刪除「src/unitdev04/change_mode.py」

src/unitdev04/change_mode.py

@@ -1,109 +0,0 @@
-                                     import curses
-import serial
-import struct
-from pymavlink.dialects.v20 import ardupilotmega as mavlink2
-
-PORT = "COM5"  # or "/dev/ttyUSB0"
-BAUD = 57600
-target_system = 5
-target_component = 1
-MAV_CMD_DO_SET_MODE = 176
-
-mode_list = [
-    ("STABILIZE", 0),
-    ("AUTO", 3),
-    ("GUIDED", 4),
-    ("LOITER", 5)
-]
-
-ser = serial.Serial(PORT, BAUD)
-
-class PacketCapture:
-    def __init__(self):
-        self.data = bytearray()
-    def write(self, b):
-        self.data.extend(b)
-        return len(b)
-
-def build_api_tx_frame(data: bytes, frame_id=0x01):
-    frame_type = 0x10
-    dest_addr64 = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'  # 廣播
-    dest_addr16 = b'\xFF\xFE'
-    broadcast_radius = 0x00
-    options = 0x00
-
-    frame = struct.pack(">B", frame_type) + struct.pack(">B", frame_id)
-    frame += dest_addr64 + dest_addr16
-    frame += struct.pack(">BB", broadcast_radius, options) + data
-    checksum = 0xFF - (sum(frame) & 0xFF)
-    return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
-
-def curses_main(stdscr):
-    curses.curs_set(0)
-    selected = 0
-
-    while True:
-        stdscr.clear()
-        h, w = stdscr.getmaxyx()
-
-        stdscr.addstr(1, 2, "🛫 模式選單（使用 ↑↓ 選擇，Enter 發送，q 離開）")
-
-        for i, (name, _) in enumerate(mode_list):
-            if i == selected:
-                stdscr.attron(curses.A_REVERSE)
-                stdscr.addstr(i + 3, 4, f"> {name}")
-                stdscr.attroff(curses.A_REVERSE)
-            else:
-                stdscr.addstr(i + 3, 4, f"  {name}")
-
-        key = stdscr.getch()
-
-        if key == curses.KEY_UP:
-            selected = (selected - 1) % len(mode_list)
-        elif key == curses.KEY_DOWN:
-            selected = (selected + 1) % len(mode_list)
-        elif key in [10, 13]:  # Enter
-            name, custom_mode = mode_list[selected]
-            capture = PacketCapture()
-            mav = mavlink2.MAVLink(capture, srcSystem=1, srcComponent=1)
-            mav.version = 2
-
-            msg = mav.command_long_encode(
-                target_system=target_system,
-                target_component=target_component,
-                command=MAV_CMD_DO_SET_MODE,
-                confirmation=0,
-                param1=1,
-                param2=custom_mode,
-                param3=0, param4=0, param5=0, param6=0, param7=0
-            )
-            print("🧪 msg =", msg)  # 確認封包物件生成
-
-            mav.send(msg)  # ✅ 改為 send() 會寫入 capture
-            print("📦 RAW HEX:", capture.data.hex())
-
-            api_frame = build_api_tx_frame(capture.data)
-            ser.write(api_frame)
-
-            # 顯示封包資訊
-            msg_line = min(h - 4, len(mode_list) + 5)
-            stdscr.addstr(msg_line, 2, f"✅ 發送模式切換：{name} ({custom_mode})")
-            stdscr.addstr(msg_line + 1, 2, f"📦 MAVLink HEX: {' '.join(f'{b:02x}' for b in capture.data)[:w-4]}")
-            stdscr.addstr(msg_line + 2, 2, f"📡 XBee API HEX: {' '.join(f'{b:02x}' for b in api_frame)[:w-4]}")
-            stdscr.refresh()
-            curses.napms(1500)
-
-        elif key in [ord('q'), ord('Q')]:
-            break
-
-        stdscr.refresh()
-
-
-try:
-    curses.wrapper(lambda stdscr: curses_main(stdscr))  # 使用 lambda 函數來傳遞 ser
-
-except Exception as e:
-    print(f"❌ 發生錯誤: {e}")
-finally:
-    ser.close()
-    print("👋 程式結束，串口已關閉")