Upload files to 'src/unitdev01/unitdev01'

src/unitdev01/unitdev01/mavlink.py

@@ -21,13 +21,15 @@ class MAVLinkWorker(QThread):
     param_signal = pyqtSignal(str, int)
     kbps_signal = pyqtSignal(str, float)
 
-    def __init__(self, connection_string="udp:127.0.0.1:14550", usb='/dev/ttyUSB0'):
+    def __init__(self, connection_string="udp:127.0.0.1:14560   ", usb='/dev/ttyUSB0', acm ='/dev/ttyACM0'):
         super().__init__()
-        self.namespaces = ['UAV1', 'UAV2', 'UAV3']
+        self.sysids = [1, 5, 10]
-        self.connection = mavutil.mavlink_connection(usb, baud=57600)
+        self.namespaces = {}
+        self.namespaces = [f"UAV{sysid}" for sysid in self.sysids]
+        
+        self.connection = mavutil.mavlink_connection(connection_string, baud=115200)
         self.connection.wait_heartbeat()
-        for sysid in self.namespaces:
+        for sysid in self.sysids:
-            sysid = int(sysid.replace('UAV', ''))
             self.set_sr_params(sysid)
         self.running = True
 
@@ -42,8 +44,8 @@ class MAVLinkWorker(QThread):
         self.total_bytes_received = {}
         self.throughput_KBps = {}
 
-        for namespace in self.namespaces:
+        for sysid in self.sysids:
-            self.request_param(namespace, "SR1_EXTRA1")
+            self.request_param(sysid, "SR1_EXTRA1")
         self.connection.mav.timesync_send( 
             0, #tc1
             int(time.time() * 1e9) #ts1
@@ -52,7 +54,7 @@ class MAVLinkWorker(QThread):
     def run(self):
         while self.running:
             try:
-                msg = self.connection.recv_msg()
+                msg = self.connection.recv_msg() # Debugging line to see received messages
                 current_time = time.time()
                 if not msg:
                     continue
@@ -64,7 +66,6 @@ class MAVLinkWorker(QThread):
                 if msg_type =="BAD_DATA":
                     continue
                 
-
                 if sysid not in self.total_bytes_received:
                     self.total_bytes_received[sysid] = 0
                     self.throughput_KBps[sysid] = 0
@@ -162,7 +163,7 @@ class MAVLinkWorker(QThread):
                 elif msg_type == 'PARAM_VALUE':
                     param_name = "SR1_EXTRA1"
                     if msg.param_id == param_name:
-                        self.param_signal.emit(namespace, msg.param_value)
+                        self.param_signal.emit(namespace, int(msg.param_value))
 
             except Exception as e:
                 print(f"Error reading message: {e}")
@@ -171,8 +172,11 @@ class MAVLinkWorker(QThread):
         self.running = False
         self.connection.close()
 
+    def get_sysid(self, namespace):
+        return int(namespace.replace('UAV', ''))
+    
     def set_mode(self, namespace, mode):
-        sysid = int(namespace.replace('UAV', ''))
+        sysid = self.get_sysid(namespace)
         if mode == 'STABILIZE':
             mode = 0
         elif mode == 'AUTO':
@@ -188,7 +192,7 @@ class MAVLinkWorker(QThread):
         )
 
     def arm(self, namespace, arm):
-        sysid = int(namespace.replace('UAV', ''))
+        sysid = self.get_sysid(namespace)
         self.connection.mav.command_long_send(
             sysid,
             1,  # Component ID
@@ -199,7 +203,7 @@ class MAVLinkWorker(QThread):
         )
 
     def takeoff(self, namespace, altitude):
-        sysid = int(namespace.replace('UAV', ''))
+        sysid = self.get_sysid(namespace)
         self.connection.mav.command_long_send(
             sysid,
             1,  # Component ID
@@ -210,7 +214,7 @@ class MAVLinkWorker(QThread):
         )
 
     def land(self, namespace):
-        sysid = int(namespace.replace('UAV', ''))
+        sysid = self.get_sysid(namespace)
         self.connection.mav.command_long_send(
             sysid,
             1,  # Component ID
@@ -221,7 +225,7 @@ class MAVLinkWorker(QThread):
         )
 
     def set_local_position(self, namespace, x, y, z):
-        sysid = int(namespace.replace('UAV', ''))
+        sysid = self.get_sysid(namespace)
         self.connection.mav.set_position_target_local_ned_send(
             0, sysid, 1,  # time_boot_ms, sysid, compid
             mavutil.mavlink.MAV_FRAME_LOCAL_NED,  # Frame
@@ -233,7 +237,7 @@ class MAVLinkWorker(QThread):
         )
     
     def reboot_drone(self, namespace):
-        sysid = int(namespace.replace('UAV', ''))
+        sysid = self.get_sysid(namespace)
         self.connection.mav.command_long_send(
             sysid,
             1,  # target_component (一般為1)
@@ -244,7 +248,7 @@ class MAVLinkWorker(QThread):
         )
 
     def set_param(self, namespace, param_name, value):
-        sysid = int(namespace.replace('UAV', ''))
+        sysid = self.get_sysid(namespace)
         try:
             self.connection.mav.param_set_send(
                 sysid,
@@ -256,8 +260,7 @@ class MAVLinkWorker(QThread):
         except Exception as e:
             print(f"Failed to set parameter {param_name}: {e}")
 
-    def request_param(self, namespace, param_name):
+    def request_param(self, sysid, param_name):
-        sysid = int(namespace.replace('UAV', ''))
         try:
             self.connection.mav.param_request_read_send(
                 sysid,  # 系統 ID
@@ -268,43 +271,57 @@ class MAVLinkWorker(QThread):
         except Exception as e:
             print(f"Failed to set parameter {param_name}: {e}")
 
-    '''
+     
     def set_sr_params(self, sysid):
         """ 直接設置 MAVLink 訊息頻率 """
-        freqs = [0, 2, 4]
+        freqs = [0, 1, 4]
         params = {
             "SR1_ADSB": freqs[0],
             "SR1_EXT_STAT": freqs[1],
             "SR1_EXTRA1": freqs[2],
-            "SR1_EXTRA2": freqs[2],
+            "SR1_EXTRA2": freqs[1],
             "SR1_EXTRA3": freqs[1],
-            "SR1_POSITION": freqs[1],
+            "SR1_POSITION": freqs[2],
             "SR1_RAW_SENS": freqs[1],
             "SR1_RC_CHAN": freqs[1]
         }
         for param, value in params.items():
             self.set_param(f"UAV{sysid}", param, value)
-    '''
+        
+    '''    
+    def set_sr_params(self, sysid):
+        """ 直接設置 MAVLink 訊息頻率 """
+        params = {
+            "SERIAL1_BAUD": 38
+        }
+        for param, value in params.items():
+            self.set_param(f"UAV{sysid}", param, value)
+           
     def set_sr_params(self, sysid):
         """ 直接設置 MAVLink 訊息頻率 """
-        freqs = [0, 1, 1]
+        freqs = [0, 3, 3]
         params = {
             "SR1_ADSB": freqs[0],
-            "SR1_EXT_STAT": freqs[0],
+            "SR1_EXT_STAT": freqs[1],
             "SR1_EXTRA1": freqs[2],
             "SR1_EXTRA2": freqs[2],
-            "SR1_EXTRA3": freqs[0],
+            "SR1_EXTRA3": freqs[1],
             "SR1_POSITION": freqs[1],
             "SR1_RAW_SENS": freqs[1],
-            "SR1_RC_CHAN": freqs[0]
+            "SR1_RC_CHAN": freqs[1]
         }
         for param, value in params.items():
             self.set_param(f"UAV{sysid}", param, value)
+    '''
+    def init_drone(self, namespace):
+        sysid = self.get_sysid(namespace)
+        self.set_local_position(sysid, 0, 0, 0)
 
 class DroneControlApp(QMainWindow):
     def __init__(self):
         super().__init__()
         self.workers = MAVLinkWorker()
+        self.sysids = self.workers.sysids
         self.namespaces = self.workers.namespaces
         self.initUI()
         
@@ -438,6 +455,15 @@ class DroneControlApp(QMainWindow):
         self.rebootButton.clicked.connect(self.reboot_drone)
         main_layout.addWidget(self.rebootButton)
 
+        mission_layout = QHBoxLayout()
+        self.initButton = QPushButton("重設位置")
+        self.initButton.clicked.connect(self.init_drone)
+        self.startButton = QPushButton("開始任務")
+        self.startButton.clicked.connect(self.start_mission)
+        mission_layout.addWidget(self.initButton)
+        mission_layout.addWidget(self.startButton)
+        main_layout.addLayout(mission_layout)
+
         # 設置主佈局
         central_widget = QWidget(self)
         central_widget.setLayout(main_layout)
@@ -563,6 +589,24 @@ class DroneControlApp(QMainWindow):
         except ValueError:
             QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
 
+    def init_drone(self):
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.init_drone(namespace)
+                    print(f"重設位置：{namespace}")
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(self, "錯誤", f"重設位置失敗：{e}")
+
+    def start_mission(self):
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.start_mission(namespace)
+                    print(f"開始任務：{namespace}")
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(self, "錯誤", f"開始任務失敗：{e}")
+
 def main():
     app = QtWidgets.QApplication(sys.argv)
     window = DroneControlApp()