forked from chiyu1468/AirTrapMine
Upload files to 'src/unitdev01/unitdev01'
parent
4388ebd9ed
commit
14b70f6e2e
@ -0,0 +1,511 @@
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from rclpy.node import Node
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from PyQt6.QtCore import QObject, pyqtSignal
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import math
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import re
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import threading
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from threading import Lock
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import asyncio
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import websockets
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import json
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import socket
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from pymavlink import mavutil
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from geometry_msgs.msg import Point, Vector3
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from sensor_msgs.msg import BatteryState, NavSatFix, Imu
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from std_msgs.msg import Float64
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from mavros_msgs.msg import State, VfrHud
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from mavros_msgs.srv import CommandBool, CommandTOL
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class DroneSignals(QObject):
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update_signal = pyqtSignal(str, str, object) # (msg_type, drone_id, data)
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class UDPMavlinkReceiver(threading.Thread):
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"""UDP MAVLink 接收器"""
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def __init__(self, ip, port, signals, connection_name):
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super().__init__(daemon=True)
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self.ip = ip
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self.port = port
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self.signals = signals
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self.connection_name = connection_name
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self.running = False
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self.sock = None
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def run(self):
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"""執行 UDP 接收循環"""
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self.running = True
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try:
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print(f"UDP MAVLink receiver started on {self.ip}:{self.port}")
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# 創建 MAVLink 連接
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mav = mavutil.mavlink_connection(f'udpin:{self.ip}:{self.port}')
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while self.running:
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try:
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msg = mav.recv_match(blocking=True, timeout=1.0)
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if msg is None:
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continue
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self.process_mavlink_message(msg)
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except socket.timeout:
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continue
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except Exception as e:
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print(f"Error receiving MAVLink message: {e}")
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except Exception as e:
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print(f"UDP receiver error: {e}")
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finally:
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if self.sock:
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self.sock.close()
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def process_mavlink_message(self, msg):
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"""處理 MAVLink 訊息"""
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try:
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msg_type = msg.get_type()
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system_id = msg.get_srcSystem()
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drone_id = f"s8_{system_id}" # 使用 s8_ 前綴表示 UDP 來源
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if msg_type == "HEARTBEAT":
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mode = mavutil.mode_string_v10(msg)
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armed = bool(msg.base_mode & 128)
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self.signals.update_signal.emit('state', drone_id, {
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'mode': mode,
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'armed': armed
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})
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elif msg_type == "BATTERY_STATUS":
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voltage = msg.voltages[0] / 1000
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self.signals.update_signal.emit('battery', drone_id, {
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'voltage': voltage
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})
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elif msg_type == "GLOBAL_POSITION_INT":
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latitude = msg.lat / 1e7
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longitude = msg.lon / 1e7
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self.signals.update_signal.emit('gps', drone_id, {
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'lat': latitude,
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'lon': longitude
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})
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elif msg_type == "GPS_RAW_INT":
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fix_type = msg.fix_type
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elif msg_type == "LOCAL_POSITION_NED":
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x = msg.y
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y = msg.x
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z = -msg.z
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self.signals.update_signal.emit('local_pose', drone_id, {
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'x': x,
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'y': y,
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'z': z
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})
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self.signals.update_signal.emit('altitude', drone_id, {
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'altitude': z
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})
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self.signals.update_signal.emit('velocity', drone_id, {
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'vx': msg.vx,
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'vy': msg.vy,
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'vz': msg.vz
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})
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elif msg_type == "ATTITUDE":
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pitch = math.degrees(msg.pitch)
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self.signals.update_signal.emit('attitude', drone_id, {
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'pitch': pitch,
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'roll': 0,
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'yaw': 0,
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'rates': (0, 0, 0)
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})
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elif msg_type == "VFR_HUD":
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groundspeed = msg.groundspeed
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heading = msg.heading
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self.signals.update_signal.emit('hud', drone_id, {
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'heading': heading,
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'groundspeed': groundspeed
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})
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except Exception as e:
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print(f"Error processing MAVLink message: {e}")
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def stop(self):
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"""停止接收器"""
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self.running = False
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class WebSocketMavlinkReceiver(threading.Thread):
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"""WebSocket MAVLink 接收器"""
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def __init__(self, url, signals, connection_name):
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super().__init__(daemon=True)
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self.url = url
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self.signals = signals
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self.connection_name = connection_name
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self.running = False
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self.max_retries = 5
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self.base_delay = 1.0
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def run(self):
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"""執行 WebSocket 接收循環"""
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self.running = True
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asyncio.set_event_loop(asyncio.new_event_loop())
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asyncio.get_event_loop().run_until_complete(self.ws_client_loop())
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async def ws_client_loop(self):
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"""WebSocket 連接的主循環"""
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retry_count = 0
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print(f"Starting WebSocket client for {self.connection_name} at {self.url}")
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while self.running and retry_count < self.max_retries:
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try:
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async with websockets.connect(self.url) as websocket:
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print(f"WebSocket {self.connection_name} connected to {self.url}")
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retry_count = 0 # 重置重試計數
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async for message in websocket:
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if not self.running:
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break
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try:
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data = json.loads(message)
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data['_connection_source'] = self.connection_name
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self.process_websocket_message(data)
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except json.JSONDecodeError as e:
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print(f"WebSocket {self.connection_name} JSON decode error: {e}")
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except Exception as e:
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print(f"WebSocket {self.connection_name} message processing error: {e}")
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except websockets.exceptions.ConnectionClosedError:
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print(f"WebSocket {self.connection_name} connection closed")
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if self.running:
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retry_count += 1
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if retry_count < self.max_retries:
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delay = self.base_delay * (2 ** min(retry_count, 4))
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print(f"Reconnecting in {delay}s...")
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await asyncio.sleep(delay)
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else:
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break
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except Exception as e:
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retry_count += 1
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if retry_count < self.max_retries and self.running:
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delay = self.base_delay * (2 ** min(retry_count, 4))
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print(f"WebSocket {self.connection_name} connection error: {e}, retrying in {delay}s (attempt {retry_count}/{self.max_retries})")
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await asyncio.sleep(delay)
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else:
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break
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print(f"WebSocket client {self.connection_name} stopped")
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def process_websocket_message(self, data):
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"""處理 WebSocket 訊息"""
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try:
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drone_id = data.get('system_id')
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drone_id = f"s9_{drone_id}" if drone_id else None
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if not drone_id:
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return
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# 模式
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if 'mode' in data:
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self.signals.update_signal.emit('state', drone_id, {
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'mode': data['mode'],
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})
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# 電池
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if 'battery' in data:
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self.signals.update_signal.emit('battery', drone_id, {
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'percentage': data['battery']
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})
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# 位置
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if 'position' in data:
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pos = data['position']
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self.signals.update_signal.emit('gps', drone_id, {
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'lat': pos.get('lat', 0),
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'lon': pos.get('lon', 0)
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})
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# Local position - 設定 x, y 為 0.0
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self.signals.update_signal.emit('local_pose', drone_id, {
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'x': 0.0,
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'y': 0.0,
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'z': 0.0
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})
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# Altitude - 設定為 0.0
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self.signals.update_signal.emit('altitude', drone_id, {
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'altitude': 0.0
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})
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# 航向
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if 'heading' in data:
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self.signals.update_signal.emit('hud', drone_id, {
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'heading': data['heading'],
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'groundspeed': 0.0
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})
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except Exception as e:
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print(f"WebSocket message processing error: {e}")
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def stop(self):
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"""停止接收器"""
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self.running = False
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class DroneMonitor(Node):
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def __init__(self):
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super().__init__('drone_monitor')
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self.signals = DroneSignals()
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self.drone_topics = {}
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self.lock = Lock()
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self.arm_clients = {}
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self.takeoff_clients = {}
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self.setpoint_pubs = {}
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self.selected_drones = set()
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self.latest_data = {}
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# 定義需要過濾的模式
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self.filtered_modes = ['Mode(0x000000c0)']
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# WebSocket 接收器列表
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self.ws_receivers = []
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# 主题检测定时器
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self.create_timer(1.0, self.scan_topics)
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def scan_topics(self):
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topics = self.get_topic_names_and_types()
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drone_pattern = re.compile(r'/MavLinkBus/(s\d+_\d+)/(\w+)')
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found_drones = set()
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for topic_name, _ in topics:
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if match := drone_pattern.match(topic_name):
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drone_id, topic_type = match.groups()
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found_drones.add(drone_id)
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with self.lock:
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self.drone_topics.setdefault(drone_id, set()).add(topic_type)
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for drone_id in found_drones:
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if not hasattr(self, f'drone_{drone_id}_subs'):
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self.setup_drone(drone_id)
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def setup_drone(self, drone_id):
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base_topic = f'/MavLinkBus/{drone_id}'
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# Add service clients
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self.arm_clients[drone_id] = self.create_client(
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CommandBool,
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f'{base_topic}/cmd/arming'
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)
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self.takeoff_clients[drone_id] = self.create_client(
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CommandTOL,
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f'{base_topic}/cmd/takeoff'
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)
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# Add setpoint publisher
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self.setpoint_pubs[drone_id] = self.create_publisher(
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Point,
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f'{base_topic}/setpoint_position/local',
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10
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)
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subs = {
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'attitude': self.create_subscription(
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Imu,
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f'{base_topic}/attitude',
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lambda msg, did=drone_id: self.attitude_callback(did, msg),
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10
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),
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'battery': self.create_subscription(
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BatteryState,
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f'{base_topic}/battery',
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lambda msg, did=drone_id: self.battery_callback(did, msg),
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10
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),
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'global': self.create_subscription(
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NavSatFix,
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f'{base_topic}/global_position/global',
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lambda msg, did=drone_id: self.gps_callback(did, msg),
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10
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),
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'rel_alt': self.create_subscription(
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Float64,
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f'{base_topic}/global_position/rel_alt',
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lambda msg, did=drone_id: self.altitude_callback(did, msg),
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10
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),
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'local_pose': self.create_subscription(
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Point,
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f'{base_topic}/local_position/pose',
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lambda msg, did=drone_id: self.local_pose_callback(did, msg),
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10
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),
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'local_vel': self.create_subscription(
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Vector3,
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f'{base_topic}/local_position/velocity',
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lambda msg, did=drone_id: self.local_vel_callback(did, msg),
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10
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),
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'loss_rate': self.create_subscription(
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Float64,
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f'{base_topic}/packet_loss_rate',
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lambda msg, did=drone_id: self.loss_rate_callback(did, msg),
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10
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),
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'state': self.create_subscription(
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State,
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f'{base_topic}/state',
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lambda msg, did=drone_id: self.state_callback(did, msg),
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10
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),
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'ping': self.create_subscription(
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Float64,
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f'{base_topic}/ping',
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lambda msg, did=drone_id: self.ping_callback(did, msg),
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10
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),
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'vfr_hud': self.create_subscription(
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VfrHud,
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f'{base_topic}/vfr_hud',
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lambda msg, did=drone_id: self.hud_callback(did, msg),
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10
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)
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}
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setattr(self, f'drone_{drone_id}_subs', subs)
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async def arm_drone(self, drone_id, arm):
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if drone_id not in self.arm_clients:
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return False
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client = self.arm_clients[drone_id]
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if not client.wait_for_service(timeout_sec=1.0):
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return False
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request = CommandBool.Request()
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request.value = arm
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future = client.call_async(request)
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try:
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response = await future
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return response.success
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except Exception as e:
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self.get_logger().error(f'Arm service call failed: {e}')
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return False
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async def takeoff_drone(self, drone_id, altitude=10.0):
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if drone_id not in self.takeoff_clients:
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return False
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client = self.takeoff_clients[drone_id]
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if not client.wait_for_service(timeout_sec=1.0):
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return False
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request = CommandTOL.Request()
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request.altitude = altitude
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request.min_pitch = 0.0
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request.yaw = 0.0
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future = client.call_async(request)
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try:
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response = await future
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return response.success
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except Exception as e:
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self.get_logger().error(f'Takeoff service call failed: {e}')
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return False
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def send_setpoint(self, drone_id, x, y, z):
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"""Send setpoint position command"""
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if drone_id not in self.setpoint_pubs:
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return False
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msg = Point()
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msg.x = float(x)
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msg.y = float(y)
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msg.z = float(z)
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self.setpoint_pubs[drone_id].publish(msg)
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return True
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def quaternion_to_euler(self, q):
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sinr_cosp = 2 * (q.w * q.x + q.y * q.z)
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cosr_cosp = 1 - 2 * (q.x**2 + q.y**2)
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roll = math.atan2(sinr_cosp, cosr_cosp)
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sinp = 2 * (q.w * q.y - q.z * q.x)
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pitch = math.asin(sinp) if abs(sinp) < 1 else math.copysign(math.pi/2, sinp)
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siny_cosp = 2 * (q.w * q.z + q.x * q.y)
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cosy_cosp = 1 - 2 * (q.y**2 + q.z**2)
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yaw = math.atan2(siny_cosp, cosy_cosp)
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return math.degrees(roll), math.degrees(pitch), math.degrees(yaw)
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# callbacks
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def attitude_callback(self, drone_id, msg):
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if hasattr(msg, 'orientation'):
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roll, pitch, yaw = self.quaternion_to_euler(msg.orientation)
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self.latest_data[(drone_id, 'attitude')] = {
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'roll': roll,
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'pitch': pitch,
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'yaw': yaw,
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'rates': (msg.angular_velocity.x,
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msg.angular_velocity.y,
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msg.angular_velocity.z)
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}
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def battery_callback(self, drone_id, msg):
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self.latest_data[(drone_id, 'battery')] = {
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'voltage': msg.voltage
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}
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def state_callback(self, drone_id, msg):
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mode = msg.mode
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if mode in self.filtered_modes:
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return
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self.latest_data[(drone_id, 'state')] = {
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'mode': msg.mode,
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'armed': msg.armed
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}
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def gps_callback(self, drone_id, msg):
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self.latest_data[(drone_id, 'gps')] = {
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'lat': msg.latitude,
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'lon': msg.longitude,
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'alt': msg.altitude
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}
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def local_vel_callback(self, drone_id, msg):
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self.latest_data[(drone_id, 'velocity')] = {
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'vx': msg.x,
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'vy': msg.y,
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'vz': msg.z
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}
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|
||||
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, drone_id, msg):
|
||||
self.latest_data[(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
|
||||
}
|
||||
File diff suppressed because it is too large
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Reference in New Issue