Force sync local master to remote ken

.gitignore

@@ -26,9 +26,3 @@ Makefile
 **/*.pyc
 **/*.pyo
 **/.cursor/
-CLAUDE.md
-
-# 本地筆記與硬體 dump
-my_env_notes.md
-notes/
-**/eeprom.bin

README.md

@@ -97,3 +97,8 @@ python gui.py
 N. logs 是執行時期的記錄檔
 
 ===
+
+
+
+簡述0328
+主要是透過test_transform這隻程式執行fdm_switch_example_one_with_remote_forwarding這個副函式，透過UDP將封包轉接到Matlab，並在Matlab進行演算法迭代後，打包JSON檔，並再次透過port口傳回封包，傳回來的封包會在close_loop這隻程式被解析，並提取其中有關velocity的資料儲存成變數，以mavlink的方式打入Ardupilot，以實現封閉迴路的構思。

src/GUI/communication.py

@@ -602,7 +602,7 @@ class DroneMonitor(Node):
     # ================================================================================
 
     async def set_mode(self, drone_id, mode_name):
-        """使用 CommandLongClient 切換無人機飛行模式"""
+        """使用 CommandLongClient 切換無人機飛行模式（使用非阻塞的 async 方法）"""
         try:
             # 解析 drone_id 提取 sysid
             parts = drone_id.split('_')
@@ -619,30 +619,24 @@ class DroneMonitor(Node):
             
             print(f"\n📢 [SET_MODE] {drone_id} → {mode_name} (custom_mode={custom_mode})")
             
-            # 在線程池中調用 CommandLongClient
+            if not self.command_long_client:
-            loop = asyncio.get_event_loop()
+                print(f"❌ [SET_MODE] CommandLongClient 未初始化")
-            executor = ThreadPoolExecutor(max_workers=1)
+                return False
             
-            def _call_set_mode():
+            # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
-                client = CommandLongClient() if CommandLongClient else None
+            result = await self.command_long_client.change_mode_async(
-                if not client:
+                target_sysid=sysid,
-                    return False
+                custom_mode=float(custom_mode),
-                result = client.change_mode(
+                target_compid=0,
-                    target_sysid=sysid,
+                base_mode=1.0,
-                    custom_mode=float(custom_mode),
+                timeout_sec=2.0,
-                    target_compid=0,
+            )
-                    base_mode=1.0,
-                    timeout_sec=2.0,
-                )
-                client.destroy_node()
-                return result.success if result else False
             
-            result = await loop.run_in_executor(executor, _call_set_mode)
+            if result and result.success:
-            if result:
                 print(f"✅ [SET_MODE] 模式切換成功")
                 return True
             else:
-                print(f"❌ [SET_MODE] 模式切換失敗")
+                print(f"❌ [SET_MODE] 模式切換失敗 (message={result.message if result else 'None'})")
                 return False
         except Exception as e:
             print(f"❌ [SET_MODE] 例外錯誤: {e}")

src/GUI/gui.py

@@ -33,7 +33,7 @@ from mission_group import (
 # ================================================================================
 
 class ControlStationUI(QMainWindow):
-    VERSION = '2.0.4'
+    VERSION = '2.0.6'
     
     def __init__(self):
         super().__init__()

src/fc_network_apps/longCommand.py

@@ -4,6 +4,7 @@ from __future__ import annotations
 
 from dataclasses import dataclass
 from typing import Optional
+import asyncio
 
 import rclpy
 from rclpy.node import Node
@@ -185,3 +186,118 @@ class CommandLongClient(Node):
             param7=0.0,
             timeout_sec=timeout_sec,
         )
+
+    # ============================================================================
+    # 【新增】非阻塞 async 包裝方法（用於 GUI 的非阻塞調用）
+    # 這些方法在 ThreadPoolExecutor 中運行同步版本，以避免阻塞事件循環
+    # ============================================================================
+
+    async def change_mode_async(
+        self,
+        *,
+        target_sysid: int,
+        custom_mode: float,
+        target_compid: int = 0,
+        base_mode: float = 1.0,
+        confirmation: int = 0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 change_mode（在 ThreadPoolExecutor 中運行）"""
+        from concurrent.futures import ThreadPoolExecutor
+        loop = asyncio.get_event_loop()
+        executor = ThreadPoolExecutor(max_workers=1)
+        return await loop.run_in_executor(
+            executor,
+            lambda: self.change_mode(
+                target_sysid=target_sysid,
+                custom_mode=custom_mode,
+                target_compid=target_compid,
+                base_mode=base_mode,
+                confirmation=confirmation,
+                timeout_sec=timeout_sec,
+            )
+        )
+
+    async def arm_disarm_async(
+        self,
+        *,
+        target_sysid: int,
+        arm: bool,
+        target_compid: int = 0,
+        confirmation: int = 0,
+        param2: float = 0.0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 arm_disarm（在 ThreadPoolExecutor 中運行）"""
+        from concurrent.futures import ThreadPoolExecutor
+        loop = asyncio.get_event_loop()
+        executor = ThreadPoolExecutor(max_workers=1)
+        return await loop.run_in_executor(
+            executor,
+            lambda: self.arm_disarm(
+                target_sysid=target_sysid,
+                arm=arm,
+                target_compid=target_compid,
+                confirmation=confirmation,
+                param2=param2,
+                timeout_sec=timeout_sec,
+            )
+        )
+
+    async def takeoff_async(
+        self,
+        *,
+        target_sysid: int,
+        altitude_m: float,
+        target_compid: int = 0,
+        min_pitch_deg: float = 0.0,
+        yaw_deg: float = 0.0,
+        latitude: Optional[float] = None,
+        longitude: Optional[float] = None,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 takeoff（在 ThreadPoolExecutor 中運行）"""
+        from concurrent.futures import ThreadPoolExecutor
+        loop = asyncio.get_event_loop()
+        executor = ThreadPoolExecutor(max_workers=1)
+        return await loop.run_in_executor(
+            executor,
+            lambda: self.takeoff(
+                target_sysid=target_sysid,
+                altitude_m=altitude_m,
+                target_compid=target_compid,
+                min_pitch_deg=min_pitch_deg,
+                yaw_deg=yaw_deg,
+                latitude=latitude,
+                longitude=longitude,
+                timeout_sec=timeout_sec,
+            )
+        )
+
+    async def land_async(
+        self,
+        *,
+        target_sysid: int,
+        target_compid: int = 0,
+        yaw_deg: float = 0.0,
+        latitude: Optional[float] = None,
+        longitude: Optional[float] = None,
+        altitude_m: float = 0.0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 land（在 ThreadPoolExecutor 中運行）"""
+        from concurrent.futures import ThreadPoolExecutor
+        loop = asyncio.get_event_loop()
+        executor = ThreadPoolExecutor(max_workers=1)
+        return await loop.run_in_executor(
+            executor,
+            lambda: self.land(
+                target_sysid=target_sysid,
+                target_compid=target_compid,
+                yaw_deg=yaw_deg,
+                latitude=latitude,
+                longitude=longitude,
+                altitude_m=altitude_m,
+                timeout_sec=timeout_sec,
+            )
+        )