from rclpy.node import Node from PyQt6.QtCore import QObject, pyqtSignal import math import re import threading from threading import Lock import asyncio import websockets import json import socket import sys import os from pymavlink import mavutil from geometry_msgs.msg import Point, Vector3 from sensor_msgs.msg import BatteryState, NavSatFix, Imu from std_msgs.msg import Float64, String from mavros_msgs.msg import State, VfrHud from mavros_msgs.srv import CommandBool, CommandTOL # 確保 src 目錄在 Python 路徑中（用於 fc_network_apps 導入） _src_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__))) if _src_path not in sys.path: sys.path.insert(0, _src_path) # 導入 fc_network_apps 的函數 try: from fc_network_apps import change_mode, takeoff except ImportError as e: import traceback print(f"⚠️ 警告: 無法導入 fc_network_apps") print(f" 错误: {e}") print(f" 这通常表示 ROS2 的 fc_interfaces 包未被编译或未正确安装") print(f" 完整堆栈跟踪:") traceback.print_exc() change_mode = None takeoff = None class DroneSignals(QObject): update_signal = pyqtSignal(str, str, object) # (msg_type, drone_id, data) class UDPMavlinkReceiver(threading.Thread): """UDP MAVLink 接收器""" def __init__(self, ip, port, signals, connection_name, monitor=None): super().__init__(daemon=True) self.ip = ip self.port = port self.signals = signals self.connection_name = connection_name self.monitor = monitor # 保存 monitor 引用 self.socket_id = monitor.get_next_socket_id() if monitor else 0 self.running = False self.sock = None def run(self): """執行 UDP 接收循環""" self.running = True try: print(f"UDP MAVLink receiver started on {self.ip}:{self.port}") # 創建 MAVLink 連接 mav = mavutil.mavlink_connection(f'udpin:{self.ip}:{self.port}') while self.running: try: msg = mav.recv_match(blocking=True, timeout=1.0) if msg is None: continue self.process_mavlink_message(msg) except socket.timeout: continue except Exception as e: print(f"Error receiving MAVLink message: {e}") except Exception as e: print(f"UDP receiver error: {e}") finally: if self.sock: self.sock.close() def process_mavlink_message(self, msg): """處理 MAVLink 訊息""" try: msg_type = msg.get_type() system_id = msg.get_srcSystem() drone_id = f"s{self.socket_id}_{system_id}" if msg_type == "HEARTBEAT": # 先發送連接類型資訊 self.signals.update_signal.emit('connection_type', drone_id, { 'type': 'UDP' }) mode = mavutil.mode_string_v10(msg) armed = bool(msg.base_mode & 128) self.signals.update_signal.emit('state', drone_id, { 'mode': mode, 'armed': armed }) elif msg_type == "BATTERY_STATUS": voltage = msg.voltages[0] / 1000 self.signals.update_signal.emit('battery', drone_id, { 'voltage': voltage }) elif msg_type == "GLOBAL_POSITION_INT": latitude = msg.lat / 1e7 longitude = msg.lon / 1e7 self.signals.update_signal.emit('gps', drone_id, { 'lat': latitude, 'lon': longitude }) elif msg_type == "GPS_RAW_INT": fix_type = msg.fix_type elif msg_type == "LOCAL_POSITION_NED": x = msg.y y = msg.x z = -msg.z self.signals.update_signal.emit('local_pose', drone_id, { 'x': x, 'y': y, 'z': z }) self.signals.update_signal.emit('altitude', drone_id, { 'altitude': z }) self.signals.update_signal.emit('velocity', drone_id, { 'vx': msg.vx, 'vy': msg.vy, 'vz': msg.vz }) elif msg_type == "ATTITUDE": # 從 MAVLink 訊息中提取並轉為角度 pitch = math.degrees(msg.pitch) roll = math.degrees(msg.roll) yaw = math.degrees(msg.yaw) self.signals.update_signal.emit('attitude', drone_id, { 'pitch': pitch, 'roll': roll, 'yaw': yaw, 'rates': (msg.rollspeed, msg.pitchspeed, msg.yawspeed) }) elif msg_type == "VFR_HUD": self.signals.update_signal.emit('hud', drone_id, { 'airspeed': msg.airspeed, 'groundspeed': msg.groundspeed, 'heading': msg.heading, 'throttle': msg.throttle, 'alt': msg.alt, 'climb': msg.climb }) except Exception as e: print(f"Error processing MAVLink message: {e}") def stop(self): """停止接收器""" self.running = False class SerialMavlinkReceiver(threading.Thread): """串口 MAVLink 接收器""" def __init__(self, port, baudrate, signals, connection_name, monitor=None): super().__init__(daemon=True) self.port = port self.baudrate = baudrate self.signals = signals self.connection_name = connection_name self.monitor = monitor # 保存 monitor 引用 self.socket_id = monitor.get_next_socket_id() if monitor else 0 self.running = False self.mav = None def run(self): """執行串口接收循環""" self.running = True try: print(f"Serial MAVLink receiver started on {self.port} at {self.baudrate} baud") # 創建 MAVLink 串口連接 self.mav = mavutil.mavlink_connection( self.port, baud=self.baudrate, source_system=255 ) print(f"Waiting for heartbeat from {self.port}...") self.mav.wait_heartbeat() print(f"Heartbeat received from system {self.mav.target_system}, component {self.mav.target_component}") while self.running: try: msg = self.mav.recv_match(blocking=True, timeout=1.0) if msg is None: continue self.process_mavlink_message(msg) except Exception as e: if self.running: print(f"Error receiving MAVLink message from serial: {e}") except Exception as e: print(f"Serial receiver error: {e}") finally: if self.mav: try: self.mav.close() except: pass def process_mavlink_message(self, msg): """處理 MAVLink 訊息""" try: msg_type = msg.get_type() system_id = msg.get_srcSystem() drone_id = f"s{self.socket_id}_{system_id}" if msg_type == "HEARTBEAT": # 先發送連接類型資訊 self.signals.update_signal.emit('connection_type', drone_id, { 'type': 'Serial' }) mode = mavutil.mode_string_v10(msg) armed = bool(msg.base_mode & 128) self.signals.update_signal.emit('state', drone_id, { 'mode': mode, 'armed': armed }) elif msg_type == "BATTERY_STATUS": voltage = msg.voltages[0] / 1000 self.signals.update_signal.emit('battery', drone_id, { 'voltage': voltage }) elif msg_type == "GLOBAL_POSITION_INT": latitude = msg.lat / 1e7 longitude = msg.lon / 1e7 self.signals.update_signal.emit('gps', drone_id, { 'lat': latitude, 'lon': longitude }) elif msg_type == "GPS_RAW_INT": fix_type = msg.fix_type elif msg_type == "LOCAL_POSITION_NED": x = msg.y y = msg.x z = -msg.z self.signals.update_signal.emit('local_pose', drone_id, { 'x': x, 'y': y, 'z': z }) self.signals.update_signal.emit('altitude', drone_id, { 'altitude': z }) self.signals.update_signal.emit('velocity', drone_id, { 'vx': msg.vx, 'vy': msg.vy, 'vz': msg.vz }) elif msg_type == "ATTITUDE": # 從 MAVLink 訊息中提取並轉為角度 pitch = math.degrees(msg.pitch) roll = math.degrees(msg.roll) yaw = math.degrees(msg.yaw) self.signals.update_signal.emit('attitude', drone_id, { 'pitch': pitch, 'roll': roll, 'yaw': yaw, 'rates': (msg.rollspeed, msg.pitchspeed, msg.yawspeed) }) elif msg_type == "VFR_HUD": self.signals.update_signal.emit('hud', drone_id, { 'airspeed': msg.airspeed, 'groundspeed': msg.groundspeed, 'heading': msg.heading, 'throttle': msg.throttle, 'alt': msg.alt, 'climb': msg.climb }) except Exception as e: print(f"Error processing MAVLink message from serial: {e}") def stop(self): """停止接收器""" self.running = False class WebSocketMavlinkReceiver(threading.Thread): """WebSocket MAVLink 接收器""" def __init__(self, url, signals, connection_name, monitor=None): super().__init__(daemon=True) self.url = url self.signals = signals self.connection_name = connection_name self.monitor = monitor # 保存 monitor 引用 self.socket_id = monitor.get_next_socket_id() if monitor else 0 # 一次性分配 socket_id self.running = False self.max_retries = 5 self.base_delay = 1.0 def run(self): """執行 WebSocket 接收循環""" self.running = True asyncio.set_event_loop(asyncio.new_event_loop()) asyncio.get_event_loop().run_until_complete(self.ws_client_loop()) async def ws_client_loop(self): """WebSocket 連接的主循環""" retry_count = 0 print(f"Starting WebSocket client for {self.connection_name} at {self.url}") while self.running and retry_count < self.max_retries: try: async with websockets.connect(self.url) as websocket: print(f"WebSocket {self.connection_name} connected to {self.url}") retry_count = 0 # 重置重試計數 async for message in websocket: if not self.running: break try: data = json.loads(message) data['_connection_source'] = self.connection_name self.process_websocket_message(data) except json.JSONDecodeError as e: print(f"WebSocket {self.connection_name} JSON decode error: {e}") except Exception as e: print(f"WebSocket {self.connection_name} message processing error: {e}") except websockets.exceptions.ConnectionClosedError: print(f"WebSocket {self.connection_name} connection closed") if self.running: retry_count += 1 if retry_count < self.max_retries: delay = self.base_delay * (2 ** min(retry_count, 4)) print(f"Reconnecting in {delay}s...") await asyncio.sleep(delay) else: break except Exception as e: retry_count += 1 if retry_count < self.max_retries and self.running: delay = self.base_delay * (2 ** min(retry_count, 4)) print(f"WebSocket {self.connection_name} connection error: {e}, retrying in {delay}s (attempt {retry_count}/{self.max_retries})") await asyncio.sleep(delay) else: break print(f"WebSocket client {self.connection_name} stopped") def process_websocket_message(self, data): """處理 WebSocket 訊息""" try: system_id = data.get('system_id') if not system_id: return drone_id = f"s{self.socket_id}_{system_id}" # 模式 if 'mode' in data: # 先發送連接類型資訊 self.signals.update_signal.emit('connection_type', drone_id, { 'type': 'WS' }) self.signals.update_signal.emit('state', drone_id, { 'mode': data['mode'], }) # 電池 if 'battery' in data: self.signals.update_signal.emit('battery', drone_id, { 'percentage': data['battery'] }) # 位置 if 'position' in data: pos = data['position'] self.signals.update_signal.emit('gps', drone_id, { 'lat': pos.get('lat', 0), 'lon': pos.get('lon', 0) }) # Local position - 設定 x, y 為 0.0 self.signals.update_signal.emit('local_pose', drone_id, { 'x': 0.0, 'y': 0.0, 'z': 0.0 }) # Altitude - 設定為 0.0 self.signals.update_signal.emit('altitude', drone_id, { 'altitude': 0.0 }) # 航向 if 'heading' in data: self.signals.update_signal.emit('hud', drone_id, { 'heading': data['heading'], 'groundspeed': 0.0 }) except Exception as e: print(f"WebSocket message processing error: {e}") def stop(self): """停止接收器""" self.running = False class DroneMonitor(Node): # Subscribe to drone ROS2 topics def __init__(self): super().__init__('drone_monitor') self.signals = DroneSignals() self.drone_topics = {} self.lock = Lock() self.arm_clients = {} self.takeoff_clients = {} self.setpoint_pubs = {} self.selected_drones = set() self.latest_data = {} # 定義需要過濾的模式 self.filtered_modes = ['Mode(0x000000c0)'] # WebSocket 接收器列表 self.ws_receivers = [] # 串口接收器列表 # ================================================================================ # 【新增】儲存 GPS 資料的字典 # ================================================================================ self.drone_gps = {} # {drone_id: {'lat': ..., 'lon': ..., 'alt': ...}} # ================================================================================ # ================================================================================ # 【新增】Socket ID 重新分配機制 (從 0 開始) # ================================================================================ self.socket_id_mapping = {} # {原始socket_id: 重新分配的socket_id} self.socket_id_counter = 0 # 當前分配到的最大socket_id self.socket_id_lock = Lock() # 線程安全鎖 # ================================================================================ # ================================================================================ # 【新增】儲存 sys_id 到 actual_drone_id 的映射 (從 summary 獲取) # ================================================================================ self.sys_to_actual_id = {} # {sys_id: actual_drone_id} e.g. {'sys11': 's0_11'} self.sys_to_socket_id = {} # {sys_id: assigned_socket_id} e.g. {'sys11': 0} # ================================================================================ self.serial_receivers = [] # 主题检测定时器 self.create_timer(1.0, self.scan_topics) def get_next_socket_id(self): """获取下一个可用的 socket_id（从 0 开始连续分配）""" with self.socket_id_lock: current_id = self.socket_id_counter self.socket_id_counter += 1 return current_id def get_or_assign_socket_id(self, original_socket_id): """根據原始 socket_id 分配或獲取對應的 socket_id（從 0 開始連續分配） 同一個原始 socket_id 會得到同一個分配的 ID """ original_socket_id = str(original_socket_id) with self.socket_id_lock: if original_socket_id not in self.socket_id_mapping: # 分配新的 socket_id self.socket_id_mapping[original_socket_id] = self.socket_id_counter self.socket_id_counter += 1 return self.socket_id_mapping[original_socket_id] def scan_topics(self): topics = self.get_topic_names_and_types() drone_pattern = re.compile(r'/fc_network/vehicle/(sys\d+)/(\w+)') found_drones = set() for topic_name, _ in topics: if match := drone_pattern.match(topic_name): sys_id, topic_type = match.groups() found_drones.add(sys_id) with self.lock: self.drone_topics.setdefault(sys_id, set()).add(topic_type) for sys_id in found_drones: # 为每个 sys_id 分配 socket_id（如果还没有分配） # 注意：如果后续 summary 提供了 socket_id，会使用 summary 的映射覆盖 if sys_id not in self.sys_to_socket_id: # 暂时所有 ROS2 topic 共享同一个 socket_id = 0 self.sys_to_socket_id[sys_id] = 0 if not hasattr(self, f'drone_{sys_id}_subs'): self.setup_drone(sys_id) def setup_drone(self, sys_id): # sys_id 格式： sys11, sys12, ... base_topic = f'/fc_network/vehicle/{sys_id}' # Add service clients (保留但可能無法使用，因為新 topic 可能沒有這些服務) self.arm_clients[sys_id] = self.create_client( CommandBool, f'{base_topic}/cmd/arming' ) self.takeoff_clients[sys_id] = self.create_client( CommandTOL, f'{base_topic}/cmd/takeoff' ) # Add setpoint publisher self.setpoint_pubs[sys_id] = self.create_publisher( Point, f'{base_topic}/setpoint_position/local', 10 ) subs = { 'battery': self.create_subscription( BatteryState, f'{base_topic}/battery', lambda msg, sid=sys_id: self.battery_callback(sid, msg), 10 ), 'position': self.create_subscription( NavSatFix, f'{base_topic}/position', lambda msg, sid=sys_id: self.gps_callback(sid, msg), 10 ), 'summary': self.create_subscription( String, f'{base_topic}/summary', lambda msg, sid=sys_id: self.summary_callback(sid, msg), 10 ), 'vfr_hud': self.create_subscription( VfrHud, f'{base_topic}/vfr_hud', lambda msg, sid=sys_id: self.hud_callback(sid, msg), 10 ) } setattr(self, f'drone_{sys_id}_subs', subs) # ================================================================================ # 【新增】模式名稱到 custom_mode 值的映射（基於 Copter 模式） # ================================================================================ MODE_MAPPING = { "STABILIZE": 0, "ACRO": 1, "ALT_HOLD": 2, "AUTO": 3, "GUIDED": 4, "LOITER": 5, "RTL": 6, "CIRCLE": 7, "POSITION": 8, "LAND": 9, "OF_LOITER": 10, "DRIFT": 11, "SPORT": 13, "FLIP": 14, "AUTOTUNE": 15, "POSHOLD": 16, "BRAKE": 17, "THROW": 18, "AVOID_ADSB": 19, "GUIDED_NOGPS": 20, "SMART_RTL": 21, } # ================================================================================ async def set_mode(self, drone_id, mode_name): """ 使用 fc_network_apps 的 change_mode 函數切換無人機飛行模式 參數: drone_id: 無人機ID (格式: "s{socket_id}_{sysid}") mode_name: 模式名稱 (例如: "GUIDED", "AUTO", "LOITER") 返回: bool: 模式切換是否成功 """ import asyncio from concurrent.futures import ThreadPoolExecutor print(f"\n🔵 [SET_MODE] set_mode() 異步函數被調用 (drone_id={drone_id}, mode={mode_name})", flush=True) print(f" 事件循环: {asyncio.get_event_loop()}", flush=True) print(f" 当前任务: {asyncio.current_task()}\n", flush=True) # 解析 drone_id 以提取 sysid # drone_id 格式: "s{socket_id}_{sysid}" (例如: "s0_1", "s0_11") try: parts = drone_id.split('_') if len(parts) < 2: self.get_logger().error(f"Invalid drone_id format: {drone_id}") print(f"❌ [SET_MODE] 無效的 drone_id 格式: {drone_id}") print(f" 返回: False") return False sysid = int(parts[-1]) print(f"✓ [SET_MODE] 解析 drone_id: {drone_id} → sysid={sysid}") except (ValueError, IndexError) as e: self.get_logger().error(f"Failed to parse drone_id {drone_id}: {e}") print(f"❌ [SET_MODE] 無法解析 drone_id {drone_id}: {e}") print(f" 返回: False") return False # 獲取模式對應的 custom_mode 值 custom_mode = self.MODE_MAPPING.get(mode_name) if custom_mode is None: self.get_logger().error(f"Unknown mode: {mode_name}. Available modes: {list(self.MODE_MAPPING.keys())}") print(f"❌ [SET_MODE] 未知模式: {mode_name}") print(f" 支持的模式: {list(self.MODE_MAPPING.keys())}") return False print(f"✓ [SET_MODE] 模式對應: {mode_name} → custom_mode={custom_mode}") # 檢查 fc_network_apps 的 change_mode 函數是否可用 if change_mode is None: self.get_logger().error("fc_network_apps is not available. Cannot change mode.") print(f"❌ [SET_MODE] fc_network_apps 不可用") return False # 使用 fc_network_apps 的 change_mode 函數 try: msg = f"ROS2 服務呼叫: target_sysid={sysid}, custom_mode={custom_mode}, base_mode=1.0" self.get_logger().info(f"Changing mode for drone {drone_id} to {mode_name} (custom_mode={custom_mode})") print(f"\n📢 [SET_MODE] 開始切換模式") print(f" Drone ID: {drone_id}") print(f" 模式: {mode_name}") print(f" {msg}") # 在線程池中運行同步的 change_mode 函數 loop = asyncio.get_event_loop() executor = ThreadPoolExecutor(max_workers=1) def _call_change_mode(): print(f"\n 🔄 [_call_change_mode] 在線程池中調用 change_mode...") print(f" ├─ 線程開始時間: {__import__('time').time()}") print(f" ├─ 目標: sysid={sysid}, mode={custom_mode}\n") result = change_mode( target_sysid=sysid, custom_mode=float(custom_mode), target_compid=0, base_mode=1.0, confirmation=0, timeout_sec=2.0, ) print(f"\n ├─ change_mode() 返回結果對象: {result}") print(f" └─ 線程任務完成") return result print(f" 📢 [SET_MODE] 提交 change_mode 到線程池...") result = await loop.run_in_executor(executor, _call_change_mode) print(f"\n ✓ [SET_MODE] 從線程池接收到返回值") print(f"\n📥 [SET_MODE] 從 change_mode() 接收服務響應:") print(f" ├─ result 对象类型: {type(result)}") print(f" ├─ result.success: {result.success} (类型: {type(result.success)})") print(f" ├─ result.message: '{result.message}' (类型: {type(result.message)})") print(f" └─ result.ack_result: {result.ack_result} (类型: {type(result.ack_result)})") print(f"\n【返回值確認】") print(f" success == True: {result.success == True}") print(f" success is True: {result.success is True}") print(f" bool(success): {bool(result.success)}") print(f"\n【FC_NETWORK SERVICE 回传值确认】") print(f" ├─ result.success: {result.success}") print(f" ├─ result.message: '{result.message}'") print(f" └─ result.ack_result: {result.ack_result}") if result.success: self.get_logger().info(f"Mode change successful for {drone_id}: {result.message}") print(f"\n✅ [SET_MODE] 模式切換成功！") print(f" ├─ fc_network 確認: success=True") print(f" ├─ 訊息: {result.message}") print(f" ├─ ACK代碼: {result.ack_result}") print(f" └─ 返回到 GUI: True") return True else: self.get_logger().warning(f"Mode change failed for {drone_id}: {result.message} (ack={result.ack_result})") print(f"\n❌ [SET_MODE] 模式切換失敗！") print(f" ├─ fc_network 確認: success=False") print(f" ├─ 原因: {result.message}") print(f" ├─ ACK代碼: {result.ack_result}") print(f" └─ 返回到 GUI: False") return False except Exception as e: self.get_logger().error(f"Exception during mode change for {drone_id}: {e}") print(f"\n❌ [SET_MODE] 例外錯誤: {e}") import traceback traceback.print_exc() print(f" 返回: False (异常)") return False async def arm_drone(self, drone_id, arm): """ 使用 fc_network_apps 的 arm_disarm 函數上鎖/解鎖無人機 參數: drone_id: 無人機ID (格式: "s{socket_id}_{sysid}") arm: True 為上鎖, False 為解鎖 返回: bool: 操作是否成功 """ import asyncio from concurrent.futures import ThreadPoolExecutor action_name = "上鎖" if arm else "解鎖" print(f"\n🔵 [ARM_DISARM] arm_drone() 異步函數被調用 (drone_id={drone_id}, arm={arm}, 動作={action_name})", flush=True) # 解析 drone_id 以提取 sysid try: parts = drone_id.split('_') if len(parts) < 2: self.get_logger().error(f"Invalid drone_id format: {drone_id}") print(f"❌ [ARM_DISARM] 無效的 drone_id 格式: {drone_id}") return False sysid = int(parts[-1]) print(f"✓ [ARM_DISARM] 解析 drone_id: {drone_id} → sysid={sysid}") except (ValueError, IndexError) as e: self.get_logger().error(f"Failed to parse drone_id {drone_id}: {e}") print(f"❌ [ARM_DISARM] 無法解析 drone_id {drone_id}: {e}") return False try: msg = f"ROS2 服務呼叫: target_sysid={sysid}, arm={arm}" self.get_logger().info(f"Changing arm state for drone {drone_id} to {action_name}") print(f"\n📢 [ARM_DISARM] 開始{action_name}無人機") print(f" Drone ID: {drone_id}") print(f" 動作: {action_name}") print(f" {msg}") # 在線程池中直接調用 ROS2 服務（避免 arm_disarm() 導致的初始化衝突） from fc_interfaces.srv import MavCommandLong loop = asyncio.get_event_loop() executor = ThreadPoolExecutor(max_workers=1) def _call_ros2_arm_service(): """直接調用 ROS2 服務""" import time print(f"\n 🔄 [_call_ros2_arm_service] 在線程池中調用 ROS2 服務...") print(f" ├─ 時間: {time.time()}") print(f" ├─ 目標: sysid={sysid}, arm={arm}") print(f" └─ 直接調用ROS2服務（避免rclpy.init()衝突）\n") try: # 建立 ROS2 客戶端（使用現有 context） client = self.create_client(MavCommandLong, "/fc_network/vehicle/send_command_long") # 等待服務 if not client.wait_for_service(timeout_sec=2.0): print(f" ❌ 服務不可用") return {'success': False, 'message': 'Service not available', 'ack_result': -1} print(f" ✓ 服務已連接") # 準備請求 req = MavCommandLong.Request() req.target_sysid = sysid req.target_compid = 0 req.command = 400 # MAV_CMD_COMPONENT_ARM_DISARM req.confirmation = 0 req.param1 = 1.0 if arm else 0.0 req.param2 = 0.0 req.param3 = 0.0 req.param4 = 0.0 req.param5 = 0.0 req.param6 = 0.0 req.param7 = 0.0 req.timeout_sec = 2.0 # 調用服務 future = client.call_async(req) # 簡單等待 timeout = time.time() + 3.0 while not future.done() and time.time() < timeout: time.sleep(0.01) if future.done() and future.result(): response = future.result() return { 'success': response.success, 'message': response.message, 'ack_result': response.ack_result, } else: return {'success': False, 'message': 'Service call timeout', 'ack_result': -1} except Exception as e: print(f" ❌ 異常: {e}") return {'success': False, 'message': str(e), 'ack_result': -1} print(f" 📢 [ARM_DISARM] 提交 ROS2 服務呼叫到線程池...") result_dict = await loop.run_in_executor(executor, _call_ros2_arm_service) if result_dict['success']: self.get_logger().info(f"Arm state change successful for {drone_id}") print(f"\n✅ [ARM_DISARM] 無人機{action_name}成功！") return True else: self.get_logger().warning(f"Arm state change failed for {drone_id}") print(f"\n❌ [ARM_DISARM] 無人機{action_name}失敗！") return False except Exception as e: self.get_logger().error(f"Exception during arm state change for {drone_id}: {e}") print(f"\n❌ [ARM_DISARM] 例外錯誤: {e}") return False async def takeoff_drone(self, drone_id, altitude): """ 使用 fc_network_apps 的 takeoff 函數執行無人機起飛 參數: drone_id: 無人機ID (格式: "s{socket_id}_{sysid}") altitude: 目標高度 (米) 返回: bool: 起飛是否成功 """ import asyncio from concurrent.futures import ThreadPoolExecutor print(f"\n🔵 [TAKEOFF] takeoff_drone() 異步函數被調用 (drone_id={drone_id}, altitude={altitude})", flush=True) # 解析 drone_id 以提取 sysid try: parts = drone_id.split('_') if len(parts) < 2: self.get_logger().error(f"Invalid drone_id format: {drone_id}") print(f"❌ [TAKEOFF] 無效的 drone_id 格式: {drone_id}") return False sysid = int(parts[-1]) print(f"✓ [TAKEOFF] 解析 drone_id: {drone_id} → sysid={sysid}") except (ValueError, IndexError) as e: self.get_logger().error(f"Failed to parse drone_id {drone_id}: {e}") print(f"❌ [TAKEOFF] 無法解析 drone_id {drone_id}: {e}") return False # 檢查 fc_network_apps 的 takeoff 函數是否可用 if takeoff is None: self.get_logger().error("fc_network_apps takeoff is not available. Cannot takeoff drone.") print(f"❌ [TAKEOFF] fc_network_apps takeoff 不可用") return False try: print(f"\n📢 [TAKEOFF] 開始起飛無人機") print(f" Drone ID: {drone_id}") print(f" ROS2 服務呼叫: target_sysid={sysid}, altitude_m={altitude}") # 在線程池中運行同步的 takeoff 函數 loop = asyncio.get_event_loop() executor = ThreadPoolExecutor(max_workers=1) def _call_takeoff(): print(f"\n 🔄 [_call_takeoff] 在線程池中調用 takeoff(altitude={altitude})...") result = takeoff( target_sysid=sysid, altitude_m=float(altitude), target_compid=0, min_pitch_deg=0.0, yaw_deg=0.0, timeout_sec=2.0, ) print(f"\n └─ takeoff() 返回結果") return result print(f" 📢 [TAKEOFF] 提交 takeoff 到線程池...") result = await loop.run_in_executor(executor, _call_takeoff) print(f"\n📥 [TAKEOFF] 從 takeoff() 接收服務響應:") print(f" ├─ result.success: {result.success}") print(f" ├─ result.message: '{result.message}'") print(f" └─ result.ack_result: {result.ack_result}") if result.success: self.get_logger().info(f"Drone {drone_id} takeoff successfully: {result.message}") print(f"\n✅ [TAKEOFF] 無人機起飛成功！") print(f" ├─ fc_network 確認: success=True") print(f" ├─ 訊息: {result.message}") print(f" └─ ACK代碼: {result.ack_result}") return True else: self.get_logger().warning(f"Failed to takeoff drone {drone_id}: {result.message} (ack={result.ack_result})") print(f"\n❌ [TAKEOFF] 無人機起飛失敗！") print(f" ├─ fc_network 確認: success=False") print(f" ├─ 原因: {result.message}") print(f" └─ ACK代碼: {result.ack_result}") return False except Exception as e: self.get_logger().error(f"Exception during takeoff for {drone_id}: {e}") print(f"\n❌ [TAKEOFF] 例外錯誤: {e}") import traceback traceback.print_exc() return False def send_setpoint(self, drone_id, x, y, z): """Send setpoint position command""" if drone_id not in self.setpoint_pubs: return False msg = Point() msg.x = float(x) msg.y = float(y) msg.z = float(z) self.setpoint_pubs[drone_id].publish(msg) return True def quaternion_to_euler(self, q): sinr_cosp = 2 * (q.w * q.x + q.y * q.z) cosr_cosp = 1 - 2 * (q.x**2 + q.y**2) roll = math.atan2(sinr_cosp, cosr_cosp) sinp = 2 * (q.w * q.y - q.z * q.x) pitch = math.asin(sinp) if abs(sinp) < 1 else math.copysign(math.pi/2, sinp) siny_cosp = 2 * (q.w * q.z + q.x * q.y) cosy_cosp = 1 - 2 * (q.y**2 + q.z**2) yaw = math.atan2(siny_cosp, cosy_cosp) return math.degrees(roll), math.degrees(pitch), math.degrees(yaw) # callbacks def attitude_callback(self, drone_id, msg): if hasattr(msg, 'orientation'): roll, pitch, yaw = self.quaternion_to_euler(msg.orientation) self.latest_data[(drone_id, 'attitude')] = { 'roll': roll, 'pitch': pitch, 'yaw': yaw, 'rates': (msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z) } def battery_callback(self, sys_id, msg): # 使用映射獲取實際的 drone_id actual_drone_id = self.sys_to_actual_id.get(sys_id, None) # 如果還沒有從 summary 獲取到映射，則不處理 if actual_drone_id is None: return self.latest_data[(actual_drone_id, 'battery')] = { 'voltage': msg.voltage } def state_callback(self, drone_id, msg): mode = msg.mode if mode in self.filtered_modes: return self.latest_data[(drone_id, 'state')] = { 'mode': msg.mode, 'armed': msg.armed } def summary_callback(self, sys_id, msg): """處理 summary topic (JSON 格式)""" try: data = json.loads(msg.data) mode = data.get('mode_name', 'UNKNOWN') if mode in self.filtered_modes: return # 從 summary 獲取原始 socket_id，並映射到分配的 socket_id original_socket_id = data.get('socket_id') if original_socket_id is not None: # 使用原始 socket_id 獲取或分配統一的 socket_id assigned_socket_id = self.get_or_assign_socket_id(original_socket_id) else: # 如果沒有 socket_id，使用 sys_to_socket_id 映射 assigned_socket_id = self.sys_to_socket_id.get(sys_id, 0) sysid = data.get('sysid') if sysid is not None: actual_drone_id = f's{assigned_socket_id}_{sysid}' # ================================================================================ # 【關鍵】保存 sys_id 到 actual_drone_id 的映射 # ================================================================================ self.sys_to_actual_id[sys_id] = actual_drone_id # ================================================================================ else: # 如果沒有 sysid，使用 sys_id 中的數字 sys_num = sys_id.replace('sys', '') actual_drone_id = f's{assigned_socket_id}_{sys_num}' self.sys_to_actual_id[sys_id] = actual_drone_id # 先發送連接類型資訊 self.signals.update_signal.emit('connection_type', actual_drone_id, { 'type': 'ROS2' }) self.latest_data[(actual_drone_id, 'state')] = { 'mode': mode, 'armed': data.get('armed', False), 'socket_id': original_socket_id, 'sysid': sysid, 'vehicle_type': data.get('vehicle_type'), 'autopilot': data.get('autopilot'), 'gps_fix': data.get('gps_fix'), 'gps_fix_type': data.get('gps_fix'), 'connected': data.get('connected') } except json.JSONDecodeError as e: print(f"Error parsing summary JSON for {sys_id}: {e}") except Exception as e: print(f"Error in summary_callback for {sys_id}: {e}") def gps_callback(self, sys_id, msg): # 使用映射獲取實際的 drone_id actual_drone_id = self.sys_to_actual_id.get(sys_id, None) # 如果還沒有從 summary 獲取到映射，則不處理 if actual_drone_id is None: return self.latest_data[(actual_drone_id, 'gps')] = { 'lat': msg.latitude, 'lon': msg.longitude, 'alt': msg.altitude } # ================================================================================ # 【新增】儲存 GPS 資料到 drone_gps 字典 # ================================================================================ self.drone_gps[actual_drone_id] = { 'lat': msg.latitude, 'lon': msg.longitude, 'alt': msg.altitude } # ================================================================================ def local_vel_callback(self, drone_id, msg): self.latest_data[(drone_id, 'velocity')] = { 'vx': msg.x, 'vy': msg.y, 'vz': msg.z } def altitude_callback(self, drone_id, msg): self.latest_data[(drone_id, 'altitude')] = { 'altitude': msg.data } def local_pose_callback(self, drone_id, msg): self.latest_data[(drone_id, 'local_pose')] = { 'x': msg.x, 'y': msg.y, 'z': msg.z } def hud_callback(self, sys_id, msg): # 使用映射獲取實際的 drone_id actual_drone_id = self.sys_to_actual_id.get(sys_id, None) # 如果還沒有從 summary 獲取到映射，則不處理 if actual_drone_id is None: return self.latest_data[(actual_drone_id, 'hud')] = { 'airspeed': msg.airspeed, 'groundspeed': msg.groundspeed, 'heading': msg.heading, 'throttle': msg.throttle, 'alt': msg.altitude, 'climb': msg.climb } def loss_rate_callback(self, drone_id, msg): self.latest_data[(drone_id, 'loss_rate')] = { 'loss_rate': msg.data } def ping_callback(self, drone_id, msg): self.latest_data[(drone_id, 'ping')] = { 'ping': msg.data } def start_serial_connection(self, port='/dev/ttyUSB0', baudrate=57600): """啟動串口 MAVLink 連接""" connection_name = f"Serial_{port.replace('/', '_')}" receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name, self) receiver.start() self.serial_receivers.append(receiver) print(f"Started serial connection on {port} at {baudrate} baud") return receiver