temp

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -436,7 +436,7 @@ class ControlPanel:
                         menu_stack.pop()
                         idx_stack.pop()
                     elif selected.action == "SET_SERIAL_COMM_XBEE_ESP":
-                        state.serial_info_temp["CommunicationType"] = "XBee(API-API) espv1"
+                        state.serial_info_temp["CommunicationType"] = "XBee(API-API)espv1"
                         menu_stack.pop()
                         idx_stack.pop()
                     elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
@@ -1600,7 +1600,7 @@ class Orchestrator:
         # 定義通訊類型映射表
         COMM_TYPE_MAP = {
             "XBee(API-AT)": sm.SerialMode.XBEEAPI2AT,
-            "XBee(API-AT)": sm.SerialMode.XBEEAPI_espv1,
+            "XBee(API-API)espv1": sm.SerialMode.XBEEAPI_espv1,
             "TELEMETRY": sm.SerialMode.STRAIGHT,
             # 新增區
         }

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -37,7 +37,7 @@ from .utils import pollStrategy
 # ====================== 分割線 =====================
 
 logger = setup_logger(os.path.basename(__file__))
-MODULE_VER = "2.00"
+MODULE_VER = "2.02"
 
 rx_module_ack = RingBuffer(capacity=64, buffer_id=253)
 
@@ -145,12 +145,15 @@ class XBeeFrameProcessor_Base(FrameProcessor):
     DEST_ADDR16_UNICAST = b'\xFF\xFE'
     DEST_ADDR16_BRAODCAST = b'\xFF\xFF'
 
-    DEST_ADDR64_BRAODCAST = b'\x00\x00\x00\x00\x00\x00\x00\x00'
+    DEST_ADDR64_BRAODCAST = b'\x00\x00\x00\x00\x00\x00\x00\x00' 
+    
 
     def __init__(self, at_handler: "ATCommandHandler" = None):
         super().__init__()
         self.at_handler = at_handler
 
+
+
     # ---- 對外契約 ----
     def process_incoming(self, data: bytes) -> bytes:
         """處理 XBee API 幀並提取 payload"""
@@ -231,7 +234,7 @@ class XBeeFrameProcessor_Base(FrameProcessor):
     def _encapsulate(
         data: bytes,
         dest_addr64: bytes = DEST_ADDR64_BRAODCAST,
-        dest_addr16 = DEST_ADDR16_BRAODCAST,
+        dest_addr16: bytes = DEST_ADDR16_BRAODCAST,
         frame_id: int = 0x01,
     ) -> bytes:
         """
@@ -247,6 +250,8 @@ class XBeeFrameProcessor_Base(FrameProcessor):
         frame += dest_addr64 + dest_addr16
         frame += struct.pack(">BB", broadcast_radius, options) + data
         checksum = 0xFF - (sum(frame) & 0xFF)
+        # ret = b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum) 
+        # logger.debug(ret.hex())
         return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
 
     @staticmethod
@@ -290,10 +295,7 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
     MAX_PAYLOAD_PER_FRAME = 80
     CHUNK_SEND_INTERVAL_SEC = 0.01
 
-    # ADDR16 選項
+   
-    DEST_ADDR16_BRAODCAST = b'\xFF\xFF'
-
-    DEST_ADDR64_BRAODCAST = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'
 
     class Esp32DeviceInfo:
         def __init__(self, system_id, address_64, last_hello_time):
@@ -306,6 +308,8 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
             self.last_done_time = 0.0 # 最後送出Done的時間
             self.received_len = 0 # 收到封包累計
 
+            
+
     def __init__(self, at_handler: "ATCommandHandler" = None):
         super().__init__(at_handler)
 
@@ -316,6 +320,10 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         self.operator_busy = False
         self.operator_running = False
 
+        # ADDR16 選項
+        self.DEST_ADDR16_BRAODCAST = b'\xFF\xFE'
+        self.DEST_ADDR64_BRAODCAST = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'
+
         self.serial_writer: Optional[Callable[[bytes], None]] = None
         self.event_loop: Optional[asyncio.AbstractEventLoop] = None
         self.serial_baudrate = 115200
@@ -329,8 +337,8 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
 
         self.last_discovery_time = 0.0 # 這個是最後做廣播 discovery 的時間  
         self.last_recieve_mavlink = 0.0 # 這個是最後收到 mavlink payload 時間 為了定義 poll-done 之間不要超時用的
-        self.MAX_mavPack_interval_timeout = 100  # ms，poll 期間 MAVLink/DONE 最大閒置間隔
+        self.mavPack_interval_timeout = 150  # ms，poll 期間 MAVLink/DONE 最大閒置間隔
-        self.discovery_interval_seconds = 30.0 # 每次做 discovery 程序的間隔時間
+        self.discovery_interval_seconds = 200.0 # 每次做 discovery 程序的間隔時間
         self.device_offline_timeout = self.discovery_interval_seconds * 2 # 遠端沒有回應會被踢出 超時時限
         self.operator_tick_interval_seconds = 0.03 # 
         self.guard_milliseconds = 50 # POLL DONE 的保底時間間隔
@@ -390,12 +398,12 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
             return None
 
         if frame_type == self.FRAME_TYPE_TX_STATUS:
-            length = (frame[1] << 8) | frame[2]
+            # length = (frame[1] << 8) | frame[2]
-            logger.debug(
+            # logger.debug(
-                f"TX Status raw={frame.hex()}, api_len={length}, "
+            #     f"TX Status raw={frame.hex()}, api_len={length}, "
-                f"fid=0x{frame[4]:02X}, dest16=0x{(frame[5]<<8)|frame[6]:04X}, "
+            #     f"fid=0x{frame[4]:02X}, dest16=0x{(frame[5]<<8)|frame[6]:04X}, "
-                f"retry={frame[7]}, delivery={frame[8]}, discovery={frame[9]}"
+            #     f"retry={frame[7]}, delivery={frame[8]}, discovery={frame[9]}"
-            )
+            # )
             return None
 
         logger.warning(f"Unknown XBee frame type: 0x{frame_type:02X}")
@@ -404,7 +412,8 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
     # ---- DISC / POLL 封裝 ----
 
     def pack_discovery(self) -> bytes:
-        return self._encapsulate(self.DISC_HEADER, frame_id=0x00)
+        # logger.debug(f"pack discovery")
+        return self._encapsulate(self.DISC_HEADER, dest_addr16 = self.DEST_ADDR16_BRAODCAST, dest_addr64 = self.DEST_ADDR64_BRAODCAST , frame_id=0x00)
 
     # 處理每個裝置回傳的 Hello 訊息
     def handle_hello_report(self, payload: bytes, sender_address_64: bytes) -> None:   
@@ -450,8 +459,11 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         if remote_device is None:
             return
 
+
+        system_id, sent_length, remain_length = struct.unpack('>BHH', payload[4:9])
+        remote_device.remain_bytes = remain_length
+
         # 這段是有問題的 因為會有整數封包切割問題 以及載具端的 buffer 存量不足 故回傳的資訊量會與要求的不一致
-        # system_id, sent_length, remain_length = struct.unpack('>BHH', payload[4:9])
         # if sent_length != remote_device.received_len:
         #     logger.info(
         #         f"POLL may be missing packets sent={sent_length} "
@@ -461,7 +473,6 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         # TODO 傳送速率
         # TODO 累積速率預測
         remote_device.received_len = 0
-        remote_device.remain_bytes = remain_length
         remote_device.last_done_time = time.time()
 
         if (
@@ -582,12 +593,9 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
     def _should_run_discovery(self) -> bool:
         # 條件1. 目前沒有任何遠端ESP裝置被紀錄 或者 手動啟動
         if (not self.esp32_address_mapping) or (self.pending_manual_discovery):
-            return True
+            return (time.time() - self.last_discovery_time) > 2
         # 條件2. 每個固定週期 會做一次
-        return (
+        return (time.time() - self.last_discovery_time) > self.discovery_interval_seconds
-            time.time() - self.last_discovery_time
-            >= self.discovery_interval_seconds
-        )
 
     # ---- 手動請求（thread-safe 對外 API）----
 
@@ -754,19 +762,20 @@ class XBeeFrameProcessor_ESPv1(XBeeFrameProcessor_Base):
         self.pending_manual_discovery = False
 
     async def _wait_poll_done_with_idle_timeout(self) -> bool:
-        idle_timeout_sec = self.MAX_mavPack_interval_timeout / 1000.0
+        idle_timeout_sec = self.mavPack_interval_timeout / 1000.0
-        poll_tick = min(0.02, idle_timeout_sec / 2)
+        poll_tick = min(0.02, idle_timeout_sec)
 
         while not self.poll_done_event.is_set():
             if time.time() - self.last_recieve_mavlink >= idle_timeout_sec:
                 return False
-            try:
+            # try:
-                await asyncio.wait_for(
+            await asyncio.wait_for(
-                    self.poll_done_event.wait(),
+                self.poll_done_event.wait(),
-                    timeout=poll_tick,
+                timeout=poll_tick,
-                )
+            )
-            except asyncio.TimeoutError:
+            
-                continue
+            # except asyncio.TimeoutError:
+                # continue
         return True
 
     # poll 程序
@@ -1374,51 +1383,51 @@ if __name__ == '__main__':
     # UDP_REMOTE_PORT = 14571
     # sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialMode.STRAIGHT)
 
-    # 測試項二
+    # # 測試項二
-    print("運行 測試項二")
+    # print("運行 測試項二")
-    SERIAL_PORT = '/dev/ttyUSB0'  # 手動指定
+    # SERIAL_PORT = '/dev/ttyUSB0'  # 手動指定
-    SERIAL_BAUDRATE = 115200
-    UDP_REMOTE_PORT = 14561
-    sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialMode.XBEEAPI2AT)
-    serial_id = 1
-    device_sys_id = 10
-
-    linked_serial = sm.get_serial_link()
-    print(f"連結完成 : {linked_serial}. 等待兩秒")
-
-    # 等 connection_made 完成 writer 注入，再發一筆 AT 指令測試
-    time.sleep(2)
-    rssi_request = ATRequest(command=b'DB', parameter=b'', frame_id=device_sys_id)
-    print(f"手動送出 DB AT Command:")
-    for i in range(20):
-        sm.send_at_command(1, rssi_request)
-        time.sleep(1)
-
-    sm.remove_serial_link(1)
-    time.sleep(2)
-    sm.shutdown()
-    print("結束運行")
-
-    # # 測試項三
-    # SERIAL_PORT = '/dev/ttyUSB0'
     # SERIAL_BAUDRATE = 115200
     # UDP_REMOTE_PORT = 14561
-    # sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialMode.XBEEAPI_espv1)
+    # sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialMode.XBEEAPI2AT)
-
-    # time.sleep(2)  # 等 serial 連線與 operator 啟動
-
     # serial_id = 1
-    # processor = sm.get_espv1_processor(serial_id)
+    # device_sys_id = 10
-    # if processor is not None:
-    #     processor.request_discovery()
-    #     processor.request_poll(target_system_id=1)
-    #     processor.request_poll(target_system_id=1, grant_bytes=200)
-    #     print(processor.get_status_snapshot())
-    #     print(processor.get_gcs_queue_byte_count())
 
-    # sm.remove_serial_link(serial_id)
+    # linked_serial = sm.get_serial_link()
-    # time.sleep(30)
+    # print(f"連結完成 : {linked_serial}. 等待兩秒")
+
+    # # 等 connection_made 完成 writer 注入，再發一筆 AT 指令測試
+    # time.sleep(2)
+    # rssi_request = ATRequest(command=b'DB', parameter=b'', frame_id=device_sys_id)
+    # print(f"手動送出 DB AT Command:")
+    # for i in range(20):
+    #     sm.send_at_command(1, rssi_request)
+    #     time.sleep(1)
+
+    # sm.remove_serial_link(1)
+    # time.sleep(2)
     # sm.shutdown()
+    # print("結束運行")
+
+    # 測試項三
+    SERIAL_PORT = '/dev/ttyUSB0'
+    SERIAL_BAUDRATE = 115200
+    UDP_REMOTE_PORT = 14561
+    sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialMode.XBEEAPI_espv1)
+
+    time.sleep(2)  # 等 serial 連線與 operator 啟動
+
+    serial_id = 1
+    processor = sm.get_espv1_processor(serial_id)
+    if processor is not None:
+        processor.request_discovery()
+        processor.request_poll(target_system_id=1)
+        processor.request_poll(target_system_id=1, grant_bytes=200)
+        print(processor.get_status_snapshot())
+        print(processor.get_gcs_queue_byte_count())
+
+    time.sleep(120)
+    sm.remove_serial_link(serial_id)
+    sm.shutdown()
 
 '''
 ================= 改版記錄 ============================