tmpCommit

- 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

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":
@@ -491,6 +491,10 @@ class ControlPanel:
                                 menu_stack.pop()
                                 idx_stack.pop()
                     
+                    elif selected.action == "DO_DISCOVERY_PANEL":
+                        if hasattr(selected, 'serial_id'):
+                            cmd_q.put(("DO_DISCOVERY", selected.serial_id))
+
                     # related with -> 列表選單
                     elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
                         if hasattr(selected, 'page'):
@@ -868,6 +872,7 @@ class ControlPanel:
                 obj_menu = MenuNode(f"Serial #{serial_id}", f"連結口 {serial_id}", None, children=[
                     MenuNode("Info", "查看詳細資訊", "INSPECT_LINKED_SERIAL"),
                     MenuNode("Remove", "移除此連結口", "REMOVE_LINKED_SERIAL"),
+                    MenuNode("Discovery", "搜尋遠端RF(Only XBEE-ESP32)", "DO_DISCOVERY_PANEL"),
                     # MenuNode("Change UDP Target", "變更目標 UDP (工程)", "CHANGE_LINKED_SERIAL_TARGET"),
                     MenuNode("GoUp", "回到列表", "BACK"),
                 ])
@@ -1319,6 +1324,11 @@ class Orchestrator:
                         elif action == "REMOVE_LINKED_SERIAL":
                             serial_id = cmd[1]
                             self.plumber.remove_serial_link(serial_id)
+                        elif action == "DO_DISCOVERY":
+                            serial_id = cmd[1]
+                            processor = self.plumber.get_espv1_processor(serial_id)
+                            if processor:
+                                processor.request_discovery()
 
                         elif action == "INSPECT_VEHICLE":
                             sysid, compid = cmd[1], cmd[2]
@@ -1600,7 +1610,7 @@ 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/mavlinkObject.py

@@ -47,8 +47,8 @@ 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,
     StatusTextEntry,

src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py

@@ -37,6 +37,7 @@ class ComponentType(Enum):
 class RFModuleType(Enum):
     """RF模組類型"""
     XBEE = "xbee"
+    XBEE_ESP = "xbee_esp"
     UDP = "udp"
     TCP = "tcp"
     OTHER = "other"
@@ -181,12 +182,14 @@ class RFStatus:
     at_response: Optional[str] = None  # AT 命令回應
     link_quality: Optional[int] = None  # 連接品質
     timestamp: Optional[float] = None  # 時間戳記
+    avg_bandwidth: Optional[float] = None # 量測到的傳輸速度 bytes/ms
     custom_status: Dict[str, Any] = field(default_factory=dict)  # 其他自定義狀態
 
 
 @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
@@ -274,6 +277,17 @@ class RFModule:
         self.status = RFStatus()
         self.socket_info = SocketInfo()
 
+        self.poll_data_times: deque[int] = deque([0] * N,maxlen=N) # ms
+        self.poll_data_sizes: deque[int] = deque([0] * N, maxlen=N) # num
+        self.poll_total_time = 0 # ms
+        self.poll_total_size = 0 # num
+        self.remain_bytes = 0 # num
+
+    def update_avg_bandwidth(self, bandwidth: float, timestamp: Optional[float] = None) -> None:
+        self.status.avg_bandwidth = bandwidth
+        if timestamp:
+            self.status.timestamp = timestamp
+    
     def update_rssi(self, rssi: int, timestamp: Optional[float] = None) -> None:
         """更新RSSI"""
         self.status.rssi = rssi
@@ -310,6 +324,7 @@ 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

@@ -7,65 +7,54 @@ POLL 輪詢策略，供 XBeeFrameProcessor_ESPv1 使用。
 from dataclasses import dataclass
 from typing import List
 
+MIN_TRIGGER_INTERVAL_MS = 5
 
 @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
+    last_poll_time: float
 
 
-@dataclass
+def pick_next(devices: List[PollDevice], now_time):
-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)。
+
+    poll time = 0.2305 * grant_bytes + 58.094 (R平方為0.979 高線性相關)  @-40db 
     """
     if not devices:
         return None, 0
 
+    grant_bytes = 0
     device_count = len(devices)
-    selected_index = scheduler_state.round_robin_index % device_count
+    weights = [0] * device_count
-    selected_device = devices[selected_index]
-    scheduler_state.round_robin_index += 1
 
-    grant_bytes = 0
+    for i in range(device_count):
-    if selected_device.remain_bytes > 0:
+        gap = int((now_time - devices[i].last_poll_time)*1000)
-        grant_bytes = min( 65535, max(0, selected_device.remain_bytes))
+        # # 時間大於觸發間隔 才會計算
+        # if gap >= MIN_TRIGGER_INTERVAL_MS:
+        #     weights[i] += devices[i].remain_bytes
+        #     weights[i] += gap
 
-    return selected_device.address_64, grant_bytes
+        weights[i] += devices[i].remain_bytes
+        weights[i] += gap
 
+    maxarg = weights.index(max(weights))
 
-def estimate_poll_timeout(
+    if weights[maxarg] == 0:
-    grant_bytes: int,
+        return None, 0
-    baudrate: int,
+    
-    guard_milliseconds: int = 20,
+    selected_device = devices[maxarg]
-) -> float:
+
-    """
+    if selected_device.remain_bytes < 500:
-    估算 POLL 後等待 DONE 的超時秒數。
+        grant_bytes = 170  # 這個大概是 100 ms 總傳輸時間
-    移植自 udptest8 estimate_tdma_timeout。
+    elif selected_device.remain_bytes < 1200:
-    """
+        grant_bytes = 610  # 這個大概是 200 ms 總傳輸時間
-    grant_bytes = max(0, int(grant_bytes))
+    else:
-    max_payload_per_chunk = 100
+        grant_bytes = 1050 # 這個大概是 300 ms 總傳輸時間
-    chunk_count = max(1, (grant_bytes + max_payload_per_chunk - 1) // max_payload_per_chunk)
+
-
+    return selected_device.address_64, grant_bytes
-    uart_time = (grant_bytes + chunk_count * 18 + 32) * 10.0 / baudrate
-    timeout = (
-        uart_time
-        + chunk_count * 0.012
-        + (guard_milliseconds / 1000.0)
-        + 0.35
-    )
-    return timeout
 

src/unitdev02/unitdev02/devnote.txt

@@ -27,6 +27,7 @@
 python -m fc_network_adapter.tests.test_vehicleStatusPublisher
 python -m fc_network_adapter.tests.test_ringBuffer
 python -m fc_network_adapter.fc_network_adapter.mainOrchestrator
+python -m fc_network_adapter.fc_network_adapter.serialManager
 
 python -m someotherpkg.src.example_takeoff_land
 python -m someotherpkg.src.example_change_mode

src/unitdev02/unitdev02/esp32.py

@@ -0,0 +1,641 @@
+from machine import UART
+import time
+import struct
+import gc
+
+# =========================================================
+# ESP32 / MicroPython：UAV 端 XBee <-> Flight Controller Bridge
+# Packet-size TDMA + DONE + SYSID / GCS address 自動學習版
+#
+# 本版已刪除「一般 DISC / 強制 DSCF」雙模式。
+# 現在只保留一種 discovery 封包，名稱統一叫 DISC。
+#
+# 重要：
+# - DISC 的功能等同於原本的 DSCF，也就是「強制 discovery」。
+# - UAV 收到 DISC 後，只要已知 MY_SYSID 與 DEST_64，就會重新回 HELO。
+# - 若收到 DISC 時 MY_SYSID 尚未學到，會設定 DISC_PENDING；
+#   之後一旦從飛控 MAVLink 學到 SYSID，就自動補送 HELO。
+#
+# 封包格式：
+# GCS -> UAV:
+#   DISC
+#   POLL + target_sysid(1) + grant_bytes(2)
+#
+# UAV -> GCS:
+#   HELO + sysid(1)
+#   DONE + sysid(1) + sent_len(2) + remain_len(2)
+#
+# 注意：
+# - HELO 不帶 remain。
+# - DONE 保留 remain。
+# - MY_SYSID 不寫死，由飛控 MAVLink 自動學。
+# - DEST_64 不寫死，由 GCS 封包的 XBee 0x90 src64 自動學。
+# =========================================================
+
+
+# ================= 設定區 =================
+FC_BAUDRATE = 115200
+XB_BAUDRATE = 115200
+
+DEST_64 = None
+MY_SYSID = None
+
+SYSID_LEARN_CONFIRM_COUNT = 3
+_sysid_candidate = None
+_sysid_candidate_count = 0
+
+# 若收到 DISC 時還沒學到 MY_SYSID，就先記住。
+# 等之後從 FC MAVLink 學到 MY_SYSID 後，自動補送 HELO。
+DISC_PENDING = False
+
+XBEE_MAX_PAYLOAD = 100
+
+# Discovery：只保留 DISC；功能等同原本 DSCF，收到後強制回 HELO。
+DISC_MAGIC = b'DISC'
+
+# UAV -> GCS hello：
+# HELO + sysid(1)
+HELLO_MAGIC = b'HELO'
+
+HELLO_MIN_INTERVAL_MS = 1000
+_last_hello_ms = 0
+
+# 保留此變數只作狀態記錄；本版 DISC 會 force=True，所以不會被 HELLO_SENT 擋掉。
+HELLO_SENT = False
+
+POLL_MAGIC = b'POLL'
+DEFAULT_GRANT_BYTES = 600
+
+DONE_MAGIC = b'DONE'
+
+MAX_BUF_SIZE = 6144
+READ_FC_BYTES = 250
+
+FC_UART_ID = 1
+FC_TX_PIN = 32
+FC_RX_PIN = 33
+
+XB_UART_ID = 2
+XB_TX_PIN = 25
+XB_RX_PIN = 26
+# =========================================
+
+
+uart_fc = UART(FC_UART_ID, baudrate=FC_BAUDRATE, tx=FC_TX_PIN, rx=FC_RX_PIN, rxbuf=4096)
+uart_xb = UART(XB_UART_ID, baudrate=XB_BAUDRATE, tx=XB_TX_PIN, rx=XB_RX_PIN, rxbuf=4096)
+
+tx_buf = bytearray()  # FC -> GCS 等待 TDMA poll 的 MAVLink stream
+rx_buf = bytearray()  # XBee API frame parser buffer
+
+
+# =========================================================
+# 基本工具函式
+# =========================================================
+
+def get_checksum(data):
+    return 0xFF - (sum(data) & 0xFF)
+
+
+def is_valid_addr64(addr):
+    if addr is None:
+        return False
+    if len(addr) != 8:
+        return False
+    if addr == b'\x00\x00\x00\x00\x00\x00\x00\x00':
+        return False
+    return True
+
+
+def learn_dest64_from_src64(src64):
+    """
+    UAV 收到 GCS 的 XBee 0x90 frame 時，
+    0x90 裡面的 src64 就是 GCS / coordinator XBee 的 64-bit address。
+    """
+    global DEST_64
+    global HELLO_SENT
+    global DISC_PENDING
+
+    if not is_valid_addr64(src64):
+        return False
+
+    src64 = bytes(src64)
+
+    if DEST_64 is None:
+        DEST_64 = src64
+        HELLO_SENT = False
+        return True
+
+    if DEST_64 != src64:
+        DEST_64 = src64
+        HELLO_SENT = False
+        DISC_PENDING = False
+        return True
+
+    return False
+
+
+def build_api_tx_frame(payload):
+    """
+    建立 XBee API frame type 0x10，把 payload 送到 DEST_64。
+    若 DEST_64 尚未學到，回傳 None。
+    """
+    if DEST_64 is None:
+        return None
+
+    frame_content = bytearray()
+    frame_content.append(0x10)
+    frame_content.append(0x00)
+    frame_content.extend(DEST_64)
+    frame_content.extend(b'\xFF\xFE')
+    frame_content.append(0x00)
+    frame_content.append(0x00)
+    frame_content.extend(payload)
+
+    length = len(frame_content)
+
+    packet = bytearray()
+    packet.append(0x7E)
+    packet.append((length >> 8) & 0xFF)
+    packet.append(length & 0xFF)
+    packet.extend(frame_content)
+    packet.append(get_checksum(frame_content))
+
+    return packet
+
+
+def send_to_xbee_chunked(payload):
+    """
+    把 payload 依 XBEE_MAX_PAYLOAD 切成多個 XBee API TX frame 送出。
+    """
+    if DEST_64 is None:
+        return False
+
+    total_len = len(payload)
+    sent_len = 0
+
+    while sent_len < total_len:
+        end_len = min(sent_len + XBEE_MAX_PAYLOAD, total_len)
+        chunk = payload[sent_len:end_len]
+        sent_len = end_len
+
+        pkt = build_api_tx_frame(chunk)
+        if pkt is None:
+            return False
+
+        uart_xb.write(pkt)
+        time.sleep_ms(1)
+
+    return True
+
+
+# =========================================================
+# HELO / DONE 回報
+# =========================================================
+
+def send_hello_report(force=False):
+    """
+    UAV 回報自己存在：
+        HELO + MY_SYSID
+
+    本版 DISC 預設以 force=True 呼叫，因此每次收到 DISC 都會重新回 HELO。
+    """
+    global _last_hello_ms
+    global HELLO_SENT
+
+    if MY_SYSID is None:
+        return False
+    if DEST_64 is None:
+        return False
+
+    if HELLO_SENT and not force:
+        return False
+
+    now = time.ticks_ms()
+    if not force:
+        if time.ticks_diff(now, _last_hello_ms) < HELLO_MIN_INTERVAL_MS:
+            return False
+
+    payload = HELLO_MAGIC + struct.pack('>B', MY_SYSID)
+    pkt = build_api_tx_frame(payload)
+    if pkt is None:
+        return False
+
+    uart_xb.write(pkt)
+    _last_hello_ms = now
+    HELLO_SENT = True
+
+    time.sleep_ms(1)
+    return True
+
+
+def try_send_pending_hello():
+    """
+    若先收到 DISC、後學到 MY_SYSID，這裡會自動補送 HELO。
+    """
+    global DISC_PENDING
+
+    if DISC_PENDING and MY_SYSID is not None and DEST_64 is not None:
+        delay_ms = 20 + (((MY_SYSID * 37) + (time.ticks_ms() & 0xFF)) % 180)
+        time.sleep_ms(delay_ms)
+
+        if send_hello_report(force=True):
+            DISC_PENDING = False
+
+
+def send_done_report(sent_len, remain_len):
+    """
+    DONE payload:
+        b'DONE' + sysid(1) + sent_len(2) + remain_len(2)
+    """
+    if MY_SYSID is None:
+        return False
+    if DEST_64 is None:
+        return False
+
+    if sent_len > 65535:
+        sent_len = 65535
+    if remain_len > 65535:
+        remain_len = 65535
+
+    payload = DONE_MAGIC + struct.pack('>BHH', MY_SYSID, sent_len, remain_len)
+    pkt = build_api_tx_frame(payload)
+    if pkt is None:
+        return False
+
+    uart_xb.write(pkt)
+    time.sleep_ms(1)
+    return True
+
+
+# =========================================================
+# MAVLink frame 解析與 MY_SYSID 自動學習
+# =========================================================
+
+def find_first_mavlink_magic(buf):
+    pos_fe = buf.find(b'\xFE')
+    pos_fd = buf.find(b'\xFD')
+
+    if pos_fe == -1:
+        return pos_fd
+    if pos_fd == -1:
+        return pos_fe
+    return pos_fe if pos_fe < pos_fd else pos_fd
+
+
+def mavlink_frame_length(buf, start_idx):
+    if start_idx >= len(buf):
+        return None
+
+    magic = buf[start_idx]
+
+    if magic == 0xFE:
+        if len(buf) - start_idx < 2:
+            return None
+        payload_len = buf[start_idx + 1]
+        total_len = payload_len + 8
+        if len(buf) - start_idx < total_len:
+            return None
+        return total_len
+
+    if magic == 0xFD:
+        if len(buf) - start_idx < 3:
+            return None
+        payload_len = buf[start_idx + 1]
+        incompat_flags = buf[start_idx + 2]
+        signed = (incompat_flags & 0x01) != 0
+        total_len = payload_len + 12 + (13 if signed else 0)
+        if len(buf) - start_idx < total_len:
+            return None
+        return total_len
+
+    return None
+
+
+def get_mavlink_sysid(buf, start_idx):
+    if start_idx >= len(buf):
+        return None
+
+    magic = buf[start_idx]
+
+    if magic == 0xFE:
+        if len(buf) - start_idx >= 6:
+            return buf[start_idx + 3]
+
+    if magic == 0xFD:
+        if len(buf) - start_idx >= 10:
+            return buf[start_idx + 5]
+
+    return None
+
+
+def learn_my_sysid_from_tx_buf():
+    """
+    從 FC -> ESP32 的 tx_buf 中找完整 MAVLink frame，
+    並自動學習飛控的 MAVLink SYSID。
+
+    若更改飛控 SYSID，建議重新上電 ESP32，讓 MY_SYSID 重新學習。
+    """
+    global MY_SYSID
+    global _sysid_candidate
+    global _sysid_candidate_count
+    global HELLO_SENT
+    global tx_buf
+
+    if len(tx_buf) == 0:
+        return
+
+    idx = 0
+    checked = 0
+
+    while idx < len(tx_buf) and checked < 8:
+        sub = tx_buf[idx:]
+        rel_start = find_first_mavlink_magic(sub)
+        if rel_start == -1:
+            return
+
+        start = idx + rel_start
+        frame_len = mavlink_frame_length(tx_buf, start)
+        if frame_len is None:
+            return
+
+        sysid = get_mavlink_sysid(tx_buf, start)
+
+        if sysid is not None and sysid > 0:
+            if MY_SYSID is not None:
+                return
+
+            if _sysid_candidate == sysid:
+                _sysid_candidate_count += 1
+            else:
+                _sysid_candidate = sysid
+                _sysid_candidate_count = 1
+
+            if _sysid_candidate_count >= SYSID_LEARN_CONFIRM_COUNT:
+                MY_SYSID = _sysid_candidate
+                HELLO_SENT = False
+                return
+
+        idx = start + frame_len
+        checked += 1
+
+
+# =========================================================
+# tx_buf MAVLink frame 取出與裁切
+# =========================================================
+
+def pop_mavlink_frames_by_quota(quota_bytes):
+    global tx_buf
+
+    if quota_bytes <= 0 or len(tx_buf) == 0:
+        return b''
+
+    start = find_first_mavlink_magic(tx_buf)
+    if start == -1:
+        tx_buf = bytearray()
+        return b''
+
+    if start > 0:
+        tx_buf = tx_buf[start:]
+
+    out = bytearray()
+
+    while len(tx_buf) > 0:
+        if tx_buf[0] not in (0xFE, 0xFD):
+            start = find_first_mavlink_magic(tx_buf)
+            if start == -1:
+                tx_buf = bytearray()
+                break
+            tx_buf = tx_buf[start:]
+
+        frame_len = mavlink_frame_length(tx_buf, 0)
+        if frame_len is None:
+            break
+
+        if len(out) > 0 and (len(out) + frame_len) > quota_bytes:
+            break
+
+        if len(out) == 0 and frame_len > quota_bytes:
+            out.extend(tx_buf[:frame_len])
+            tx_buf = tx_buf[frame_len:]
+            break
+
+        out.extend(tx_buf[:frame_len])
+        tx_buf = tx_buf[frame_len:]
+
+        if len(out) >= quota_bytes:
+            break
+
+    return bytes(out)
+
+
+def trim_tx_buffer_if_needed():
+    global tx_buf
+
+    if len(tx_buf) <= MAX_BUF_SIZE:
+        return
+
+    target_size = MAX_BUF_SIZE // 2
+
+    while len(tx_buf) > target_size:
+        start = find_first_mavlink_magic(tx_buf)
+        if start == -1:
+            tx_buf = bytearray()
+            return
+
+        if start > 0:
+            tx_buf = tx_buf[start:]
+            continue
+
+        frame_len = mavlink_frame_length(tx_buf, 0)
+        if frame_len is None:
+            if len(tx_buf) > target_size:
+                tx_buf = tx_buf[-target_size:]
+            return
+
+        tx_buf = tx_buf[frame_len:]
+
+
+def flush_tx_buffer(grant_bytes):
+    global tx_buf
+
+    if MY_SYSID is None: # TODO 這個重複判斷了 應該刪 不要浪費效率
+        return
+
+    if DEST_64 is None:
+        return
+
+    if grant_bytes <= 0:
+        send_done_report(0, len(tx_buf))
+        return
+
+    data_to_send = pop_mavlink_frames_by_quota(grant_bytes)
+    sent_len = len(data_to_send)
+
+    if sent_len > 0:
+        send_to_xbee_chunked(data_to_send)
+
+    send_done_report(sent_len, len(tx_buf))
+
+
+# =========================================================
+# GCS control payload 解析
+# =========================================================
+
+def parse_poll_payload(real_data):
+    if not real_data.startswith(POLL_MAGIC):
+        return None, None
+
+    if len(real_data) == 5:
+        return real_data[4], DEFAULT_GRANT_BYTES
+
+    if len(real_data) == 7:
+        target_sysid = real_data[4]
+        grant_bytes = (real_data[5] << 8) | real_data[6]
+        return target_sysid, grant_bytes
+
+    return None, None
+
+
+def is_discovery_payload(real_data):
+    return real_data.startswith(DISC_MAGIC)
+
+
+# =========================================================
+# XBee API RX parser
+# =========================================================
+
+def process_xbee_buffer():
+    global rx_buf
+    global DISC_PENDING
+
+    while True:
+        start_pos = rx_buf.find(b'\x7E')
+        if start_pos == -1:
+            rx_buf = bytearray()
+            return
+
+        if start_pos > 0:
+            rx_buf = rx_buf[start_pos:]
+
+        if len(rx_buf) < 3:
+            return
+
+        pkt_len = (rx_buf[1] << 8) | rx_buf[2]
+        total_len = pkt_len + 4
+
+        if pkt_len > 300:
+            rx_buf = rx_buf[1:]
+            continue
+
+        if len(rx_buf) < total_len:
+            return
+
+        packet = rx_buf[3:3 + pkt_len]
+        checksum_recv = rx_buf[3 + pkt_len]
+
+        if get_checksum(packet) == checksum_recv:
+            if len(packet) > 0 and packet[0] == 0x90:
+                # XBee Receive Packet 0x90:
+                # packet = 90 | src64(8) | src16(2) | options(1) | RF data
+                if len(packet) >= 12:
+                    src64 = bytes(packet[1:9])
+                    real_data = packet[12:]
+
+                    # -------------------------------------------------
+                    # DISC：本版唯一 discovery 封包。
+                    # 功能等同原本 DSCF：收到後強制回 HELO。
+                    # -------------------------------------------------
+                    if is_discovery_payload(real_data):
+                        learn_dest64_from_src64(src64)
+                        learn_my_sysid_from_tx_buf() # TODO 加一個 if MY_SYSID is None
+
+                        if MY_SYSID is not None and DEST_64 is not None:
+                            delay_ms = 20 + ((MY_SYSID * 37) + (time.ticks_ms() & 0xFF)) % 180 # TODO 這邊會有多少秒延遲? 為啥是37? 不能21或者17? 20 ~ 199  210 / 30000
+                            time.sleep_ms(delay_ms)
+                            send_hello_report(force=True)
+                            DISC_PENDING = False
+                        else:
+                            DISC_PENDING = True
+
+                    # -------------------------------------------------
+                    # 判斷是不是 POLL
+                    # -------------------------------------------------
+                    else: # TODO 這邊要用 elif 去判斷 POLL
+                        target_sysid, grant_bytes = parse_poll_payload(real_data)
+
+                        if target_sysid is not None:
+                            learn_dest64_from_src64(src64)
+                            learn_my_sysid_from_tx_buf()
+                            try_send_pending_hello() # TODO 這邊三行怪怪的 GCS 下 poll 然後會回應 HELO 這個很怪 然後為何要每次重做上面兩行 拖效率
+
+                            if MY_SYSID is not None and target_sysid == MY_SYSID:
+                                flush_tx_buffer(grant_bytes)
+
+                        else: 
+                            # 一般 GCS -> FC MAVLink 下行資料
+                            if DEST_64 is None: # TODO 這個概念不對 隨便一個 poll 就把本來有做過 DISC 的權限搶走了 危險!!!
+                                learn_dest64_from_src64(src64)
+
+                            if DEST_64 is not None and src64 == DEST_64: # TODO 從 GCS 到 FC 的 mavlink 封包 切開不要跟 POLL 放在同一個判斷
+                                uart_fc.write(real_data)
+
+            rx_buf = rx_buf[total_len:]
+
+        else:
+            rx_buf = rx_buf[1:]
+
+
+
+# =========================================================
+# 初始清理
+# =========================================================
+
+try:
+    gc.collect()
+except Exception:
+    pass
+
+
+# =========================================================
+# 主迴圈
+# =========================================================
+
+while True:
+    try:
+        # -------------------------------------------------
+        # FC -> ESP32 tx buffer
+        # -------------------------------------------------
+        if uart_fc.any():
+            data = uart_fc.read(READ_FC_BYTES)
+            if data:
+                tx_buf.extend(data)
+
+                learn_my_sysid_from_tx_buf()
+                try_send_pending_hello()
+                trim_tx_buffer_if_needed()
+
+        # -------------------------------------------------
+        # XBee -> ESP32
+        # -------------------------------------------------
+        if uart_xb.any():
+            chunk = uart_xb.read()
+            if chunk:
+                rx_buf.extend(chunk)
+
+            process_xbee_buffer()
+
+        time.sleep_ms(1)
+
+    except MemoryError:
+        tx_buf = bytearray()
+        rx_buf = bytearray()
+
+        try:
+            gc.collect()
+        except Exception:
+            pass
+
+        time.sleep_ms(10)
+
+    except Exception:
+        time.sleep_ms(2)

src/unitdev02/unitdev02/ntrip_dev.py

@@ -0,0 +1,209 @@
+# import socket
+
+# def get_rtk2go_source_table():
+#     host = "rtk2go.com"
+#     port = 2101
+#
+#     print(f"正在連線至 {host}:{port} 獲取掛載點列表...\n")
+#     ...
+
+from __future__ import annotations
+
+import socket
+import base64
+import time
+
+
+# ── NMEA GGA（告訴 Caster「我在哪」，觸發 RTCM 推流）────────────────
+
+def nmea_checksum(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}"
+
+
+def decimal_to_nmea_dm(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
+
+
+def build_gga_sentence(lat_deg: float, lon_deg: float, alt_m: float = 100.0) -> bytes:
+    """
+    組一筆 $GPGGA 句子（含 checksum），回傳 bytes 可直接 sock.sendall。
+
+    lat_deg / lon_deg：十進位經緯度（北、東為正）。
+    測試時請改成 mount 服務範圍內的近似位置；正式使用應來自 GNSS 真實定位。
+    """
+    utc = time.gmtime()
+    t_str = f"{utc.tm_hour:02d}{utc.tm_min:02d}{utc.tm_sec:02d}.00"
+
+    lat_dm, ns = decimal_to_nmea_dm(lat_deg, is_latitude=True)
+    lon_dm, ew = decimal_to_nmea_dm(lon_deg, is_latitude=False)
+
+    # quality=1（GPS fix）、8 顆星、HDOP=1.0 僅供測試示意
+    body = (
+        f"GPGGA,{t_str},{lat_dm},{ns},{lon_dm},{ew},"
+        f"1,08,1.0,{alt_m:.1f},M,0.0,M,,"
+    )
+    sentence = f"${body}*{nmea_checksum(body)}\r\n"
+    return sentence.encode("ascii")
+
+
+def send_gga(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 = build_gga_sentence(lat_deg, lon_deg, alt_m)
+    sock.sendall(payload)
+    return payload.decode("ascii").strip()
+
+
+# ── NTRIP 連線 + RTCM 接收 ─────────────────────────────────────────
+
+def get_rtcm_payload(
+    host,
+    port,
+    mountpoint,
+    user="",
+    password="",
+    target_ids=None,
+    *,
+    gga_lat=None,
+    gga_lon=None,
+    gga_alt_m=100.0,
+    gga_interval_sec=5.0,
+    filter_ids=True,
+):
+    """
+  連線 NTRIP caster 並解析 RTCM3。
+
+  gga_lat / gga_lon：若兩者皆有設定，握手成功後會週期送出 GGA（許多 Caster 如 SNIP 至少需一次）。
+  gga_interval_sec：GGA 重送間隔（秒）。
+  filter_ids：True 時只印 target_ids 內的 message；False 印全部（方便學習觀察）。
+    """
+    if target_ids is None:
+        target_ids = []
+    need_gga = gga_lat is not None and gga_lon is not None
+
+    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    sock.settimeout(10)
+
+    try:
+        sock.connect((host, port))
+
+        auth = base64.b64encode(f"{user}:{password}".encode()).decode()
+        request = f"GET /{mountpoint} HTTP/1.0\r\n"
+        request += "User-Agent: NTRIP PythonClient\r\n"
+        request += f"Authorization: Basic {auth}\r\n"
+        request += "Connection: close\r\n\r\n"
+        sock.sendall(request.encode())
+
+        response = sock.recv(4096)
+        if b"ICY 200 OK" not in response:
+            print(f"連線失敗: {response.decode(errors='ignore')}")
+            return
+
+        print(f"已成功連接至 {mountpoint}")
+        if need_gga:
+            print(
+                f"GGA 模式：每 {gga_interval_sec}s 回報位置 "
+                f"({gga_lat:.6f}, {gga_lon:.6f})，觸發 Caster 推流"
+            )
+        else:
+            print("未設定 GGA（部分 Caster 如 RTK2GO 仍可推流；SNIP/區域站常需 GGA）")
+        print(f"RTCM 過濾目標: {target_ids if filter_ids else '(關閉，顯示全部)'}\n")
+
+        last_gga_time = 0.0
+        buffer = b""
+
+        while True:
+            now = time.time()
+            if need_gga and (now - last_gga_time >= gga_interval_sec):
+                line = send_gga(sock, gga_lat, gga_lon, gga_alt_m)
+                print(f"[GGA] {line}")
+                last_gga_time = now
+
+            try:
+                chunk = sock.recv(4096)
+            except socket.timeout:
+                continue
+
+            if not chunk:
+                print("Caster 關閉連線")
+                break
+
+            buffer += chunk
+
+            while len(buffer) >= 3:
+                if buffer[0] != 0xD3:
+                    buffer = buffer[1:]
+                    continue
+
+                length = ((buffer[1] & 0x03) << 8) | buffer[2]
+                total_len = length + 6
+
+                if len(buffer) < total_len:
+                    break
+
+                packet = buffer[:total_len]
+                buffer = buffer[total_len:]
+                msg_id = (packet[3] << 4) | (packet[4] >> 4)
+
+                if not filter_ids or str(msg_id) in target_ids:
+                    print(f"Found ID: {msg_id} | Length: {total_len} bytes")
+
+    except KeyboardInterrupt:
+        print("\n使用者中斷")
+    except Exception as e:
+        print(f"發生錯誤: {e}")
+    finally:
+        sock.close()
+
+
+if __name__ == "__main__":
+    TARGET_LIST = ["1007", "1230", "1074"]
+
+    # ── Case 1：RTK2GO（通常可不送 GGA）────────────────────────────
+    # USER = "chiyu1468@hotmail.com"
+    # HOST = "rtk2go.com"
+    # PORT = 2101
+    # MOUNT = "No1bio_02"
+    # get_rtcm_payload(
+    #     HOST, PORT, MOUNT,
+    #     user=USER,
+    #     target_ids=TARGET_LIST,
+    #     filter_ids=False,
+    # )
+
+    # ── Case 2：區域 Caster（需 GGA，座標請改成服務區內近似點）──────
+    USER = "uavlab6061"
+    PW = "iamsupersmart"
+    HOST = "210.241.63.193"
+    PORT = 81
+    MOUNT = "2020_GNSS"
+    # 十進位度；請依 SNIP / 基準站服務範圍調
+    GGA_LAT = 24.155792000
+    GGA_LON = 120.630679000
+
+    get_rtcm_payload(
+        HOST,
+        PORT,
+        MOUNT,
+        user=USER,
+        password=PW,
+        target_ids=TARGET_LIST,
+        gga_lat=GGA_LAT,
+        gga_lon=GGA_LON,
+        gga_alt_m=100.0,
+        gga_interval_sec=30.0,
+        filter_ids=False,
+    )

src/unitdev02/unitdev02/tryByteDict.py

@@ -0,0 +1,33 @@
+import timeit
+
+# 建立 1000 個元素的字典，避免單一 Key 的特殊雜湊值干擾
+d_int = {i: True for i in range(1000)}
+d_bytes = {f"k_{i:06d}".encode(): True for i in range(1000)}
+
+# 正確命中中間的值
+target_int = 500
+target_bytes_same = f"k_{500:06d}".encode()
+
+# 將變數傳入 timeit 的全域環境
+setup_env = lambda: None
+globals_dict = {
+    'd_int': d_int,
+    'd_bytes': d_bytes,
+    'target_int': target_int,
+    'target_bytes_same': target_bytes_same
+}
+
+# 1. int 查詢
+t_int = timeit.timeit("d_int.get(target_int)", globals=globals_dict, number=50000000)
+
+# 2. bytes 查詢 (同物件：直接傳入現成變數)
+t_bytes_same = timeit.timeit("d_bytes.get(target_bytes_same)", globals=globals_dict, number=50000000)
+
+# 3. bytes 查詢 (真・新物件：每次都在查詢時動態切片生成新物件，強迫重新計算 Hash)
+globals_dict['dynamic_source'] = f"k_{500:06d}".encode() + b"dummy"
+t_bytes_new = timeit.timeit("d_bytes.get(dynamic_source[:8])", globals=globals_dict, number=50000000)
+
+print(f"修正後測試結果 (50,000,000 次)：")
+print(f"int 查詢          : {t_int:.4f} 秒 (1.0x)")
+print(f"bytes 查詢 (同物件): {t_bytes_same:.4f} 秒 (約 {t_bytes_same/t_int:.2f}x)")
+print(f"bytes 查詢 (新物件): {t_bytes_new:.4f} 秒 (約 {t_bytes_new/t_int:.2f}x)")