(hot_fix)

1. 把測試用參數關閉
2. 修正錯誤回傳值
3. 臨時加入 node 失效後 自動重啟功能

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 = "v1.00"
+PROJECT_VER = "v1.10"
 
 class PanelState:
     def __init__(self):
@@ -1218,6 +1218,8 @@ class Orchestrator:
 
     def mainLoop(self):
         logger.info("Main orchestrator started <-")
+        self.ros2_retry_time = None
+        self.ros2_manual_stop = False
         try:
             # while not self.stop_evt.is_set():
             while self.panel_thread.is_alive():
@@ -1249,6 +1251,17 @@ class Orchestrator:
                 else:
                     self.panelState.ros2_manager_state = 'Stopped'
 
+                    # 這邊做一個簡易的重啟 掛掉要等待一秒再重啟 避免過度頻繁 # 算是高技術債的方式構建 但是未來有需要在還吧 (煙
+                    if not self.ros2_manual_stop:
+                        # logger.info(f"mark A {self.ros2_retry_time}")
+                        if self.ros2_retry_time:
+                            if (time.time() - self.ros2_retry_time) > 1:
+                                self.fc_ros_manager.start()
+                                self.fc_ros_manager.schedule_restart_node("command_service")
+                                self.ros2_retry_time = None
+                        else:
+                            self.ros2_retry_time = time.time()
+
                 # B. 更新載具列表（從 vehicle_registry 獲取）
                 self._update_vehicles_list()
 
@@ -1337,8 +1350,10 @@ class Orchestrator:
                         self.plumber.shutdown()
                     elif cmd == "STOP_ROS_MANAGER":
                         self.fc_ros_manager.stop()
+                        self.ros2_manual_stop = True
                     elif cmd == "START_ROS_MANAGER":
                         self.fc_ros_manager.start()
+                        self.ros2_manual_stop = False
 
                 except queue.Empty:
                     pass

src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py

@@ -758,7 +758,7 @@ class MavlinkCommandService(Node):
         # 6) 處理回應封包
         if not fail_skip:
             ack_msg = _pending.result_mav_msg
-            response.success = ServiceAckResult.FCSYS_MAVLINK_BREAK # dev 故意觸發錯誤用的
+            # response.success = ServiceAckResult.FCSYS_MAVLINK_BREAK # dev 故意觸發錯誤用的
             response.success = (ack_msg.result == 0) # mavutil.mavlink.MAV_RESULT_ACCEPTED
             response.message = "" # 沒有消息就是好消息
             response.ack_result = ack_msg.result
@@ -838,7 +838,7 @@ class MavlinkCommandService(Node):
             ack_msg = _pending.result_mav_msg
 
             response.message = ""
-            response.ack_result = ServiceAckResult.FCSYS_GET_EXPECTED_FEEDBACK
+            response.ack_result = ServiceAckResult.MAV_RESULT_ACCEPTED
             response.r_time_boot_ms = ack_msg.time_boot_ms 
             response.r_type_mask = ack_msg.type_mask
             response.r_lat_int = ack_msg.lat_int