temp

- 修正 POLL-DONE 程序的 timeout 判定方式
- 修正為 py3.8 語法
- 不在判定要求量跟實收量一致性

README.md

@@ -67,6 +67,8 @@ cd ~/AirTrapMine/src/ # 這是範例!!!
 python -m fc_network_adapter.fc_network_adapter.mainOrchestrator
 python -m fc_network_adapter.tests.demo_integration
 python -m someotherpkg.src.example_wholeMoving
+
+python fc_network_apps/vehicleDiagShow.py
 ```
 
 2. 
@@ -83,17 +85,16 @@ python gui.py
     建立、維護與飛控韌體的連接 
     構築 mavlink 封包
     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)--
+2. fc_interfaces (必要)
-2. fc_interfaces (重要)
+    自定義的 ROS2 介面檔 沒有這個核心會運作不了
-    自定義的 ROS2 介面檔 沒啥好說的 沒有這個核心會運作不了
 3. fc_network_module (重要)
     非核心 但是支援載具的重要附屬功能 
     需要該功能時 作為一個 ros2 節點打開
     例如 : ntrip rtk 訊號轉接
 4. fc_network_apps
-    與 fc_network_adapter 銜接做高階功能包裝的應用小程式 
+    是 fc_network_adapter 高階包裝API
     利於開發GUI或其他應用 使用者的外層包裝
-    這裡的定位是 "核心功能的高階包裝" 可以完全不去用
+    可以不使用 或者當作一個範例程式來看
 5. someotherpkg
     如何使用 fc_network_apps 的範例檔案
 6. GUI 

serial_udp_update.py

@@ -1,193 +0,0 @@
-import asyncio
-import serial_asyncio
-import struct
-import os
-import sys
-import serial
-import signal
-import traceback
-from pymavlink import mavutil
-
-# === 設定區 ===
-SERIAL_PORT = 'COM15'  # 手動指定
-SERIAL_BAUDRATE = 57600
-UDP_REMOTE_IP = '127.0.0.1'
-UDP_REMOTE_PORT = 14550
-DEBUG_MODE = False
-TARGET_ADDR64 = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'  # 廣播
-
-# === 工具函數 ===
-def check_serial_port():
-    try:
-        ser = serial.Serial(SERIAL_PORT, SERIAL_BAUDRATE)
-        ser.close()
-        return True
-    except serial.SerialException as e:
-        print(f"錯誤：串口設備 {SERIAL_PORT} 被占用或無法訪問：{str(e)}")
-        return False
-    except Exception as e:
-        print(f"錯誤：檢查串口時發生未知錯誤：{str(e)}")
-        return False
-
-def build_api_tx_frame(data: bytes, dest_addr64: bytes, frame_id=0x01) -> bytes:
-    frame_type = 0x10
-    dest_addr16 = b'\xFF\xFE'
-    broadcast_radius = 0x00
-    options = 0x00
-
-    frame = struct.pack(">B", frame_type) + struct.pack(">B", frame_id)
-    frame += dest_addr64 + dest_addr16
-    frame += struct.pack(">BB", broadcast_radius, options) + data
-    checksum = 0xFF - (sum(frame) & 0xFF)
-    return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
-
-# === Serial Protocol 實作 ===
-class SerialToUDP(asyncio.Protocol):
-    def __init__(self, udp_protocol):
-        self.udp_protocol = udp_protocol
-        self.buffer = bytearray()
-
-    def connection_made(self, transport):
-        self.transport = transport
-        if hasattr(self.udp_protocol, 'set_serial_transport'):
-            self.udp_protocol.set_serial_transport(self)
-        print(f"Serial connection established on {SERIAL_PORT}")
-
-    def data_received(self, data):
-        self.buffer.extend(data)
-        while True:
-            if len(self.buffer) < 3:
-                return
-            if self.buffer[0] != 0x7E:
-                self.buffer.pop(0)
-                continue
-            length = (self.buffer[1] << 8) | self.buffer[2]
-            full_length = 3 + length + 1
-            if len(self.buffer) < full_length:
-                return
-            frame = self.buffer[:full_length]
-            del self.buffer[:full_length]
-            if hasattr(self.udp_protocol, 'send_udp'):
-                self.udp_protocol.send_udp(bytes(frame))
-
-    def write_to_serial(self, data):
-        try:
-            api_frame = build_api_tx_frame(data, TARGET_ADDR64)
-            pass
-            self.transport.write(api_frame)
-        except Exception as e:
-            print(f"[TX Error] 無法封裝或傳送資料: {e}")
-
-# === UDP Protocol 實作 ===
-class UDPHandler(asyncio.DatagramProtocol):
-    def __init__(self):
-        self.serial_transport = None
-        self.transport = None
-        self.mav_decoder = mavutil.mavlink.MAVLink(None)
-
-    def connection_made(self, transport):
-        self.transport = transport
-        print("UDP transport ready.")
-
-    def set_serial_transport(self, serial_transport):
-        self.serial_transport = serial_transport
-
-    def datagram_received(self, data, addr):
-        if self.serial_transport:
-            self.serial_transport.write_to_serial(data)
-
-    def send_udp(self, data):
-        decoded_data = self.decapsulate_data(data)
-        if decoded_data is None:
-            pass
-            return
-        self.decode_mavlink_data(decoded_data)
-        if self.transport:
-            self.transport.sendto(decoded_data, (UDP_REMOTE_IP, UDP_REMOTE_PORT))
-
-    def decapsulate_data(self, data):
-        try:
-            if not data or data[0] != 0x7E:
-                return None
-            length = (data[1] << 8) | data[2]
-            if len(data) < length + 4:
-                return None
-            frame_type = data[3]
-            if frame_type == 0x90:
-                rf_data_start = 3 + 12
-                return data[rf_data_start:3 + length]
-            else:
-                return None
-        except Exception as e:
-            print(f"[XBee 解封錯誤] {e}")
-            return None
-
-    def decode_mavlink_data(self, data):
-        try:
-            msg = self.mav_decoder.parse_char(data)
-            if msg:
-                if msg.get_type() == "HEARTBEAT":
-                    pass  # 不輸出任何訊息
-                else:
-                    pass
-        except Exception as e:
-            print(f"[MAVLink Decode Error] {e}")
-
-# === 主流程 ===
-async def main():
-    if not check_serial_port():
-        print("程式終止：串口檢查失敗")
-        return
-
-    loop = asyncio.get_running_loop()
-    if os.name != 'nt':  # Windows 不支援 add_signal_handler
-        for sig in (signal.SIGINT, signal.SIGTERM):
-            loop.add_signal_handler(sig, lambda: asyncio.create_task(shutdown(loop)))
-
-    udp_handler = UDPHandler()
-
-    try:
-        udp_transport, _ = await loop.create_datagram_endpoint(
-            lambda: udp_handler,
-            local_addr=('0.0.0.0', 0)
-        )
-    except Exception as e:
-        print(f"無法創建 UDP 端點：{str(e)}")
-        return
-
-    sock = udp_transport.get_extra_info('socket')
-    print(f"UDP listening on {sock.getsockname()}")
-
-    try:
-        serial_proto = SerialToUDP(udp_handler)
-        await serial_asyncio.create_serial_connection(
-            loop, lambda: serial_proto, SERIAL_PORT, baudrate=SERIAL_BAUDRATE
-        )
-    except Exception as e:
-        print(f"無法建立串口連接：{str(e)}")
-        traceback.print_exc()
-        udp_transport.close()
-        return
-
-    print("等待串口資料...")
-    try:
-        await asyncio.Future()
-    except asyncio.CancelledError:
-        pass
-
-async def shutdown(loop):
-    print("Shutting down...")
-    tasks = [t for t in asyncio.all_tasks() if t is not asyncio.current_task()]
-    for task in tasks:
-        task.cancel()
-    await asyncio.gather(*tasks, return_exceptions=True)
-    loop.stop()
-
-if __name__ == '__main__':
-    try:
-        asyncio.run(main())
-    except KeyboardInterrupt:
-        print("程式被使用者中斷")
-    except Exception as e:
-        print("程式執行錯誤：")
-        traceback.print_exc()

src/fc_interfaces/CMakeLists.txt

@@ -14,6 +14,7 @@ find_package(builtin_interfaces REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AttitudeRaw.msg"
   "msg/GnssRaw.msg"
+  "msg/SystemDiagnosticsRaw.msg"
   "msg/ServiceAckResult.msg"
   "srv/MavPing.srv"
   "srv/MavCommandLong.srv"

src/fc_interfaces/msg/SystemDiagnosticsRaw.msg

@@ -0,0 +1,11 @@
+builtin_interfaces/Time stamp
+uint32 sensors_install_mask
+uint32 sensors_enabled_mask
+uint32 sensors_health_mask
+uint16 mcu_load
+uint16 bus_error_rate
+uint16 bus_error_count
+uint16 errors_count1
+uint16 errors_count2
+uint16 errors_count3
+uint16 errors_count4

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -29,7 +29,7 @@ from .utils import acquireSerial, acquirePort
 from .utils.acquirePort import find_available_port
 
 logger = setup_logger(os.path.basename(__file__))
-PROJECT_VER = "v1.10"
+PROJECT_VER = "v1.20"
 
 class PanelState:
     def __init__(self):
@@ -435,6 +435,10 @@ class ControlPanel:
                         state.serial_info_temp["CommunicationType"] = "XBee(API-AT)"
                         menu_stack.pop()
                         idx_stack.pop()
+                    elif selected.action == "SET_SERIAL_COMM_XBEE_ESP":
+                        state.serial_info_temp["CommunicationType"] = "XBee(API-API)espv1"
+                        menu_stack.pop()
+                        idx_stack.pop()
                     elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
                         state.serial_info_temp["CommunicationType"] = "TELEMETRY"
                         menu_stack.pop()
@@ -812,6 +816,7 @@ class ControlPanel:
                 port_menu = MenuNode(f"{port}", children=[
                     MenuNode("Set Comm Type", "設定通訊形態", "SET_SERIAL_COMM", children=[
                         MenuNode("XBee(API-AT)", "XBee 模式", "SET_SERIAL_COMM_XBEE"),
+                        MenuNode("XBee(API-API)", "XBee 模式(with ESP)", "SET_SERIAL_COMM_XBEE_ESP"),
                         MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
                     ]),
                     MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"),
@@ -1106,7 +1111,7 @@ class ControlPanel:
                 0: "HB", 1: "S_STAT", 2: "S_TIME", 24: "GPS_RAW", 27: "RAW_IMU",
                 30: "ATT", 32: "LOC_POS", 33: "GLB_POS", 62: "NAV_CTL",
                 74: "VFR_HUD", 147: "BATT_ST", 136: "TERRAIN", 241: "VIBRAT",
-                125: "POW_STA",
+                125: "POW_STA", 253: "STAT_TXT",
             }
 
             # ardupilot mega 
@@ -1198,6 +1203,8 @@ class Orchestrator:
             'vfr_hud': 1.0,
             'mode': 0.0,
             'summary': 1.0,
+            'sys_diags': 1.0,
+            'status_text': 1.0,
         }
 
     def engageWholeSystem(self):
@@ -1593,6 +1600,7 @@ class Orchestrator:
         # 定義通訊類型映射表
         COMM_TYPE_MAP = {
             "XBee(API-AT)": sm.SerialMode.XBEEAPI2AT,
+            "XBee(API-API)espv1": sm.SerialMode.XBEEAPI_espv1,
             "TELEMETRY": sm.SerialMode.STRAIGHT,
             # 新增區
         }
@@ -1636,25 +1644,7 @@ class Orchestrator:
 
 def main():
 
-    # =========== 各項模組的版本先驗 ===========
+    logger.info(f"Each Module Running Version at mavlinkObkect:{mo.MODULE_VER}, mavlinkROS2Nodes:{mros.MODULE_VER}, mavlinkVehicleView:{mvv.MODULE_VER}, serialManager:{sm.MODULE_VER}")
-    # 除非你有在做這幾項模組的改版 不然動到這邊的版本號 代表執行環境有很大的問題!!!!!!
-    version_check = True
-    if mo.MODULE_VER != "1.50":
-        print("Module Version Error! : mavlinkObkect")
-        version_check = False
-    if mros.MODULE_VER != "2.10":
-        print("Module Version Error! : mavlinkROS2Nodes")
-        version_check = False
-    if mvv.MODULE_VER != "1.00":
-        print("Module Version Error! : mavlinkVehicleView")
-        version_check = False
-    if sm.MODULE_VER != "0.80":
-        print("Module Version Error! : serialManager")
-        version_check = False
-    if version_check == False:
-        print("Environment Obstacle! Check YOUR Execution System Path First!!")
-        return
-    # ========================================
 
     stop_evt = threading.Event()
     def signal_handler(signum, frame):

src/fc_network_adapter/fc_network_adapter/mavlinkObject.py

@@ -47,11 +47,11 @@ from pymavlink.dialects.v20 import ardupilotmega as mav_ardupilot
 
 # 自定義的 import
 from .mavlinkVehicleView import (
-    vehicle_registry,
+    vehicle_registry, # 儲存全部物件的地方
-    VehicleView,
+    VehicleView, # 代表每台載具的最外層
     VehicleComponent,
     ComponentType,
-    ConnectionType
+    StatusTextEntry,
 )
 from .utils import RingBuffer, setup_logger
 
@@ -109,12 +109,14 @@ class mavlink_bridge:
         """初始化訊息處理器映射表，提高處理效率"""
         self.message_handlers = {
             0: self._handle_heartbeat,          # HEARTBEAT
+            1: self._handle_vehicle_sys_status, # SYS_STATUS
             24: self._handle_gps_raw_int,       # GPS_RAW_INT
             30: self._handle_attitude,          # ATTITUDE
             32: self._handle_local_position,    # LOCAL_POSITION_NED
             33: self._handle_global_position,   # GLOBAL_POSITION_INT
             74: self._handle_vfr_hud,           # VFR_HUD
             147: self._handle_battery_status,   # BATTERY_STATUS
+            253: self._handle_status_text,      # STATUSTEXT
         }
 
     def start(self):
@@ -231,6 +233,29 @@ class mavlink_bridge:
             'vx': msg.vx, 'vy': msg.vy, 'vz': msg.vz
         }
 
+    def _handle_vehicle_sys_status(self, vehicle, component, msg, timestamp):
+        """處理 SYS_STATUS 訊息 (msg_id: 1)"""
+        diag = component.status.sys_diag
+        diag.sensors_install_mask = msg.onboard_control_sensors_present
+        diag.sensors_enabled_mask = msg.onboard_control_sensors_enabled
+        diag.sensors_health_mask = msg.onboard_control_sensors_health
+        diag.mcuLoad = msg.load
+        diag.busErrorRate = msg.drop_rate_comm
+        diag.busErrorCount = msg.errors_comm
+        diag.errors_count1 = msg.errors_count1
+        diag.errors_count2 = msg.errors_count2
+        diag.errors_count3 = msg.errors_count3
+        diag.errors_count4 = msg.errors_count4
+        diag.timestamp = timestamp
+
+    def _handle_status_text(self, vehicle, component, msg, timestamp):
+        """處理 STATUSTEXT 訊息 (msg_id: 253)"""
+        text = msg.text.rstrip('\x00') if msg.text else ''
+        if not text:
+            return
+        component.status.status_text_queue.append(
+            StatusTextEntry(text=text, severity=msg.severity, timestamp=timestamp)
+        )
 
     def _handle_global_position(self, vehicle, component, msg, timestamp):
         """處理 GLOBAL_POSITION_INT 訊息 (msg_id: 33)"""
@@ -395,9 +420,9 @@ class mavlink_object:
             self.MAVLink = mav_common.MAVLink(self.mavlinkPipeline, srcSystem=254, srcComponent=191)
         
         # 記錄訊息過濾類型 (可選)
-        # 0 HEARTBEAT, 24 GPS_RAW_INT, 30 ATTITUDE, 
+        # 0 HEARTBEAT, 1 SYS_STATUS, 24 GPS_RAW_INT, 30 ATTITUDE, 
-        # 32 LOCAL_POSITION_NED, 33 GLOBAL_POSITION_INT, 74 VFR_HUD, 147 BATTERY_STATUS
+        # 32 LOCAL_POSITION_NED, 33 GLOBAL_POSITION_INT, 74 VFR_HUD, 147 BATTERY_STATUS, 253 STATUSTEXT
-        self.bridge_msg_types = set([0, 24, 30, 32, 33, 74, 147])  
+        self.bridge_msg_types = set([0, 1, 24, 30, 32, 33, 74, 147, 253])  
         self.return_msg_types = set([])
 
         # 轉發到別的 mavlink object 作為目標端口 的列表
@@ -834,5 +859,8 @@ if __name__ == '__main__':
 1. async_io_manager.managed_objects 與 mavlink_object.mavlinkObjects 功能重複整合 保留 mavlink_object.mavlinkObjects
 2. async_io_manager 的 _stop_event 無效變數移除
 
+2026年 06月 10日
+1. 增加 SYS_STATUS 與 STATUSTEXT 訊息的處理機制
+
 '''
 

src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py

@@ -45,7 +45,7 @@ from . import mavlinkObject as mo
 from .utils import setup_logger
 
 logger = setup_logger(os.path.basename(__file__))
-MODULE_VER = "2.10"
+MODULE_VER = "2.50"
 
 FC_ROS_DOMAIN_ID = "0"
 NODE_KEYS = ("status_publisher", "command_service", "rtcm_relay")
@@ -68,14 +68,16 @@ class PublishRateController:
         # 注意 這邊是定義區 不要把參數寫在這裡 所以預設全部關閉
         # 以這個專案 請看 mainOrchestrator.py 的 Orchestrator 初始化階段
         self.topic_intervals = {
-            'position_gnss': 0.0,  # GNSS位置
+            'summary': 0.0,         # 載具摘要 (sysid 飛行模式 解鎖上鎖 gps狀態)
-            'position_ned': 0.0,   # LOCAL_POSITION_NED (位置+速度)
+            'position_gnss': 0.0,   # GNSS位置 (海拔高度)
+            'position_ned': 0.0,    # LOCAL_POSITION_NED (位置+速度+相對高度)
             'attitude': 0.0,        # 姿態 (pitch yaw row 與其加速狀態)
-            'velocity': 0.0,       # 速度 (已經包含在 vfr_hud 未來移除)
             'battery': 0.0,         # 電池
             'vfr_hud': 0.0,         # VFR HUD (地速 空速 絕對高度 爬升率 航向 油門)
+            'sys_diags': 0.0,       # SYS_STATUS 系統診斷
+            'status_text': 0.0,     # STATUSTEXT 飛控文字（佇列驅動，>0 僅作啟用旗標）
             'mode': 0.0,            # 飛行模式 (已經在 summary 裡 未來移除)
-            'summary': 0.0,        # 載具摘要 (sysid 飛行模式 解鎖上鎖 gps狀態)
+            'velocity': 0.0,        # 速度 (已經包含在 vfr_hud 未來移除)
             # 在這裡新增更多 topics...
         }
         # 記錄每個 topic 的最後發布時間 {(sysid, topic): timestamp}
@@ -112,6 +114,10 @@ class PublishRateController:
         
         return False
     
+    def is_topic_enabled(self, topic: str) -> bool:
+        """檢查 topic 是否啟用（interval > 0）"""
+        return self.topic_intervals.get(topic, 0) > 0
+    
     def reset(self):
         """重置所有計時器"""
         self.last_publish_time.clear()
@@ -122,7 +128,7 @@ class VehicleStatusPublisher(Node):
     
     職責:
     - 定期從 vehicle_registry 讀取載具狀態
-    - 頻率控制（位置/姿態 2Hz，電池/摘要 1Hz）
+    - 頻率控制 (位置/姿態 2Hz, 電池/摘要 1Hz)
     - 發布標準 ROS2 消息類型
     - 檢測訂閱者，按需發布
     """
@@ -181,11 +187,13 @@ class VehicleStatusPublisher(Node):
         self._publish_position_gnss(sysid, status)
         self._publish_position_ned(sysid, status)
         self._publish_attitude(sysid, status)
-        self._publish_velocity(sysid, status)
         self._publish_battery(sysid, status)
         self._publish_vfr_hud(sysid, status)
-        self._publish_mode(sysid, status)
         self._publish_summary(vehicle)
+        self._publish_system_diagnostics(sysid, status)
+        self._publish_status_text(sysid, status)
+        self._publish_velocity(sysid, status)
+        self._publish_mode(sysid, status)
         # 在這裡新增更多 publish 方法調用...
     
     def _get_or_create_publisher(self, sysid: int, topic: str, msg_type, qos: int = 1):
@@ -206,7 +214,7 @@ class VehicleStatusPublisher(Node):
             topic_name = f'{self.topicString_prefix}/sys{sysid}/{topic}'
             publisher = self.create_publisher(msg_type, topic_name, qos)
             self.fc_publishers[key] = publisher
-            logger.info(f"Created publisher: {topic_name}")
+            logger.debug(f"Created publisher: {topic_name}")
         return self.fc_publishers[key]
     
     def _publish_position_gnss(self, sysid: int, status: mvv.ComponentStatus):
@@ -439,11 +447,7 @@ class VehicleStatusPublisher(Node):
             'armed': status.armed if status.armed is not None else False,
             # 'mode_custom': status.mode.custom_mode if status.mode.custom_mode else 0,
             'mode_name': status.mode.mode_name if status.mode.mode_name else "UNKNOWN",
-            # 'latitude': status.position.latitude if status.position.latitude else 0.0,
+            'mav_status': status.system_status if status.system_status is not None else 0,
-            # 'longitude': status.position.longitude if status.position.longitude else 0.0,
-            # 'altitude': status.position.altitude if status.position.altitude else 0.0,
-            # 'battery_percent': status.battery.remaining if status.battery.remaining else 0,
-            # 'gps_fix': status.gps.fix_type if status.gps.fix_type else 0,
             'connection_type': vehicle.connected_via.value,
             'last_update': component.packet_stats.last_msg_time if component.packet_stats.last_msg_time else 0.0,
         }
@@ -452,6 +456,62 @@ class VehicleStatusPublisher(Node):
         msg.data = json.dumps(summary)
         publisher.publish(msg)
     
+    def _publish_system_diagnostics(self, sysid: int, status: mvv.ComponentStatus):
+        """發布 SYS_STATUS 系統診斷資訊"""
+        if not self.rate_controller.should_publish(sysid, 'sys_diags'):
+            return
+        
+        diag = status.sys_diag
+        if diag.sensors_install_mask is None:
+            return
+        
+        publisher = self._get_or_create_publisher(
+            sysid, 'sys_diags', fcmsg.SystemDiagnosticsRaw
+        )
+        
+        if publisher.get_subscription_count() == 0:
+            return
+        
+        msg = fcmsg.SystemDiagnosticsRaw()
+        msg.stamp = self.get_clock().now().to_msg()
+        msg.sensors_install_mask = int(diag.sensors_install_mask)
+        msg.sensors_enabled_mask = int(diag.sensors_enabled_mask or 0)
+        msg.sensors_health_mask = int(diag.sensors_health_mask or 0)
+        msg.mcu_load = int(diag.mcuLoad or 0)
+        msg.bus_error_rate = int(diag.busErrorRate or 0)
+        msg.bus_error_count = int(diag.busErrorCount or 0)
+        msg.errors_count1 = int(diag.errors_count1 or 0)
+        msg.errors_count2 = int(diag.errors_count2 or 0)
+        msg.errors_count3 = int(diag.errors_count3 or 0)
+        msg.errors_count4 = int(diag.errors_count4 or 0)
+        
+        publisher.publish(msg)
+    
+    def _publish_status_text(self, sysid: int, status: mvv.ComponentStatus):
+        """發布 STATUSTEXT 飛控文字 (佇列 drain, 無訂閱者直接丟棄) """
+        # 是否啟用
+        if not self.rate_controller.is_topic_enabled('status_text'):
+            return
+        # 是否有資料
+        queue = status.status_text_queue
+        if not queue:
+            return
+
+        publisher = self._get_or_create_publisher(sysid, 'status_text', std_msgs.msg.String)
+
+        # 是否有監聽者
+        if publisher.get_subscription_count() == 0:
+            queue.clear()
+            return
+
+        while queue:
+            entry = queue.popleft()
+            msg = std_msgs.msg.String()
+            ts = entry.timestamp if entry.timestamp is not None else 0.0
+            sev = entry.severity if entry.severity is not None else -1
+            msg.data = f'[{ts:.3f}] [{sev}] {entry.text}'
+            publisher.publish(msg)
+    
     # ═══════════════════════════════════════════════════════════════
     # 【新增 Topic 位置 3/4】
     # 若要新增 topic，請在此處實作對應的發布方法
@@ -470,29 +530,6 @@ class VehicleStatusPublisher(Node):
     #     # ... 實作發布邏輯
     # ═══════════════════════════════════════════════════════════════
     
-    @staticmethod
-    def _euler_to_quaternion(roll, pitch, yaw):
-        """
-        歐拉角轉四元數
-        
-        Args:
-            roll: 橫滾角 (弧度)
-            pitch: 俯仰角 (弧度)
-            yaw: 偏航角 (弧度)
-            
-        Returns:
-            tuple: (qx, qy, qz, qw)
-        """
-        qx = math.sin(roll/2) * math.cos(pitch/2) * math.cos(yaw/2) - \
-             math.cos(roll/2) * math.sin(pitch/2) * math.sin(yaw/2)
-        qy = math.cos(roll/2) * math.sin(pitch/2) * math.cos(yaw/2) + \
-             math.sin(roll/2) * math.cos(pitch/2) * math.sin(yaw/2)
-        qz = math.cos(roll/2) * math.cos(pitch/2) * math.sin(yaw/2) - \
-             math.sin(roll/2) * math.sin(pitch/2) * math.cos(yaw/2)
-        qw = math.cos(roll/2) * math.cos(pitch/2) * math.cos(yaw/2) + \
-             math.sin(roll/2) * math.sin(pitch/2) * math.sin(yaw/2)
-        return (qx, qy, qz, qw)
-    
     def stop(self):
         """停止發布"""
         self.running = False
@@ -531,6 +568,14 @@ class MavlinkCommandService(Node):
     每次接到一個 service 請求 要整個系統丟某種指令給載具時
     會做兩件事 1."丟出mavlink封包" 2."創造一個臨時信箱 Pending"
     
+    然後透過每次 manager spin 
+    會去呼叫 return_router() 方法
+    這個方法會監聽 return_packet_ring 跟臨時信箱的 Pending 做配對
+    配對到的解開 Pending 
+
+    解開後 相對應的 handle_XXX 就會開始做事
+    
+
     """
 
     serviceString_prefix = '/fc_network/vehicle'
@@ -1153,6 +1198,10 @@ class fc_ros_manager:
     - RtcmRelay
     
     提供統一的啟動/停止介面給 mainOrchestrator
+
+    另外 這邊用到 MultiThreadedExecutor 會開出額外的 thread 的特性 
+    使得就算 executor 在跑一些需要等待的方法 
+    常態的 spin_once 也不會被 block (spin_thread 是另一個支線)
     """
     
     def __init__(self):
@@ -1432,6 +1481,10 @@ ros2_manager = fc_ros_manager()
 2. schedule_restart_node / _restart_node : 手動重啟單一 node (spin thread 內執行）
 3. orchestrator cmd: ("RESTART_ROS_NODE", node_key), node_key 見 NODE_KEYS
 
+2026.06.10
+1. 增加了 _publish_system_diagnostics 與 _publish_status_text 功能
+
+
 TODO 
 1. service 部分會需要跟 mavlinkobject 大量互動 也許需要考慮對方的生命週期
 

src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py

@@ -5,6 +5,7 @@ VehicleView - Pure State Container
 """
 
 import os
+from collections import deque
 from typing import Dict, Optional, Any, Tuple
 from dataclasses import dataclass, field
 from enum import Enum
@@ -12,7 +13,7 @@ from enum import Enum
 from .utils import setup_logger
 
 logger = setup_logger(os.path.basename(__file__))
-MODULE_VER = "1.00"
+MODULE_VER = "1.10"
 
 # ====================== Enums =====================
 
@@ -117,6 +118,30 @@ class VFR:
     timestamp: Optional[float] = None  # 時間戳記
 
 
+@dataclass
+class StatusTextEntry:
+    """飛控狀態文字（來源：MAVLink STATUSTEXT）"""
+    text: str
+    severity: Optional[int] = None
+    timestamp: Optional[float] = None
+
+
+@dataclass
+class SystemDiagnostics:
+    """系統診斷資訊（來源：MAVLink SYS_STATUS，不含電池欄位）"""
+    sensors_install_mask: Optional[int] = None
+    sensors_enabled_mask: Optional[int] = None
+    sensors_health_mask: Optional[int] = None
+    mcuLoad: Optional[int] = None          # 單位 1%
+    busErrorRate: Optional[int] = None     # 單位 0.1%
+    busErrorCount: Optional[int] = None
+    errors_count1: Optional[int] = None
+    errors_count2: Optional[int] = None
+    errors_count3: Optional[int] = None
+    errors_count4: Optional[int] = None
+    timestamp: Optional[float] = None
+
+
 @dataclass
 class ComponentStatus:
     """組件狀態容器"""
@@ -127,6 +152,8 @@ class ComponentStatus:
     ekf: EKF = field(default_factory=EKF)
     gps: GPS = field(default_factory=GPS)
     vfr: VFR = field(default_factory=VFR)
+    sys_diag: SystemDiagnostics = field(default_factory=SystemDiagnostics)
+    status_text_queue: deque = field(default_factory=lambda: deque(maxlen=64))
     
     # 系統狀態
     system_status: Optional[int] = None  # MAV_STATE
@@ -160,6 +187,7 @@ class RFStatus:
 @dataclass
 class SocketInfo:
     """Socket連接資訊"""
+    src64_addr: Optional[bytes] = None # 模組的物理定址
     ip: Optional[str] = None  # IP位址
     port: Optional[int] = None  # 埠號
     local_ip: Optional[str] = None  # 本地IP
@@ -283,6 +311,7 @@ class RFModule:
 
 class VehicleView:
     """
+    最上層
     載具視圖 - 純狀態容器
     
     特點:

src/fc_network_adapter/fc_network_adapter/utils/pollStrategy.py

@@ -0,0 +1,48 @@
+"""
+POLL 輪詢策略，供 XBeeFrameProcessor_ESPv1 使用。
+
+不依賴 serialManager，僅接受裝置快照與排程狀態。
+"""
+
+from dataclasses import dataclass
+from typing import List
+
+
+@dataclass(frozen=True)
+class PollDevice:
+    """從 esp32AddrMapping 抽出的唯讀快照。"""
+    address_64: bytes
+    # system_id: int
+    remain_bytes: int
+    last_done_time: float
+
+
+@dataclass
+class PollSchedulerState:
+    """每條 serial link 一份，保存 round-robin 索引。"""
+    round_robin_index: int = 0
+
+
+def pick_next(
+    devices: List[PollDevice],
+    scheduler_state: PollSchedulerState
+):
+    """
+    選下一個 POLL 目標。
+
+    回傳 (target_address_64, grant_bytes)；devices 為空時回傳 (None, 0)。
+    """
+    if not devices:
+        return None, 0
+
+    device_count = len(devices)
+    selected_index = scheduler_state.round_robin_index % device_count
+    selected_device = devices[selected_index]
+    scheduler_state.round_robin_index += 1
+
+    grant_bytes = 0
+    if selected_device.remain_bytes > 0:
+        grant_bytes = min( 65535, max(0, selected_device.remain_bytes))
+
+    return selected_device.address_64, grant_bytes
+

src/fc_network_apps/vehicleDiagShow.py

@@ -0,0 +1,544 @@
+#!/usr/bin/env python3
+"""Standalone curses TUI for fc_network vehicle diagnostics (sys_diags, status_text, summary)."""
+
+from __future__ import annotations
+
+import curses
+import json
+import re
+import sys
+import threading
+import time
+from dataclasses import dataclass, field
+from typing import Dict, List, Optional, Tuple
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+
+from fc_interfaces.msg import SystemDiagnosticsRaw
+
+VEHICLE_TOPIC_RE = re.compile(
+    r'^/fc_network/vehicle/(sys\d+)/(sys_diags|status_text|summary)$'
+)
+STATUS_TEXT_RE = re.compile(r'^\[([\d.]+)\]\s*\[(-?\d+)\]\s*(.*)$')
+
+STATUS_TEXT_TTL_SEC = 30.0
+STALE_SEC = 3.0
+RESCAN_SEC = 2.0
+OFFLINE_SEC = 10.0
+DRAW_HZ = 5.0
+
+# MAV_SYS_STATUS_SENSOR bit labels (MAVLink common)
+SENSOR_BITS: Tuple[Tuple[int, str], ...] = (
+    (268435456, 'PreArm'),
+    (1, 'Gyro'),
+    (2, 'Accel'),
+    (4, 'Mag'),
+    (8, 'Baro'),
+    (16, 'DiffPress'),
+    (32, 'GPS'),
+    (64, 'OptFlow'),
+    (128, 'Vision'),
+    (256, 'Laser'),
+    (512, 'ExtGT'),
+    (1024, 'AngRate'),
+    (2048, 'AttStab'),
+    (4096, 'YawPos'),
+    (8192, 'AltCtrl'),
+    (16384, 'XYCtrl'),
+    (32768, 'Motor'),
+    (65536, 'RC'),
+    (131072, 'Gyro2'),
+    (262144, 'Accel2'),
+    (524288, 'Mag2'),
+    (1048576, 'Geofence'),
+    (2097152, 'AHRS'),
+    (4194304, 'Terrain'),
+    (8388608, 'RevMotor'),
+    (16777216, 'Log'),
+    (33554432, 'Batt'),
+    (67108864, 'Prox'),
+    (134217728, 'Satcom'),
+    (536870912, 'ObsAvoid'),
+    (1073741824, 'Propulsion'),
+)
+
+MAV_STATE_LABELS = {
+    0: 'UNINIT',
+    1: 'BOOT',
+    2: 'CAL',
+    3: 'STANDBY',
+    4: 'ACTIVE',
+    5: 'CRITICAL',
+    6: 'EMERGENCY',
+    7: 'OFF',
+    8: 'TERM',
+}
+
+SEVERITY_LABELS = {
+    0: 'EMERG',
+    1: 'ALERT',
+    2: 'CRIT',
+    3: 'ERROR',
+    4: 'WARN',
+    5: 'NOTICE',
+    6: 'INFO',
+    7: 'DEBUG',
+}
+
+
+@dataclass
+class StatusTextEntry:
+    received_at: float
+    severity: int
+    text: str
+    raw: str
+    sys_key: str
+
+
+@dataclass
+class VehicleDiagState:
+    sys_key: str
+    sysid: int
+    summary: Optional[dict] = None
+    diag: Optional[SystemDiagnosticsRaw] = None
+    status_entries: List[StatusTextEntry] = field(default_factory=list)
+    last_summary_ts: float = 0.0
+    last_diag_ts: float = 0.0
+    last_topic_seen_ts: float = 0.0
+    offline: bool = False
+
+
+def sys_key_to_id(sys_key: str) -> int:
+    return int(sys_key.replace('sys', '', 1))
+
+
+def purge_status_entries(entries: List[StatusTextEntry], now: float, ttl: float = STATUS_TEXT_TTL_SEC) -> None:
+    cutoff = now - ttl
+    entries[:] = [e for e in entries if e.received_at >= cutoff]
+
+
+def parse_status_text(raw: str, sys_key: str, received_at: float) -> StatusTextEntry:
+    match = STATUS_TEXT_RE.match(raw.strip())
+    if match:
+        severity = int(match.group(2))
+        text = match.group(3)
+    else:
+        severity = -1
+        text = raw
+    return StatusTextEntry(
+        received_at=received_at,
+        severity=severity,
+        text=text,
+        raw=raw,
+        sys_key=sys_key,
+    )
+
+
+def decode_sensors(install: int, enabled: int, health: int) -> List[Tuple[str, str]]:
+    """Return list of (label, status) where status is OK / FAIL / OFF."""
+    items: List[Tuple[str, str]] = []
+    for bit, label in SENSOR_BITS:
+        if not (install & bit):
+            continue
+        if not (enabled & bit):
+            items.append((label, 'OFF'))
+        elif health & bit:
+            items.append((label, 'OK'))
+        else:
+            items.append((label, 'FAIL'))
+    return items
+
+
+def format_age(seconds: float) -> str:
+    if seconds < 0:
+        return 'never'
+    if seconds < 1.0:
+        return f'{seconds * 1000:.0f}ms'
+    if seconds < 60.0:
+        return f'{seconds:.1f}s'
+    return f'{seconds / 60:.1f}m'
+
+
+def truncate(text: str, width: int) -> str:
+    if width <= 0:
+        return ''
+    if len(text) <= width:
+        return text
+    if width <= 3:
+        return text[:width]
+    return text[: width - 3] + '...'
+
+
+class VehicleDiagNode(Node):
+    """ROS2 node: discover vehicles and subscribe to diagnostic topics."""
+
+    def __init__(self) -> None:
+        super().__init__('vehicle_diag_show')
+        self._lock = threading.Lock()
+        self._vehicles: Dict[str, VehicleDiagState] = {}
+        self._subs: Dict[str, Dict[str, object]] = {}
+        self._scan_timer = self.create_timer(RESCAN_SEC, self._rescan_topics)
+        self._rescan_topics()
+
+    def snapshot(self) -> Dict[str, VehicleDiagState]:
+        now = time.monotonic()
+        with self._lock:
+            for state in self._vehicles.values():
+                purge_status_entries(state.status_entries, now)
+                if state.last_topic_seen_ts > 0:
+                    state.offline = (now - state.last_topic_seen_ts) > OFFLINE_SEC
+            return {k: state for k, state in self._vehicles.items()}
+
+    def _get_or_create_state(self, sys_key: str) -> VehicleDiagState:
+        if sys_key not in self._vehicles:
+            self._vehicles[sys_key] = VehicleDiagState(
+                sys_key=sys_key,
+                sysid=sys_key_to_id(sys_key),
+            )
+        return self._vehicles[sys_key]
+
+    def _rescan_topics(self) -> None:
+        now = time.monotonic()
+        found: set = set()
+        for topic_name, _ in self.get_topic_names_and_types():
+            match = VEHICLE_TOPIC_RE.match(topic_name)
+            if not match:
+                continue
+            sys_key = match.group(1)
+            found.add(sys_key)
+            with self._lock:
+                state = self._get_or_create_state(sys_key)
+                state.last_topic_seen_ts = now
+                state.offline = False
+            self._ensure_subscriptions(sys_key)
+
+        with self._lock:
+            for sys_key, state in self._vehicles.items():
+                if sys_key not in found and state.last_topic_seen_ts > 0:
+                    state.offline = (now - state.last_topic_seen_ts) > OFFLINE_SEC
+
+    def _ensure_subscriptions(self, sys_key: str) -> None:
+        if sys_key in self._subs:
+            return
+        base = f'/fc_network/vehicle/{sys_key}'
+        subs = {
+            'summary': self.create_subscription(
+                String,
+                f'{base}/summary',
+                lambda msg, sk=sys_key: self._on_summary(sk, msg),
+                10,
+            ),
+            'sys_diags': self.create_subscription(
+                SystemDiagnosticsRaw,
+                f'{base}/sys_diags',
+                lambda msg, sk=sys_key: self._on_sys_diags(sk, msg),
+                10,
+            ),
+            'status_text': self.create_subscription(
+                String,
+                f'{base}/status_text',
+                lambda msg, sk=sys_key: self._on_status_text(sk, msg),
+                10,
+            ),
+        }
+        with self._lock:
+            self._subs[sys_key] = subs
+
+    def _on_summary(self, sys_key: str, msg: String) -> None:
+        now = time.monotonic()
+        try:
+            summary = json.loads(msg.data)
+        except json.JSONDecodeError:
+            summary = {'raw': msg.data}
+        with self._lock:
+            state = self._get_or_create_state(sys_key)
+            state.summary = summary
+            state.last_summary_ts = now
+            state.last_topic_seen_ts = now
+
+    def _on_sys_diags(self, sys_key: str, msg: SystemDiagnosticsRaw) -> None:
+        now = time.monotonic()
+        with self._lock:
+            state = self._get_or_create_state(sys_key)
+            state.diag = msg
+            state.last_diag_ts = now
+            state.last_topic_seen_ts = now
+
+    def _on_status_text(self, sys_key: str, msg: String) -> None:
+        now = time.monotonic()
+        entry = parse_status_text(msg.data, sys_key, now)
+        with self._lock:
+            state = self._get_or_create_state(sys_key)
+            state.status_entries.append(entry)
+            purge_status_entries(state.status_entries, now)
+            state.last_topic_seen_ts = now
+
+
+class DiagCursesApp:
+    """Curses front-end for vehicle diagnostics."""
+
+    def __init__(self, node: VehicleDiagNode) -> None:
+        self._node = node
+        self._running = True
+
+    def run(self) -> None:
+        curses.wrapper(self._main)
+
+    def _init_colors(self) -> None:
+        curses.start_color()
+        curses.use_default_colors()
+        curses.init_pair(1, curses.COLOR_GREEN, -1)    # OK / DISARMED / INFO
+        curses.init_pair(2, curses.COLOR_RED, -1)        # FAIL / ARMED / ERROR+
+        curses.init_pair(3, curses.COLOR_YELLOW, -1)   # WARN / OFF
+        curses.init_pair(4, curses.COLOR_CYAN, -1)     # header / INFO
+        curses.init_pair(5, curses.COLOR_WHITE, -1)    # dim / offline
+        curses.init_pair(6, curses.COLOR_MAGENTA, -1)  # NOTICE
+
+    def _main(self, stdscr) -> None:
+        curses.curs_set(0)
+        stdscr.nodelay(True)
+        stdscr.keypad(True)
+        self._init_colors()
+
+        while self._running and rclpy.ok():
+            try:
+                self._draw(stdscr)
+            except curses.error:
+                pass
+            key = stdscr.getch()
+            if key in (ord('q'), ord('Q'), 27):
+                self._running = False
+            time.sleep(1.0 / DRAW_HZ)
+
+    def _draw(self, stdscr) -> None:
+        stdscr.erase()
+        height, width = stdscr.getmaxyx()
+        now = time.monotonic()
+        vehicles = self._node.snapshot()
+        sorted_keys = sorted(vehicles.keys(), key=sys_key_to_id)
+
+        header = f' Vehicle Diagnostics Monitor  vehicles:{len(sorted_keys)}  Q:quit '
+        stdscr.attron(curses.color_pair(4) | curses.A_BOLD)
+        stdscr.addstr(0, 0, truncate(header.ljust(width - 1), width - 1))
+        stdscr.attroff(curses.color_pair(4) | curses.A_BOLD)
+
+        row = 1
+        if not sorted_keys:
+            msg = ' Waiting for vehicles... (need /fc_network/vehicle/sysN/* topics) '
+            if row < height - 1:
+                stdscr.addstr(row, max(0, (width - len(msg)) // 2), truncate(msg, width - 1))
+            row += 2
+
+        vehicle_rows_end = max(row, height - 8)
+        for sys_key in sorted_keys:
+            if row >= vehicle_rows_end:
+                break
+            state = vehicles[sys_key]
+            row = self._draw_vehicle_block(stdscr, row, width, state, now)
+            if row < height - 1:
+                try:
+                    stdscr.addstr(row, 0, truncate('-' * (width - 1), width - 1))
+                except curses.error:
+                    pass
+                row += 1
+
+        log_title = ' Status Text (last 30s) '
+        if row < height - 1:
+            stdscr.attron(curses.color_pair(4))
+            stdscr.addstr(row, 0, truncate(log_title.ljust(width - 1), width - 1))
+            stdscr.attroff(curses.color_pair(4))
+            row += 1
+
+        all_entries: List[StatusTextEntry] = []
+        for sys_key in sorted_keys:
+            all_entries.extend(vehicles[sys_key].status_entries)
+        all_entries.sort(key=lambda e: e.received_at)
+
+        log_rows = height - row - 1
+        if log_rows <= 0:
+            stdscr.refresh()
+            return
+
+        if not all_entries:
+            empty = ' (no messages in last 30s) '
+            if row < height - 1:
+                stdscr.addstr(row, 0, truncate(empty, width - 1))
+        else:
+            visible = all_entries[-log_rows:]
+            for entry in visible:
+                if row >= height - 1:
+                    break
+                self._draw_status_line(stdscr, row, width, entry)
+                row += 1
+
+        stdscr.refresh()
+
+    def _draw_vehicle_block(
+        self,
+        stdscr,
+        row: int,
+        width: int,
+        state: VehicleDiagState,
+        now: float,
+    ) -> int:
+        summary = state.summary or {}
+        mode = summary.get('mode_name', 'UNKNOWN')
+        armed = summary.get('armed', False)
+        conn = summary.get('connection_type', '?')
+        socket_id = summary.get('socket_id', -1)
+        mav_status = summary.get('mav_status', 0)
+        mav_label = MAV_STATE_LABELS.get(int(mav_status), str(mav_status))
+
+        last_update = max(state.last_summary_ts, state.last_diag_ts)
+        age_sec = (now - last_update) if last_update > 0 else -1.0
+        stale = age_sec >= 0 and age_sec > STALE_SEC
+
+        armed_str = 'ARMED' if armed else 'DISARMED'
+        flags = []
+        if state.offline:
+            flags.append('OFFLINE')
+        if stale and not state.offline:
+            flags.append('STALE')
+        flag_str = f"  [{' '.join(flags)}]" if flags else ''
+
+        line1 = (
+            f' {state.sys_key} (MAV {state.sysid})  {mode}  {armed_str}  '
+            f'{conn}  socket:{socket_id}  {mav_label}  '
+            f'updated {format_age(age_sec)}{flag_str}'
+        )
+        if row < stdscr.getmaxyx()[0] - 1:
+            if state.offline:
+                stdscr.attron(curses.color_pair(5))
+                stdscr.addstr(row, 0, truncate(line1, width - 1))
+                stdscr.attroff(curses.color_pair(5))
+            else:
+                stdscr.addstr(row, 0, truncate(line1, width - 1))
+                armed_pos = line1.find(armed_str)
+                if armed_pos >= 0:
+                    pair = curses.color_pair(2) if armed else curses.color_pair(1)
+                    stdscr.attron(pair | curses.A_BOLD)
+                    stdscr.addstr(row, armed_pos, armed_str)
+                    stdscr.attroff(pair | curses.A_BOLD)
+        row += 1
+
+        if state.diag is not None and row < stdscr.getmaxyx()[0] - 1:
+            load_pct = state.diag.mcu_load / 10.0
+            drop_pct = state.diag.bus_error_rate / 10.0
+            line2 = f' MCU {load_pct:.1f}%  CommDrop {drop_pct:.1f}%'
+            stdscr.addstr(row, 0, truncate(line2, width - 1))
+            row += 1
+
+            sensors = decode_sensors(
+                state.diag.sensors_install_mask,
+                state.diag.sensors_enabled_mask,
+                state.diag.sensors_health_mask,
+            )
+            row = self._draw_sensor_line(stdscr, row, width, sensors)
+        elif row < stdscr.getmaxyx()[0] - 1:
+            stdscr.addstr(row, 0, truncate(' (no sys_diags yet)', width - 1))
+            row += 1
+
+        return row
+
+    def _draw_sensor_line(
+        self,
+        stdscr,
+        row: int,
+        width: int,
+        sensors: List[Tuple[str, str]],
+    ) -> int:
+        max_row, _ = stdscr.getmaxyx()
+        if not sensors:
+            if row < max_row - 1:
+                stdscr.addstr(row, 0, truncate(' Sensors: (none installed)', width - 1))
+            return row + 1
+
+        lines: List[List[Tuple[str, str]]] = [[]]
+        line_len = len(' Sensors: ')
+        for label, status in sensors:
+            token = f'{label}:{status}  '
+            if lines[-1] and line_len + len(token) >= width - 1:
+                lines.append([])
+                line_len = 2
+            lines[-1].append((label, status))
+            line_len += len(token)
+
+        for idx, line_items in enumerate(lines):
+            if row >= max_row - 1:
+                break
+            prefix = ' Sensors: ' if idx == 0 else '  '
+            col = 0
+            stdscr.addstr(row, col, prefix)
+            col += len(prefix)
+            for label, status in line_items:
+                token = f'{label}:{status}  '
+                if col + len(token) >= width - 1:
+                    stdscr.addstr(row, col, truncate('...', width - col - 1))
+                    return row + 1
+                pair = curses.A_NORMAL
+                if status == 'OK':
+                    pair = curses.color_pair(1)
+                elif status == 'FAIL':
+                    pair = curses.color_pair(2) | curses.A_BOLD
+                elif status == 'OFF':
+                    pair = curses.color_pair(3)
+                stdscr.attron(pair)
+                stdscr.addstr(row, col, token)
+                stdscr.attroff(pair)
+                col += len(token)
+            row += 1
+        return row
+
+    def _draw_status_line(
+        self,
+        stdscr,
+        row: int,
+        width: int,
+        entry: StatusTextEntry,
+    ) -> None:
+        sev_label = SEVERITY_LABELS.get(entry.severity, str(entry.severity))
+        prefix = f'[{entry.sys_key:5}] [{entry.severity} {sev_label:5}] '
+        body = truncate(entry.text, max(0, width - len(prefix) - 2))
+        line = prefix + body
+
+        pair = curses.A_NORMAL
+        if entry.severity <= 3:
+            pair = curses.color_pair(2)
+        elif entry.severity == 4:
+            pair = curses.color_pair(3)
+        elif entry.severity == 5:
+            pair = curses.color_pair(6)
+        elif entry.severity == 6:
+            pair = curses.color_pair(1)
+        elif entry.severity == 7:
+            pair = curses.color_pair(5)
+
+        stdscr.attron(pair)
+        stdscr.addstr(row, 0, truncate(line, width - 1))
+        stdscr.attroff(pair)
+
+
+def main() -> int:
+    if not sys.stdout.isatty():
+        print('vehicleDiagShow requires an interactive terminal (TTY).', file=sys.stderr)
+        return 1
+
+    rclpy.init()
+    node = VehicleDiagNode()
+    spin_thread = threading.Thread(target=rclpy.spin, args=(node,), daemon=True)
+    spin_thread.start()
+
+    try:
+        DiagCursesApp(node).run()
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+        spin_thread.join(timeout=2.0)
+
+    return 0
+
+
+if __name__ == '__main__':
+    sys.exit(main())

src/fc_network_module/fc_network_module/ntrip_client.py

@@ -2,17 +2,72 @@ import socket
 import base64
 import threading
 import time
+from typing import Optional, Tuple
 
 import rclpy
 from rclpy.node import Node
 from rclpy.qos import QoSProfile, HistoryPolicy, ReliabilityPolicy, DurabilityPolicy
 from mavros_msgs.msg import RTCM
 
+# TODO: ROS_DOMAIN_ID 要補一下
+
+class GGA_stream():
+
+    @classmethod
+    def nmea_checksum(cls, body: str) -> str:
+        """body 不含 '$' 與 '*checksum'，例如 'GPGGA,123519,...'"""
+        value = 0
+        for ch in body:
+            value ^= ord(ch)
+        return f"{value:02X}"
+
+    @classmethod
+    def decimal_to_nmea_dm(cls, deg: float, *, is_latitude: bool) -> Tuple[str, str]:
+        """十進位度 → NMEA 的 (d)dmm.mmmm 與半球字元。"""
+        if is_latitude:
+            hemi = "N" if deg >= 0 else "S"
+            deg_width = 2
+        else:
+            hemi = "E" if deg >= 0 else "W"
+            deg_width = 3
+        deg = abs(deg)
+        d = int(deg)
+        m = (deg - d) * 60.0
+        return f"{d:0{deg_width}d}{m:07.4f}", hemi
+
+    @classmethod
+    def build_gga_sentence(cls, lat_deg: float, lon_deg: float, alt_m: float = 100.0) -> bytes:
+        """
+        組一筆 $GPGGA 句子（含 checksum) 回傳 bytes 可直接 sock.sendall。
+
+        lat_deg / lon_deg : 十進位經緯度(北、東為正)。
+        測試時請改成 mount 服務範圍內的近似位置；正式使用應來自 GNSS 真實定位。
+        """
+        utc = time.gmtime()
+        t_str = f"{utc.tm_hour:02d}{utc.tm_min:02d}{utc.tm_sec:02d}.00"
+
+        lat_dm, ns = cls.decimal_to_nmea_dm(lat_deg, is_latitude=True)
+        lon_dm, ew = cls.decimal_to_nmea_dm(lon_deg, is_latitude=False)
+
+        # quality=1（GPS fix）、8 顆星、HDOP=1.0 僅供測試示意
+        body = (
+            f"GPGGA,{t_str},{lat_dm},{ns},{lon_dm},{ew},"
+            f"1,08,1.0,{alt_m:.1f},M,0.0,M,,"
+        )
+        sentence = f"${body}*{cls.nmea_checksum(body)}\r\n"
+        return sentence.encode("ascii")
+
+    @classmethod
+    def send_gga(cls, sock: socket.socket, lat_deg: float, lon_deg: float, alt_m: float = 100.0) -> str:
+        """送出 GGA，回傳可讀句子供列印。"""
+        payload = cls.build_gga_sentence(lat_deg, lon_deg, alt_m)
+        sock.sendall(payload)
+        return payload.decode("ascii").strip()
 
 class NtripClientNode(Node):
-    """連線 NTRIP caster，接收 RTCM3 資料流並發布至 ROS2 topic。"""
+    """連線 NTRIP caster, 接收 RTCM3 資料流並發布至 ROS2 topic """
 
-    RECONNECT_BASE_SEC = 2.0
+    RECONNECT_BASE_SEC = 10.0
     RECONNECT_MAX_SEC = 60.0
 
     def __init__(self):
@@ -21,9 +76,15 @@ class NtripClientNode(Node):
         self.declare_parameter('host', 'rtk2go.com')
         self.declare_parameter('port', 2101)
         self.declare_parameter('mountpoint', '')
-        self.declare_parameter('username', '')
+        self.declare_parameter('username', 'template@mail.com')
         self.declare_parameter('password', '')
 
+        self.declare_parameter('gga_on', False)
+        self.declare_parameter('gga_lat', None)
+        self.declare_parameter('gga_lon', None)
+        self.declare_parameter('gga_alt_m', 100)
+        self.declare_parameter('gga_interval_sec', 60)
+
         rtcm_qos = QoSProfile(
             history=HistoryPolicy.KEEP_LAST,
             depth=1,
@@ -32,7 +93,9 @@ class NtripClientNode(Node):
         )
         self.publisher_ = self.create_publisher(RTCM, '/fc_network/rtcm_input', rtcm_qos)
 
-        self._running = True
+        self._stop_event = threading.Event()
+        self._sock_lock = threading.Lock()
+        self._active_sock: Optional[socket.socket] = None
         self._thread = threading.Thread(target=self._receive_loop, daemon=True)
         self._thread.start()
 
@@ -40,31 +103,50 @@ class NtripClientNode(Node):
 
     # ── NTRIP 連線 + RTCM 接收迴圈 ──────────────────────────────
 
+    def _request_stop(self):
+        self._stop_event.set()
+        with self._sock_lock:
+            if self._active_sock is not None:
+                try:
+                    self._active_sock.close()
+                except OSError:
+                    pass
+
     def _receive_loop(self):
         backoff = self.RECONNECT_BASE_SEC
 
-        while self._running:
         host = self.get_parameter('host').value
         port = self.get_parameter('port').value
-            mount = self.get_parameter('mountpoint').value
+        mountpoint = self.get_parameter('mountpoint').value
         user = self.get_parameter('username').value
         pwd = self.get_parameter('password').value
 
-            if not mount:
+        if not mountpoint:
-                self.get_logger().error('mountpoint 參數未設定，等待重試...')
+            self.get_logger().error('mountpoint 參數未設定...')
-                time.sleep(backoff)
+            return
-                continue
+
+        while not self._stop_event.is_set():
 
             sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
             sock.settimeout(10)
+            with self._sock_lock:
+                self._active_sock = sock
+
+            self.gga_lat = self.get_parameter('gga_lat').value
+            self.gga_lon = self.get_parameter('gga_lon').value
+            self.gga_alt_m = self.get_parameter('gga_alt_m').value
+            self.gga_interval_sec = self.get_parameter('gga_interval_sec').value
+            self.gga_on = self.get_parameter('gga_on').value
+            self.gga_on = self.gga_lat is not None and self.gga_lon is not None and self.gga_on
+
 
             try:
-                self.get_logger().info(f'正在連線 {host}:{port}/{mount} ...')
+                self.get_logger().info(f'正在連線 {host}:{port}/{mountpoint} ...')
                 sock.connect((host, port))
 
                 auth = base64.b64encode(f'{user}:{pwd}'.encode()).decode()
                 request = (
-                    f'GET /{mount} HTTP/1.0\r\n'
+                    f'GET /{mountpoint} HTTP/1.0\r\n'
                     f'User-Agent: NTRIP PythonClient\r\n'
                     f'Authorization: Basic {auth}\r\n'
                     f'Connection: close\r\n\r\n'
@@ -78,29 +160,54 @@ class NtripClientNode(Node):
                     )
                     raise ConnectionError('handshake failed')
 
-                self.get_logger().info(f'已連接至 {mount}，開始接收 RTCM 資料流')
+                self.get_logger().info(f'已成功連接至 {mountpoint}')
+
+
                 backoff = self.RECONNECT_BASE_SEC
 
                 self._read_stream(sock)
 
             except Exception as e:
-                if self._running:
+                if self._stop_event.is_set():
+                    break
                 self.get_logger().warn(f'連線中斷: {e}，{backoff:.0f}s 後重連')
-                    time.sleep(backoff)
+                if self._stop_event.wait(timeout=backoff):
+                    break
                 backoff = min(backoff * 2, self.RECONNECT_MAX_SEC)
             finally:
+                with self._sock_lock:
+                    if self._active_sock is sock:
+                        self._active_sock = None
+                try:
                     sock.close()
+                except OSError:
+                    pass
 
     def _read_stream(self, sock: socket.socket):
         buf = b''
+        last_gga_time = 0.0
+
+        while not self._stop_event.is_set():
+            now = time.time()
+            if self.gga_on and (now - last_gga_time >= self.gga_interval_sec):
+                line = GGA_stream.send_gga(sock, self.gga_lat, self.gga_lon, self.gga_alt_m)
+                self.get_logger().info(f"[GGA] {line}")
+                last_gga_time = now
 
-        while self._running:
             try:
                 chunk = sock.recv(4096)
             except socket.timeout:
-                continue
+                if self._stop_event.is_set():
-            if not chunk:
                     break
+                continue
+            except OSError:
+                if self._stop_event.is_set():
+                    break
+                raise
+            if not chunk:
+                if self._stop_event.is_set():
+                    break
+                raise ConnectionError("stream ended. Empty Chunk")
             buf += chunk
 
             while len(buf) >= 6:
@@ -126,8 +233,11 @@ class NtripClientNode(Node):
         self.publisher_.publish(msg)
 
     def destroy_node(self):
-        self._running = False
+        self._request_stop()
-        self._thread.join(timeout=3.0)
+        if self._thread.is_alive():
+            self._thread.join(timeout=5.0)
+            if self._thread.is_alive():
+                self.get_logger().warn('receive thread 未在時限內結束')
         super().destroy_node()
 
 

src/unitdev02/unitdev02/devnote.txt

@@ -8,7 +8,8 @@
  RTK
    跟 RTK2go 抓取列表 Done
    從特定 mount point 得到數據 Done
-   做一個 ros2 service 接到數據並包裝 
+   做一個 ros2 service 接到數據並包裝 Done
+   RTK 實機測試
  
 
 下一步
@@ -34,7 +35,11 @@ python -m fc_network_module.fc_network_module.ntrip_client --ros-args -p mountpo
 
 python -m fc_network_module.fc_network_module.ntrip_client --ros-args -p host:=210.241.63.193 -p port:=81 -p mountpoint:=2020_GNSS -p username:=uavlab6061 -p password:=iamsupersmart
 
-export ROS_DOMAIN_ID=13
+python3 -m fc_network_module.fc_network_module.ntrip_client --ros-args -p host:=210.241.63.193 -p port:=81 -p mountpoint:=2020_GNSS -p username:=uavlab6061 -p password:=iamsupersmart -p gga_on:=True -p gga_lat:=24.155792000 -p gga_lon:=120.630679000 -p gga_interval_sec:=60
+
+watch GPS_RAW_INT
+
+export ROS_DOMAIN_ID=1
 ros2 daemon stop
 ros2 daemon start