sysid])
+
+    compid = 1   
+    sysid = 1
+    start_time = time.time()
+    analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    end_time = time.time()
+    print(f"Execution time for create_flightMode: {end_time - start_time} seconds")
+
+    print("start emit info")
+
+    start_time = time.time()
+    show_time = time.time() 
+    while time.time() - start_time < running_time:
+        try:
+            # print(analyzer.mavlink_systems[sysid].components[compid].emitParams['flightMode_mode'])
+            analyzer.emit_info() # 這邊是測試 node 的運行
+            time.sleep(1)
+        except KeyboardInterrupt:
+            break
+    
+
+    # 程式結束
+    analyzer.destroy_node()
+    rclpy.shutdown()      
+
+    # 結束程式 退出所有 thread
+    manager.stop()
+    analyzer.stop()
+    analyzer.thread.join()
+
+    mavlink_socket.close()
+    print('<=== End of Program')
+
+
+elif test_item == 52:
+    print('===> Start of Program .Test ', test_item)
+
+    manager = mo.async_io_manager()
+    manager.start()
+
+    # print(manager.thread.is_alive())
+
+    manager.shutdown()
+
+    time.sleep(1)
+    
+    print('manager stopped')
+

src/fc_network_adapter/tests/demo_mavlinkVehicleView.py

@@ -0,0 +1,331 @@
+"""
+VehicleView 使用範例
+展示如何使用純狀態容器來管理 MAVLink 載具資訊
+"""
+
+import time
+from ..fc_network_adapter.mavlinkVehicleView import (
+    VehicleView,
+    VehicleComponent,
+    RFModule,
+    vehicle_registry,
+    ConnectionType,
+    ComponentType,
+    RFModuleType
+)
+
+
+def example_basic_usage():
+    """基本使用範例"""
+    print("=== 基本使用範例 ===\n")
+    
+    # 1. 建立載具視圖
+    vehicle = VehicleView(sysid=1)
+    vehicle.kind = "Copter"
+    vehicle.vehicle_type = 2  # MAV_TYPE_QUADROTOR
+    vehicle.connected_via = ConnectionType.UDP
+    
+    print(f"建立載具: {vehicle}\n")
+    
+    # 2. 新增 autopilot 組件
+    autopilot = vehicle.add_component(
+        component_id=1,
+        comp_type=ComponentType.AUTOPILOT
+    )
+    autopilot.mav_type = 2  # MAV_TYPE_QUADROTOR
+    autopilot.mav_autopilot = 3  # MAV_AUTOPILOT_ARDUPILOTMEGA
+    
+    print(f"新增組件: {autopilot}\n")
+    
+    # 3. 手動餵入位置資訊
+    autopilot.status.position.latitude = 25.0330
+    autopilot.status.position.longitude = 121.5654
+    autopilot.status.position.altitude = 100.5
+    autopilot.status.position.timestamp = time.time()
+    
+    print(f"位置: 緯度={autopilot.status.position.latitude}, "
+          f"經度={autopilot.status.position.longitude}, "
+          f"高度={autopilot.status.position.altitude}m\n")
+    
+    # 4. 手動餵入姿態資訊
+    autopilot.status.attitude.roll = 0.05  # 弧度
+    autopilot.status.attitude.pitch = -0.02
+    autopilot.status.attitude.yaw = 1.57
+    autopilot.status.attitude.timestamp = time.time()
+    
+    print(f"姿態: Roll={autopilot.status.attitude.roll:.3f}, "
+          f"Pitch={autopilot.status.attitude.pitch:.3f}, "
+          f"Yaw={autopilot.status.attitude.yaw:.3f} rad\n")
+    
+    # 5. 手動餵入飛行模式
+    autopilot.status.mode.base_mode = 89
+    autopilot.status.mode.custom_mode = 4
+    autopilot.status.mode.mode_name = "GUIDED"
+    autopilot.status.mode.timestamp = time.time()
+    
+    print(f"飛行模式: {autopilot.status.mode.mode_name}\n")
+    
+    # 6. 手動餵入電池資訊
+    autopilot.status.battery.voltage = 12.6
+    autopilot.status.battery.current = 15.2
+    autopilot.status.battery.remaining = 75
+    autopilot.status.battery.timestamp = time.time()
+    
+    print(f"電池: 電壓={autopilot.status.battery.voltage}V, "
+          f"電流={autopilot.status.battery.current}A, "
+          f"剩餘={autopilot.status.battery.remaining}%\n")
+
+
+def example_packet_tracking():
+    """封包追蹤範例"""
+    print("\n=== 封包追蹤範例 ===\n")
+    
+    vehicle = VehicleView(sysid=2)
+    autopilot = vehicle.add_component(1, ComponentType.AUTOPILOT)
+    
+    # 模擬接收封包
+    timestamp = time.time()
+    
+    # 接收 HEARTBEAT (msg_type=0)
+    autopilot.update_packet_stats(seq=0, msg_type=0, timestamp=timestamp)
+    
+    # 接收 ATTITUDE (msg_type=30)
+    autopilot.update_packet_stats(seq=1, msg_type=30, timestamp=timestamp+0.1)
+    
+    # 接收 GLOBAL_POSITION_INT (msg_type=33)
+    autopilot.update_packet_stats(seq=2, msg_type=33, timestamp=timestamp+0.2)
+    
+    # 模擬封包遺失 (seq 跳過 3, 4, 5)
+    autopilot.update_packet_stats(seq=6, msg_type=0, timestamp=timestamp+0.3)
+    
+    stats = autopilot.packet_stats
+    print(f"封包統計:")
+    print(f"  接收: {stats.received_count}")
+    print(f"  遺失: {stats.lost_count}")
+    print(f"  最後序號: {stats.last_seq}")
+    print(f"  訊息類型計數: {stats.msg_type_count}\n")
+
+
+def example_parameters():
+    """參數管理範例"""
+    print("\n=== 參數管理範例 ===\n")
+    
+    vehicle = VehicleView(sysid=3)
+    autopilot = vehicle.add_component(1, ComponentType.AUTOPILOT)
+    
+    # 手動設定參數 (不會主動下載)
+    autopilot.set_parameter("ARMING_CHECK", 1)
+    autopilot.set_parameter("ANGLE_MAX", 4500)
+    autopilot.set_parameter("WPNAV_SPEED", 500)
+    
+    print(f"參數數量: {len(autopilot.parameters)}")
+    print(f"ARMING_CHECK = {autopilot.get_parameter('ARMING_CHECK')}")
+    print(f"ANGLE_MAX = {autopilot.get_parameter('ANGLE_MAX')}")
+    print(f"WPNAV_SPEED = {autopilot.get_parameter('WPNAV_SPEED')}\n")
+
+
+def example_rf_module():
+    """RF模組範例"""
+    print("\n=== RF模組範例 ===\n")
+    
+    vehicle = VehicleView(sysid=4)
+    vehicle.connected_via = ConnectionType.SERIAL
+    
+    # 設定 XBee RF 模組
+    rf = vehicle.set_rf_module(RFModuleType.XBEE)
+    
+    # 更新 Socket 資訊
+    rf.update_socket_info(
+        ip="192.168.1.100",
+        port=14550,
+        local_ip="192.168.1.1",
+        local_port=14551,
+        connected=True
+    )
+    
+    # 更新 RSSI
+    rf.update_rssi(rssi=-65, timestamp=time.time())
+    
+    # 更新 AT 命令回應
+    rf.update_at_response("OK", timestamp=time.time())
+    
+    # 自定義狀態
+    rf.status.custom_status['signal_quality'] = 'excellent'
+    rf.status.custom_status['packet_error_rate'] = 0.001
+    
+    print(f"RF模組: {rf}")
+    print(f"Socket: {rf.socket_info.ip}:{rf.socket_info.port}")
+    print(f"RSSI: {rf.status.rssi} dBm")
+    print(f"AT回應: {rf.status.at_response}")
+    print(f"自定義狀態: {rf.status.custom_status}\n")
+
+
+def example_multiple_components():
+    """多組件範例"""
+    print("\n=== 多組件範例 ===\n")
+    
+    vehicle = VehicleView(sysid=5)
+    vehicle.kind = "Copter with Gimbal"
+    
+    # Autopilot 組件
+    autopilot = vehicle.add_component(1, ComponentType.AUTOPILOT)
+    autopilot.mav_type = 2
+    autopilot.status.mode.mode_name = "AUTO"
+    
+    # Gimbal 組件
+    gimbal = vehicle.add_component(154, ComponentType.GIMBAL)
+    gimbal.mav_type = 26  # MAV_TYPE_GIMBAL
+    gimbal.status.attitude.pitch = -0.785  # 向下45度
+    gimbal.status.attitude.yaw = 0.0
+    
+    # Camera 組件
+    camera = vehicle.add_component(100, ComponentType.CAMERA)
+    camera.mav_type = 30  # MAV_TYPE_CAMERA
+    camera.status.custom_status['recording'] = True
+    camera.status.custom_status['photo_interval'] = 2.0
+    
+    print(f"載具: {vehicle}")
+    print(f"組件數量: {len(vehicle.components)}")
+    for cid, comp in vehicle.components.items():
+        print(f"  組件 {cid}: {comp.type.value}, MAV_TYPE={comp.mav_type}")
+    print()
+
+
+def example_registry():
+    """註冊表使用範例"""
+    print("\n=== 註冊表使用範例 ===\n")
+    
+    # 註冊多個載具
+    v1 = vehicle_registry.register(sysid=1)
+    v1.kind = "Copter-1"
+    v1.add_component(1, ComponentType.AUTOPILOT)
+    
+    v2 = vehicle_registry.register(sysid=2)
+    v2.kind = "Plane-1"
+    v2.add_component(1, ComponentType.AUTOPILOT)
+    
+    v3 = vehicle_registry.register(sysid=3)
+    v3.kind = "Rover-1"
+    v3.add_component(1, ComponentType.AUTOPILOT)
+    
+    print(f"註冊表中的載具數量: {len(vehicle_registry)}")
+    
+    # 取得所有載具
+    all_vehicles = vehicle_registry.get_all()
+    for sysid, vehicle in all_vehicles.items():
+        print(f"  System {sysid}: {vehicle.kind}")
+    
+    # 檢查載具是否存在
+    print(f"\nSystem 2 存在? {2 in vehicle_registry}")
+    print(f"System 99 存在? {99 in vehicle_registry}")
+    
+    # 取得特定載具
+    vehicle = vehicle_registry.get(2)
+    if vehicle:
+        print(f"\n取得載具: {vehicle}")
+    
+    # 註銷載具
+    vehicle_registry.unregister(3)
+    print(f"\n註銷 System 3 後，剩餘載具: {len(vehicle_registry)}\n")
+
+
+def example_serialization():
+    """序列化範例 (除錯/日誌用)"""
+    print("\n=== 序列化範例 ===\n")
+    
+    vehicle = VehicleView(sysid=10)
+    vehicle.kind = "Test Copter"
+    vehicle.connected_via = ConnectionType.UDP
+    vehicle.custom_meta['firmware'] = 'ArduCopter 4.3.0'
+    vehicle.custom_meta['frame_type'] = 'X'
+    
+    autopilot = vehicle.add_component(1, ComponentType.AUTOPILOT)
+    autopilot.mav_type = 2
+    autopilot.status.position.altitude = 50.0
+    autopilot.status.battery.voltage = 12.4
+    autopilot.update_packet_stats(0, 0, time.time())
+    autopilot.update_packet_stats(1, 30, time.time())
+    
+    rf = vehicle.set_rf_module(RFModuleType.UDP)
+    rf.update_rssi(-70)
+    rf.update_socket_info(ip="192.168.1.200", port=14550, connected=True)
+    
+    # 轉換為字典
+    data = vehicle.to_dict()
+    
+    print("載具資料 (字典格式):")
+    import json
+    print(json.dumps(data, indent=2, ensure_ascii=False))
+
+
+def example_gps_ekf():
+    """GPS 與 EKF 範例"""
+    print("\n\n=== GPS 與 EKF 範例 ===\n")
+    
+    vehicle = VehicleView(sysid=11)
+    autopilot = vehicle.add_component(1, ComponentType.AUTOPILOT)
+    
+    # GPS 資訊
+    autopilot.status.gps.fix_type = 3  # 3D Fix
+    autopilot.status.gps.satellites_visible = 12
+    autopilot.status.gps.eph = 120  # HDOP = 1.2
+    autopilot.status.gps.epv = 180  # VDOP = 1.8
+    autopilot.status.gps.timestamp = time.time()
+    
+    print(f"GPS:")
+    print(f"  Fix Type: {autopilot.status.gps.fix_type}")
+    print(f"  衛星數: {autopilot.status.gps.satellites_visible}")
+    print(f"  HDOP: {autopilot.status.gps.eph/100}")
+    
+    # EKF 資訊
+    autopilot.status.ekf.flags = 0x1FF  # 所有 flags 都 OK
+    autopilot.status.ekf.velocity_variance = 0.5
+    autopilot.status.ekf.pos_horiz_variance = 1.2
+    autopilot.status.ekf.pos_vert_variance = 2.0
+    autopilot.status.ekf.timestamp = time.time()
+    
+    print(f"\nEKF:")
+    print(f"  Flags: 0x{autopilot.status.ekf.flags:X}")
+    print(f"  速度變異: {autopilot.status.ekf.velocity_variance}")
+    print(f"  水平位置變異: {autopilot.status.ekf.pos_horiz_variance}")
+    print(f"  垂直位置變異: {autopilot.status.ekf.pos_vert_variance}\n")
+
+
+def example_vfr_hud():
+    """VFR HUD 範例"""
+    print("\n=== VFR HUD 範例 ===\n")
+    
+    vehicle = VehicleView(sysid=12)
+    autopilot = vehicle.add_component(1, ComponentType.AUTOPILOT)
+    
+    # VFR HUD 資訊
+    autopilot.status.vfr.airspeed = 15.5  # m/s
+    autopilot.status.vfr.groundspeed = 14.8  # m/s
+    autopilot.status.vfr.heading = 90  # 東方
+    autopilot.status.vfr.throttle = 65  # %
+    autopilot.status.vfr.climb = 2.5  # m/s
+    autopilot.status.vfr.timestamp = time.time()
+    
+    print(f"VFR HUD:")
+    print(f"  空速: {autopilot.status.vfr.airspeed} m/s")
+    print(f"  地速: {autopilot.status.vfr.groundspeed} m/s")
+    print(f"  航向: {autopilot.status.vfr.heading}°")
+    print(f"  油門: {autopilot.status.vfr.throttle}%")
+    print(f"  爬升率: {autopilot.status.vfr.climb} m/s\n")
+
+
+if __name__ == "__main__":
+    # 執行所有範例
+    # example_basic_usage()
+    # example_packet_tracking()
+    # example_parameters()
+    # example_rf_module()
+    # example_multiple_components()
+    # example_registry()
+    # example_serialization()
+    # example_gps_ekf()
+    example_vfr_hud()
+    
+    print("\n" + "="*50)
+    print("所有範例執行完成！")
+    print("="*50)

src/fc_network_adapter/tests/demo_ringBuffer.py

@@ -0,0 +1,152 @@
+import os
+import sys
+sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
+
+import time
+import threading
+
+from ..fc_network_adapter.utils import RingBuffer
+
+
+def producer(buffer, count, interval=0.01):
+    """生產者：向緩衝區添加資料"""
+    print(f"Producer started (thread {threading.get_ident()})")
+    for i in range(count):
+        # 嘗試寫入數據，直到成功
+        while not buffer.put(f"Item-{i}"):
+            print(f"Buffer full, producer waiting... (thread {threading.get_ident()})")
+            time.sleep(0.1)
+        
+        print(f"Produced: Item-{i}, buffer size: {buffer.size()}")
+        time.sleep(interval)  # 模擬生產過程
+    
+    print(f"Producer finished (thread {threading.get_ident()})")
+
+def consumer(buffer, max_items, interval=0.05):
+    """消費者：從緩衝區讀取資料"""
+    print(f"Consumer started (thread {threading.get_ident()})")
+    items_consumed = 0
+    
+    while items_consumed < max_items:
+        # 嘗試讀取數據
+        item = buffer.get()
+        if item:
+            print(f"Consumed: {item}, buffer size: {buffer.size()}")
+            items_consumed += 1
+        else:
+            print(f"Buffer empty, consumer waiting... (thread {threading.get_ident()})")
+        
+        time.sleep(interval)  # 模擬消費過程
+    
+    print(f"Consumer finished (thread {threading.get_ident()})")
+
+def batch_consumer(buffer, interval=0.2):
+    """批量消費者：一次性讀取緩衝區中的所有資料"""
+    print(f"Batch consumer started (thread {threading.get_ident()})")
+    
+    for _ in range(5):  # 執行5次批量讀取
+        time.sleep(interval)  # 等待緩衝區積累數據
+        items = buffer.get_all()
+        if items:
+            print(f"Batch consumed {len(items)} items: {items}")
+        else:
+            print("Buffer empty for batch consumer")
+    
+    print(f"Batch consumer finished (thread {threading.get_ident()})")
+
+def demonstrate_multi_writer():
+    """示範多個寫入執行緒同時操作緩衝區"""
+    print("\n=== Demonstrating Multiple Writers ===")
+    buffer = RingBuffer(capacity=80)
+    
+    # 創建多個生產者執行緒
+    threads = []
+    for i in range(3):
+        thread = threading.Thread(target=producer, args=(buffer, 5, 0.1 * (i+1)))
+        threads.append(thread)
+        thread.start()
+    
+    # 等待所有執行緒完成
+    for thread in threads:
+        thread.join()
+
+    buffer.print_stats()  # 印出統計資訊
+
+    # 讀出所有剩餘資料
+    remaining = buffer.get_all()
+    print(f"Remaining items in buffer after multiple writers: {remaining}")
+
+def demonstrate_basic_usage():
+    """示範基本使用方式"""
+    print("\n=== Demonstrating Basic Usage ===")
+    # 創建緩衝區
+    buffer = RingBuffer(capacity=20, buffer_id=7)  
+    
+    # 檢查初始狀態
+    print(f"Initial buffer state - Empty: {buffer.is_empty()}, Full: {buffer.is_full()}, Content Size: {buffer.size()}")
+    
+    # 添加幾個項目
+    for i in range(5):
+        buffer.put(f"Test-{i}")
+    
+    # 檢查狀態
+    print(f"After adding 5 items - Empty: {buffer.is_empty()}, Full: {buffer.is_full()}, Content Size: {buffer.size()}")
+    
+    # 讀取一個項目
+    item = buffer.get()
+    print(f"Read item: {item}")
+    print(f"After reading 1 item - Content Size: {buffer.size()}")
+    
+    # 添加更多項目直到滿
+    items_added = 0
+    while not buffer.is_full():
+        buffer.put(f"Fill-{items_added}")
+        items_added += 1
+    
+    print(f"Added {items_added} more items until full")
+    print(f"Buffer full state - Empty: {buffer.is_empty()}, Full: {buffer.is_full()}, Content Size: {buffer.size()}")
+    
+    # 嘗試添加到已滿的緩衝區
+    result = buffer.put("Overflow")
+    print(f"Attempt to add to full buffer: {'Succeeded' if result else 'Failed'}")
+    
+    # 獲取所有項目
+    all_items = buffer.get_all()
+    print(f"All items in buffer: {all_items}")
+    print(f"Buffer after get_all() - Empty: {buffer.is_empty()}, Content Size: {buffer.size()}")
+
+    # 印出統計資訊
+    buffer.print_stats()
+
+def demonstrate_producer_consumer():
+    """示範生產者-消費者模式"""
+    print("\n=== Demonstrating Producer-Consumer Pattern ===")
+    buffer = RingBuffer(capacity=16)
+    
+    # 創建生產者和消費者執行緒
+    producer_thread = threading.Thread(target=producer, args=(buffer, 20, 0.1))
+    consumer_thread = threading.Thread(target=consumer, args=(buffer, 3, 0.2))
+    batch_thread = threading.Thread(target=batch_consumer, args=(buffer, 0.5))
+    
+    # 啟動執行緒
+    producer_thread.start()
+    consumer_thread.start()
+    batch_thread.start()
+    
+    # 等待執行緒完成
+    producer_thread.join()
+    consumer_thread.join()
+    batch_thread.join()
+    
+    # 檢查最終狀態
+    print(f"Final buffer state - Empty: {buffer.is_empty()}, Size: {buffer.size()}")
+
+    buffer.print_stats()
+
+if __name__ == "__main__":
+    # 展示各種使用場景
+    # demonstrate_basic_usage()
+    # demonstrate_producer_consumer()
+    demonstrate_multi_writer()
+    
+    print("\nAll demonstrations completed!")

src/fc_network_adapter/tests/devRun.py

@@ -1,450 +0,0 @@
-import os
-import sys
-sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
-
-# 基礎功能的 import
-import queue
-import time
-
-# ROS2 的 import
-import rclpy
-
-# mavlink 的 import
-from pymavlink import mavutil
-
-# 自定義的 import
-from fc_network_adapter import mavlinkObject as mo
-from fc_network_adapter import mavlinkDevice as md
-
-# ====================== 分割線 =====================
-
-test_item = 12
-running_time = 10000
-
-
-print('test_item : ', test_item)
-
-'''
-測試項 個位數 表示分離的功能
-
-測試項 1X 表示 mavlink_object 的功能 測試連線的能力
-'''
-
-if 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)
-
-    # 清空 ring buffer
-    mo.stream_bridge_ring.clear()
-    mo.return_packet_ring.clear()
-
-    manager = mo.async_io_manager()
-    manager.start()
-    time.sleep(0.5)  # 等待事件循環啟動
-
-    # 初始化輸入通道
-    connection_string="udp:127.0.0.1:14560"
-    mavlink_socket1 = mavutil.mavlink_connection(connection_string)
-    mavlink_object1 = mo.mavlink_object(mavlink_socket1)
-
-    manager.add_mavlink_object(mavlink_object1)
-
-    start_time = time.time()
-    while (time.time() - start_time) < running_time:
-        items_a = mo.stream_bridge_ring.get_all()
-        items_b = mo.return_packet_ring.get_all()
-        try:
-            print(f"data num {len(items_a)} in return_packet_ring, first data : {items_a[0][2]}")
-        except IndexError:
-            print("stream_bridge_ring is empty")
-
-        try:
-            print(f"data num {len(items_b)} in return_packet_ring, first data : {items_b[0][2]}")
-        except IndexError:
-            print("return_packet_ring is empty")
-        time.sleep(1)
-
-    manager.stop()
-
-    print('<=== End of Program')
-
-elif test_item == 11:
-    # 需要開啟一個 ardupilot 的模擬器
-    # 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
-    print('===> Start of Program .Test ', test_item)
-
-    # 清空 ring buffer
-    mo.stream_bridge_ring.clear()
-    mo.return_packet_ring.clear()
-
-    manager = mo.async_io_manager()
-    manager.start()
-    time.sleep(0.5)  # 等待事件循環啟動
-
-    # 初始化輸入通道
-    connection_string="udp:127.0.0.1:14560"
-    mavlink_socket1 = mavutil.mavlink_connection(connection_string)
-    mavlink_object1 = mo.mavlink_object(mavlink_socket1)
-    manager.add_mavlink_object(mavlink_object1)
-
-    # 啟動 mavlink_bridge
-    analyzer = mo.mavlink_bridge()
-
-    time.sleep(3)
-
-    # 印出目前所有 mavlink_systems 的內容
-    print('目前所有的系統 : ')
-    for sysid in analyzer.mavlink_systems:
-        print(analyzer.mavlink_systems[sysid])
-
-    start_time = time.time()
-    show_time = time.time()
-    while time.time() - start_time < running_time:
-        if (time.time() - show_time) >= 2:
-            # print("mark B")
-
-            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("===================")
-
-    manager.stop()
-    analyzer.stop()
-
-    print('<=== End of Program')
-
-elif test_item == 12:
-    # 需要開啟一個 ardupilot 的模擬器 與 GCS 
-    # 這邊是測試 mavlink object 作為交換器功能的代碼
-    print('===> Start of Program .Test ', test_item)
-
-    # 清空 ring buffer
-    mo.stream_bridge_ring.clear()
-    mo.return_packet_ring.clear()
-
-    manager = mo.async_io_manager()
-    manager.start()
-    time.sleep(0.5)  # 等待事件循環啟動
-
-    # 初始化輸入通道
-    connection_string="udp:127.0.0.1:14560"
-    mavlink_socket_in1 = mavutil.mavlink_connection(connection_string)
-    mavlink_object_in1 = mo.mavlink_object(mavlink_socket_in1)
-
-    connection_string="udp:127.0.0.1:14561"
-    mavlink_socket_in2 = mavutil.mavlink_connection(connection_string)
-    mavlink_object_in2 = mo.mavlink_object(mavlink_socket_in2)
-
-    # 初始化輸出通道
-    connection_string="udpout:127.0.0.1:14550"
-    mavlink_socket_out = mavutil.mavlink_connection(connection_string)
-    mavlink_object_out = mo.mavlink_object(mavlink_socket_out)
-
-    manager.add_mavlink_object(mavlink_object_out)
-    manager.add_mavlink_object(mavlink_object_in1)
-    manager.add_mavlink_object(mavlink_object_in2)
-
-    time.sleep(1)  # 等待通道啟動
-
-    mavlink_object_in1.add_target_socket(mavlink_object_out.socket_id)  
-    mavlink_object_out.add_target_socket(mavlink_object_in1.socket_id)
-
-    mavlink_object_in2.add_target_socket(mavlink_object_out.socket_id)  
-    mavlink_object_out.add_target_socket(mavlink_object_in2.socket_id)
-
-    start_time = time.time()
-    while (time.time() - start_time) < running_time:
-
-        time.sleep(1)
-
-    manager.stop()
-
-    print('<=== End of Program')
-
-
-# elif test_item == 20:
-#     # 這邊測試 node 生成 topic 的功能
-#     # 利用 空的通道 發出假的 heartbeat 封包
-#     print('===> Start of Program .Test ', test_item)
-#     rclpy.init() # 注意要初始化 rclpy 才能使用 node
-    
-#     from pymavlink.dialects.v20 import common as mavlink2
-
-#     sysid = 1
-#     compid = 1
-
-#     # 啟動 mavlink_bridge
-#     analyzer = mo.mavlink_bridge()
-
-#     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)
-
-#     # ROS2 初始化
-#     analyzer._init_node()
-
-#     # 創建 ROS2 topic
-#     analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid]) # sysid, compid
-#     print("topic created")
-#     time.sleep(5)
-
-#     # 丟出 topic
-#     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:
-    # 需要開啟一個 ardupilot 的模擬器
-    # 這邊是測試代碼 引入 rclpy 來測試 node 的運行
-    
-    print('===> Start of Program .Test ', test_item)
-    # 初始化 rclpy 才能使用 node
-    rclpy.init() 
-
-    # 清空 ring buffer
-    mo.stream_bridge_ring.clear()
-    mo.return_packet_ring.clear()
-
-    manager = mo.async_io_manager()
-    manager.start()
-
-    # 啟動 mavlink_bridge
-    analyzer = mo.mavlink_bridge()
-    # 關於 Node 的初始化
-    show_time = time.time()
-    analyzer._init_node() # 初始化 node
-    print('初始化 node 完成 耗時 : ',time.time() - show_time)
-
-    time.sleep(0.5)  # 系統 Setup 完成
-
-    
-    # 創建通道
-    connection_string="udp:127.0.0.1:14560"
-    mavlink_socket = mavutil.mavlink_connection(connection_string)
-    mavlink_object3 = mo.mavlink_object(mavlink_socket)
-    manager.add_mavlink_object(mavlink_object3)
-
-    print('=== waiting for mavlink data ...')
-    time.sleep(2) # 等待 2 秒鐘 讓 device object 收到足夠的 mavlink 訊息
-    
-    print('目前所有的系統 : ')
-    for sysid in analyzer.mavlink_systems:
-        print(analyzer.mavlink_systems[sysid])
-
-    compid = 1   
-    sysid = 1
-    start_time = time.time()
-    analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid])
-    end_time = time.time()
-    print(f"Execution time for create_flightMode: {end_time - start_time} seconds")
-
-    print("start emit info")
-
-    start_time = time.time()
-    show_time = time.time() 
-    while time.time() - start_time < running_time:
-        try:
-            # print(analyzer.mavlink_systems[sysid].components[compid].emitParams['flightMode_mode'])
-            analyzer.emit_info() # 這邊是測試 node 的運行
-            time.sleep(1)
-        except KeyboardInterrupt:
-            break
-    
-
-    # 程式結束
-    analyzer.destroy_node()
-    rclpy.shutdown()      
-
-    # 結束程式 退出所有 thread
-    manager.stop()
-    analyzer.stop()
-    analyzer.thread.join()
-
-    mavlink_socket.close()
-    print('<=== End of Program')
-
-# elif test_item == 22:
-#     # 需要開啟一個 ardupilot 的模擬器 與 GCS 
-#     # 這邊是測試代碼 引入 rclpy 來測試 node 的運行
-#     print('===> Start of Program .Test ', test_item)
-#     rclpy.init() # 注意要初始化 rclpy 才能使用 node
-
-#     # 啟動 mavlink_bridge
-#     analyzer = mo.mavlink_bridge()
-#     # 關於 Node 的初始化
-#     show_time = time.time()
-#     analyzer._init_node() # 初始化 node
-#     print('初始化 node 完成 耗時 : ',time.time() - show_time)
-
-#     # 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, 30, 32, 33, 74, 147]
-
-
-#     connection_string_out="udpout:127.0.0.1:14553"
-#     mavlink_socket_out = mavutil.mavlink_connection(connection_string_out)
-#     mavlink_object_out = mo.mavlink_object(mavlink_socket_out)
-#     mavlink_object_out.multiplexingToAnalysis = [] 
-
-
-
-#     # 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
-
-#     # 啟動通道
-#     mavlink_object_in.run()
-#     mavlink_object_out.run()
-
-#     print('waiting for mavlink data ...')
-#     time.sleep(2) # 等待 2 秒鐘 讓 device object 收到足夠的 mavlink 訊息
-    
-#     print('目前所有的系統 : ')
-#     for sysid in analyzer.mavlink_systems:
-#         print(analyzer.mavlink_systems[sysid])
-
-#     compid = 1   
-#     sysid = 1
-#     show_time = time.time()
-#     analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid])
-#     print(f"Execution time for create_flightMode: {time.time() - show_time} seconds")
-
-#     print("start emit info")
-
-#     start_time = time.time()
-#     show_time = time.time() 
-#     show_time2 = time.time()
-   
-#     while time.time() - start_time < running_time:
-#         if (time.time() - show_time2) >= 1:
-#             analyzer.emit_info() # 這邊是測試 node 的運行
-#             # sss = analyzer.mavlink_systems[1].components[1].emitParams['flightMode_mode']
-#             fmsg = analyzer.mavlink_systems[1].components[1].emitParams['flightMode']
-#             sss = mavutil.mode_string_v10(fmsg)
-#             # print("目前的飛行模式 : {}, Msg Seq : {}".format(sss, fmsg.get_seq()))
-#             print("目前的飛行模式 : {}".format(sss))
-#             show_time2 = time.time()
-
-#         # 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("===================")
-
-        
-    
-#     analyzer.destroy_node()
-#     rclpy.shutdown()
-
-
-#     # 結束程式 退出所有 thread
-#     mavlink_object_in.stop()
-#     mavlink_object_in.thread.join()
-#     mavlink_socket_in.close()
-#     mavlink_object_out.stop()
-#     mavlink_object_out.thread.join()
-#     mavlink_socket_out.close()
-#     analyzer.stop()
-#     analyzer.thread.join()
-
-    
-#     print('<=== End of Program')
-
-# elif test_item == 51:
-
-#     # 晉凱的測試項目
-#     print('===> Start of Program .Test ', test_item)
-#     rclpy.init() # 注意要初始化 rclpy 才能使用 node
-
-#     # 啟動 mavlink_bridge
-#     analyzer = mo.mavlink_bridge()
-#     # 關於 Node 的初始化
-#     show_time = time.time()
-#     analyzer._init_node() # 初始化 node
-#     print('初始化 node 完成 耗時 : ',time.time() - show_time)
-
-#     # 創建通道
-#     connection_string="udp:127.0.0.1:15551"
-#     mavlink_socket3 = mavutil.mavlink_connection(connection_string)
-#     mavlink_object3 = mo.mavlink_object(mavlink_socket3)
-#     # 設定通道流動
-#     mavlink_object3.multiplexingToAnalysis = [0, 30, 32, 33, 74, 147]
-#     mavlink_object3.multiplexingToReturn = [] # 
-#     # mavlink_object3.multiplexingToSwap = [] #
-#     # 啟動通道
-#     mavlink_object3.run()
-
-
-
-#     print('waiting for mavlink data ...')
-#     time.sleep(2) # 等待 2 秒鐘 讓 device object 收到足夠的 mavlink 訊息
-
-#     compid = 1   
-#     sysid = 1
-#     start_time = time.time()
-#     analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid])
-#     analyzer.create_attitude(sysid, analyzer.mavlink_systems[sysid].components[compid])
-#     analyzer.create_local_position_pose(sysid, analyzer.mavlink_systems[sysid].components[compid])
-#     analyzer.create_local_position_velocity(sysid, analyzer.mavlink_systems[sysid].components[compid])
-#     analyzer.create_global_global(sysid, analyzer.mavlink_systems[sysid].components[compid])
-#     analyzer.create_vfr_hud(sysid, analyzer.mavlink_systems[sysid].components[compid])
-#     analyzer.create_battery(sysid, analyzer.mavlink_systems[sysid].components[compid])
-#     analyzer.create_global_rel(sysid, analyzer.mavlink_systems[sysid].components[compid])
-#     end_time = time.time()
-#     print(f"Execution time for create all topic: {end_time - start_time} seconds")
-
-#     print("start emit info")
-
-#     start_time = time.time()
-#     show_time = time.time() 
-#     while time.time() - start_time < running_time:
-#         try:
-#             # rclpy.spin(analyzer)
-#             analyzer.emit_info() # 這邊是測試 node 的運行
-#             time.sleep(0.5)
-#         except KeyboardInterrupt:
-#             break
-    
-#     analyzer.destroy_node()
-#     rclpy.shutdown()
-            
-#     # 結束程式 退出所有 thread
-#     mavlink_object3.stop()
-#     mavlink_object3.thread.join()
-#     analyzer.stop()
-#     analyzer.thread.join()
-
-#     mavlink_socket3.close()
-#     print('<=== End of Program')

src/fc_network_adapter/tests/test_mavlinkObject.py

@@ -13,10 +13,9 @@ import time
 import threading
 import socket
 import asyncio
-from unittest.mock import MagicMock, patch
 
 # 導入要測試的模組
-from fc_network_adapter.mavlinkObject import (
+from ..fc_network_adapter.mavlinkObject import (
     mavlink_object, 
     async_io_manager, 
     MavlinkObjectState, 
@@ -24,62 +23,100 @@ from fc_network_adapter.mavlinkObject import (
     return_packet_ring
 )
 
+# 預先定義好的真實 MAVLink heartbeat 封包 (MAVLink 1.0 格式)
+# Format: STX(0xFE) + LEN + SEQ + SYS + COMP + MSG_ID + PAYLOAD(9 bytes for heartbeat) + CRC(2 bytes)
+HEARTBEAT_PACKET_1 = bytes([
+    0xFE,           # STX (MAVLink 1.0)
+    0x09,           # payload length (9 bytes)
+    0x00,           # sequence
+    0x01,           # system ID = 1
+    0x01,           # component ID = 1
+    0x00,           # message ID (HEARTBEAT = 0)
+    # Payload (9 bytes): custom_mode(4), type(1), autopilot(1), base_mode(1), system_status(1), mavlink_version(1)
+    0x00, 0x00, 0x00, 0x00,  # custom_mode = 0
+    0x02,                      # type = MAV_TYPE_QUADROTOR (2)
+    0x03,                      # autopilot = MAV_AUTOPILOT_ARDUPILOTMEGA (3)
+    0x40,                      # base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED (64)
+    0x03,                      # system_status = MAV_STATE_STANDBY (3)
+    0x03,                      # mavlink_version = 3
+    0x62, 0x8E                 # CRC (simplified placeholder)
+])
+
+HEARTBEAT_PACKET_2 = bytes([
+    0xFE,           # STX
+    0x09,           # payload length
+    0x01,           # sequence (增加)
+    0x01,           # system ID = 1
+    0x01,           # component ID = 1
+    0x00,           # message ID (HEARTBEAT = 0)
+    0x00, 0x00, 0x00, 0x00,
+    0x02, 0x03, 0x41, 0x03, 0x03,
+    0x33, 0xEC
+])
+
+HEARTBEAT_PACKET_3 = bytes([
+    0xFE,           # STX
+    0x09,           # payload length
+    0x02,           # sequence
+    0x02,           # system ID = 2
+    0x01,           # component ID = 1
+    0x00,           # message ID (HEARTBEAT = 0)
+    0x00, 0x00, 0x00, 0x00,
+    0x02, 0x03, 0x42, 0x03, 0x03,
+    0x37, 0x44
+])
+
     
 class MockMavlinkSocket:
-    """模擬 Mavlink Socket 的類別，用於測試"""
+    """模擬 Mavlink Socket 的類別，用於測試
+    使用真實的 MAVLink 封包，而不是模擬的訊息對象
+    """
     
-    def __init__(self, test_data=None):
+    def __init__(self, test_packets=None):
+        """
+        Args:
+            test_packets: list of bytes，每個元素都是完整的 MAVLink 封包
+        """
         self.closed = False
-        self.test_data = test_data or []
-        self.data_index = 0
+        self.test_packets = test_packets or []
+        self.packet_index = 0
         self.written_data = []
         
+        # 使用 pymavlink 來解析封包
+        from pymavlink import mavutil
+        self.mav_parser = mavutil.mavlink.MAVLink(self)
+        
     def recv_msg(self):
-        if not self.test_data or self.data_index >= len(self.test_data):
+        """返回解析後的 MAVLink 訊息對象"""
+        if not self.test_packets or self.packet_index >= len(self.test_packets):
+            return None
+        
+        packet = self.test_packets[self.packet_index]
+        self.packet_index += 1
+        
+        # 使用 pymavlink 解析封包
+        try:
+            for byte in packet:
+                msg = self.mav_parser.parse_char(bytes([byte]))
+                if msg:
+                    return msg
+        except Exception as e:
+            print(f"Error parsing packet: {e}")
             return None
         
-        data = self.test_data[self.data_index]
-        self.data_index += 1
-        return data
+        return None
         
     def write(self, data):
+        """寫入數據（用於檢查轉發）"""
         self.written_data.append(data)
         
     def close(self):
+        """關閉 socket"""
         self.closed = True
-        
-        
-class MockMavlinkMessage:
-    """模擬 Mavlink 訊息的類別，用於測試"""
-    
-    def __init__(self, msg_id, sysid, compid, seq=0):
-        self.msg_id = msg_id
-        self.sysid = sysid
-        self.compid = compid
-        self.seq = seq
-        self.msg_buf = bytes([msg_id, sysid, compid, seq])
-        
-    def get_msgId(self):
-        return self.msg_id
-        
-    def get_srcSystem(self):
-        return self.sysid
-        
-    def get_srcComponent(self):
-        return self.compid
-        
-    def get_seq(self):
-        return self.seq
-        
-    def get_msgbuf(self):
-        return self.msg_buf
-        
-    def get_type(self):
-        return f"MSG_ID_{self.msg_id}"
 
 
 class TestMavlinkObject(unittest.TestCase):
-    """測試 mavlink_object 類別"""
+    """測試 mavlink_object 類別的獨立功能"""
     
     def setUp(self):
         """在每個測試方法執行前準備環境"""
@@ -91,35 +128,27 @@ class TestMavlinkObject(unittest.TestCase):
         stream_bridge_ring.clear()
         return_packet_ring.clear()
         
-        # 創建測試訊息
-        self.heartbeat_msg = MockMavlinkMessage(msg_id=0, sysid=1, compid=1)
-        self.attitude_msg = MockMavlinkMessage(msg_id=30, sysid=1, compid=1)
-        self.position_msg = MockMavlinkMessage(msg_id=32, sysid=1, compid=1)
-        
-        # 創建模擬的 socket # 假的 Mavlink Socket
-        self.mock_socket = MockMavlinkSocket([
-            self.heartbeat_msg,
-            self.attitude_msg,
-            self.position_msg
-        ])
+        # 創建模擬的 socket，使用真實封包
+        self.mock_socket = MockMavlinkSocket([HEARTBEAT_PACKET_1])
         
         # 創建測試對象
         self.mavlink_obj = mavlink_object(self.mock_socket)
     
     def test_initialization(self):
         """測試 mavlink_object 初始化是否正確"""
-        # print("Testing mavlink_object initialization")
         self.assertEqual(self.mavlink_obj.socket_id, 0)
         self.assertEqual(self.mavlink_obj.state, MavlinkObjectState.INIT)
         self.assertEqual(len(self.mavlink_obj.target_sockets), 0)
         self.assertEqual(self.mavlink_obj.bridge_msg_types, [0])
-        
+        self.assertEqual(self.mavlink_obj.return_msg_types, [])
+
     def test_add_remove_target_socket(self):
         """測試添加和移除目標端口功能"""
         # 添加目標端口
         self.assertTrue(self.mavlink_obj.add_target_socket(1))
         self.assertEqual(len(self.mavlink_obj.target_sockets), 1)
         self.assertEqual(self.mavlink_obj.target_sockets[0], 1)
+        
         self.assertTrue(self.mavlink_obj.add_target_socket(2))
         self.assertEqual(len(self.mavlink_obj.target_sockets), 2)
         self.assertIn(2, self.mavlink_obj.target_sockets)
@@ -153,78 +182,31 @@ class TestMavlinkObject(unittest.TestCase):
         self.assertFalse(self.mavlink_obj.set_bridge_message_types("invalid"))
         self.assertFalse(self.mavlink_obj.set_return_message_types([0, "invalid"]))
         
-    def test_send_message(self):
-        """測試 send_message 功能"""
-        # 創建一個新的 mavlink_object 實例
-        mock_socket = MockMavlinkSocket()
-        mavlink_obj = mavlink_object(mock_socket)
-        
-        # 準備測試數據
-        test_message1 = b"test_message_1"
-        test_message2 = b"test_message_2"
-        
-        # 測試初始狀態
-        self.assertEqual(len(mock_socket.written_data), 0)
-        
+    def test_send_message_validation(self):
+        """測試 send_message 的數據驗證功能（不需要啟動 manager）"""
         # 測試非運行狀態下發送消息
-        self.assertFalse(mavlink_obj.send_message(test_message1))
-        self.assertEqual(len(mock_socket.written_data), 0)
-        
-        # 啟動 manager
-        manager = async_io_manager()
-        manager.start()
-        time.sleep(0.5)  # 等待事件循環啟動
-        
-        # 添加對象到 manager
-        manager.add_mavlink_object(mavlink_obj)
-        time.sleep(0.1)  # 等待對象啟動
-        
-        # 確認對象狀態
-        self.assertEqual(mavlink_obj.state, MavlinkObjectState.RUNNING)
-        
-        # 測試發送消息
-        self.assertTrue(mavlink_obj.send_message(test_message1))
-        time.sleep(0.2)  # 等待消息處理
+        self.assertFalse(self.mavlink_obj.send_message(HEARTBEAT_PACKET_1))
         
-        # 確認消息已發送
-        self.assertEqual(len(mock_socket.written_data), 1)
-        self.assertEqual(mock_socket.written_data[0], test_message1)
-        
-        # 測試連續發送多條消息
-        self.assertTrue(mavlink_obj.send_message(test_message2))
-        time.sleep(0.2)  # 等待消息處理
-        
-        # 確認兩條消息都已發送
-        self.assertEqual(len(mock_socket.written_data), 2)
-        self.assertEqual(mock_socket.written_data[1], test_message2)
-        
-        # 模擬發送出錯的情況
-        class ErrorWriteSocket(MockMavlinkSocket):
-            def write(self, data):
-                raise Exception("Write error")
-        
-        error_socket = ErrorWriteSocket()
-        error_obj = mavlink_object(error_socket)
-        manager.add_mavlink_object(error_obj)
-        time.sleep(0.1)  # 等待對象啟動
+        # 測試無效的數據類型
+        self.mavlink_obj.state = MavlinkObjectState.RUNNING  # 臨時設置狀態
+        self.assertFalse(self.mavlink_obj.send_message("invalid"))
+        self.assertFalse(self.mavlink_obj.send_message(123))
         
-        # 發送消息到錯誤的 socket
-        self.assertTrue(error_obj.send_message(test_message1))
-        time.sleep(0.2)  # 等待消息處理
+        # 測試太短的封包
+        self.assertFalse(self.mavlink_obj.send_message(bytes([0xFE, 0x00])))
         
-        # 即使寫入失敗，send_message 應該也返回 True
-        # 因為消息已成功加入到佇列中，只是後續的實際發送失敗
+        # 測試無效的起始標記
+        invalid_packet = bytes([0xFF, 0x09, 0x00, 0x01, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00])
+        self.assertFalse(self.mavlink_obj.send_message(invalid_packet))
         
-        # 停止 manager
-        manager.stop()
-        time.sleep(0.5)  # 等待 manager 停止
+        # 測試有效的封包可以加入佇列
+        self.assertTrue(self.mavlink_obj.send_message(HEARTBEAT_PACKET_1))
+        self.assertEqual(len(self.mavlink_obj.outgoing_msgs), 1)
         
-        # 測試對象已關閉後發送消息
-        self.assertFalse(mavlink_obj.send_message(test_message1))
-        self.assertEqual(len(mock_socket.written_data), 2)  # 消息數量未增加
+        self.mavlink_obj.state = MavlinkObjectState.INIT  # 恢復狀態
 
 class TestAsyncIOManager(unittest.TestCase):
-    """測試 async_io_manager 類別"""
+    """測試 async_io_manager 類別的獨立功能"""
     
     def setUp(self):
         """在每個測試方法執行前準備環境"""
@@ -239,14 +221,9 @@ class TestAsyncIOManager(unittest.TestCase):
         # 創建 async_io_manager 實例
         self.manager = async_io_manager()
         
-        # 模擬 mavlink 對象
-        self.mock_socket1 = MockMavlinkSocket([
-            MockMavlinkMessage(msg_id=0, sysid=1, compid=1),
-            MockMavlinkMessage(msg_id=30, sysid=1, compid=1)
-        ])
-        self.mock_socket2 = MockMavlinkSocket([
-            MockMavlinkMessage(msg_id=0, sysid=2, compid=1)
-        ])
+        # 創建模擬 mavlink 對象，使用真實封包
+        self.mock_socket1 = MockMavlinkSocket([HEARTBEAT_PACKET_1, HEARTBEAT_PACKET_2])
+        self.mock_socket2 = MockMavlinkSocket([HEARTBEAT_PACKET_3])
         
         self.mavlink_obj1 = mavlink_object(self.mock_socket1)
         self.mavlink_obj2 = mavlink_object(self.mock_socket2)
@@ -254,10 +231,10 @@ class TestAsyncIOManager(unittest.TestCase):
     def tearDown(self):
         """在每個測試方法執行後清理環境"""
         if self.manager.running:
-            self.manager.stop()
+            self.manager.shutdown()
         
     def test_singleton_pattern(self):
-        """測試 async_io_manager 的單例模式 就是不會產生兩個 magager"""
+        """測試 async_io_manager 的單例模式"""
         manager1 = async_io_manager()
         manager2 = async_io_manager()
         self.assertIs(manager1, manager2)
@@ -275,7 +252,7 @@ class TestAsyncIOManager(unittest.TestCase):
         self.assertIs(self.manager.thread, old_thread)
         
         # 停止管理器
-        self.manager.stop()
+        self.manager.shutdown()
         self.assertFalse(self.manager.running)
         
         # 最多等待 5 秒讓線程結束
@@ -313,156 +290,179 @@ class TestAsyncIOManager(unittest.TestCase):
         self.assertFalse(self.manager.remove_mavlink_object(999))
         
         # 停止管理器
-        self.manager.stop()
+        self.manager.shutdown()
+        
+class TestIntegration(unittest.TestCase):
+    """整合測試，測試多個 mavlink_object 之間的互動與資料流"""
+    
+    def setUp(self):
+        """在每個測試方法執行前準備環境"""
+        # 清空全局變數
+        mavlink_object.mavlinkObjects = {}
+        mavlink_object.socket_num = 0
+        
+        # 清空 ring buffer
+        stream_bridge_ring.clear()
+        return_packet_ring.clear()
+        
+        # 創建 async_io_manager 實例
+        self.manager = async_io_manager()
+
+    def tearDown(self):
+        """在每個測試方法執行後清理環境"""
+        if self.manager.running:
+            self.manager.shutdown()
+
+    def test_send_message_with_manager(self):
+        """測試透過 async_io_manager 發送訊息的完整流程"""
+        # 創建一個新的 mavlink_object 實例
+        mock_socket = MockMavlinkSocket()
+        mavlink_obj = mavlink_object(mock_socket)
         
-    def test_data_processing(self):
-        """測試數據處理"""
+        # 測試初始狀態
+        self.assertEqual(len(mock_socket.written_data), 0)
+        
+        # 測試非運行狀態下發送消息
+        self.assertFalse(mavlink_obj.send_message(HEARTBEAT_PACKET_1))
+        self.assertEqual(len(mock_socket.written_data), 0)
+        
+        # 啟動 manager
+        self.manager.start()
+        time.sleep(0.5)  # 等待事件循環啟動
+        
+        # 添加對象到 manager
+        self.manager.add_mavlink_object(mavlink_obj)
+        time.sleep(0.1)  # 等待對象啟動
+        
+        # 確認對象狀態
+        self.assertEqual(mavlink_obj.state, MavlinkObjectState.RUNNING)
+        
+        # 測試發送消息
+        self.assertTrue(mavlink_obj.send_message(HEARTBEAT_PACKET_1))
+        time.sleep(0.2)  # 等待消息處理
+        
+        # 確認消息已發送
+        self.assertEqual(len(mock_socket.written_data), 1)
+        self.assertEqual(mock_socket.written_data[0], HEARTBEAT_PACKET_1)
+        
+        # 測試連續發送多條消息
+        self.assertTrue(mavlink_obj.send_message(HEARTBEAT_PACKET_2))
+        time.sleep(0.2)  # 等待消息處理
+        
+        # 確認兩條消息都已發送
+        self.assertEqual(len(mock_socket.written_data), 2)
+        self.assertEqual(mock_socket.written_data[1], HEARTBEAT_PACKET_2)
+        
+        # 停止 manager
+        self.manager.shutdown()
+        time.sleep(0.5)  # 等待 manager 停止
+        
+        # 測試對象已關閉後發送消息
+        self.assertFalse(mavlink_obj.send_message(HEARTBEAT_PACKET_1))
+        self.assertEqual(len(mock_socket.written_data), 2)  # 消息數量未增加
+    
+    def test_data_processing_and_forwarding(self):
+        """測試數據處理與轉發流程"""
         # 創建用於轉發的 mavlink_objects
+        mock_socket1 = MockMavlinkSocket([HEARTBEAT_PACKET_1, HEARTBEAT_PACKET_2,])
         mock_socket3 = MockMavlinkSocket()
-        mavlink_obj3 = mavlink_object(mock_socket3)
-        
-        # 設置轉發
-        self.mavlink_obj1.add_target_socket(2)  # socket1 轉發到 socket3
         
+        mavlink_obj1 = mavlink_object(mock_socket1)
+        mavlink_obj3 = mavlink_object(mock_socket3)
+
         # 設置訊息類型
-        self.mavlink_obj1.set_bridge_message_types([0, 30])  # HEARTBEAT, ATTITUDE
-        # self.mavlink_obj1.enable_return(True)
-        self.mavlink_obj1.set_return_message_types([30])  # ATTITUDE
+        mavlink_obj1.set_bridge_message_types([0])  # 只處理 HEARTBEAT
+        
+        # 設置轉發: obj1 -> obj3
+        mavlink_obj1.add_target_socket(mavlink_obj3.socket_id)  # socket1 轉發到 socket3 (socket_id=1)
         
         # 啟動管理器並添加對象
         self.manager.start()
         time.sleep(0.5)  # 等待事件循環啟動
         
-        self.manager.add_mavlink_object(self.mavlink_obj1)
+        """
+        這邊出現很奇怪的狀況 應該說 設計時沒有考量 但是實測會發現
+        mavlink_obj3 是接收端 必需要被優先加入 manager 才能正確接收來自 mavlink_obj1 的轉發封包
+        若先把 mavlink_ojb1 加入 manger 則可能會導致前面幾個封包丟失
+        """
         self.manager.add_mavlink_object(mavlink_obj3)
+        self.manager.add_mavlink_object(mavlink_obj1)
         
         # 等待處理完成
-        time.sleep(1.0)
+        time.sleep(0.5)
 
-        # print("testing Mark A")
-        
         # 檢查 Ring buffer 是否有正確的數據
-        self.assertEqual(stream_bridge_ring.size(), 2)  # HEARTBEAT + ATTITUDE
-        self.assertEqual(return_packet_ring.size(), 1)  # ATTITUDE
+        self.assertGreaterEqual(stream_bridge_ring.size(), 2)  # 至少 2 個 HEARTBEAT
 
-        a = stream_bridge_ring.get()
-        print(f"stream_bridge_ring: {a}")
-        
         # 檢查是否正確轉發
-        self.assertEqual(len(mock_socket3.written_data), 2)  # HEARTBEAT + ATTITUDE
-        
-        # print("testing Mark B")
-        
-        # 停止管理器
-        self.manager.stop()
-        
-    def test_error_handling(self):
-        """測試錯誤處理情況"""
-        print("=== mark A ===")
-        # 創建一個會引發異常的 socket
-        class ErrorSocket(MockMavlinkSocket):
-            def recv_msg(self):
-                raise Exception("Test exception")
+        self.assertGreaterEqual(len(mock_socket3.written_data), 2)  # 至少 2 個 HEARTBEAT
 
-        error_socket = ErrorSocket()
-        mavlink_obj_err = mavlink_object(error_socket)
+        # 停止管理器
+        self.manager.shutdown()
 
-        # 啟動管理器並添加對象
+    def test_bidirectional_forwarding(self):
+        """測試雙向轉發"""
+        # 清空全局變數和 ring buffer
+        mavlink_object.mavlinkObjects = {}
+        mavlink_object.socket_num = 0
+        stream_bridge_ring.clear()
+        return_packet_ring.clear()
+        
+        # 創建三個 mavlink 對象，模擬三個通道
+        socket1 = MockMavlinkSocket()
+        socket2 = MockMavlinkSocket()
+        socket3 = MockMavlinkSocket()
+        
+        obj1 = mavlink_object(socket1)
+        obj2 = mavlink_object(socket2)
+        obj3 = mavlink_object(socket3)
+        
+        # 設置雙向轉發
+        # obj1 <-> obj2 <-> obj3
+        obj1.add_target_socket(1)  # obj1 -> obj2
+        obj2.add_target_socket(0)  # obj2 -> obj1
+        obj2.add_target_socket(2)  # obj2 -> obj3
+        obj3.add_target_socket(1)  # obj3 -> obj2
+        
+        # 啟動 async_io_manager
         self.manager.start()
         time.sleep(0.5)  # 等待事件循環啟動
+        
+        # 添加所有 mavlink_object
+        self.manager.add_mavlink_object(obj1)
+        self.manager.add_mavlink_object(obj2)
+        self.manager.add_mavlink_object(obj3)
 
-        self.manager.add_mavlink_object(mavlink_obj_err)
-
-        print("=== mark B ===")
-
-        # 等待錯誤處理
+        # 對三個對象添加數據
+        socket1.test_packets.append(HEARTBEAT_PACKET_1)
+        socket2.test_packets.append(HEARTBEAT_PACKET_2)
+        socket3.test_packets.append(HEARTBEAT_PACKET_3)
+        
+        # 等待處理所有訊息
         time.sleep(1.0)
-
-        # 對象應該進入錯誤狀態，但不會崩潰
-        # self.assertEqual(mavlink_obj_err.state, MavlinkObjectState.ERROR)
-
-        print("=== mark C ===")
-
-        # 管理器應該仍在運行
-        self.assertTrue(self.manager.running)
-
-
-        # 故意等一段時間 確認 socket 有被 manager 處理掉
-        time.sleep(3)
-
+        
+        # 檢查轉發結果
+        # socket1 應該收到 socket2 的訊息
+        self.assertGreaterEqual(len(socket1.written_data), 1)
+        
+        # socket2 應該收到 socket1 和 socket3 的訊息
+        self.assertGreaterEqual(len(socket2.written_data), 2)
+        
+        # socket3 應該收到 socket2 的訊息
+        self.assertGreaterEqual(len(socket3.written_data), 1)
+        
+        # 檢查 ring buffer 的數據
+        # 所有對象都啟用了橋接器，且預設的 bridge_msg_types = [0]
+        self.assertGreaterEqual(stream_bridge_ring.size(), 3)  # 至少 3 個 HEARTBEAT
+        
         # 停止管理器
-        self.manager.stop()
-
-
-class TestIntegration(unittest.TestCase):
-    """整合測試，測試多個 mavlink_object 之間的互動"""
-    
-    def test_bidirectional_forwarding(self):
-                """測試雙向轉發"""
-                # 清空全局變數和 ring buffer
-                mavlink_object.mavlinkObjects = {}
-                mavlink_object.socket_num = 0
-                stream_bridge_ring.clear()
-                return_packet_ring.clear()
-                
-                # 創建三個 mavlink 對象，模擬三個通道
-                socket1 = MockMavlinkSocket([
-                    MockMavlinkMessage(msg_id=0, sysid=1, compid=1),
-                    MockMavlinkMessage(msg_id=30, sysid=1, compid=1)
-                ])
-                socket2 = MockMavlinkSocket([
-                    MockMavlinkMessage(msg_id=0, sysid=2, compid=1),
-                    MockMavlinkMessage(msg_id=32, sysid=2, compid=1)
-                ])
-                socket3 = MockMavlinkSocket([
-                    MockMavlinkMessage(msg_id=0, sysid=3, compid=1),
-                    MockMavlinkMessage(msg_id=33, sysid=3, compid=1)
-                ])
-                
-                obj1 = mavlink_object(socket1)
-                obj2 = mavlink_object(socket2)
-                obj3 = mavlink_object(socket3)
-                
-                # 設置雙向轉發
-                # obj1 <-> obj2 <-> obj3
-                obj1.add_target_socket(1)  # obj1 -> obj2
-                obj2.add_target_socket(0)  # obj2 -> obj1
-                obj2.add_target_socket(2)  # obj2 -> obj3
-                obj3.add_target_socket(1)  # obj3 -> obj2
-                
-                # 啟動 async_io_manager
-                manager = async_io_manager()
-                manager.start()
-                time.sleep(0.5)  # 等待事件循環啟動
-                
-                # 添加所有 mavlink_object
-                manager.add_mavlink_object(obj1)
-                manager.add_mavlink_object(obj2)
-                manager.add_mavlink_object(obj3)
-                
-                # 等待處理所有訊息
-                time.sleep(1.5)
-                
-                # 檢查轉發結果
-                # socket1 應該收到 socket2 和 socket3 的訊息
-                self.assertEqual(len(socket1.written_data), 4)  # 2 from obj2, 2 from obj3 via obj2
-                
-                # socket2 應該收到 socket1 和 socket3 的訊息
-                self.assertEqual(len(socket2.written_data), 4)  # 2 from obj1, 2 from obj3
-                
-                # socket3 應該收到 socket1 和 socket2 的訊息
-                self.assertEqual(len(socket3.written_data), 4)  # 2 from obj1 via obj2, 2 from obj2
-                
-                # 檢查 ring buffer 的數據
-                # 假設所有對象都啟用了橋接器，且預設的 bridge_msg_types = [0]
-                # 應該有 3 個 HEARTBEAT 訊息
-                self.assertEqual(stream_bridge_ring.size(), 3)  # 3 HEARTBEAT
-                
-                # 停止管理器
-                manager.stop()
-
-
+        self.manager.shutdown()
 
 
 if __name__ == "__main__":
-    unittest.main(defaultTest="TestMavlinkObject.test_send_message")
+    # 可以指定要運行的測試
+    # unittest.main(defaultTest="TestMavlinkObject.test_send_message_validation")
+    # unittest.main(defaultTest="TestAsyncIOManager.test_add_remove_objects")
+    unittest.main(defaultTest="TestIntegration.test_bidirectional_forwarding")
+    unittest.main()
+

src/fc_network_adapter/tests/test_ringBuffer.py

@@ -1,152 +1,296 @@
-import os
-import sys
-sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), '..')))
+#!/usr/bin/env python
+"""
+測試 RingBuffer 類別的功能
+"""
 
-import time
+import unittest
 import threading
+import time
+from concurrent.futures import ThreadPoolExecutor
 
-from fc_network_adapter.ringBuffer import RingBuffer
-
-
-def producer(buffer, count, interval=0.01):
-    """生產者：向緩衝區添加資料"""
-    print(f"Producer started (thread {threading.get_ident()})")
-    for i in range(count):
-        # 嘗試寫入數據，直到成功
-        while not buffer.put(f"Item-{i}"):
-            print(f"Buffer full, producer waiting... (thread {threading.get_ident()})")
-            time.sleep(0.1)
-        
-        print(f"Produced: Item-{i}, buffer size: {buffer.size()}")
-        time.sleep(interval)  # 模擬生產過程
-    
-    print(f"Producer finished (thread {threading.get_ident()})")
+from ..fc_network_adapter.utils import RingBuffer
 
-def consumer(buffer, max_items, interval=0.05):
-    """消費者：從緩衝區讀取資料"""
-    print(f"Consumer started (thread {threading.get_ident()})")
-    items_consumed = 0
-    
-    while items_consumed < max_items:
-        # 嘗試讀取數據
-        item = buffer.get()
-        if item:
-            print(f"Consumed: {item}, buffer size: {buffer.size()}")
-            items_consumed += 1
-        else:
-            print(f"Buffer empty, consumer waiting... (thread {threading.get_ident()})")
-        
-        time.sleep(interval)  # 模擬消費過程
-    
-    print(f"Consumer finished (thread {threading.get_ident()})")
+class TestRingBuffer(unittest.TestCase):
+    """測試 RingBuffer 基本功能"""
+    
+    def setUp(self):
+        """每個測試前的準備"""
+        self.buffer = RingBuffer(capacity=8)
+    
+    def test_initialization(self):
+        """測試初始化"""
+        self.assertEqual(self.buffer.capacity, 8)
+        self.assertTrue(self.buffer.is_empty())
+        self.assertFalse(self.buffer.is_full())
+        self.assertEqual(self.buffer.size(), 0)
+    
+    def test_put_get_basic(self):
+        """測試基本的放入和取出"""
+        # 測試放入
+        self.assertTrue(self.buffer.put("item1"))
+        self.assertTrue(self.buffer.put("item2"))
+        self.assertEqual(self.buffer.size(), 2)
+        self.assertFalse(self.buffer.is_empty())
+        
+        # 測試取出
+        item1 = self.buffer.get()
+        self.assertEqual(item1, "item1")
+        self.assertEqual(self.buffer.size(), 1)
+        
+        item2 = self.buffer.get()
+        self.assertEqual(item2, "item2")
+        self.assertTrue(self.buffer.is_empty())
+        
+        # 空緩衝區取出應返回 None
+        self.assertIsNone(self.buffer.get())
+    
+    def test_capacity_overflow(self):
+        """測試緩衝區容量限制"""
+        # 填滿緩衝區 (容量-1，因為需要預留一個位置)
+        for i in range(7):  # 8-1=7
+            self.assertTrue(self.buffer.put(f"item{i}"))
+        
+        self.assertTrue(self.buffer.is_full())
+        
+        # 嘗試再放入一個應該失敗
+        self.assertFalse(self.buffer.put("overflow"))
+        self.assertEqual(self.buffer.overflow_count.value, 1)
+    
+    def test_get_all(self):
+        """測試取出所有項目"""
+        items = ["a", "b", "c", "d"]
+        for item in items:
+            self.buffer.put(item)
+        
+        all_items = self.buffer.get_all()
+        self.assertEqual(all_items, items)
+        self.assertTrue(self.buffer.is_empty())
+    
+    def test_clear(self):
+        """測試清空緩衝區"""
+        for i in range(5):
+            self.buffer.put(f"item{i}")
+        
+        self.buffer.clear()
+        self.assertTrue(self.buffer.is_empty())
+        self.assertEqual(self.buffer.size(), 0)
 
-def batch_consumer(buffer, interval=0.2):
-    """批量消費者：一次性讀取緩衝區中的所有資料"""
-    print(f"Batch consumer started (thread {threading.get_ident()})")
-    
-    for _ in range(5):  # 執行5次批量讀取
-        time.sleep(interval)  # 等待緩衝區積累數據
-        items = buffer.get_all()
-        if items:
-            print(f"Batch consumed {len(items)} items: {items}")
-        else:
-            print("Buffer empty for batch consumer")
-    
-    print(f"Batch consumer finished (thread {threading.get_ident()})")
 
-def demonstrate_multi_writer():
-    """示範多個寫入執行緒同時操作緩衝區"""
-    print("\n=== Demonstrating Multiple Writers ===")
-    buffer = RingBuffer(capacity=80)
-    
-    # 創建多個生產者執行緒
-    threads = []
-    for i in range(3):
-        thread = threading.Thread(target=producer, args=(buffer, 5, 0.1 * (i+1)))
-        threads.append(thread)
-        thread.start()
-    
-    # 等待所有執行緒完成
-    for thread in threads:
-        thread.join()
+class TestRingBufferThreadSafety(unittest.TestCase):
+    """測試 RingBuffer 的線程安全性"""
+    
+    def setUp(self):
+        """每個測試前的準備"""
+        self.buffer = RingBuffer(capacity=256)
+        self.results = []
+        self.write_count = 1000
+        self.read_count = 1000
+    
+    def test_concurrent_producers_consumers(self):
+        """測試多生產者多消費者場景"""
+        self.results = []
+        stats = self.buffer.get_stats()
+        self.assertEqual(stats['total_writes'], 0)
+        
+        def producer(producer_id, count):
+            """生產者函數"""
+            for i in range(count):
+                item = f"producer_{producer_id}_item_{i}"
+                while not self.buffer.put(item):
+                    time.sleep(0.001)  # 緩衝區滿時稍微等待
+        
+        def consumer(consumer_id, count):
+            """消費者函數"""
+            items = []
+            for _ in range(count):
+                item = None
+                while item is None:
+                    item = self.buffer.get()
+                    if item is None:
+                        time.sleep(0.001)  # 緩衝區空時稍微等待
+                items.append(item)
+            self.results.extend(items)
+        
+        # 創建多個生產者和消費者
+        with ThreadPoolExecutor(max_workers=8) as executor:
+            # 2 個生產者，每個寫入 500 個項目
+            producer_futures = [
+                executor.submit(producer, 0, 500),
+                executor.submit(producer, 1, 500)
+            ]
+            
+            # 2 個消費者，每個讀取 500 個項目
+            consumer_futures = [
+                executor.submit(consumer, 0, 500),
+                executor.submit(consumer, 1, 500)
+            ]
+            
+            # 等待所有任務完成
+            for future in producer_futures + consumer_futures:
+                future.result()
+        
+        # 驗證結果
+        self.assertEqual(len(self.results), 1000)
+        self.assertTrue(self.buffer.is_empty())
+        
+        # 檢查統計數據
+        stats = self.buffer.get_stats()
+        self.assertEqual(stats['total_writes'], 1000)
+        self.assertGreater(stats['total_reads'], 1000)  # 包含失敗的讀取嘗試
+        self.assertGreater(stats['write_threads'], 1)
+        self.assertGreater(stats['read_threads'], 1)
+    
+    def test_high_throughput(self):
+        """測試高吞吐量場景"""
+        items_per_thread = 10000
+        num_threads = 4
+        
+        def writer():
+            for i in range(items_per_thread):
+                while not self.buffer.put(i):
+                    pass  # 忙等待
+        
+        def reader():
+            items = []
+            for _ in range(items_per_thread):
+                item = None
+                while item is None:
+                    item = self.buffer.get()
+                items.append(item)
+            self.results.extend(items)
+        
+        start_time = time.time()
+        
+        with ThreadPoolExecutor(max_workers=num_threads * 2) as executor:
+            # 啟動寫入線程
+            writer_futures = [executor.submit(writer) for _ in range(num_threads)]
+            
+            # 啟動讀取線程
+            reader_futures = [executor.submit(reader) for _ in range(num_threads)]
+            
+            # 等待完成
+            for future in writer_futures + reader_futures:
+                future.result()
+        
+        end_time = time.time()
+        
+        # 驗證結果
+        total_items = items_per_thread * num_threads
+        self.assertEqual(len(self.results), total_items)
+        
+        # 性能統計
+        duration = end_time - start_time
+        throughput = total_items / duration
+        
+        print(f"\nHigh Throughput Test Results:")
+        print(f"Total items: {total_items}")
+        print(f"Duration: {duration:.2f}s")
+        print(f"Throughput: {throughput:.0f} items/sec")
+        
+        # 顯示詳細統計
+        self.buffer.print_stats()
 
-    buffer.print_stats()  # 印出統計資訊
 
-    # 讀出所有剩餘資料
-    remaining = buffer.get_all()
-    print(f"Remaining items in buffer after multiple writers: {remaining}")
+class TestRingBufferStatistics(unittest.TestCase):
+    """測試 RingBuffer 的統計功能"""
+    
+    def test_statistics_tracking(self):
+        """測試統計數據追蹤"""
+        buffer = RingBuffer(capacity=16)
+        
+        # 寫入一些數據
+        for i in range(10):
+            buffer.put(f"item{i}")
+        
+        # 讀取一些數據
+        for _ in range(5):
+            buffer.get()
+        
+        stats = buffer.get_stats()
+        
+        # 驗證基本統計
+        self.assertEqual(stats['total_writes'], 10)
+        self.assertEqual(stats['total_reads'], 5)
+        self.assertEqual(stats['current_size'], 5)
+        self.assertEqual(stats['write_threads'], 1)
+        self.assertEqual(stats['read_threads'], 1)
+        
+    def test_reset_statistics(self):
+        """測試重置統計數據"""
+        buffer = RingBuffer(capacity=16)
+        
+        # 產生一些活動
+        for i in range(5):
+            buffer.put(f"item{i}")
+        for _ in range(3):
+            buffer.get()
+        
+        # 重置統計
+        buffer.reset_stats()
+        
+        stats = buffer.get_stats()
+        self.assertEqual(stats['total_writes'], 0)
+        self.assertEqual(stats['total_reads'], 0)
+        self.assertEqual(stats['concurrent_writes'], 0)
+        self.assertEqual(stats['concurrent_reads'], 0)
+        self.assertEqual(stats['overflow_count'], 0)
 
-def demonstrate_basic_usage():
-    """示範基本使用方式"""
-    print("\n=== Demonstrating Basic Usage ===")
-    # 創建緩衝區
-    buffer = RingBuffer(capacity=20, buffer_id=7)  
-    
-    # 檢查初始狀態
-    print(f"Initial buffer state - Empty: {buffer.is_empty()}, Full: {buffer.is_full()}, Content Size: {buffer.size()}")
-    
-    # 添加幾個項目
-    for i in range(5):
-        buffer.put(f"Test-{i}")
-    
-    # 檢查狀態
-    print(f"After adding 5 items - Empty: {buffer.is_empty()}, Full: {buffer.is_full()}, Content Size: {buffer.size()}")
-    
-    # 讀取一個項目
-    item = buffer.get()
-    print(f"Read item: {item}")
-    print(f"After reading 1 item - Content Size: {buffer.size()}")
-    
-    # 添加更多項目直到滿
-    items_added = 0
-    while not buffer.is_full():
-        buffer.put(f"Fill-{items_added}")
-        items_added += 1
-    
-    print(f"Added {items_added} more items until full")
-    print(f"Buffer full state - Empty: {buffer.is_empty()}, Full: {buffer.is_full()}, Content Size: {buffer.size()}")
-    
-    # 嘗試添加到已滿的緩衝區
-    result = buffer.put("Overflow")
-    print(f"Attempt to add to full buffer: {'Succeeded' if result else 'Failed'}")
-    
-    # 獲取所有項目
-    all_items = buffer.get_all()
-    print(f"All items in buffer: {all_items}")
-    print(f"Buffer after get_all() - Empty: {buffer.is_empty()}, Content Size: {buffer.size()}")
 
-    # 印出統計資訊
+def benchmark_ringbuffer():
+    """RingBuffer 性能基準測試"""
+    print("\n=== RingBuffer Performance Benchmark ===")
+    
+    buffer = RingBuffer(capacity=1024)
+    num_operations = 100000
+    
+    # 單線程性能測試
+    start_time = time.time()
+    for i in range(num_operations):
+        buffer.put(i)
+    for _ in range(num_operations):
+        buffer.get()
+    end_time = time.time()
+    
+    single_thread_time = end_time - start_time
+    throughput = (num_operations * 2) / single_thread_time
+    
+    print(f"Single Thread: {throughput:.0f} ops/sec")
+    
+    # 多線程性能測試
+    buffer = RingBuffer(capacity=1024)
+    
+    def producer():
+        for i in range(num_operations // 2):
+            while not buffer.put(i):
+                pass
+    
+    def consumer():
+        for _ in range(num_operations // 2):
+            while buffer.get() is None:
+                pass
+    
+    start_time = time.time()
+    
+    with ThreadPoolExecutor(max_workers=2) as executor:
+        future1 = executor.submit(producer)
+        future2 = executor.submit(consumer)
+        future1.result()
+        future2.result()
+    
+    end_time = time.time()
+    
+    multi_thread_time = end_time - start_time
+    throughput = num_operations / multi_thread_time
+    
+    print(f"Multi Thread: {throughput:.0f} ops/sec")
+    print(f"Speedup: {single_thread_time/multi_thread_time:.2f}x")
+    
     buffer.print_stats()
 
-def demonstrate_producer_consumer():
-    """示範生產者-消費者模式"""
-    print("\n=== Demonstrating Producer-Consumer Pattern ===")
-    buffer = RingBuffer(capacity=16)
-    
-    # 創建生產者和消費者執行緒
-    producer_thread = threading.Thread(target=producer, args=(buffer, 20, 0.1))
-    consumer_thread = threading.Thread(target=consumer, args=(buffer, 3, 0.2))
-    batch_thread = threading.Thread(target=batch_consumer, args=(buffer, 0.5))
-    
-    # 啟動執行緒
-    producer_thread.start()
-    consumer_thread.start()
-    batch_thread.start()
-    
-    # 等待執行緒完成
-    producer_thread.join()
-    consumer_thread.join()
-    batch_thread.join()
-    
-    # 檢查最終狀態
-    print(f"Final buffer state - Empty: {buffer.is_empty()}, Size: {buffer.size()}")
-
-    buffer.print_stats()
 
 if __name__ == "__main__":
-    # 展示各種使用場景
-    # demonstrate_basic_usage()
-    # demonstrate_producer_consumer()
-    demonstrate_multi_writer()
+    # 運行單元測試
+    unittest.main(argv=[''], exit=False, verbosity=2)
     
-    print("\nAll demonstrations completed!")
+    # 運行性能基準測試
+    benchmark_ringbuffer()