測試功能整理 有bug修正中

講解程式先 commit 一版

src/fc_network_adapter/fc_network_adapter/devRun.py

@@ -0,0 +1,448 @@
+# 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
+import mavlinkObject as mo
+
+# ====================== 分割線 =====================
+
+test_item = 22
+print('test_item : ', test_item)
+
+if test_item == 1:
+    # 測試 updateMultiplexingList 的輸出
+    print('===> Start of Program .Test ', test_item)
+    mavlink_object_none = mo.mavlink_object(None)
+
+    print('=====================')
+    print('正常範例')
+    mavlink_object_none.multiplexingToAnalysis = []
+    mavlink_object_none.multiplexingToReturn = []
+    # mavlink_object_none.multiplexingToSwap = [[]]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+    print('multiplexingList : ', mavlink_object_none._multiplexingList)
+
+    print('=====================')
+    print('錯誤範例 長度不一致')
+    mavlink_object_none.multiplexingToSwap = [[-1], [11,12,13], [14,15,16],]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+
+    print('=====================')
+    print('正常範例')
+    mo.swap_queues.append(queue.Queue())
+    mo.swap_queues.append(queue.Queue())
+    mavlink_object_none.multiplexingToAnalysis = [0, 1, 2, 3, 4, 5]
+    mavlink_object_none.multiplexingToReturn = [6, 7, 8, 9, 10]
+    mavlink_object_none.multiplexingToSwap = [[-1], [11,12,13], [14,15,16],]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+    print('multiplexingList : ', mavlink_object_none._multiplexingList)
+
+    print('=====================')
+    print('錯誤範例 multiplexingToAnalysis 不可以有 -1')
+    mavlink_object_none.multiplexingToAnalysis = [-1, 1, 2, 3, 4, 5]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+
+    print('End of Program')
+
+
+elif test_item == 2:
+    # 測試 updateMultiplexingList 的輸出
+    print('===> Start of Program .Test ', test_item)
+    mavlink_object_none1 = mo.mavlink_object(None)
+    mavlink_object_none2 = mo.mavlink_object(None)
+    mavlink_object_none3 = mo.mavlink_object(None)
+    del mavlink_object_none2
+
+    print(len(mo.swap_queues))
+
+    mavlink_object_none2 = mo.mavlink_object(None)
+    print(len(mo.swap_queues))
+
+    print(mavlink_object_none1._multiplexingList)
+
+    print('End of Program')
+
+
+elif test_item == 10:
+    # 這邊是測試代碼 運行10秒 過程中把三個 queue 的資料印出來
+    # 只啟用了 mavlink_object 的功能
+    print('===> Start of Program .Test ', test_item)
+    mavlink_object_none = mo.mavlink_object(None)
+
+    connection_string="udp:127.0.0.1:14550"
+    mavlink_socket = mavutil.mavlink_connection(connection_string)
+
+    mavlink_object1 = mo.mavlink_object(mavlink_socket)
+
+    print(mavlink_object1.multiplexingToSwap)
+    print(mo.swap_queues)
+    mavlink_object1.multiplexingToAnalysis = [30] # only ATTITUDE
+    mavlink_object1.multiplexingToReturn = [0] # only HEARTBEAT
+    mavlink_object1.multiplexingToSwap[0] = [74, ] # only VFR_HUD 
+    # mavlink_object1.multiplexingToSwap[0] = [-1, ] # all
+
+    # 啟動連線的模組
+    mavlink_object1.run()
+
+    print(mavlink_object1._multiplexingList)
+
+    # 運行幾秒並印出 queue 的資料
+    start_time = time.time()
+    while time.time() - start_time < 3:
+        while not mo.fixed_stream_bridge_queue.empty():
+            print('fixed_stream_bridge_queue:')
+            t = mo.fixed_stream_bridge_queue.get()
+            print('from {} : {}'.format(t[0],t[2]))
+        while not mo.return_packet_processor_queue.empty():
+            print('return_packet_processor_queue:')
+            t = mo.return_packet_processor_queue.get()
+            print('from {} : {}'.format(t[0],t[2]))
+            # print(t[2].get_msgbuf())
+            # print(t[2].type)
+        
+        for n in range(len(mo.swap_queues)):
+            q = mo.swap_queues[n]
+            while not q.empty():
+                print('swap_queues:')
+                t = q.get()
+                print('{} gets : {}'.format(n,t))
+                
+
+    # 結束程式 退出所有 thread
+    mavlink_object1.running = False
+    mavlink_object1.thread.join()
+    mavlink_socket.close()
+    print('End of Program')
+
+
+elif test_item == 11:
+    # 這邊是測試代碼 確認 analyzer 運行後對於 device object 的建立與封包統計狀況
+    # 啟用 mavlink_object 與 mavlink_bridge的thread區塊 的功能
+    print('===> Start of Program .Test ', test_item)
+    connection_string="udp:127.0.0.1:14550"
+    mavlink_socket = mavutil.mavlink_connection(connection_string)
+
+    mavlink_object2 = mo.mavlink_object(mavlink_socket)
+    mavlink_object2.multiplexingToAnalysis = [0] # only HEARTBEAT
+    mavlink_object2.multiplexingToReturn = []
+
+    # 啟動 mavlink_bridge
+    analyzer = mo.mavlink_bridge()
+
+    # 啟動連線的模組
+    mavlink_object2.run()
+
+    start_time = time.time()
+    show_time = time.time() 
+    compid = 1   
+    while time.time() - start_time < 5:
+        if (time.time() - show_time) >= 1:
+            show_time = time.time()
+            for sysid in analyzer.mavlink_systems:
+                print("目前收到的訊息數量 : ",analyzer.mavlink_systems[sysid].components[compid].msg_count)
+                print("目前遺失的訊息數量 : ",analyzer.mavlink_systems[sysid].components[compid].lost_packet_count)
+                print("現在飛機的模式 : ",analyzer.mavlink_systems[sysid].components[compid].emitParams['flightMode_mode'])
+                analyzer.mavlink_systems[sysid].resetComponentPacketCount(compid)
+            print("===================")
+
+    # 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])
+
+    
+
+
+    # 結束程式 退出所有 thread
+    mavlink_object2.stop()
+    mavlink_object2.thread.join()
+    analyzer.stop()
+
+    analyzer = mo.mavlink_bridge() # 這邊是測試是否只有一個 instance
+    analyzer.thread.join()
+    mavlink_socket.close()
+    print('End of Program')
+
+elif test_item == 12:
+    # 我這邊會測試 mavlink object 作為交換器的功能
+    print('===> Start of Program .Test ', test_item)
+
+    # 初始化兩個通道
+    connection_string_in="udp:127.0.0.1:15551"
+    mavlink_socket_in = mavutil.mavlink_connection(connection_string_in)
+
+    mavlink_object_in = mo.mavlink_object(mavlink_socket_in)
+    mavlink_object_in.multiplexingToAnalysis = [0] # only HEARTBEAT
+
+    connection_string_out="udpout:127.0.0.1:14553"
+    mavlink_socket_out = mavutil.mavlink_connection(connection_string_out, source_system=17, source_component=200)
+
+    mavlink_object_out = mo.mavlink_object(mavlink_socket_out)
+    mavlink_object_out.multiplexingToAnalysis = [0]
+
+
+    # 讓兩個通道互相傳輸
+    mavlink_object_in.multiplexingToSwap[mavlink_object_out.socket_id] = [-1, ] # all
+    mavlink_object_out.multiplexingToSwap[mavlink_object_in.socket_id] = [-1, ] # all
+
+    # 做一個空的通道驗證
+    mavlink_object_none = mo.mavlink_object(None)
+    # mavlink_object_out.multiplexingToSwap[mavlink_object_none.socket_id] = [-1, ] # all
+
+    # 啟動連線的模組
+    analyzer = mo.mavlink_bridge()
+
+    # 啟動通道
+    mavlink_object_in.run()
+    mavlink_object_out.run()
+
+    start_time = time.time()
+    show_time = time.time() 
+    print("connection established!")
+
+    print(type(mavlink_socket_out))
+    print(type(mavlink_socket_out.mav))
+
+    while time.time() - start_time < 100:
+        try:
+            test = mo.swap_queues[mavlink_object_none.socket_id].get(block=False)
+            print('none object : ', test)
+        except queue.Empty:
+            pass
+
+        if (time.time() - show_time) >= 2:
+            show_time = time.time()
+            for sysid in analyzer.mavlink_systems:
+                for compid in analyzer.mavlink_systems[sysid].components:
+                    print("Sysid : {} ,目前收到的訊息數量 : {}".format(sysid, analyzer.mavlink_systems[sysid].components[compid].msg_count))
+
+
+                analyzer.mavlink_systems[sysid].resetComponentPacketCount(compid)
+            print("===================")
+
+    print('目前所有的系統 : ')
+    for sysid in analyzer.mavlink_systems:
+        print(analyzer.mavlink_systems[sysid])
+
+
+    # 結束程式 退出所有 thread
+    mavlink_object_in.stop()
+    mavlink_object_in.thread.join()
+    mavlink_object_out.stop()
+    mavlink_object_out.thread.join()
+    mavlink_socket_in.close()
+    mavlink_socket_out.close()
+
+    analyzer.stop()
+    print('End of Program')
+
+elif test_item == 20:
+    sysid = 1
+    compid = 1
+
+    # 這邊測試 node 生成 topic 的功能
+    rclpy.init() # 注意要初始化 rclpy 才能使用 node
+    # mavlink_object_none = mo.mavlink_object(None)
+
+    # 啟動 mavlink_bridge
+    analyzer = mo.mavlink_bridge()
+
+    from pymavlink.dialects.v20 import common as mavlink2
+
+    mav = mavlink2.MAVLink(None)
+    mav.srcSystem = sysid
+    mav.srcComponent = compid
+
+    # 這是一個 heartbeat 封包
+    fake_heartbeat = mavlink2.MAVLink_heartbeat_message(
+                        type=mavlink2.MAV_TYPE_QUADROTOR,
+                        autopilot=mavlink2.MAV_AUTOPILOT_ARDUPILOTMEGA,
+                        base_mode=3,
+                        custom_mode=0,
+                        system_status=0,
+                        mavlink_version=3
+    )
+    mavlink_bytes = fake_heartbeat.pack(mav)
+    fake_heartbeat_msg = mav.parse_char(mavlink_bytes)
+
+    print(analyzer.mavlink_systems)
+
+    mo.fixed_stream_bridge_queue.put((0, 0, fake_heartbeat_msg)) # socket id, timestamp, data
+    time.sleep(0.1) 
+    print(analyzer.mavlink_systems)
+
+    analyzer._init_node()
+
+    analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid]) # sysid, compid
+    print("topic created")
+    time.sleep(5)
+
+    analyzer.emit_info()
+
+    # 結束程式
+    analyzer.running = False
+    analyzer.destroy_node()
+
+    rclpy.shutdown()
+    analyzer.stop()
+    analyzer.thread.join()
+    print('End of Program')
+
+
+elif test_item == 21:
+    # 這邊是測試代碼 引入 rclpy 來測試 node 的運行
+    print('===> Start of Program .Test ', 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_socket = mavutil.mavlink_connection(connection_string)
+    mavlink_object3 = mo.mavlink_object(mavlink_socket)
+
+    # 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
+    
+    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 < 10:
+        try:
+            # rclpy.spin(analyzer)
+            analyzer.emit_info() # 這邊是測試 node 的運行
+            time.sleep(1)
+        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_socket.close()
+    print('End of Program')
+
+
+elif test_item == 22:
+    # 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)
+
+    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_none = mo.mavlink_object(None)
+
+    # 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
+    mavlink_object_in.multiplexingToSwap[mavlink_object_none.socket_id] = [-1, ]
+
+    # 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 < 100:
+        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 : ", 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("===================")
+
+        time.sleep(1)
+    
+    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')

src/fc_network_adapter/fc_network_adapter/mavlinkDevice.py

@@ -1,9 +1,17 @@
 
-
+# 自定義的 import
 from theLogger import setup_logger
 
+# ====================== 分割線 =====================
+
 logger = setup_logger("mavlinkDevice.py")
 
+# 用來記錄每個 system 的資訊
+# 資料格式 { sysid : mavlink_device object }
+mavlink_systems = {}
+
+# ====================== 分割線 =====================
+
 # 這個 class 是用來記錄每個 system 的資訊 每個 system 可能會有多個 component
 class mavlink_device():
     def __init__(self):

src/fc_network_adapter/fc_network_adapter/mavlinkObject.py

@@ -1,9 +1,9 @@
 '''
 # 不同的匯流排只有單一種通訊協定 
-# 匯流排接到訊息後透過 queue stack 傳送到分析器
-# 會有三種 Queue 分別作為 1. 固定串流分析器 2. 回傳封包處理器 3. 轉格式(例如 mavlink to FDM)的轉換器
+# 匯流排接到訊息後透過 queue stack 傳送到橋接器
+# 會有三種 Queue 分別作為 1. 固定串流橋接器 2. 回傳封包處理器 3. 轉拋串流
 # 第三種比較麻煩 會需要用 list 管理多個轉換器的 queue
-# 分析器會將解析得到的結論 再透過 ros2 的 publisher 發送出去
+# 橋接器會將解析得到的結論 再透過 ros2 的 publisher 發送出去
 
 # 關於 mavlink 採用 pymavlink 這個套件 製作匯流排
 # pymavlink 的 socket 會由其他地方製作(例如 main) 再放到 mavlink_object 裡面
@@ -21,40 +21,34 @@ from pymavlink import mavutil
 
 # ROS2 的 import
 from rclpy.node import Node
-import std_msgs.msg
 
 # 自定義的 import
-from mavlinkDevice import mavlink_device
+from mavlinkDevice import mavlink_device, mavlink_systems
 from mavlinkPublish import mavlink_publisher
 from theLogger import setup_logger
 
-
 # ====================== 分割線 =====================
 
 logger = setup_logger("mavlinkObject.py")
 
-fixed_stream_analyzer_queue = queue.Queue()
+fixed_stream_bridge_queue = queue.Queue()
 return_packet_processor_queue = queue.Queue()
-converte_format_queues = []
-
-# 用來記錄每個 system 的資訊
-# 資料格式 { sysid : mavlink_device object }
-mavlink_systems = {} 
+swap_queues = [] # 這個 list 用來存放轉拋串流的 queue # 這些 queue 同時也是各自 mavlink_object 的 output buffer
 
 # ====================== 分割線 =====================
 
-class mavlink_analyzer(Node, mavlink_publisher):
+class mavlink_bridge(Node, mavlink_publisher):
     '''
-    這個 class 就是 固定串流分析器
-    是用來接收 mavlink 訊息 並進行分析
-    這個地方是針對 fixed_stream_analyzer_queue 的資料做處理的
+    這個 class 就是 固定串流橋接器
+    是用來接收 mavlink 訊息 並進行橋接
+    這個地方是針對 fixed_stream_bridge_queue 的資料做處理的
     記錄有 mavlink bus 上有那些 system id 和 component id
     為了每個 system id 都有一個對應的 device object
     並且看是否有重複 system id
 
     整段代碼包含兩大區塊 thread 和 node
 
-    thread 區塊內會對 fixed_stream_analyzer_queue 進行監聽 並且將收到的訊息進行處理
+    thread 區塊內會對 fixed_stream_bridge_queue 進行監聽 並且將收到的訊息進行處理
     其中 HEARTBEAT 是一個特殊類別 用來初始化整個 device object 
 
     node 區塊則是處理 ros2 的 publisher 和 subscriber 訂閱相關
@@ -69,7 +63,7 @@ class mavlink_analyzer(Node, mavlink_publisher):
     def __new__(cls, *args, **kwargs):
         with cls._lock:  # 確保多線程環境下只有一個實例被創建
             if cls._instance is None:
-                cls._instance = super(mavlink_analyzer, cls).__new__(cls)
+                cls._instance = super(mavlink_bridge, cls).__new__(cls)
         return cls._instance
 
     def __init__(self):
@@ -85,7 +79,7 @@ class mavlink_analyzer(Node, mavlink_publisher):
             self.thread = threading.Thread(target=self._run_thread)
             self.thread.start()
         else:
-            logger.error('mavlink_analyzer instance already exists. Do not create another one.')
+            logger.error('mavlink_bridge instance already exists. Do not create another one.')
 
     def stop(self):
         self.running = False
@@ -93,12 +87,12 @@ class mavlink_analyzer(Node, mavlink_publisher):
     # === Thread 區塊 ===
     def _run_thread(self):
         # start_time = time.time() # debug
-        logger.info('Start of mavlink_analyzer._run_thread')
-        # 從 Queue fixed_stream_analyzer_queue 中取出 mavlink 資料 並呼叫相對應的 function 進行後處理
+        logger.info('Start of mavlink_bridge._run_thread')
+        # 從 Queue fixed_stream_bridge_queue 中取出 mavlink 資料 並呼叫相對應的 function 進行後處理
         while self.running:
-            if fixed_stream_analyzer_queue.empty():
+            if fixed_stream_bridge_queue.empty():
                 continue
-            msg_pack = fixed_stream_analyzer_queue.get()
+            msg_pack = fixed_stream_bridge_queue.get()
 
             msg = msg_pack[2]
             sysid = msg.get_srcSystem()
@@ -121,6 +115,9 @@ class mavlink_analyzer(Node, mavlink_publisher):
 
                 this_component.emitParams['base_mode'] = msg.base_mode    
                 this_component.emitParams['flightMode_mode'] = mavutil.mode_string_v10(msg)
+                # print("get mode :", mavutil.mode_string_v10(msg)) # debug
+                # print("record mode :", this_component.emitParams['flightMode_mode']) # debug
+                this_component.emitParams['flightMode'] = msg # debug
 
             elif msg.get_msgId() == 147: # BATTERY_STATUS 處理
                 this_component = self.mavlink_systems[sysid].components[msg.get_srcComponent()]
@@ -132,12 +129,12 @@ class mavlink_analyzer(Node, mavlink_publisher):
                 logger.warning('This Message Type Did not define process method : {} / {}'.format(msg.get_msgId(), msg.get_type()))
                 continue
 
-        logger.info('End of mavlink_analyzer._run_thread')
+        logger.info('End of mavlink_bridge._run_thread')
 
     # === Node 區塊 ===
     def _init_node(self):
-        logger.info('Start of mavlink_analyzer._init_node')
-        super().__init__('mavlink_analyzer') # TODO 不知道為何 這句耗時超長 可以到 5~10 秒
+        logger.info('Start of mavlink_bridge._init_node')
+        super().__init__('mavlink_bridge') # TODO 不知道為何 這句耗時超長 可以到 5~10 秒
 
     def emit_info(self):
         # 這邊將 mavlink_systems 內所有的 device object 內所有的 component 輪循過 
@@ -163,16 +160,41 @@ class mavlink_object():
     每個 mavlink bus 都會有一個 mavlink_object
     其中主要是 thread 做統計封包與分流
     分流表的控制在三個 list 分別為
-        multiplexingToAnalysis : 這個 list 是用來分流到固定串流分析器的
+        multiplexingToAnalysis : 這個 list 是用來分流到固定串流橋接器的
         multiplexingToReturn : 這個 list 是用來分流到回傳封包處理器的
-        multiplexingToConvert : 這個 list 是用來分流到轉格式的
+        multiplexingToSwap : 這個 list 是用來分流到轉拋串流的
     透過先更新上述三個 list 後再執行 updateMultiplexingList 可以變更分流行為
     '''
-    def __init__(self, mavlink_socket, socket_id = None):
-        self.socket_id = socket_id
-        self.mavlink_socket = mavlink_socket
-        self.msg_count = {}
-        self.multiplexingList = []
+    mavlinkObjects = {} # 用來記錄所有的 mavlink_object instance 資料格式 { socket_id(序號) : mavlink_object(物件實例) }
+    socket_num = 0 # 用來記錄目前的 socket 數量
+    def __new__(cls, *args, **kwargs):
+        # 每創建一個實例 就將其添加到 mavlinkObjects 列表中
+        # 創建時 會檢查 mavlinkObjects 列表中空缺的 socket_id 序號 
+        # 若序號無中斷 則 socket_id 往後加一 若序號有中斷 則填補最小的序號
+        # socket_id 從 0 開始
+
+        instance = super().__new__(cls)
+        socket_id = 0
+        for k in cls.mavlinkObjects.keys():
+            if k == socket_id:
+                socket_id += 1
+            else:
+                break
+        instance.socket_id = socket_id
+        cls.socket_num += 1
+        cls.mavlinkObjects[socket_id] = instance
+        return instance
+
+    def __init__(self, socket):
+        self.mavlink_socket = socket
+        # 這邊變數是執行的時候被使用的 不要直接寫入它
+        self._multiplexingList = []
+        # 存放要發送的訊息的 queue 或稱 buffer
+        self.output_buffer = queue.Queue()
+        if self.socket_id >= len(swap_queues):
+            swap_queues.append(self.output_buffer)
+        else:
+            swap_queues[self.socket_id] = self.output_buffer
 
         # 關聯到全域變數
         global mavlink_systems
@@ -180,28 +202,57 @@ class mavlink_object():
 
         # 這三個 list 用來分配不同的訊息到不同的 queue
         self.multiplexingToAnalysis = [
-            0, # HEARTBEAT
-            24, # GPS_RAW_INT
-            30, # ATTITUDE
-            33, # GLOBAL_POSITION_INT
-            74, # VFR_HUD
-            147, # BATTERY_STATUS
+            0, # HEARTBEAT # 挺必要的項目
+        #     24, # GPS_RAW_INT
+        #     30, # ATTITUDE
+        #     33, # GLOBAL_POSITION_INT
+        #     74, # VFR_HUD
+        #     147, # BATTERY_STATUS
         ]
-        self.multiplexingToReturn = [
-            0, # HEARTBEAT
-            # 30, # ATTITUDE
-        ]
-        self.multiplexingToConvert = [
+        self.multiplexingToReturn = []
+        self.multiplexingToSwap = [
+            [] for _ in range(len(swap_queues))
         ]
 
+        # 刷新其他 mavlink_object 的 multiplexingToSwap
+        for k, object in self.mavlinkObjects.items():
+            if (k != self.socket_id) and (len(object.multiplexingToSwap) <= self.socket_id):
+                object.multiplexingToSwap.append([])
+                object.updateMultiplexingList()
+
+        logger.info('mavlink_object instance {} created'.format(self.socket_id))
+
     def __del__(self):
-        self.mavlink_socket.close()
-        self.stop()
+        # 停下自己的 thread
+        if self.mavlink_socket != None:
+            self.mavlink_socket.close()
+            self.stop()
+
+        # 移除其他 mavlink_object 的 multiplexingToSwap
+        for k, object in self.mavlinkObjects.items():
+            if (k != self.socket_id) and (len(object.multiplexingToSwap) > self.socket_id):
+                object.multiplexingToSwap[self.socket_id] = []
+                object.updateMultiplexingList()
+
+        # 移除自己的 swap_queues
+        swap_queues[self.socket_id] = None
+
+        # 處理 class 的 instance 記錄
+        self.socket_num -= 1
+        self.mavlinkObjects.pop(self.socket_id) # 刪除這個 instance
+
+        # logger 模組在這邊會一直掛掉 找不到問題 先用 print 代替
+        # print('mavlink_object instance {} deleted'.format(self.socket_id)) # debug 
+        # logger.info('mavlink_object instance {} deleted'.format(self.socket_id))
+        # try:
+        #     logger.info('mavlink_object instance {} deleted'.format(self.socket_id))
+        # except Exception as e:
+        #     print(f"Error logging in __del__: {e}")
+        # if 'logger' in globals() and logger:
+        #     logger.info('mavlink_object instance {} deleted'.format(self.socket_id))
 
     def run(self):
-        if not self.socket_id:
-            logger.error('Please set socket id before running')
-            return
+        # TODO 檢查 socket 是否有連線
         self.thread = threading.Thread(target=self._run_thread)
         self.running = self.updateMultiplexingList()
         self.thread.start()
@@ -214,6 +265,8 @@ class mavlink_object():
         start_time = time.time()
         while self.running:
             timestamp = time.time() # 記錄接受到訊息的時間 # 這邊若是在大量訊息造成壅塞時 可能會有些微偏差
+
+            # 處理接收到的封包
             try:
                 mavlinkMsg = self.mavlink_socket.recv_msg()
             except Exception as e:
@@ -223,7 +276,7 @@ class mavlink_object():
                 self.running = False
                 break
 
-            if mavlinkMsg: # data type should be 'pymavlink.dialects.v20.ardupilotmega.MAVLink_attitude_message'
+            if mavlinkMsg: # data type should be 'pymavlink.dialects.v20.ardupilotmega. etc...'
                 # 統計收到的訊息 & 透過 mavlink 封包的序列號來檢查是否有遺失的封包 & 記錄最後收到的封包時間
                 sysid = mavlinkMsg.get_srcSystem()
                 compid = mavlinkMsg.get_srcComponent()
@@ -231,19 +284,37 @@ class mavlink_object():
                     # mavlinkMsg.get_type() # mavlinkMsg.get_msgId() # 前者是字串 後者是 int 都是代表 mavlink 類型
                     mavlink_systems[sysid].updateComponentPacketCount(compid, mavlinkMsg.get_seq(), mavlinkMsg.get_msgId(), timestamp)
 
-                # print(mavlinkMsg) # debug
-                # break # Debug
+                # break # Debug function can put here you can see the input data from mavlink
 
                 # 將訊息依照 multiplexing list 分發到不同的 queue
-                for i in range(len(self.multiplexingList)):
-                    if mavlinkMsg.get_msgId() in self.multiplexingList[i]:
+                for i in range(len(self._multiplexingList)):
+                    if (self._multiplexingList[i] == []):
+                        continue
+                    elif (mavlinkMsg.get_msgId() in self._multiplexingList[i]) or (self._multiplexingList[i][0] == -1):
                         if i == 0:
-                            fixed_stream_analyzer_queue.put((self.socket_id,timestamp,mavlinkMsg))
+                            fixed_stream_bridge_queue.put((self.socket_id,timestamp,mavlinkMsg))
                         elif i == 1:
                             return_packet_processor_queue.put((self.socket_id,timestamp,mavlinkMsg))
                         else:
-                            convert_queue = converte_format_queues[i-2]
-                            convert_queue.put((self.socket_id,timestamp,mavlinkMsg))
+                            _queue = swap_queues[i-2]
+                            # _queue.put((self.socket_id,timestamp,mavlinkMsg)) # 測試看看 也許不需要別的資訊 只需要封包
+                            _queue.put(mavlinkMsg)
+
+            # 處理要送出的封包
+            # 如果 有資料在 output_buffer 中則將其取出並發送
+            # 沒有就略過發送
+
+            try:
+                mavlinkMsg_send = self.output_buffer.get(block=False)
+            except queue.Empty:
+                mavlinkMsg_send = None
+            # except Exception as e:
+            #     logger.error(f"Error getting data from output_buffer: {e}")
+            #     mavlinkMsg_send = None
+
+            if mavlinkMsg_send:
+                # self.mavlink_socket.mav.send(mavlinkMsg_send)
+                self.mavlink_socket.write(mavlinkMsg_send.get_msgbuf()) # 這邊會將封包寫入 socket 中
 
         # thread 結束
         logger.info('End of mavlink_object._run_thread id : {}'.format(self.socket_id))
@@ -252,20 +323,37 @@ class mavlink_object():
         '''
         更新 multiplexing list 並做簡單的檢查
         '''
+        # 檢查 multiplexingToAnalysis 與 multiplexingToReturn 是否有 -1 值
+        check = (-1 in self.multiplexingToAnalysis) or (-1 in self.multiplexingToReturn)
+        if check:
+            logger.error('MultiplexingToAnalysis or MultiplexingToReturn NOT all type spilt. socket id : {}'.format(self.socket_id))
+            return False
 
-        # 更新 multiplexing list 
-        self.multiplexingList = [self.multiplexingToAnalysis, self.multiplexingToReturn] + self.multiplexingToConvert
+        # 檢查 multiplexingToSwap 與 swap_queues 的長度是否一致 而且 swap_queues 的長度不能為 0
+        check = len(self.multiplexingToSwap) != len(swap_queues) or len(swap_queues) == 0
+        if check:
+            logger.error('Multiplexing Queue not fit List , Please check the list. socket id : {}'.format(self.socket_id))
+            return False
 
-        # 檢查 multiplexing list 格式是否有錯誤
-        check = all(isinstance(i, list) and all(isinstance(j, int) for j in i) for i in self.multiplexingList)
+        # 對應到自己的 multiplexingToSwap 必需為空  避免對自己迴圈轉拋
+        try:
+            self.multiplexingToSwap[self.socket_id] = []
+        except IndexError:
+            logger.error('Multiplexing List of self socket id should be void. socket id : {}'.format(self.socket_id))
+            return False 
+
+        # 組合 multiplexing list
+        multiL_tmp = [self.multiplexingToAnalysis, self.multiplexingToReturn] + self.multiplexingToSwap
+
+        # 檢查 multiplexing list 格式是否有錯誤 # 全部都要是 list 每個 list 裡面都要是 int
+        check = all(isinstance(i, list) and all(isinstance(j, int) for j in i) for i in multiL_tmp)
         if not check:
-            logger.error('Multiplexing List Format Error, Please check the list')
+            logger.error('Multiplexing List Format Error, Please check the list. socket id : {}'.format(self.socket_id))
             return False # 若有錯誤則回傳 False
 
-        check = len(self.multiplexingToConvert) != len(converte_format_queues)
-        if check:
-            logger.error('Multiplexing Queue not fit List , Please check the list')
-            return False
+        # 更新 multiplexing list 
+        self._multiplexingList = multiL_tmp
+
         return True
 
 # ====================== 分割線 =====================
@@ -274,163 +362,6 @@ class mavlink_object():
 def main_node():
     pass
 
-# ====================== 分割線 =====================
-# 測試時的程式進入點
-def main_develop(args=None):
-
-    test_item = 2
-    print('test_item : ', test_item)
-
-    if test_item == 1:
-        # 這邊是測試代碼 運行10秒 過程中把三個 queue 的資料印出來
-        # 只啟用了 mavlink_object 的功能
-        print('Start of Program .Test 1')
-        connection_string="udp:127.0.0.1:14550"
-        mavlink_socket = mavutil.mavlink_connection(connection_string)
-
-        mavlink_object1 = mavlink_object(mavlink_socket, 1)
-        mavlink_object1.multiplexingToAnalysis = [30] # only ATTITUDE
-        mavlink_object1.multiplexingToReturn = [0] # only HEARTBEAT
-        mavlink_object1.multiplexingToConvert = [[74,]] # only VFR_HUD 
-
-        # 做一個空的 queue list 驗證 multiplexingToConvert
-        converte_format_queues.append(queue.Queue())
-        # 啟動連線的模組
-        mavlink_object1.run()
-
-        # 運行幾秒並印出 queue 的資料
-        start_time = time.time()
-        while time.time() - start_time < 2:
-            
-            while not fixed_stream_analyzer_queue.empty():
-                print('fixed_stream_analyzer_queue:')
-                t = fixed_stream_analyzer_queue.get()
-                print('from {} : {}'.format(t[0],t[2]))
-            while not return_packet_processor_queue.empty():
-                print('return_packet_processor_queue:')
-                t = return_packet_processor_queue.get()
-                # print('from {} : {}'.format(t[0],t[2]))
-                print(t[2].type)
-            
-            for q in converte_format_queues:
-                while not q.empty():
-                    print('converte_format_queues:')
-                    t = q.get()
-                    print('from {} : {}'.format(t[0],t[2]))
-
-        # 結束程式 退出所有 thread
-        mavlink_object1.running = False
-        mavlink_object1.thread.join()
-        mavlink_socket.close()
-        print('End of Program .Test 1')
-
-    elif test_item == 2:
-        # 這邊是測試代碼 確認 analyzer 運行後對於 device object 的建立與封包統計狀況
-        # 啟用 mavlink_object 與 mavlink_analyzer的thread區塊 的功能
-        print('Start of Program .Test 2')
-        connection_string="udp:127.0.0.1:14550"
-        mavlink_socket = mavutil.mavlink_connection(connection_string)
-
-        mavlink_object2 = mavlink_object(mavlink_socket, 1)
-        mavlink_object2.multiplexingToAnalysis = [0] # only HEARTBEAT
-        mavlink_object2.multiplexingToReturn = [] # only HEARTBEAT
-        mavlink_object2.multiplexingToConvert = [] #
-
-        # 啟動 mavlink_analyzer
-        analyzer = mavlink_analyzer()
-
-        # 啟動連線的模組
-        mavlink_object2.run()
-
-        start_time = time.time()
-        show_time = time.time() 
-        compid = 1   
-        while time.time() - start_time < 5:
-            if (time.time() - show_time) >= 1:
-                show_time = time.time()
-                for sysid in analyzer.mavlink_systems:
-                    print("目前收到的訊息數量 : ",analyzer.mavlink_systems[sysid].components[compid].msg_count)
-                    print("目前遺失的訊息數量 : ",analyzer.mavlink_systems[sysid].components[compid].lost_packet_count)
-                    print("現在飛機的模式 : ",analyzer.mavlink_systems[sysid].components[compid].emitParams['flightMode_mode'])
-                    analyzer.mavlink_systems[sysid].resetComponentPacketCount(compid)
-                print("===================")
-
-        # 印出目前所有 mavlink_systems 的內容
-        print('目前所有的系統 : ')
-        for sysid in mavlink_systems:
-            print(mavlink_systems[sysid])
-
-        
-
-
-        # 結束程式 退出所有 thread
-        mavlink_object2.stop()
-        mavlink_object2.thread.join()
-        analyzer.stop()
-
-        analyzer = mavlink_analyzer() # 這邊是測試是否只有一個 instance
-        analyzer.thread.join()
-        mavlink_socket.close()
-        print('End of Program .Test 2')
-
-    elif test_item == 3:
-        # 這邊是測試代碼 引入 rclpy 來測試 node 的運行
-        print('Start of Program .Test 3')
-        rclpy.init() # 注意要初始化 rclpy 才能使用 node
-        connection_string="udp:127.0.0.1:14550"
-        mavlink_socket = mavutil.mavlink_connection(connection_string)
-
-        mavlink_object3 = mavlink_object(mavlink_socket, 1)
-        mavlink_object3.multiplexingToAnalysis = [0] # only HEARTBEAT
-        mavlink_object3.multiplexingToReturn = [] # only HEARTBEAT
-        mavlink_object3.multiplexingToConvert = [] #
-
-        # 啟動 mavlink_analyzer
-        analyzer = mavlink_analyzer()
-
-        # 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)
-
-        # 啟動連線的模組
-        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])
-        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 < 20:
-            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_socket.close()
-        print('End of Program .Test 3')
 
 if __name__ == '__main__':
-    import rclpy # 這邊是為了測試而加的
-    main_develop()
+    pass

src/unitdev02/unitdev02/client.py

@@ -0,0 +1,14 @@
+import socket
+
+SOCKET_PATH = "/tmp/unix_socket_example"
+
+# 建立 socket
+client = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+client.connect(SOCKET_PATH)
+
+# 傳送資料
+client.sendall(b"Hello from client!")
+data = client.recv(1024)
+print("📤 Server replied:", data.decode())
+
+client.close()

src/unitdev02/unitdev02/lifecycle_node.py

@@ -0,0 +1,45 @@
+
+
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+import time
+
+# import mavros_msgs.srv
+
+class TalkerNode(Node):
+    def __init__(self):
+        start_time = time.time()
+        super().__init__('talker_node')
+        end_time = time.time()
+        print(f"Node initialization took {end_time - start_time:.2f} seconds")
+
+        self.publisher_ = self.create_publisher(String, 'hahatest/_1', 10)
+        self.timer = self.create_timer(1.0, self.timer_callback)  # 每秒執行一次
+        self.get_logger().info('TalkerNode has been started.')
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = 'Hello, ROS 2!'
+        self.publisher_.publish(msg)
+        self.get_logger().info(f'Published: "{msg.data}"')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = TalkerNode()
+
+    print("Before sleep")
+    time.sleep(5)  # 等待 5 秒鐘
+    print("After sleep")
+    try:
+        start_time = time.time()
+        while time.time() - start_time < 10:  # 持續 10 秒鐘
+            rclpy.spin_once(node)
+            time.sleep(1)  # 每秒執行一次
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

src/unitdev02/unitdev02/server.py

@@ -0,0 +1,33 @@
+import socket
+import os
+
+# socket file path
+SOCKET_PATH = "/tmp/unix_socket_example"
+
+# 若檔案存在就先刪除
+if os.path.exists(SOCKET_PATH):
+    os.remove(SOCKET_PATH)
+
+# 建立 socket
+server = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+
+# 綁定 socket 到檔案
+server.bind(SOCKET_PATH)
+server.listen(1)
+
+print("🔌 Server waiting for connection...")
+
+# 等待 client 連線
+conn, _ = server.accept()
+print("✅ Client connected.")
+
+while True:
+    data = conn.recv(1024)
+    if not data:
+        break
+    print("📥 Received:", data.decode())
+    conn.sendall(b"Echo: " + data)
+
+conn.close()
+server.close()
+os.remove(SOCKET_PATH)