diff --git a/README.md b/README.md index 0cbf700..7c2689a 100644 --- a/README.md +++ b/README.md @@ -1,43 +1,46 @@ 這是天雷系統的專案 -=== -專案核心框架 -1. ROS2 Humble -2. Python 3.8.10 === -必要相依套件 順便記錄我開發時的環境版本 +## 功能簡介 +1. mavlink 多對多支援平台 +2. 不允許進到 ros 系統有相同 sysid +3. 假設一台載具上所有 component 共用同一 socket -Python -1. pymavlink -> Version: 2.4.42 -2. conda-forge 中的 pyserial-asyncio -3. importlib_metadata -> Version: 8.5.0 -4. setuptools -> Version: 58.2.0 (版本太新不行) -5. pyserial-asyncio +=== +## 運行環境 +### 專案核心框架 +1. ROS2 Humble +2. Python 3.8.10 -ROS2 +### 必要相依套件及版本 +- Python +[Package] fc_network_adapter + 1. pymavlink -> Version: 2.4.42 + 2. conda-forge 中的 pyserial-asyncio + 3. importlib_metadata -> Version: 8.5.0 + 4. setuptools -> Version: 58.2.0 (版本太新不行) + 5. pyserial-asyncio +[Package] GUI + 1. testresources + 2. websockets + 3. PyQt6 + 4. PyQt6-WebEngine + +- ROS2 1. source ~/ros2_humble/install/setup.bash -2. - -=== -功能簡介 -1. mavlink 多對多支援平台 -2. 不允許進到 ros 系統有相同 sysid -3. 假設所有 component 共用同一 socket +2. geographic_info (https://github.com/ros-geographic-info/geographic_info.git) 已經作為 submodule 放在 external +3. angles (https://github.com/ros/angles.git) 已經作為 submodule 放在 external +4. mavros_msgs (https://github.com/mavlink/mavros) 這個專案中的一個資料夾 這邊手動複製的 -=== -開發用輔助專案 +### 開發用輔助專案 1. Gazebo Garden 2. Ardupilot === -依賴的 ROS 庫 -1. https://github.com/ros-geographic-info/geographic_info.git 記得要搞 ros2 版本的 -2. https://github.com/ros/angles.git -3. mavros_msgs 是 https://github.com/mavlink/mavros 這個專案中的一個資料夾 這邊手動複製的 - +## 使用說明 Clone 專案後 請先執行這些指令 ```bash # 1.同步 submodule @@ -49,45 +52,53 @@ colcon build --packages-select angles geographic_msgs colcon build --packages-select mavros_msgs # 這個依賴前面的 colcon build --packages-select fc_interfaces # 自己定義的 +``` +1. +主要專案 fc_network_adapter 請一律在 ~/AirTrapMine/src/ 路徑下 以模組化啟動程式 +```bash +# 記得先開啟 依賴 Package 到 overlay +. ./install/local_setup.bash +# 範例 +cd ~/AirTrapMine/src/ # 這是範例!!! +python -m fc_network_adapter.fc_network_adapter.mainOrchestrator +python -m fc_network_adapter.tests.demo_integration +python -m someotherpkg.src.example_wholeMoving ``` - -=== -Package 簡述 -<<<<<<< HEAD +2. +GUI 介面 +在 ~/AirTrapMine/src/GUI 路徑下 直接啟動 +```bash +cd ~/AirTrapMine/src/GUI +python gui.py +``` === -簡述0328 -主要是透過test_transform這隻程式執行fdm_switch_example_one_with_remote_forwarding這個副函式，透過UDP將封包轉接到Matlab，並在Matlab進行演算法迭代後，打包JSON檔，並再次透過port口傳回封包，傳回來的封包會在close_loop這隻程式被解析，並提取其中有關velocity的資料儲存成變數，以mavlink的方式打入Ardupilot，以實現封閉迴路的構思。 -======= +## 資料夾說明 1. unitdev 為各自協作者做開發時的測試區 01 -> 晉凱(ken) 02 -> 其宇(chiyu) 03 -> 文鈞 04 -> 倫渝 -2. fc_network_adapter +2. fc_network_adapter (核心) 建立、維護與飛控韌體的連接 構築 mavlink 封包 處理無線模組的通訊格式 (XBee) --同時處理與 Gazebo 的 ardupilot_plugin 溝通的 FDM/JSON 訊息 (移除)-- -3. fc_interfaces - 自定義的介面檔 +3. fc_interfaces (重要) + 自定義的 ROS2 介面檔 4. fc_network_apps 與 fc_network_adapter 銜接做高階功能包裝的應用小程式 利於開發GUI或其他應用 - + 使用者的外層包裝 +5. someotherpkg + 如何使用 fc_network_apps 的範例檔案 +6. GUI + 由 PyQt6 開發的互動式介面 N. logs 是執行時期的記錄檔 === -主要專案 fc_network_adapter 請一律在 ~/AirTrapMine/src/ 資料夾下 以模組化啟動程式 -例如 在 ~/AirTrapMine/src/ 資料夾下 -```bash -# 記得先開啟 依賴 Package 到 overlay -. ./install/local_setup.bash -# 範例 -python -m fc_network_adapter.fc_network_adapter.mainOrchestrator -python -m fc_network_adapter.tests.demo_integration -``` ->>>>>>> chiyu +簡述0328 +主要是透過test_transform這隻程式執行fdm_switch_example_one_with_remote_forwarding這個副函式，透過UDP將封包轉接到Matlab，並在Matlab進行演算法迭代後，打包JSON檔，並再次透過port口傳回封包，傳回來的封包會在close_loop這隻程式被解析，並提取其中有關velocity的資料儲存成變數，以mavlink的方式打入Ardupilot，以實現封閉迴路的構思。 diff --git a/src/GUI/communication.py b/src/GUI/communication.py index 6e9ffcc..4aa904c 100644 --- a/src/GUI/communication.py +++ b/src/GUI/communication.py @@ -4,10 +4,14 @@ import math import re import threading from threading import Lock +from concurrent.futures import ThreadPoolExecutor import asyncio import websockets import json import socket +import sys +import os +import traceback from pymavlink import mavutil from geometry_msgs.msg import Point, Vector3 from sensor_msgs.msg import BatteryState, NavSatFix, Imu @@ -15,6 +19,23 @@ 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 longCommand（統一的 MAV_CMD_* API） +try: + from fc_network_apps.longCommand import CommandLongClient +except ImportError as e: + import traceback + print(f"⚠️ 警告: 無法導入 CommandLongClient") + 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() + CommandLongClient = None + class DroneSignals(QObject): update_signal = pyqtSignal(str, str, object) # (msg_type, drone_id, data) @@ -398,8 +419,13 @@ class WebSocketMavlinkReceiver(threading.Thread): class DroneMonitor(Node): # Subscribe to drone ROS2 topics + _instance = None # Singleton pattern to prevent duplicate nodes + def __init__(self): - super().__init__('drone_monitor') + # Use a unique node name with timestamp to avoid conflicts on restart + import time + node_name = f'drone_monitor_{int(time.time() * 1000) % 100000}' + super().__init__(node_name) self.signals = DroneSignals() self.drone_topics = {} self.lock = Lock() @@ -440,6 +466,17 @@ class DroneMonitor(Node): # ================================================================================ self.serial_receivers = [] + # ================================================================================ + # 【新增】初始化 CommandLongClient（持久化，不會每次調用都創建/銷毀） + # ================================================================================ + self.command_long_client = None + try: + self.command_long_client = CommandLongClient() + except Exception as e: + print(f"⚠️ 警告: 無法初始化 CommandLongClient: {e}") + self.command_long_client = None + # ================================================================================ + # 主题检测定时器 self.create_timer(1.0, self.scan_topics) @@ -536,44 +573,151 @@ class DroneMonitor(Node): setattr(self, f'drone_{sys_id}_subs', subs) - async def arm_drone(self, drone_id, arm): - if drone_id not in self.arm_clients: - return False - - client = self.arm_clients[drone_id] - if not client.wait_for_service(timeout_sec=1.0): - return False - - request = CommandBool.Request() - request.value = arm - - future = client.call_async(request) + # ================================================================================ + # 【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 CommandLongClient 切換無人機飛行模式""" try: - response = await future - return response.success + # 解析 drone_id 提取 sysid + parts = drone_id.split('_') + if len(parts) < 2: + print(f"❌ [SET_MODE] 無效的 drone_id 格式: {drone_id}") + return False + sysid = int(parts[-1]) + + # 獲取模式對應的 custom_mode 值 + custom_mode = self.MODE_MAPPING.get(mode_name) + if custom_mode is None: + print(f"❌ [SET_MODE] 未知模式: {mode_name}") + return False + + print(f"\n📢 [SET_MODE] {drone_id} → {mode_name} (custom_mode={custom_mode})") + + # 在線程池中調用 CommandLongClient + loop = asyncio.get_event_loop() + executor = ThreadPoolExecutor(max_workers=1) + + def _call_set_mode(): + client = CommandLongClient() if CommandLongClient else None + if not client: + return False + result = client.change_mode( + target_sysid=sysid, + custom_mode=float(custom_mode), + target_compid=0, + base_mode=1.0, + timeout_sec=2.0, + ) + client.destroy_node() + return result.success if result else False + + result = await loop.run_in_executor(executor, _call_set_mode) + if result: + print(f"✅ [SET_MODE] 模式切換成功") + return True + else: + print(f"❌ [SET_MODE] 模式切換失敗") + return False except Exception as e: - self.get_logger().error(f'Arm service call failed: {e}') + print(f"❌ [SET_MODE] 例外錯誤: {e}") + traceback.print_exc() return False - async def takeoff_drone(self, drone_id, altitude=10.0): - if drone_id not in self.takeoff_clients: - return False + async def arm_drone(self, drone_id, arm): + """使用 CommandLongClient 執行 ARM/DISARM（使用非阻塞的 async 方法）""" + try: + # 解析 drone_id 提取 sysid + parts = drone_id.split('_') + if len(parts) < 2: + print(f"❌ [ARM] 無效的 drone_id 格式: {drone_id}") + return False + sysid = int(parts[-1]) - client = self.takeoff_clients[drone_id] - if not client.wait_for_service(timeout_sec=1.0): - return False + action_name = "解鎖" if arm else "上鎖" + print(f"\n📢 [ARM] {drone_id} → {action_name}") - request = CommandTOL.Request() - request.altitude = altitude - request.min_pitch = 0.0 - request.yaw = 0.0 - - future = client.call_async(request) + if not self.command_long_client: + print(f"❌ [ARM] CommandLongClient 未初始化") + return False + + # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突） + result = await self.command_long_client.arm_disarm_async( + target_sysid=sysid, + arm=arm, + target_compid=0, + timeout_sec=2.0, + ) + + if result and result.success: + print(f"✅ [ARM] {action_name}成功") + return True + else: + print(f"❌ [ARM] {action_name}失敗 (message={result.message if result else 'None'})") + return False + except Exception as e: + print(f"❌ [ARM] 例外錯誤: {e}") + traceback.print_exc() + return False + + async def takeoff_drone(self, drone_id, altitude): + """使用 CommandLongClient 執行無人機起飛（使用非阻塞的 async 方法）""" try: - response = await future - return response.success + # 解析 drone_id 提取 sysid + parts = drone_id.split('_') + if len(parts) < 2: + print(f"❌ [TAKEOFF] 無效的 drone_id 格式: {drone_id}") + return False + sysid = int(parts[-1]) + + print(f"\n📢 [TAKEOFF] {drone_id} → 起飛 (高度={altitude}m)") + + if not self.command_long_client: + print(f"❌ [TAKEOFF] CommandLongClient 未初始化") + return False + + # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突） + result = await self.command_long_client.takeoff_async( + target_sysid=sysid, + altitude_m=float(altitude), + target_compid=0, + timeout_sec=2.0, + ) + + if result and result.success: + print(f"✅ [TAKEOFF] 起飛成功") + return True + else: + print(f"❌ [TAKEOFF] 起飛失敗 (message={result.message if result else 'None'})") + return False except Exception as e: - self.get_logger().error(f'Takeoff service call failed: {e}') + print(f"❌ [TAKEOFF] 例外錯誤: {e}") + traceback.print_exc() return False def send_setpoint(self, drone_id, x, y, z): diff --git a/src/GUI/gui.py b/src/GUI/gui.py index 1886305..5f94975 100644 --- a/src/GUI/gui.py +++ b/src/GUI/gui.py @@ -12,6 +12,7 @@ import asyncio import json import subprocess import time +import traceback # 導入分離的類別 from communication import DroneMonitor, UDPMavlinkReceiver, WebSocketMavlinkReceiver @@ -32,15 +33,18 @@ from mission_group import ( # ================================================================================ class ControlStationUI(QMainWindow): - VERSION = '1.0.1' + VERSION = '2.0.4' def __init__(self): super().__init__() self.setWindowTitle(f'GCS v{self.VERSION}') self.resize(1400, 900) - # 初始化ROS2 - rclpy.init() + # 初始化消息隊列（用於線程安全的 GUI 更新） + import queue + self.message_queue = queue.Queue() + + # 初始化ROS2 Monitor（ROS2 本身在 main() 中已初始化） self.monitor = DroneMonitor() self.monitor.signals.update_signal.connect(self.update_ui) @@ -48,16 +52,31 @@ class ControlStationUI(QMainWindow): self.executor = rclpy.executors.SingleThreadedExecutor() self.executor.add_node(self.monitor) + # 添加 CommandLongClient 到執行器（這樣它的回調才能被處理） + if self.monitor.command_long_client: + self.executor.add_node(self.monitor.command_long_client) + # 定时处理ROS事件 self.timer = QTimer() self.timer.timeout.connect(self.spin_ros) self.timer.start(10) + # 驅動 asyncio 事件循環的定時器（新增 - 關鍵！） + # 這允許異步任務（如 arm_drone）能夠執行 + self.asyncio_timer = QTimer() + self.asyncio_timer.timeout.connect(self._spin_asyncio) + self.asyncio_timer.start(10) # 每 10ms 驅動一次 asyncio + # 初始化 panel 和 map 更新（10Hz） self.panel_map_timer = QTimer() self.panel_map_timer.timeout.connect(self._update_panel_and_map) self.panel_map_timer.start(100) # 10Hz + # 消息隊列處理定時器（來自線程的 GUI 更新） + self.msg_queue_timer = QTimer() + self.msg_queue_timer.timeout.connect(self._process_message_queue) + self.msg_queue_timer.start(50) # 每 50ms 檢查一次 + # 快取消息數據，以便在沒有新消息時使用上一次的值 self._message_cache = {} @@ -164,20 +183,29 @@ class ControlStationUI(QMainWindow): # ========== 任務群組 Tab ========== group_header = QHBoxLayout() + + # 標題 + 收起/展開按鈕 + title_layout = QHBoxLayout() group_title = QLabel("任務群組") group_title.setStyleSheet( "color: #DDD; font-size: 14px; font-weight: bold; padding: 2px;") - group_header.addWidget(group_title) - group_header.addStretch() - - add_group_btn = QPushButton("+ 新增群組") - add_group_btn.setStyleSheet(""" - QPushButton { background-color: #4A9EFF; color: white; border: none; - padding: 5px 12px; border-radius: 4px; font-size: 12px; font-weight: bold; } - QPushButton:hover { background-color: #3A8EEF; } + title_layout.addWidget(group_title) + + # 收起/展開按鈕 + self.toggle_group_btn = QPushButton("▼") + self.toggle_group_btn.setStyleSheet(""" + QPushButton { background-color: #555; color: white; border: none; + padding: 3px 8px; border-radius: 3px; font-size: 12px; font-weight: bold; + min-width: 30px; max-width: 30px; } + QPushButton:hover { background-color: #666; } """) - add_group_btn.clicked.connect(self._add_mission_group) - group_header.addWidget(add_group_btn) + self.toggle_group_btn.setToolTip("收起/展開任務群組") + self.toggle_group_btn.clicked.connect(self._toggle_group_panel) + title_layout.addWidget(self.toggle_group_btn) + title_layout.addStretch() + + group_header.addLayout(title_layout) + group_header.addStretch() clear_traj_btn = QPushButton("清除軌跡") clear_traj_btn.setStyleSheet(""" @@ -204,6 +232,9 @@ class ControlStationUI(QMainWindow): self.group_tab_widget.setFixedHeight(150) self.group_tab_widget.currentChanged.connect(self._on_group_tab_changed) right_layout.addWidget(self.group_tab_widget) + + # 🌟 新增：保存群組面板的展開狀態 + self.group_panel_expanded = True # 預設建立 Group A self._add_mission_group() @@ -353,6 +384,8 @@ class ControlStationUI(QMainWindow): status_label.setToolTip("運行中") self.statusBar().showMessage(f"已啟動 Serial 連接: {conn['port']}", 3000) except Exception as e: + print(f"❌ Serial 連接啟動失敗: {str(e)}") + traceback.print_exc() self.statusBar().showMessage(f"啟動 Serial 連接失敗: {str(e)}", 5000) def remove_serial_connection(self, conn, panel): @@ -377,22 +410,39 @@ class ControlStationUI(QMainWindow): # ================================================================================ def handle_mode_change(self, drone_id): + print(f"\n📢 [GUI] handle_mode_change 被调用") + print(f" drone_id: {drone_id}") + # 從 active group 的 mode_combo 讀取模式 group = self._get_active_group() if group: panel = self.group_panels.get(group.group_id) mode = panel.mode_combo.currentText() if panel else "GUIDED" + print(f" 从群组读取模式: {mode}") else: mode = "GUIDED" + print(f" 没有活跃群组，使用默认模式: {mode}") + loop = asyncio.get_event_loop() future = self.monitor.set_mode(drone_id, mode) loop.create_task(self.handle_service_response(future, f"切換模式 {mode} {drone_id}")) def handle_arm(self, drone_id): + print(f"\n📢 [GUI] handle_arm 被調用") + print(f" drone_id: {drone_id}") loop = asyncio.get_event_loop() + print(f" 獲得事件循環: {loop}") arm_state = not self.monitor.get_arm_state(drone_id) - future = self.monitor.arm_drone(drone_id, arm_state) - loop.create_task(self.handle_service_response(future, f"{'解鎖' if arm_state else '上鎖'} {drone_id}")) + print(f" 當前鎖定狀態: {not arm_state}, 目標狀態: {arm_state}") + print(f" 準備調用 arm_drone(drone_id={drone_id}, arm={arm_state})") + coro = self.monitor.arm_drone(drone_id, arm_state) + print(f" arm_drone() 返回類型: {type(coro)}") + print(f" coroutine 對象: {coro}") + action_text = f"{'解鎖' if arm_state else '上鎖'} {drone_id}" + print(f" 準備提交到事件循環: {action_text}") + task = loop.create_task(self.handle_service_response(coro, action_text)) + print(f" task 已創建: {task}") + print(f" 已提交到事件循環\n") def handle_takeoff(self, drone_id): loop = asyncio.get_event_loop() @@ -425,20 +475,52 @@ class ControlStationUI(QMainWindow): self.statusBar().showMessage("座標格式錯誤", 3000) async def handle_service_response(self, future, action): + print(f"\n📥 [GUI] handle_service_response 開始處理: {action}") + print(f" Future/Coroutine 類型: {type(future)}") + print(f" Future/Coroutine 對象: {future}") try: + print(f" ├─ 等待 future/coroutine 完成...") + print(f" └─ (這是一個阻塞等待，直到服務返回)\n") result = await future + print(f"\n ✓ Future/Coroutine 完成，接收到返回值！") + print(f" ├─ 返回值類型: {type(result)}") + print(f" ├─ 返回值內容: {result}") + print(f" ├─ 返回值 == True: {result == True}") + print(f" ├─ 返回值 is True: {result is True}") + print(f" └─ bool(返回值): {bool(result)}") + + # 詳細檢查 result 結構（用於調試 fc_network 回傳值） + if hasattr(result, '__dict__'): + print(f" └─ 返回值屬性: {result.__dict__}") + if result: + print(f"\n✅ {action} 成功 (result={result})") self.statusBar().showMessage(f"{action} 成功", 3000) else: + print(f"\n❌ {action} 失敗 (result={result})") self.statusBar().showMessage(f"{action} 失敗", 3000) + except asyncio.CancelledError: + print(f"⚠️ {action} 被取消") except Exception as e: + print(f"❌ {action} 錯誤: {str(e)}") + traceback.print_exc() self.statusBar().showMessage(f"{action} 錯誤: {str(e)}", 3000) def handle_arm_selected(self): + print(f"\n📢 [GUI] handle_arm_selected 被調用") + selected = list(self.monitor.selected_drones) + print(f" 已選擇的無人機: {selected}") loop = asyncio.get_event_loop() - for drone_id in self.monitor.selected_drones: - future = self.monitor.arm_drone(drone_id, True) - loop.create_task(self.handle_service_response(future, f"批次解鎖 {drone_id}")) + for drone_id in selected: + print(f" 準備批次解鎖: {drone_id}") + coro = self.monitor.arm_drone(drone_id, True) + print(f" arm_drone 返回: {coro}") + # 使用 run_coroutine_threadsafe() 正確地在事件循環中運行 + asyncio.run_coroutine_threadsafe( + self.handle_service_response(coro, f"批次解鎖 {drone_id}"), + loop + ) + print(f" handle_arm_selected 完成\n") def handle_takeoff_selected(self): loop = asyncio.get_event_loop() @@ -456,6 +538,23 @@ class ControlStationUI(QMainWindow): self._group_counter += 1 return gid + def _toggle_group_panel(self): + """🌟 收起/展開任務群組面板""" + if self.group_panel_expanded: + # 收起 + self.group_tab_widget.setFixedHeight(0) + self.group_tab_widget.hide() + self.toggle_group_btn.setText("▶") + self.toggle_group_btn.setToolTip("展開任務群組") + self.group_panel_expanded = False + else: + # 展開 + self.group_tab_widget.setFixedHeight(150) + self.group_tab_widget.show() + self.toggle_group_btn.setText("▼") + self.toggle_group_btn.setToolTip("收起任務群組") + self.group_panel_expanded = True + def _add_mission_group(self): """新增一個任務群組""" gid = self._next_group_id() @@ -475,6 +574,8 @@ class ControlStationUI(QMainWindow): panel.box_select_requested.connect(self._handle_box_select) panel.select_all_requested.connect(self._handle_select_all_for_group) panel.clear_group_requested.connect(self._handle_clear_group) + panel.add_group_requested.connect(self._add_mission_group) + panel.delete_group_requested.connect(self._handle_delete_group) self.group_panels[gid] = panel # 用帶顏色的 tab 標題 @@ -538,6 +639,19 @@ class ControlStationUI(QMainWindow): if panel: panel.update_drone_list() panel.update_status() + + # 同步更新左側面板的 checkbox 狀態 + self.monitor.selected_drones = group.drone_ids.copy() + for drone_id in all_ids: + if drone_id in self.drones: + checkbox = self.drones[drone_id].get_checkbox() + if checkbox: + checkbox.blockSignals(True) + checkbox.setChecked(drone_id in group.drone_ids) + checkbox.blockSignals(False) + # 更新 socket 群組的 checkbox 狀態 + self.update_group_checkbox_state(self.get_socket_id(drone_id)) + self.statusBar().showMessage( f"Group {group_id}: 已分配 {len(group.drone_ids)} 台無人機", 3000) @@ -611,23 +725,86 @@ class ControlStationUI(QMainWindow): def _handle_group_mode_change(self, group_id, mode): """切換群組內所有無人機的飛行模式""" + print(f"\n📢 [GUI] _handle_group_mode_change 被调用", flush=True) + print(f" group_id: {group_id}, mode: {mode}", flush=True) + group = self.mission_groups.get(group_id) if not group: + print(f"❌ 找不到群組: {group_id}", flush=True) + return + + if not group.drone_ids: + print(f"⚠️ 群組中沒有無人機", flush=True) + self.statusBar().showMessage(f"群組 {group_id} 中沒有無人機", 3000) return + + print(f" 準備為 {len(group.drone_ids)} 台無人機切換模式...", flush=True) + self.statusBar().showMessage(f"正在切換模式...", 1000) + + # 使用 asyncio 執行（通過事件循環） + async def do_mode_changes_async(): + print(f"\n 【異步任務】開始執行模式切換", flush=True) + + for drone_id in group.drone_ids: + print(f"\n 【切換】{drone_id} → {mode}", flush=True) + try: + result = await self.monitor.set_mode(drone_id, mode) + + if result: + msg = f"✅ {drone_id} 切換成功" + print(f" {msg}", flush=True) + self.message_queue.put((msg, 2000)) + else: + msg = f"❌ {drone_id} 切換失敗" + print(f" {msg}", flush=True) + self.message_queue.put((msg, 2000)) + + except Exception as e: + msg = f"❌ {drone_id} 錯誤: {str(e)}" + print(f" {msg}", flush=True) + traceback.print_exc() + self.message_queue.put((msg, 2000)) + + print(f"\n 【完成】模式切換任務結束\n", flush=True) + + # 通過事件循環提交異步任務 + print(f" 【排隊】將任務提交至事件循環", flush=True) loop = asyncio.get_event_loop() - for drone_id in group.drone_ids: - future = self.monitor.set_mode(drone_id, mode) - loop.create_task(self.handle_service_response(future, f"{drone_id} 切換 {mode}")) + asyncio.run_coroutine_threadsafe( + do_mode_changes_async(), + loop + ) def _handle_group_arm(self, group_id): """解鎖群組內所有無人機""" + print(f"\n📢 [GUI] _handle_group_arm 被調用") + print(f" 群組 ID: {group_id}") group = self.mission_groups.get(group_id) + print(f" 群組存在: {group is not None}") if not group: + print(f" ⚠️ 群組不存在，返回\n") return + print(f" 群組內無人機: {group.drone_ids}") loop = asyncio.get_event_loop() + print(f" 事件循環: {loop}") + for drone_id in group.drone_ids: - future = self.monitor.arm_drone(drone_id, True) - loop.create_task(self.handle_service_response(future, f"解鎖 {drone_id}")) + print(f"\n ┌─ 處理無人機: {drone_id}") + print(f" ├─ 準備調用 arm_drone(drone_id={drone_id}, arm=True)") + coro = self.monitor.arm_drone(drone_id, True) + print(f" ├─ arm_drone 返回類型: {type(coro)}") + action_text = f"解鎖 {drone_id}" + print(f" ├─ 準備提交到事件循環: {action_text}") + # 使用 run_coroutine_threadsafe() 正確地在事件循環中運行 coroutine + # 這是 Qt + asyncio 整合的正確方式 + future = asyncio.run_coroutine_threadsafe( + self.handle_service_response(coro, action_text), + loop + ) + print(f" ├─ Future 已創建: {future}") + print(f" └─ Future 將在事件循環中執行") + + print(f"\n _handle_group_arm 完成（coroutine 已提交至事件循環）\n") def _handle_group_takeoff(self, group_id, altitude): """群組內所有無人機起飛""" @@ -663,23 +840,59 @@ class ControlStationUI(QMainWindow): if panel: panel.update_drone_list() panel.update_status() + + # 同步更新左側面板的 checkbox 狀態 + self.monitor.selected_drones = group.drone_ids.copy() + for drone_id in self.drones.keys(): + checkbox = self.drones[drone_id].get_checkbox() + if checkbox: + checkbox.blockSignals(True) + checkbox.setChecked(drone_id in group.drone_ids) + checkbox.blockSignals(False) + self.update_group_checkbox_state(self.get_socket_id(drone_id)) + self.statusBar().showMessage( f"Group {group_id}: 框選分配 {len(valid)} 台無人機", 3000) def _handle_select_all_for_group(self, group_id): - """全選所有可用無人機，直接分配到該群組""" + """全選/取消全選 - Toggle 邏輯""" group = self.mission_groups.get(group_id) if not group: return + other = self._get_other_assigned(group_id) available = {did for did in self.drones.keys() if did not in other} - group.drone_ids = available + + # Toggle 邏輯：如果已全選，則清空；否則全選 + if group.drone_ids == available: + # 已全選 → 清空 + group.drone_ids = set() + self.monitor.selected_drones.clear() + msg_status = "已取消全選" + else: + # 未全選 → 全選 + group.drone_ids = available + self.monitor.selected_drones = group.drone_ids.copy() + msg_status = f"全選分配 {len(available)} 台無人機" + panel = self.group_panels.get(group_id) if panel: panel.update_drone_list() panel.update_status() + # 更新按鈕文本 + panel.set_all_select_state(group.drone_ids == available) + + # 同步更新左側面板的 checkbox 狀態 + for drone_id in self.drones.keys(): + checkbox = self.drones[drone_id].get_checkbox() + if checkbox: + checkbox.blockSignals(True) + checkbox.setChecked(drone_id in group.drone_ids) + checkbox.blockSignals(False) + self.update_group_checkbox_state(self.get_socket_id(drone_id)) + self.statusBar().showMessage( - f"Group {group_id}: 全選分配 {len(available)} 台無人機", 3000) + f"Group {group_id}: {msg_status}", 3000) def _handle_clear_group(self, group_id): """清除群組的無人機分配""" @@ -696,9 +909,59 @@ class ControlStationUI(QMainWindow): panel.update_drone_list() panel.update_status() panel.clear_mission_info() + + # 同步更新左側面板的 checkbox 狀態（全部取消勾選） + self.monitor.selected_drones.clear() + for drone_id in self.drones.keys(): + checkbox = self.drones[drone_id].get_checkbox() + if checkbox: + checkbox.blockSignals(True) + checkbox.setChecked(False) + checkbox.blockSignals(False) + self.update_group_checkbox_state(self.get_socket_id(drone_id)) + self.statusBar().showMessage( f"Group {group_id}: 已清除分組", 3000) + def _handle_delete_group(self, group_id): + """刪除一個任務群組""" + if group_id not in self.mission_groups: + self.statusBar().showMessage(f"Group {group_id} 不存在", 3000) + return + + # 停止群組的執行（如果有） + group = self.mission_groups[group_id] + if group.executor: + group.executor.stop() + + # 移除地圖上的任務計畫 + self.drone_map.clear_mission_plan_for_group(group_id) + + # 移除 tab + for i in range(self.group_tab_widget.count()): + if f"Group {group_id}" in self.group_tab_widget.tabText(i): + self.group_tab_widget.removeTab(i) + break + + # 移除資料 + del self.mission_groups[group_id] + if group_id in self.group_panels: + del self.group_panels[group_id] + + # 更新 active group + if self.active_group_id == group_id: + if self.group_tab_widget.count() > 0: + self.group_tab_widget.setCurrentIndex(0) + # 更新 active_group_id 為當前 tab 的群組 + for gid, panel in self.group_panels.items(): + if panel == self.group_tab_widget.currentWidget().widget(): + self.active_group_id = gid + break + else: + self.active_group_id = None + + self.statusBar().showMessage(f"已刪除 Group {group_id}", 3000) + def _on_group_mission_completed(self, group_id): """群組任務完成回呼""" panel = self.group_panels.get(group_id) @@ -739,23 +1002,111 @@ class ControlStationUI(QMainWindow): # ================================================================================ def handle_group_selection(self, socket_id, state): + """處理 socket 群組 checkbox 的勾選/取消勾選 + + 這個方法在用戶點擊 socket 群組的 checkbox 時被調用。 + 需要同時更新： + 1. 該 socket 下所有無人機的 checkbox + 2. self.monitor.selected_drones（用於控制面板同步） + 3. 右侧活躍群組的無人機分配（新增） + + 參數： + socket_id: socket ID (str) + state: Qt.CheckState 的整數值 (0=Unchecked, 1=PartiallyChecked, 2=Checked) + """ + print(f"\n📢 [GUI] handle_group_selection 被調用", flush=True) + print(f" socket_id: {socket_id}, state: {state}", flush=True) + print(f" state 類型: {type(state)}", flush=True) + + # 獲取該 socket 下所有無人機 group_drones = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id] - is_checked = state == Qt.CheckState.Checked.value + print(f" 該 socket 下的無人機: {group_drones}", flush=True) + + # 判斷是否勾選（只有 state == 2 時才是 Checked） + is_checked = (state == 2) # Qt.CheckState.Checked.value == 2 + print(f" is_checked: {is_checked}", flush=True) + + # 更新該 socket 下所有無人機的 checkbox 狀態 for drone_id in group_drones: checkbox = self.drones[drone_id].get_checkbox() if checkbox: + print(f" └─ 更新 {drone_id}: setChecked({is_checked})", flush=True) checkbox.blockSignals(True) checkbox.setChecked(is_checked) checkbox.blockSignals(False) - if is_checked: self.monitor.selected_drones.add(drone_id) - else: self.monitor.selected_drones.discard(drone_id) + + # 同時更新 monitor.selected_drones 以同步控制面板 + if is_checked: + self.monitor.selected_drones.add(drone_id) + else: + self.monitor.selected_drones.discard(drone_id) + + # 👇 新增：同步更新右侧活躍群組的無人機分配 + if self.active_group_id: + group = self.mission_groups.get(self.active_group_id) + panel = self.group_panels.get(self.active_group_id) + if group and panel: + print(f" ├─ 同步右侧群組 {self.active_group_id}", flush=True) + if is_checked: + # 勾選時：將該 socket 下的無人機添加到活躍群組 + for drone_id in group_drones: + group.drone_ids.add(drone_id) + print(f" │ └─ 添加到群組: {group_drones}", flush=True) + else: + # 取消勾選時：從活躍群組移除該 socket 下的無人機 + for drone_id in group_drones: + group.drone_ids.discard(drone_id) + print(f" │ └─ 從群組移除: {group_drones}", flush=True) + + # 更新右側群組面板的顯示 + panel.update_drone_list() + panel.update_status() + print(f" │ └─ 已更新右侧群組面板", flush=True) + + print(f" 最終 selected_drones: {self.monitor.selected_drones}", flush=True) + print(f"✓ handle_group_selection 完成\n", flush=True) def handle_drone_selection(self, drone_id, state): - if state == Qt.CheckState.Checked.value: + is_checked = state == Qt.CheckState.Checked.value + if is_checked: self.monitor.selected_drones.add(drone_id) else: self.monitor.selected_drones.discard(drone_id) self.update_group_checkbox_state(self.get_socket_id(drone_id)) + + # 同步更新任務群組的無人機分配狀態 + # 遍歷所有任務群組，更新已分配的無人機列表顯示 + if not is_checked: + # 取消勾選時：從所有包含該無人機的群組中移除 + for group_id, group in self.mission_groups.items(): + if drone_id in group.drone_ids: + group.drone_ids.discard(drone_id) + panel = self.group_panels.get(group_id) + if panel: + panel.update_drone_list() + panel.update_status() + # 更新全選按鈕狀態 + other = self._get_other_assigned(group_id) + available = {did for did in self.drones.keys() if did not in other} + panel.set_all_select_state(group.drone_ids == available) + else: + # 勾選時：檢查該無人機是否已分配給其他群組，若未分配則添加到當前活躍群組 + is_already_assigned = any( + drone_id in group.drone_ids + for group in self.mission_groups.values() + ) + if not is_already_assigned and self.active_group_id: + # 無人機未被分配給任何群組，可以添加到當前活躍群組 + group = self.mission_groups.get(self.active_group_id) + panel = self.group_panels.get(self.active_group_id) + if group and panel: + group.drone_ids.add(drone_id) + panel.update_drone_list() + panel.update_status() + # 更新全選按鈕狀態 + other = self._get_other_assigned(self.active_group_id) + available = {did for did in self.drones.keys() if did not in other} + panel.set_all_select_state(group.drone_ids == available) def update_group_checkbox_state(self, socket_id): group_drones = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id] @@ -890,7 +1241,6 @@ class ControlStationUI(QMainWindow): ) except Exception as e: self.statusBar().showMessage(f"❌ Group {group.group_id}: 規劃失敗: {str(e)}", 5000) - import traceback traceback.print_exc() # ================================================================================ @@ -962,7 +1312,6 @@ class ControlStationUI(QMainWindow): ) except Exception as e: self.statusBar().showMessage(f"❌ Group {group.group_id}: Grid Sweep 規劃失敗: {str(e)}", 5000) - import traceback traceback.print_exc() # ================================================================================ @@ -1042,7 +1391,6 @@ class ControlStationUI(QMainWindow): ) except Exception as e: self.statusBar().showMessage(f"❌ Group {group.group_id}: 跟隨模式規劃失敗: {str(e)}", 5000) - import traceback traceback.print_exc() # ================================================================================ @@ -1180,7 +1528,6 @@ class ControlStationUI(QMainWindow): self._map_update_count += 1 now = time.time() if now - self._map_update_time >= 1.0: - print(f"[Panel/Map Update] {self._map_update_count} Hz") self._map_update_time = now self._map_update_count = 0 @@ -1314,32 +1661,135 @@ class ControlStationUI(QMainWindow): + def _process_message_queue(self): + """處理來自後台線程的消息隊列（更新 GUI 狀態欄）""" + try: + while True: + try: + message, duration = self.message_queue.get_nowait() + self.statusBar().showMessage(message, duration) + except: + break + except Exception as e: + print(f"❌ 消息隊列處理錯誤: {e}", flush=True) + traceback.print_exc() + + def _spin_asyncio(self): + """驅動 asyncio 事件循環，允許異步任務執行 + + 關鍵修復：asyncio 事件循環不會自動運行。 + 這個定時器會定期執行事件循環，讓 run_coroutine_threadsafe() 提交的任務能夠執行。 + """ + try: + loop = asyncio.get_event_loop() + if loop and not loop.is_closed() and not loop.is_running(): + # 執行事件循環直到沒有掛起的任務或超時 + # 使用 run_until_complete() 配合一個快速返回的 coroutine + loop.run_until_complete(asyncio.sleep(0)) + except Exception as e: + # 靜默忽略任何錯誤，防止 Qt 定時器出現異常 + # 但仍然打印詳細的堆棧跟踪以便調試 + traceback.print_exc() + def spin_ros(self): try: - self.executor.spin_once(timeout_sec=0.01) - for (drone_id, msg_type), data in self.monitor.latest_data.items(): - self.monitor.signals.update_signal.emit(msg_type, drone_id, data) - self.monitor.latest_data.clear() + # 仅在 ROS2 正常工作时才尝试 spin + if rclpy.ok(): + self.executor.spin_once(timeout_sec=0.01) + for (drone_id, msg_type), data in self.monitor.latest_data.items(): + self.monitor.signals.update_signal.emit(msg_type, drone_id, data) + self.monitor.latest_data.clear() + except RuntimeError as e: + # ROS2 context 被破坏或不可用 + if "Context" in str(e) or "context" in str(e).lower(): + print(f"⚠️ ROS2 context 錯誤（忽略）: {e}", flush=True) + else: + print(f"ROS spin error: {e}", flush=True) + traceback.print_exc() except Exception as e: - print(f"ROS spin error: {e}") + print(f"ROS spin error: {e}", flush=True) + traceback.print_exc() def closeEvent(self, event): - for group in self.mission_groups.values(): - if group.executor: - group.executor.stop() - self.command_sender.close() - for receiver in self.udp_receivers: - receiver.stop() - for receiver in self.monitor.ws_receivers: - receiver.stop() - self.monitor.destroy_node() - self.executor.shutdown() - rclpy.shutdown() + try: + for group in self.mission_groups.values(): + if group.executor: + group.executor.stop() + self.command_sender.close() + for receiver in self.udp_receivers: + receiver.stop() + for receiver in self.monitor.ws_receivers: + receiver.stop() + # Clean up serial receivers + for receiver in self.monitor.serial_receivers: + receiver.stop() + # Clean up CommandLongClient + if self.monitor.command_long_client: + try: + self.monitor.command_long_client.destroy_node() + except: + pass + self.monitor.destroy_node() + self.executor.shutdown() + except Exception as e: + print(f"⚠️ 清理資源時出錯: {e}", flush=True) + traceback.print_exc() + + # 安全地 shutdown ROS2 + try: + if rclpy.ok(): + rclpy.shutdown() + except RuntimeError as e: + print(f"⚠️ ROS2 shutdown 錯誤: {e}", flush=True) + traceback.print_exc() + event.accept() +def main(): + """ + GUI 應用程式的主入口點 + + 標準 ROS2 + Qt 架構： + 1. 在最外層/最前面只做一次 rclpy.init() + 2. 啟動 Qt 應用程式 + 3. 在 finally 中做 rclpy.shutdown() + + 這樣可以確保所有 ROS2 相關操作都共享同一個初始化狀態 + """ + # 第一步：在最外層只初始化一次 ROS2（終極防護） + # 添加 rclpy.ok() 檢查，防止重複初始化導致 "Context.init() must only be called once" 錯誤 + print("🚀 [GUI 主程式] 檢查 ROS2 初始化狀態...", flush=True) + if not rclpy.ok(): + print("🚀 [GUI 主程式] ROS2 未初始化，開始初始化...", flush=True) + rclpy.init() + print("✅ [GUI 主程式] ROS2 已全局初始化（由 GUI 主程式霸佔）", flush=True) + else: + print("ℹ️ [GUI 主程式] ROS2 已初始化，跳過重複初始化", flush=True) + + try: + # 第二步：啟動 Qt 應用程式 + print("🚀 [GUI 主程式] 啟動 Qt 應用程式...", flush=True) + app = QApplication(sys.argv) + station = ControlStationUI() + station.show() + print("✓ [GUI 主程式] 應用程式已啟動", flush=True) + + # 第三步：進入 Qt 事件循環（阻塞直到用戶關閉應用） + print("🎯 [GUI 主程式] 進入主事件循環，等待用戶操作...", flush=True) + sys.exit(app.exec()) + + finally: + # 第四步：只有當 GUI 視窗被關閉時，才做 ROS2 cleanup（終極防護） + # 這裡確保 ROS2 被正確且安全地關閉 + print("\n🛑 [GUI 主程式] 應用程式關閉，正在清理 ROS2 資源...", flush=True) + if rclpy.ok(): + rclpy.shutdown() + print("✓ [GUI 主程式] ROS2 已安全關閉", flush=True) + else: + print("ℹ️ [GUI 主程式] ROS2 已關閉或不可用，無需重複 shutdown", flush=True) + print("✓ [GUI 主程式] 應用程式完全退出", flush=True) + + if __name__ == '__main__': - app = QApplication(sys.argv) - station = ControlStationUI() - station.show() - app.exec() \ No newline at end of file + main() \ No newline at end of file diff --git a/src/GUI/mission_group.py b/src/GUI/mission_group.py index a4043c2..60b4b8b 100644 --- a/src/GUI/mission_group.py +++ b/src/GUI/mission_group.py @@ -146,6 +146,8 @@ class GroupPanel(QWidget): box_select_requested = pyqtSignal(str) # group_id — 框選直接分配 select_all_requested = pyqtSignal(str) # group_id — 全選直接分配 clear_group_requested = pyqtSignal(str) # group_id — 清除分組 + add_group_requested = pyqtSignal() # 新增群組 + delete_group_requested = pyqtSignal(str) # group_id — 刪除群組 BUTTON_STYLE = """ QPushButton {{ background-color: {bg}; color: {fg}; border: none; @@ -157,6 +159,8 @@ class GroupPanel(QWidget): def __init__(self, group: MissionGroup, parent=None): super().__init__(parent) self.group = group + self._is_all_selected = False # 追蹤全選狀態 + self.all_btn_ref = None # 保存全選按鈕的參考 self._build_ui() def _make_sep(self): @@ -296,7 +300,7 @@ class GroupPanel(QWidget): mid.addLayout(mid_body) # ============================ - # 選取與分組（2x2 按鈕） + # 選取與分組（3x2 按鈕） # ============================ right = QVBoxLayout() right.setSpacing(3) @@ -310,9 +314,28 @@ class GroupPanel(QWidget): self.drone_list_label.setWordWrap(True) right.addWidget(self.drone_list_label) - # 2x2 按鈕網格 + # 3x2 按鈕網格：第一行 框選 全選 新增群組 grid_r1 = QHBoxLayout() grid_r1.setSpacing(3) + box_btn = QPushButton("框選") + box_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5')) + box_btn.clicked.connect( + lambda: self.box_select_requested.emit(self.group.group_id)) + all_btn = QPushButton("全選/取消") + all_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5')) + all_btn.clicked.connect(self._on_all_select_clicked) + self.all_btn_ref = all_btn # 保存按鈕參考（備用） + add_group_btn = QPushButton("+ 新增群組") + add_group_btn.setStyleSheet(BTN.format(bg='#4A9EFF', fg='white', hover='#3A8EEF')) + add_group_btn.clicked.connect(lambda: self.add_group_requested.emit()) + grid_r1.addWidget(box_btn) + grid_r1.addWidget(all_btn) + grid_r1.addWidget(add_group_btn) + right.addLayout(grid_r1) + + # 第二行 編輯分配 清除分組 刪除群組 + grid_r2 = QHBoxLayout() + grid_r2.setSpacing(3) assign_btn = QPushButton("編輯分配") assign_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666')) assign_btn.clicked.connect( @@ -321,22 +344,13 @@ class GroupPanel(QWidget): clear_btn.setStyleSheet(BTN.format(bg='#777', fg='white', hover='#888')) clear_btn.clicked.connect( lambda: self.clear_group_requested.emit(self.group.group_id)) - grid_r1.addWidget(assign_btn) - grid_r1.addWidget(clear_btn) - right.addLayout(grid_r1) - - grid_r2 = QHBoxLayout() - grid_r2.setSpacing(3) - box_btn = QPushButton("框選") - box_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5')) - box_btn.clicked.connect( - lambda: self.box_select_requested.emit(self.group.group_id)) - all_btn = QPushButton("全選") - all_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5')) - all_btn.clicked.connect( - lambda: self.select_all_requested.emit(self.group.group_id)) - grid_r2.addWidget(box_btn) - grid_r2.addWidget(all_btn) + delete_group_btn = QPushButton("刪除群組") + delete_group_btn.setStyleSheet(BTN.format(bg='#EF5350', fg='white', hover='#E53935')) + delete_group_btn.clicked.connect( + lambda: self.delete_group_requested.emit(self.group.group_id)) + grid_r2.addWidget(assign_btn) + grid_r2.addWidget(clear_btn) + grid_r2.addWidget(delete_group_btn) right.addLayout(grid_r2) right.addStretch() @@ -410,13 +424,15 @@ class GroupPanel(QWidget): self.type_combo.currentTextChanged.connect(self._update_param_visibility) # ── 組裝四欄：控制指令 > 任務規劃 > 任務參數 > 選取與分組 ── - cols.addLayout(left, 1) + # 使用伸展因子 0 讓列根據內容自動調整寬度，而不是均等分配 + cols.addLayout(left, 0) cols.addWidget(self._make_sep()) - cols.addLayout(mid, 1) + cols.addLayout(mid, 0) cols.addWidget(self._make_sep()) - cols.addLayout(param_col, 1) + cols.addLayout(param_col, 0) cols.addWidget(self._make_sep()) - cols.addLayout(right, 1) + cols.addLayout(right, 0) + cols.addStretch() # 填充剩餘空間，使四列置左 layout.addLayout(cols) @@ -451,6 +467,14 @@ class GroupPanel(QWidget): self.status_label.setStyleSheet( f"color: {self.group.color}; font-size: 11px; font-weight: bold;") + def _on_all_select_clicked(self): + """全選按鈕點擊 - 發送信號給 gui.py 處理 toggle 邏輯""" + self.select_all_requested.emit(self.group.group_id) + + def set_all_select_state(self, is_selected): + """外部設置全選狀態（按鈕文本保持「全選/取消」）""" + self._is_all_selected = is_selected + def _update_param_visibility(self, _=None): """根據當前任務類型，顯示/隱藏對應的參數列""" mission_type = self.type_combo.currentText() diff --git a/src/GUI/overview_table.py b/src/GUI/overview_table.py index 2715539..ffcb574 100644 --- a/src/GUI/overview_table.py +++ b/src/GUI/overview_table.py @@ -6,7 +6,7 @@ class OverviewTable(QTableWidget): """總覽表格，顯示所有無人機的狀態資訊""" # 默認的資訊類型和映射 - DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "位置", "速度", "地速", "航向", + DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "XY位置", "XY速度", "地速", "航向", "空速", "油門", "HUD ALT", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"] DEFAULT_INFO_TYPE_MAP = { diff --git a/src/fc_interfaces/CMakeLists.txt b/src/fc_interfaces/CMakeLists.txt index 909a6b8..c5c4a41 100644 --- a/src/fc_interfaces/CMakeLists.txt +++ b/src/fc_interfaces/CMakeLists.txt @@ -12,6 +12,7 @@ find_package(rosidl_default_generators REQUIRED) rosidl_generate_interfaces(${PROJECT_NAME} "srv/MavPing.srv" "srv/MavCommandLong.srv" + "srv/MavPositionTargetGlobalInt.srv" ) ament_package() diff --git a/src/fc_interfaces/srv/MavPositionTargetGlobalInt.srv b/src/fc_interfaces/srv/MavPositionTargetGlobalInt.srv new file mode 100644 index 0000000..bd58ca0 --- /dev/null +++ b/src/fc_interfaces/srv/MavPositionTargetGlobalInt.srv @@ -0,0 +1,36 @@ +# Request +uint8 target_sysid +uint8 target_compid + +uint32 time_boot_ms # ms since system boot, 一般用 0 讓飛控自己填 +uint8 coordinate_frame # MAV_FRAME_* +uint16 type_mask # POSITION_TARGET_TYPEMASK bitmask +int32 lat_int # 1e7 * latitude (deg) +int32 lon_int # 1e7 * longitude (deg) +float32 alt # altitude (m) +float32 vx # X velocity (m/s) +float32 vy # Y velocity (m/s) +float32 vz # Z velocity (m/s) +float32 afx # X acceleration or force (m/s^2) +float32 afy # Y acceleration or force (m/s^2) +float32 afz # Z acceleration or force (m/s^2) +float32 yaw # yaw (rad) +float32 yaw_rate # yaw rate (rad/s) +float32 timeout_sec # 等待 POSITION_TARGET_GLOBAL_INT 回應的時間上限 +--- +# Response +string message +uint8 ack_result +uint32 r_time_boot_ms +uint16 r_type_mask +int32 r_lat_int +int32 r_lon_int +float32 r_alt +float32 r_vx +float32 r_vy +float32 r_vz +float32 r_afx +float32 r_afy +float32 r_afz +float32 r_yaw +float32 r_yaw_rate \ No newline at end of file diff --git a/src/fc_network_adapter/fc_network_adapter/ackEnum.py b/src/fc_network_adapter/fc_network_adapter/ackEnum.py new file mode 100644 index 0000000..aefd253 --- /dev/null +++ b/src/fc_network_adapter/fc_network_adapter/ackEnum.py @@ -0,0 +1,31 @@ + +''' +單獨出來定義回傳碼的意義 +若跟飛控韌體有正常的通訊 (無論是否被拒絕) 則以 mavlink 定義的結果回傳 +若跟飛控韌體無法通訊 才使用這邊的錯誤代碼 +所以要避開重疊的號碼 + +這邊備註 Mavlink 的 MAV_RESULT 參數意義 +0 : 封包正常接受並執行 +1 : 封包正常接受 但是正在忙不執行 需要等待後重試 +4 : 封包正常接受 但是載具的狀態異常 不執行 + +2 : 封包不正常 參數可能給錯了 +3 : 封包不正常 根本認不出是啥 + +''' + + +from enum import IntEnum + +class serviceAckResult(IntEnum): + MAVLINK_TIMEOUT = 51 # mavlink communication timeout + + MAVLINK_SEND_BUT_NO_EXP_STEAM = 30 # some messages will not have obviously ack, so monitering feature message. however, we do NOT get the feature message. ex. 85/86 pair + + MAVLINK_BUSY = 53 # there already has a command being execution for this sysid, try later + MAVLINK_DEV_NOTFOUND = 54 # this sysid not fount + + UNKNOWN = 90 # i did not capture this error, try read the logs + + diff --git a/src/fc_network_adapter/fc_network_adapter/fc_network_adapter.md b/src/fc_network_adapter/fc_network_adapter/fc_network_adapter.md index efd48cd..dc87053 100644 --- a/src/fc_network_adapter/fc_network_adapter/fc_network_adapter.md +++ b/src/fc_network_adapter/fc_network_adapter/fc_network_adapter.md @@ -6,6 +6,7 @@ # 開發此專案的注意事項 - 預設 autopilot 的 component id = 1 - 不允許 system id 重複 +- 預設同一載具僅會使用相同的 socket - 增加一個固定數值監控然後要到 ros2 topic - mavlinkROS2Node.py 檔案內 - PublishRateController.topic_intervals 建立 @@ -126,6 +127,7 @@ - *cls.mavlinkObjects* 資料結構 { socket_id(序號) : mavlink_object(物件實例) } - *self.mavlink_socket* 從 pymavlink 繼承的socket物件 - *self.state* 描述這個 socket 物件的狀態 +- *self.MAVLink* pymavlink 的一個裝置物件 模擬自己是某一個裝置 用以對於該 mavlink bus 負責封包發送 --- - *process_data()* [async method] 核心方法 - *remove_target_socket()* *add_target_socket()* @@ -170,6 +172,45 @@ ## mavlinkVehicleView.py 這個檔案是作為載具的資訊暫存庫使用 會搭配 ROS2 的功能 再做利用 +## mavlinkROS2Nodes.py + 這裡支持了所有 ROS2 框架的對應功能 包涵 + 1. 將載具的串流更新的狀態更新到對應的 topic + 2. 將地面站與載具互動 mavlink microservice 包裝起來提供 ros2 service 互動介面 + +### **[Class]** fc_ros_manager + MAVLink ROS2 節點管理器 管理兩個獨立的 Node + 會開一個執行緒 讓兩個 Node 都跑在裡面 + 然後用 spin_once 保持 Node 的活性 +- *self.status_publisher* 物件實例 +- *self.command_service* 物件實例 +- *self.spin_thread* 執行緒 +--- +- *start()* 啟動自己 +- *stop()* 停下自己 +- *shutdown()* 關閉自己並清理 + +### **[Class]** VehicleStatusPublisher + 這整個組件都是自動的 目前沒有什麼需要 runtime 設定的地方 +- *self.fc_publishers* 儲存所有 publisher 的資料結構 +- *self.rate_controller* 儲存頻率參數的地方 也可以關掉某個 topic 的發佈 +--- +- *timer_callback()* 自動的抓出現有的 vehicle 中有的資訊 然後固定的將訊息丟到負責發佈的方法中 +- *_publish_vehicle_status()* 接 timer_callback 後去分配到各項發佈中 +- *_get_or_create_publisher()* 實際創建 topic 的地方 +- *_publish_XXX()* 各項發佈的方法 + +### **[Class]** MavlinkCommandService + 提供 ros2 service 讓 serial_object 去丟出 mavlink 封包 + 然後會從回應封包中挑出期待的回應 再傳給 ros2 request + 其中 PendingEntry 是很關鍵的東西 + 它的每個物件 代表需要等待的封包種類與必需包含的內容 +- *self._pending_by_sysid* 儲存 PendingEntry 的地方 +--- +- *return_router()* 檢查並消耗 return_packet_ring 然後將封包分配到 pending 去 +- *__init__()* 這邊登入要創建的 service 到 ros2 系統 +- *handle_XXX()* 這邊是實現 service 的具體方法 + + # 開發記錄 ## 已實現功能 @@ -182,9 +223,9 @@ 7. 終端機介面控制 8. 基礎載具流量觀測 9. 載具狀態收集與彙整 -10. a. ros2 topic 應用開發介面 +10. a. ros2 topic 應用開發介面 (基礎框架) + b. ros2 service 應用開發介面 (基礎框架) ### 待開發功能 5-1. 建立 serial 連線 並可以對接收器下達AT指令 -5-2. 模組化 serial 連線機制 以利後期擴容其他模組 -10. a. ros2 應用開發介面 \ No newline at end of file +5-2. 模組化 serial 連線機制 以利後期擴容其他模組 \ No newline at end of file diff --git a/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py b/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py index 6625de1..84e89a9 100644 --- a/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py +++ b/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__)) -VERSION_NO = "v0.60" +PROJECT_VER = "v0.61" class PanelState: def __init__(self): @@ -39,9 +39,9 @@ class PanelState: self.object_manager_state = "Stopped" self.serial_manager_state = "Stopped" self.ros2_manager_state = "Stopped" - self.socket_object_list = [] # 已有的 mavlink object + self.socket_object_list = [] # 已有的 mavlink object self.linked_serial_dict = {} # 已連線的 serial 端口 serial id num : serial_port string - self.panel_info_msg_list = [] # 顯示在面板上的資訊訊息 + self.panel_info_msg_list = [] # 顯示在面板上的資訊訊息 # 關於創建通道時的暫存資訊 self.udp_info_temp = {"IP": "127.0.0.1", "Port": "", "Direction": ""} # 暫存 UDP 設定資訊 @@ -102,36 +102,36 @@ class ControlPanel: def input_dialog(stdscr, prompt="請輸入文字: "): """顯示輸入對話框""" height, width = stdscr.getmaxyx() - + # 建立輸入視窗 dialog_height = 5 dialog_width = min(60, width - 4) start_y = (height - dialog_height) // 2 start_x = (width - dialog_width) // 2 - + # 建立視窗邊框 dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x) dialog_win.border() dialog_win.addstr(1, 2, prompt) dialog_win.addstr(3, 2, "按 Enter 確認, ESC 取消") dialog_win.refresh() - + # 輸入區域 input_win = curses.newwin(1, dialog_width - 6, start_y + 2, start_x + 2) input_win.keypad(True) - + curses.echo() curses.curs_set(1) - + user_input = "" - + while True: input_win.clear() input_win.addstr(0, 0, user_input[-dialog_width+8:]) # 顯示輸入內容（滾動） input_win.refresh() - + ch = input_win.getch() - + if ch == 27: # ESC user_input = None break @@ -141,16 +141,16 @@ class ControlPanel: user_input = user_input[:-1] elif 32 <= ch <= 126: # 可打印字符 user_input += chr(ch) - + curses.noecho() curses.curs_set(0) - + # 清理視窗 del input_win del dialog_win stdscr.clear() stdscr.refresh() - + return user_input # ================ 關於 主要選單 的部份 =================== @@ -179,9 +179,9 @@ class ControlPanel: ]), MenuNode("Vehicles Insp.", "檢視已連線的遠端載具", action = "INSPECT_VEHICLES"), MenuNode("Engineer Mode", "工程模式", children=[ - MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"), - MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"), - MenuNode("Stop Serial M.", "停止 Serial 端口轉接", "STOP_SERIAL_MANAGER"), + MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"), + MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"), + MenuNode("Stop Serial M.", "停止 Serial 端口轉接", "STOP_SERIAL_MANAGER"), ]), MenuNode("Shutdown", "關閉整個系統", children=[ MenuNode("Return", "繼續運行", "BACK"), @@ -191,7 +191,7 @@ class ControlPanel: def panel_thread(self, cmd_q: queue.Queue, state: PanelState, stop_evt: threading.Event): stdscr = None - + def cleanup(): """清理 curses 狀態""" if stdscr: @@ -209,7 +209,7 @@ class ControlPanel: def draw_menu(screen): nonlocal stdscr stdscr = screen - + curses.curs_set(0) stdscr.nodelay(False) # 阻塞讀鍵 stdscr.keypad(True) @@ -219,12 +219,12 @@ class ControlPanel: idx_stack = [0] # 索引堆疊 state.intoSTART() # 設定狀態為運行中 - + while not stop_evt.is_set(): current_menu = menu_stack[-1] current_idx = idx_stack[-1] - + # 獲取終端機尺寸 height, width = stdscr.getmaxyx() # 簡單暴力的限制視窗的大小 @@ -237,7 +237,7 @@ class ControlPanel: if height < MIN_HEIGHT or width < 60: logger.error("Terminal size too small for Control Panel.") break - + stdscr.clear() stdscr.border() @@ -267,26 +267,26 @@ class ControlPanel: elif child.action == "LINK_SERIAL_TO_MIDDLEWARE_UDP": link_status = "Yes" if state.serial_info_temp["Go2Middleware"] else "No" desc = f"{child.desc} [{link_status}]" - + line = f"{marker}{child.name:15s} – {desc}" attr = curses.A_REVERSE if i == current_idx else curses.A_NORMAL stdscr.addstr(start_line + i, 4, line, attr) - # 顯示訊息區域 + # 顯示訊息區域 # info_start_line = start_line + len(current_menu.children) + 1 info_start_line = height - 8 max_msg_lines = 5 # 最多顯示 5 行訊息 current_time = time.time() - + # 清理過時的訊息 state.panel_info_msg_list = [ (msg, timestamp) for msg, timestamp in state.panel_info_msg_list if current_time - timestamp < 2.0 #秒數 ] - + # 只顯示最新的 max_msg_lines 條訊息 display_msgs = state.panel_info_msg_list[-max_msg_lines:] - + for i, msg_data in enumerate(display_msgs): if info_start_line + i >= help_line - 1: # 避免超出邊界 break @@ -298,13 +298,13 @@ class ControlPanel: stdscr.addstr(info_start_line + i, 2, f"💬 {msg}", curses.A_BOLD) - - + + # 操作說明 # help_line = start_line + len(current_menu.children) + 2 help_line = height - 2 stdscr.addstr(help_line, 2, "操作: ↑↓選擇 Enter確認 ←返回上層 →進入下層", curses.A_DIM) - stdscr.addstr(height-1 , width-12, f" {VERSION_NO} ", curses.A_DIM) + stdscr.addstr(height-1 , width-12, f" {PROJECT_VER} ", curses.A_DIM) stdscr.refresh() @@ -319,8 +319,8 @@ class ControlPanel: # continue break time.sleep(0.1) - if (state.mavlink_bridge_state == "Stopped" and - state.object_manager_state == "Stopped" and + if (state.mavlink_bridge_state == "Stopped" and + state.object_manager_state == "Stopped" and state.serial_manager_state == "Stopped"): state.intoSTOPPED() # stop_evt.set() @@ -330,14 +330,14 @@ class ControlPanel: # 設定短暫的 timeout，讓執行緒能夠響應 stop_evt stdscr.timeout(100) ch = stdscr.getch() - + if ch == -1: # 沒有操作 continue - + # 處理按鍵 if ch in (curses.KEY_UP, ord('k')): idx_stack[-1] = (current_idx - 1) % len(current_menu.children) - + elif ch in (curses.KEY_DOWN, ord('j')): idx_stack[-1] = (current_idx + 1) % len(current_menu.children) @@ -347,14 +347,14 @@ class ControlPanel: elif ch == (ord('o')): # 離開工程模式 - state.intoSTART() - + state.intoSTART() + elif ch == curses.KEY_LEFT: # 返回上層 if len(menu_stack) > 1: menu_stack.pop() idx_stack.pop() - + elif ch == curses.KEY_RIGHT: # 進入下層 (但不執行動作) selected = current_menu.children[current_idx] @@ -369,26 +369,26 @@ class ControlPanel: elif ch in (curses.KEY_ENTER, 10, 13): selected = current_menu.children[current_idx] - + # 處理不同類型的動作 if selected.children: # 有子選單 menu_stack.append(selected) idx_stack.append(0) - + elif selected.action == "BACK": if len(menu_stack) > 1: menu_stack.pop() idx_stack.pop() - + elif selected.action == "QUIT": state.intoTERMINATION() pre_panel_shutdown() - + elif selected.action == "TEXT_UDP_IP": result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 IP 位址: ") if result is not None: state.udp_info_temp["IP"] = result - + elif selected.action == "TEXT_UDP_PORT": result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 Port: ") if result is not None: @@ -402,7 +402,7 @@ class ControlPanel: idx_stack.pop() # menu_stack.pop() # idx_stack.pop() - + elif selected.action == "CREATE_UDP_OUTBOUND": cmd_q.put("CREATE_UDP_OUTBOUND") # 確認後回到上兩層 @@ -457,8 +457,8 @@ class ControlPanel: elif selected.action == "LIST_SERIAL_LINKS": created_list_menu = self.create_linked_serial_menu(state, page=0) menu_stack.append(created_list_menu) - idx_stack.append(0) - + idx_stack.append(0) + elif selected.action == "INSPECT_LINKED_SERIAL": # 顯示 Serial 連結詳細資訊 if hasattr(selected, 'serial_id'): @@ -488,7 +488,7 @@ class ControlPanel: current_list_menu = menu_stack[-1] menu_stack.pop() idx_stack.pop() - + # 依據選單種類 重新建立分頁 if current_list_menu.name == "Serial Port List": created_list_menu = self.create_serial_port_menu(state, page=selected.page) @@ -503,16 +503,16 @@ class ControlPanel: menu_stack.append(current_list_menu) idx_stack.append(0) continue - + menu_stack.append(created_list_menu) idx_stack.append(0) - + elif selected.action == "INSPECT_MAV_OBJECT": # 顯示物件詳細資訊 if hasattr(selected, 'socket_id'): cmd_q.put(("INSPECT_MAV_OBJECT", selected.socket_id)) self.show_object_info(stdscr, selected.socket_id, state) - + elif selected.action == "REMOVE_MAV_OBJECT": # 移除物件 if hasattr(selected, 'socket_id'): @@ -575,7 +575,7 @@ class ControlPanel: created_list_menu = self.create_vehicles_list_menu(state, page=0) menu_stack.append(created_list_menu) idx_stack.append(0) - + elif selected.action == "INSPECT_VEHICLE": # 顯示載具詳細資訊 if hasattr(selected, 'sysid') and hasattr(selected, 'compid'): @@ -585,7 +585,7 @@ class ControlPanel: elif callable(selected.action): # 執行函式 cmd_q.put(selected.action) - + try: curses.wrapper(draw_menu) except KeyboardInterrupt: @@ -593,12 +593,12 @@ class ControlPanel: finally: cleanup() - # ================ 關於 mavlink object 的部份 =================== + # ================ 關於 mavlink object 的部份 =================== def create_object_list_menu(self, state: PanelState, page=0, items_per_page=8): """動態創建 mavlink_object 列表選單（支持分頁）""" children = [] - + if not state.socket_object_list: children.append(MenuNode("(Empty)", "目前沒有連結口", None)) else: @@ -606,7 +606,7 @@ class ControlPanel: total_pages = (total_items + items_per_page - 1) // items_per_page start_idx = page * items_per_page end_idx = min(start_idx + items_per_page, total_items) - + # 顯示當前頁的物件 for socket_id in state.socket_object_list[start_idx:end_idx]: # 為每個 socket 創建子選單 @@ -656,11 +656,11 @@ class ControlPanel: dialog_width = min(70, width - 4) start_y = (height - dialog_height) // 2 start_x = (width - dialog_width) // 2 - + dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x) dialog_win.border() dialog_win.addstr(0, 2, f" Socket #{socket_id} 詳細資訊 ", curses.A_BOLD) - + # 這裡顯示基本資訊 dialog_win.addstr(2, 2, f"Socket ID : {socket_id}") dialog_win.addstr(3, 2, f"Socket status : {state.socket_info_single.get('socket_state', 'N/A')}") @@ -676,15 +676,15 @@ class ControlPanel: dialog_win.addstr(8, 2, f"Switching Targets: {show_str if show_str else 'N/A'}") state.socket_info_single['InfoReady'] = False # 重置狀態以便下次使用 - + dialog_win.addstr(dialog_height - 2, 2, "按任意鍵返回...") dialog_win.refresh() - + dialog_win.getch() del dialog_win stdscr.clear() stdscr.refresh() - + def select_target_socket(self, stdscr, source_socket_id, state: PanelState, remove_mode=False): """選擇目標 socket 的對話框""" height, width = stdscr.getmaxyx() @@ -692,13 +692,13 @@ class ControlPanel: dialog_width = min(50, width - 4) start_y = (height - dialog_height) // 2 start_x = (width - dialog_width) // 2 - + dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x) dialog_win.keypad(True) - + title = "選擇要移除的目標" if remove_mode else "選擇轉發目標" available_sockets = [sid for sid in state.socket_object_list if sid != source_socket_id] - + if not available_sockets: dialog_win.border() dialog_win.addstr(0, 2, f" {title} ", curses.A_BOLD) @@ -710,24 +710,24 @@ class ControlPanel: stdscr.clear() stdscr.refresh() return None - + selected_idx = 0 - + while True: dialog_win.clear() dialog_win.border() dialog_win.addstr(0, 2, f" {title} ", curses.A_BOLD) - + for i, socket_id in enumerate(available_sockets): marker = "➤" if i == selected_idx else " " attr = curses.A_REVERSE if i == selected_idx else curses.A_NORMAL dialog_win.addstr(2 + i, 2, f"{marker} Socket #{socket_id}", attr) - + dialog_win.addstr(dialog_height - 2, 2, "Enter確認 ESC取消") dialog_win.refresh() - + ch = dialog_win.getch() - + if ch in (curses.KEY_UP, ord('k')): selected_idx = (selected_idx - 1) % len(available_sockets) elif ch in (curses.KEY_DOWN, ord('j')): @@ -749,11 +749,11 @@ class ControlPanel: def create_serial_port_menu(self, state: PanelState, page=0, items_per_page=8): """動態創建 serial port 列表選單（支持分頁）""" children = [] - + # 獲取可用的 Serial 連接埠列表 # serial_ports = acquireSerial.get_serial_ports() # debug 全部抓一抓 serial_ports = acquireSerial.get_serial_ports_with_filter(['/dev/ttyUSB*', '/dev/ttyACM*']) - + if not serial_ports: children.append(MenuNode("(Empty)", "目前沒有串口設備", None)) else: @@ -761,7 +761,7 @@ class ControlPanel: total_pages = (total_items + items_per_page - 1) // items_per_page start_idx = page * items_per_page end_idx = min(start_idx + items_per_page, total_items) - + # 顯示當前頁的串口 for port in serial_ports[start_idx:end_idx]: port_menu = MenuNode(f"{port}", children=[ @@ -781,7 +781,7 @@ class ControlPanel: for child in port_menu.children: child.port = port children.append(port_menu) - + # 添加分頁控制 if total_pages > 1: children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None)) @@ -793,7 +793,7 @@ class ControlPanel: next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE") next_node.page = page + 1 children.append(next_node) - + children.append(MenuNode("GoUp", "回到上層選單", "BACK")) menu = MenuNode("Serial Port List", f"串口列表 (第 {page + 1} 頁)", children=children) menu.current_page = page @@ -802,7 +802,7 @@ class ControlPanel: def create_linked_serial_menu(self, state: PanelState, page=0, items_per_page=8): """動態創建 已連線的 serial port 列表選單（支持分頁）並包含後續管理功能""" children = [] - + if not state.linked_serial_dict: children.append(MenuNode("(Empty)", "目前沒有連結口", None)) else: @@ -810,7 +810,7 @@ class ControlPanel: total_pages = (total_items + items_per_page - 1) // items_per_page start_idx = page * items_per_page end_idx = min(start_idx + items_per_page, total_items) - + # 顯示當前頁的物件 linked_serial_id_list = list(state.linked_serial_dict.keys()) for serial_id in linked_serial_id_list[start_idx:end_idx]: @@ -825,7 +825,7 @@ class ControlPanel: for child in obj_menu.children: child.serial_id = serial_id children.append(obj_menu) - + # 添加分頁控制 if total_pages > 1: children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None)) @@ -837,7 +837,7 @@ class ControlPanel: next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE") next_node.page = page + 1 children.append(next_node) - + children.append(MenuNode("GoUp", "回到上層選單", "BACK")) menu = MenuNode("Linked Serial List", f"連結口列表 (第 {page + 1} 頁)", children=children) menu.current_page = page @@ -859,14 +859,14 @@ class ControlPanel: dialog_width = min(70, width - 4) start_y = (height - dialog_height) // 2 start_x = (width - dialog_width) // 2 - + dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x) dialog_win.border() dialog_win.addstr(0, 2, f" Serial Link #{serial_id} 詳細資訊 ", curses.A_BOLD) # 從 linked_serial_dict 獲取資訊 serial_info = state.linked_serial_dict.get(serial_id, {}) - + if not serial_info: dialog_win.addstr(2, 2, f"無法取得 Serial #{serial_id} 的資訊") else: @@ -877,17 +877,17 @@ class ControlPanel: dialog_win.addstr(5, 2, f"Communication : {state.serial_info_single.get('receiver_type', 'N/A')}") dialog_win.addstr(6, 2, f"Target UDP Port : {state.serial_info_single.get('target_port', 'N/A')}") dialog_win.addstr(7, 2, f"Status : {state.serial_info_single.get('status', 'Running')}") - + # 如果有額外資訊可以繼續添加 if 'thread_alive' in serial_info: thread_status = "Alive" if serial_info['thread_alive'] else "Stopped" dialog_win.addstr(8, 2, f"Thread Status : {thread_status}") - + state.serial_info_single['InfoReady'] = False # 重置狀態以便下次使用 dialog_win.addstr(dialog_height - 2, 2, "按任意鍵返回...") dialog_win.refresh() - + dialog_win.getch() del dialog_win stdscr.clear() @@ -900,7 +900,7 @@ class ControlPanel: 每個 vehicle-component 組合都是獨立的選單項目 """ children = [] - + if not state.connected_vehicles_dict: children.append(MenuNode("(Empty)", "目前沒有已連線的載具", None)) else: @@ -908,22 +908,22 @@ class ControlPanel: total_pages = (total_items + items_per_page - 1) // items_per_page start_idx = page * items_per_page end_idx = min(start_idx + items_per_page, total_items) - + # vehicle_id_list 現在是 (sysid, compid) 的元組列表 vehicle_comp_list = list(state.connected_vehicles_dict.keys()) - + # 顯示當前頁的物件 for sysid, compid in vehicle_comp_list[start_idx:end_idx]: # 建立顯示名稱 display_name = f"Vehicle #{sysid} - Comp #{compid}" desc = f"載具 {sysid} 組件 {compid}" - + vehicle_menu = MenuNode(display_name, desc, "INSPECT_VEHICLE") # 將 sysid 和 compid 附加到選單項目上 vehicle_menu.sysid = sysid vehicle_menu.compid = compid children.append(vehicle_menu) - + # 添加分頁控制 if total_pages > 1: children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None)) @@ -935,7 +935,7 @@ class ControlPanel: next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE") next_node.page = page + 1 children.append(next_node) - + children.append(MenuNode("GoUp", "回到上層選單", "BACK")) menu = MenuNode("Connected Vehicles", f"已連線載具列表 (第 {page + 1} 頁)", children=children) menu.current_page = page @@ -943,7 +943,7 @@ class ControlPanel: def show_vehicle_info(self, stdscr, sysid, compid, cmd_q: queue.Queue, state: PanelState): """顯示載具組件詳細資訊（動態更新，顯示變化率）""" - + # 等待資訊準備 start = time.time() while not state.vehicle_info_single.get('InfoReady', False): @@ -951,30 +951,30 @@ class ControlPanel: state.panel_info_msg_list.append(("Fail! Vehicle Info NOT Acquired!", time.time())) return time.sleep(0.05) - + info = state.vehicle_info_single height, width = stdscr.getmaxyx() dialog_height = min(22, height - 4) dialog_width = min(70, width - 4) start_y = (height - dialog_height) // 2 start_x = (width - dialog_width) // 2 - + dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x) dialog_win.nodelay(True) # 非阻塞模式，允許動態更新 dialog_win.keypad(True) - + # MAV_TYPE 名稱對應 MAV_TYPE_NAMES = { 0: "Generic", 1: "Fixed Wing", 2: "Quadrotor", 3: "Helicopter", 4: "Antenna Tracker", 5: "GCS", 6: "Airship", 10: "Ground Rover", 12: "Boat", 13: "Submarine", 26: "Gimbal", 30: "Camera" } - + # 動態更新迴圈 last_update = time.time() while True: current_time = time.time() - + # 每 1 秒重新請求資料 if current_time - last_update >= 1.0: # 觸發資料更新（透過 Orchestrator） @@ -989,58 +989,58 @@ class ControlPanel: # 更新 info 參照 info = state.vehicle_info_single last_update = current_time - + dialog_win.clear() dialog_win.border() dialog_win.addstr(0, 2, f" Vehicle #{info['sysid']} - Component #{info['compid']} ", curses.A_BOLD) - + # === 基礎資訊 === dialog_win.addstr(2, 2, "[Identity]", curses.A_UNDERLINE) dialog_win.addstr(2, 32, "[Connection]", curses.A_UNDERLINE) - + # # MAV Type # 這個用不到 # mav_type = info.get('vehicle_type', 'N/A') # mav_type_str = f"{mav_type} ({MAV_TYPE_NAMES.get(mav_type, 'Unknown')})" if isinstance(mav_type, int) else str(mav_type) # dialog_win.addstr(3, 2, f"MAV Type : {mav_type_str}") - + # Component Type dialog_win.addstr(3, 2, f"Component Type : {info.get('component_type', 'N/A')}") - + # Autopilot Type if info.get('mav_autopilot') is not None: dialog_win.addstr(4, 2, f"Autopilot : {info.get('mav_autopilot', 'N/A')}") - + # Connection Info dialog_win.addstr(3, 32, f"Connection : {info.get('connection_type', 'N/A')}") dialog_win.addstr(4, 32, f"Socket ID : #{info.get('socket_id', 'N/A')}") - + # === 封包統計 === stats = info.get('packet_stats', {}) dialog_win.addstr(7, 2, "[Packet Statistics]", curses.A_UNDERLINE) - + received = stats.get('received', 0) lost = stats.get('lost', 0) loss_rate = stats.get('loss_rate', 0.0) last_seq = stats.get('last_seq', 'N/A') - + # 計算變化 received_delta = stats.get('received_delta', 0) lost_delta = stats.get('lost_delta', 0) - + # 顯示變化率 recv_str = f"{received:6d}" if received_delta > 0: recv_str += f" (+{received_delta}↑)" - + lost_str = f"{lost:4d}" if lost_delta > 0: lost_str += f" (+{lost_delta}↑)" - + dialog_win.addstr(8, 2, f"Received : {recv_str}") dialog_win.addstr(8, 32, f"Lost : {lost_str}") dialog_win.addstr(9, 2, f"Loss Rate : {loss_rate:.2f}%") dialog_win.addstr(9, 32, f"Last Seq : {last_seq}") - + # 最後接收時間 last_msg_time = stats.get('last_msg_time') if last_msg_time: @@ -1050,50 +1050,50 @@ class ControlPanel: dialog_win.addstr(10, 32, f"Elapsed : {elapsed:.1f}s") else: dialog_win.addstr(10, 2, "Last Time : N/A") - + # === 訊息類型分佈 === dialog_win.addstr(12, 2, "[Message Types] (Top 12)", curses.A_UNDERLINE) - + msg_counts = info.get('msg_type_counts', {}) - + # MAVLink 訊息名稱對應（縮寫版本） MSG_NAMES = { 0: "HB", 1: "SYS_ST", 24: "GPS_RAW", 27: "RAW_IMU", 30: "ATT", 32: "LOC_POS", 33: "GLB_POS", 62: "NAV_CTL", 74: "VFR_HUD", 147: "BATT_ST" } - + # 顯示前 12 個最常見的訊息類型（兩列各 6 個） msg_items = list(msg_counts.items())[:12] line = 13 for i, (msg_id, count) in enumerate(msg_items): msg_name = MSG_NAMES.get(msg_id, "???") delta = stats.get(f'msg_delta_{msg_id}', 0) - + # 格式化數據 if delta > 0: data_str = f"{count}(+{delta}↑)" else: data_str = f"{count}" - + # 格式化顯示：[ID]NAME DATA (ID固定3字符寬度，右對齊) display_str = f"[{msg_id:3d}]{msg_name:8s} {data_str}" - + # 左列(偶數索引)或右列(奇數索引) col = 2 if i % 2 == 0 else 36 row = line + (i // 2) - + if row >= dialog_height - 3: # 避免超出邊界 break - + dialog_win.addstr(row, col, display_str) - + # 確保跳過顯示區域 line = line + 6 - + dialog_win.addstr(dialog_height - 2, 2, "Press R: Reset Stats, C: Unregister, other key to return...") dialog_win.refresh() - + # 檢查是否有按鍵（非阻塞） ch = dialog_win.getch() if ch in (ord('R'), ord('r')): @@ -1103,10 +1103,10 @@ class ControlPanel: break elif ch != -1: # 有按鍵則退出 break - + # 短暫延遲 time.sleep(0.1) - + state.vehicle_info_single['InfoReady'] = False del dialog_win stdscr.clear() @@ -1140,19 +1140,20 @@ class Orchestrator: self.fc_ros_manager = mros.ros2_manager self.fc_ros_manager.initialize() self.fc_ros_manager.status_publisher.rate_controller.topic_intervals = { - 'position': 1.0, - 'attitude': 0.0, - 'velocity': 0.0, - 'battery': 1.0, - 'vfr_hud': 1.0, - 'mode': 0.0, - 'summary': 1.0, + 'position': 1.0, + 'position_ned': 1.0, + 'attitude': 1.0, + 'velocity': 0.0, + 'battery': 1.0, + 'vfr_hud': 1.0, + 'mode': 0.0, + 'summary': 1.0, } def engageWholeSystem(self): """啟動整個系統""" # === 1) 面板部分的啟動 === - self.panel_thread = threading.Thread(target=self.cPanel.panel_thread, args=(self.cmd_q, self.panelState, self.stop_evt)) + self.panel_thread = threading.Thread(target=self.cPanel.panel_thread, args=(self.cmd_q, self.panelState, self.stop_evt)) self.panel_thread.start() # === 2) async_io_manager & mavlink_bridge 部分的啟動 === @@ -1215,7 +1216,7 @@ class Orchestrator: for s_id in mo.mavlink_object.mavlinkObjects: s_obj = mo.mavlink_object.mavlinkObjects[s_id] if socket_id in s_obj.target_sockets: - self.remove_target_from_object(s_id, socket_id) + self.remove_target_from_object(s_id, socket_id) # 再移除該物件 self.delete_udp_object(socket_id) elif action == "MAVOBJ_ADD_TARGET": @@ -1262,7 +1263,7 @@ class Orchestrator: elif action == "UNREGISTER_VEHICLE": sysid = cmd[1] self.vehicle_registry.unregister(sysid) - + elif cmd == "CREATE_UDP_INBOUND": self.panelState.udp_info_temp["direction"] = "inbound" self.create_udp_object() @@ -1291,8 +1292,8 @@ class Orchestrator: logger.error(f"Unexpected error in main loop: {e}") finally: - # 驗證並確保所有模組都被下達關閉訊號 - # 若是由面板操作結束系統 這些關閉行為將於 ControlPanel.pre_panel_shutdown() 觸發 + # 驗證並確保所有模組都被下達關閉訊號 + # 若是由面板操作結束系統 這些關閉行為將於 ControlPanel.pre_panel_shutdown() 觸發 if self.bridge.thread.is_alive(): if self.bridge.running: self.bridge.stop() @@ -1318,7 +1319,7 @@ class Orchestrator: self.panel_thread.join(timeout=2) time.sleep(0.5) # 等待各模組穩定關閉 - + logger.info("Main orchestrator END!") # =============== 面板動作 - Mavlink Object =============== @@ -1339,10 +1340,11 @@ class Orchestrator: self.occupied_ip_ports[ip].append(port) else: self.occupied_ip_ports[ip] = [port] + # 外放資訊部分 elif self.panelState.udp_info_temp["direction"] == "outbound": connection_string = f"udpout:{self.panelState.udp_info_temp['IP']}:{self.panelState.udp_info_temp['Port']}" - + try: # 檢測這個 connection_string 是否能成功建立 mavlink 連結 mavlink_socket = mavutil.mavlink_connection(connection_string) @@ -1362,7 +1364,7 @@ class Orchestrator: mavlink_object.socket_type = socket_type self.panelState.panel_info_msg_list.append((f"Created UDP {self.panelState.udp_info_temp['direction']} object: {connection_string}", time.time())) - + def delete_udp_object(self, socket_id): """移除指定的 mavlink_object""" @@ -1406,10 +1408,10 @@ class Orchestrator: def _update_vehicles_list(self): """更新已連線載具列表（從 vehicle_registry 獲取）""" vehicles_dict = {} - + # 從 vehicle_registry 獲取所有載具 all_vehicles = self.vehicle_registry.get_all() - + for sysid, vehicle in all_vehicles.items(): # 遍歷每個載具的所有組件 for compid, component in vehicle.components.items(): @@ -1422,9 +1424,9 @@ class Orchestrator: 'connection_via': vehicle.connected_via.value, 'socket_id': vehicle.custom_meta.get('socket_id', 'N/A') } - + self.panelState.connected_vehicles_dict = vehicles_dict - + def _prepare_vehicle_info(self, sysid, compid): """準備載具組件的詳細資訊（包含變化率計算）""" vehicle = self.vehicle_registry.get(sysid) @@ -1433,37 +1435,37 @@ class Orchestrator: return socket_id = vehicle.custom_meta.get('socket_id', 'N/A') - + component = vehicle.get_component(compid) if not component: logger.warning(f"Component {compid} not found in vehicle {sysid}") return - + stats = component.packet_stats - + # 取得之前的統計資料（用於計算變化） prev_stats = self.panelState.vehicle_info_single.get('prev_stats', {}) prev_received = prev_stats.get('received', 0) prev_lost = prev_stats.get('lost', 0) prev_msg_counts = prev_stats.get('msg_counts', {}) - + # 計算變化率 received_delta = stats.received_count - prev_received lost_delta = stats.lost_count - prev_lost - + # 準備訊息類型計數（排序後取前幾個） sorted_msg_counts = dict(sorted( stats.msg_type_count.items(), key=lambda x: x[1], reverse=True )[:12]) # 取前 12 個最常見的 - + # 計算每種訊息類型的變化 msg_deltas = {} for msg_id, count in sorted_msg_counts.items(): prev_count = prev_msg_counts.get(msg_id, 0) msg_deltas[f'msg_delta_{msg_id}'] = count - prev_count - + # 更新 vehicle_info_single socket_type = "N/A" socket_obj =mo.mavlink_object.mavlinkObjects.get(socket_id, None) @@ -1481,7 +1483,7 @@ class Orchestrator: "packet_stats": { "received": stats.received_count, "lost": stats.lost_count, - "loss_rate": (stats.lost_count / stats.received_count * 100 + "loss_rate": (stats.lost_count / stats.received_count * 100 if stats.received_count > 0 else 0), "last_seq": stats.last_seq, "last_msg_time": stats.last_msg_time, @@ -1508,8 +1510,8 @@ class Orchestrator: (f"Fail! Serial Port {self.panelState.serial_info_temp['Port']} already linked.", time.time()) ) return - - # 獲取可用的 udp port + + # 獲取可用的 udp port udp_port_tmp = find_available_port(19000, 20000) # 定義通訊類型映射表 @@ -1526,7 +1528,7 @@ class Orchestrator: ("Please select Communication Type first.", time.time()) ) return - + # 查找對應的通訊類型 comm_type_tmp = COMM_TYPE_MAP.get(comm_type) if comm_type_tmp is None: @@ -1554,12 +1556,31 @@ class Orchestrator: self.panelState.udp_info_temp['Port'] = str(udp_port_tmp) self.panelState.udp_info_temp['direction'] = "inbound" self.create_udp_object("SERIAL_XBEE") - + def main(): - stop_evt = threading.Event() + # =========== 各項模組的版本先驗 =========== + # 除非你有在做這幾項模組的改版 不然動到這邊的版本號 代表執行環境有很大的問題!!!!!! + version_check = True + if mo.MODULE_VER != "1.50": + print("Module Version Error! : mavlinkObkect") + version_check = False + if mros.MODULE_VER != "1.50": + print("Module Version Error! : mavlinkROS2Nodes") + version_check = False + if mvv.MODULE_VER != "1.00": + print("Module Version Error! : mavlinkVehicleView") + version_check = False + if sm.MODULE_VER != "0.60": + print("Module Version Error! : serialManager") + version_check = False + if version_check == False: + print("Environment Obstacle! Check YOUR Execution System Path First!!") + return + # ======================================== + stop_evt = threading.Event() def signal_handler(signum, frame): """處理 Ctrl+C 信號 藉此訊號 會結束下面的 while 迴圈 並逐步關閉各模組""" stop_evt.set() @@ -1593,4 +1614,7 @@ if __name__ == "__main__": 4. 註解掉無效代碼 action == "UPDATE_VEHICLES_LIST" 區塊 5. 系統納入 mavlink ROS2 Manager 模組 +2025.04.13 +1. 加入各項模組的版本先驗 檢驗失敗就直接離開 + ''' diff --git a/src/fc_network_adapter/fc_network_adapter/mavlinkObject.py b/src/fc_network_adapter/fc_network_adapter/mavlinkObject.py index 694913c..dd9515b 100644 --- a/src/fc_network_adapter/fc_network_adapter/mavlinkObject.py +++ b/src/fc_network_adapter/fc_network_adapter/mavlinkObject.py @@ -28,9 +28,6 @@ mavlink_bridge: 專門處理 stream_bridge_ring 裡面的訊息流 會把訊息流解開後 存放到 mavlinkVehicleView.py 定義的載具結構視圖 - - - ''' # 基礎功能的 import @@ -61,6 +58,8 @@ from .utils import RingBuffer, setup_logger # ====================== 分割線 ===================== logger = setup_logger(os.path.basename(__file__)) +MODULE_VER = "1.50" + stream_bridge_ring = RingBuffer(capacity=1024, buffer_id=255) return_packet_ring = RingBuffer(capacity=256, buffer_id=254) @@ -386,7 +385,7 @@ class mavlink_object: self.MAVLink = mav_common.MAVLink(self.mavlinkPipeline, srcSystem=254, srcComponent=191) # 記錄訊息過濾類型 (可選) - self.bridge_msg_types = set([0, 30, 33, 74, 147]) # 0 HEARTBEAT, 30 ATTITUDE, 33 GLOBAL_POSITION_INT, 74 VFR_HUD, 147 BATTERY_STATUS + self.bridge_msg_types = set([0, 30, 32, 33, 74, 147]) # 0 HEARTBEAT, 30 ATTITUDE, 33 GLOBAL_POSITION_INT, 74 VFR_HUD, 147 BATTERY_STATUS, 32 LOCAL_POSITION_NED self.return_msg_types = set([]) # 轉發到別的 mavlink object 作為目標端口 的列表 diff --git a/src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py b/src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py index cebcc1b..89ab179 100644 --- a/src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py +++ b/src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py @@ -1,10 +1,15 @@ """ MAVLink ROS2 Nodes -包含兩個獨立的 ROS2 Node： +主要包含兩個獨立的 ROS2 Node : 1. VehicleStatusPublisher - 發布載具狀態到 ROS2 topics + 從 vehicle_registry 讀取狀態數據，頻率控制，模組化設計 2. MavlinkCommandService - 提供 MAVLink 指令 service 介面 + 以最基礎的 mavlink microservice 會實現目標 + 並不會包含額外的功能 + +與一個節點管理器 +- fc_ros_manager -從 vehicle_registry 讀取狀態數據，頻率控制，模組化設計 """ import os @@ -22,10 +27,12 @@ from rclpy.executors import MultiThreadedExecutor import std_msgs.msg import sensor_msgs.msg import geometry_msgs.msg +import nav_msgs.msg import mavros_msgs.msg # ROS2 Service imports import fc_interfaces.srv as fcsrv +from .ackEnum import serviceAckResult # 自定義 imports from . import mavlinkVehicleView as mvv @@ -33,12 +40,13 @@ from . import mavlinkObject as mo from .utils import setup_logger logger = setup_logger(os.path.basename(__file__)) - +MODULE_VER = "1.50" # ============================================================================ -# 頻率控制器 +# VehicleStatusPublisher Node # ============================================================================ +# 頻率控制器 class PublishRateController: """發布頻率控制器 - 按時間間隔控制發布頻率""" @@ -49,14 +57,17 @@ class PublishRateController: # 例如：'ekf_status': 1.0, # EKF 狀態 # ═══════════════════════════════════════════════════════════════ # 各 topic 的發布間隔（秒） + # 注意 這邊是定義區 不要把參數寫在這裡 所以預設全部關閉 + # 以這個專案 請看 mainOrchestrator.py 的 Orchestrator 初始化階段 self.topic_intervals = { - 'position': 0.5, # GPS位置 - 'attitude': 0.5, # 姿態 - 'velocity': 0.5, # 速度 - 'battery': 1.0, # 電池 - 'vfr_hud': 0.5, # VFR HUD - 'mode': 1.0, # 飛行模式 - 'summary': 1.0, # 載具摘要 + 'position': 0.0, # GNSS位置 + 'position_ned': 0.0, # LOCAL_POSITION_NED (位置+速度) + 'attitude': 0.0, # 姿態 (pitch yaw row 與其加速狀態) + 'velocity': 0.0, # 速度 (已經包含在 vfr_hud 未來移除) + 'battery': 0.0, # 電池 + 'vfr_hud': 0.0, # VFR HUD (地速 空速 絕對高度 爬升率 航向 油門) + 'mode': 0.0, # 飛行模式 (已經在 summary 裡 未來移除) + 'summary': 0.0, # 載具摘要 (sysid 飛行模式 解鎖上鎖 gps狀態) # 在這裡新增更多 topics... } # 記錄每個 topic 的最後發布時間 {(sysid, topic): timestamp} @@ -97,11 +108,6 @@ class PublishRateController: """重置所有計時器""" self.last_publish_time.clear() - -# ============================================================================ -# VehicleStatusPublisher Node -# ============================================================================ - class VehicleStatusPublisher(Node): """ 載具狀態發布者 - 從 vehicle_registry 讀取數據並發布到 ROS2 topics @@ -138,10 +144,8 @@ class VehicleStatusPublisher(Node): if not self.running: return - # 從 vehicle_registry 獲取所有載具 - all_vehicles = mvv.vehicle_registry.get_all() - - for sysid, vehicle in all_vehicles.items(): + # 高頻快路徑：讀取 registry 的 immutable 快照 + for sysid, vehicle in mvv.vehicle_registry.read_all(): self._publish_vehicle_status(vehicle) def _publish_vehicle_status(self, vehicle: mvv.VehicleView): @@ -167,6 +171,7 @@ class VehicleStatusPublisher(Node): # ═══════════════════════════════════════════════════════════════ # 發布各種狀態（通過頻率控制器判斷是否發布） self._publish_position(sysid, status) + self._publish_position_ned(sysid, status) self._publish_attitude(sysid, status) self._publish_velocity(sysid, status) self._publish_battery(sysid, status) @@ -222,6 +227,42 @@ class VehicleStatusPublisher(Node): msg.status.status = gps.fix_type - 1 # MAVLink fix_type 轉 NavSatStatus publisher.publish(msg) + + def _publish_position_ned(self, sysid: int, status: mvv.ComponentStatus): + """發布 LOCAL_POSITION_NED（NED 座標，含位置與速度）""" + if not self.rate_controller.should_publish(sysid, 'position_ned'): + return + + local_pos = status.custom_status.get('local_position') + if not local_pos: + return + + required_keys = ('x', 'y', 'z', 'vx', 'vy', 'vz') + if any(local_pos.get(k) is None for k in required_keys): + return + + publisher = self._get_or_create_publisher( + sysid, 'position_ned', nav_msgs.msg.Odometry + ) + + if publisher.get_subscription_count() == 0: + return + + msg = nav_msgs.msg.Odometry() + msg.header.stamp = self.get_clock().now().to_msg() + msg.header.frame_id = 'local_ned' + msg.child_frame_id = 'base_link_ned' + + # 保持 MAVLink LOCAL_POSITION_NED 座標定義，不進行 ENU 轉換 + msg.pose.pose.position.x = float(local_pos['x']) + msg.pose.pose.position.y = float(local_pos['y']) + msg.pose.pose.position.z = float(local_pos['z']) + + msg.twist.twist.linear.x = float(local_pos['vx']) + msg.twist.twist.linear.y = float(local_pos['vy']) + msg.twist.twist.linear.z = float(local_pos['vz']) + + publisher.publish(msg) def _publish_attitude(self, sysid: int, status: mvv.ComponentStatus): """發布姿態（IMU）""" @@ -231,7 +272,6 @@ class VehicleStatusPublisher(Node): att = status.attitude if att.roll is None: return - publisher = self._get_or_create_publisher(sysid, 'attitude', sensor_msgs.msg.Imu) if publisher.get_subscription_count() == 0: @@ -471,12 +511,17 @@ class MavlinkCommandService(Node): - 作為 service server 等待 client 請求 - 接收請求，組裝 MAVLink 封包 - 調用 mavlinkObject 發送封包 - - 處理 ACK 等待和超時（未來實現） + - 處理 ACK 等待和超時 設計理念：回歸 MAVLink 純粹結構 - 只負責將 ROS2 請求轉換為 MAVLink 封包 - 不預設功能（如 ARM/DISARM) 保持模組化 - 高層應用可透過此 service 實現各種功能 + + 講白話一點就是 + 每次接到一個 service 請求 要整個系統丟某種指令給載具時 + 會做兩件事 1."丟出mavlink封包" 2."創造一個臨時信箱 Pending" + """ serviceString_prefix = '/fc_network/vehicle' @@ -487,8 +532,8 @@ class MavlinkCommandService(Node): # 狀態標記 self.running = True - # mavlinkObject 的引用（將由外部設置） - self.mavlink_analyzer = None + # # mavlinkObject 的引用（將由外部設置） 用不到 + # self.mavlink_analyzer = None # pending 旗標物件的儲存庫 self._pending_by_sysid = {} # sysid(int) : PendingEntry @@ -521,6 +566,15 @@ class MavlinkCommandService(Node): self.handle_command_long ) + # ═══════════════════════════════════════════════════════════════════ + # Service : 發送 SET_POSITION_TARGET_GLOBAL_INT (86) + # ═══════════════════════════════════════════════════════════════════ + self.srv_pos_global_int = self.create_service( + fcsrv.MavPositionTargetGlobalInt, + self.serviceString_prefix + '/pos_global_int', + self.handle_set_position_target_global_int + ) + logger.info("MavlinkCommandService initialized") def _index(self, target_sysid, target_compid): @@ -542,7 +596,8 @@ class MavlinkCommandService(Node): def return_router(self): ''' - 這邊是給外部迴圈呼叫的 消耗 return_packet_ring 裡接收到的 mavlink 封包 + 在節點管理器哪邊被呼叫 + 消耗 return_packet_ring 裡接收到的 mavlink 封包 分送到各自的 pending 中 藉由 event.set() 解開 service 中的 block ''' @@ -568,6 +623,7 @@ class MavlinkCommandService(Node): def handle_mav_timesync_ping(self, request, response): ''' 用 timesync 封包驗證來回的時間 + 隸屬於 MavLink PING Protocol ''' # 設定失效回應 response.success = False @@ -612,7 +668,7 @@ class MavlinkCommandService(Node): fail_skip = False # 5) 等待回應封包 if not evt.wait(timeout_sec): - response.message = "waiting Timeout - TIMESYNC" + response.message = "mavlink timeout - TIMESYNC" fail_skip = True # 6) 處理回應封包 @@ -633,35 +689,31 @@ class MavlinkCommandService(Node): return response - def handle_add_two_ints(self, request, response): - """測試用 Service Handler 未來刪除""" - logger.info(f"Received add_two_ints request: {request.a} + {request.b}") - response.sum = request.a + request.b - logger.info( - f"[add_two_ints] thread_ident={threading.get_ident()} time={time.time()}" - ) - time.sleep(1) - - return response - # ═══════════════════════════════════════════════════════════════════════ - # Service Handler: 發送 COMMAND_LONG + # Service Handler: 發送 COMMAND_LONG (76) # ═══════════════════════════════════════════════════════════════════════ def handle_command_long(self, request, response): + ''' + 用 command long 丟出 MAV_CMD + 隸屬於 MavLink Command Protocol + ''' # 設定失效回應 response.success = False response.message = "Unknown error" + response.ack_result = serviceAckResult.UNKNOWN timeout_sec = request.timeout_sec # 1) 確認是否已經有相同 sysid 的其他需求正在 pending if request.target_sysid in self._pending_by_sysid: response.message = f"sysid {request.target_sysid} already has pending request" + response.ack_result = serviceAckResult.MAVLINK_BUSY return response # 2) 找到 socket 標地 socketObject = self._index(request.target_sysid, request.target_compid) if socketObject is None: response.message = "This system id not found." + response.ack_result = serviceAckResult.MAVLINK_DEV_NOTFOUND return response # 3) 接收封包系統 的設定 @@ -691,7 +743,8 @@ class MavlinkCommandService(Node): fail_skip = False # 5) 等待回應封包 if not evt.wait(timeout_sec): - response.message = "waiting Timeout - CommLONG" + response.message = "mavlink timeout - CommLONG" + response.ack_result = serviceAckResult.MAVLINK_TIMEOUT fail_skip = True # 6) 處理回應封包 @@ -711,7 +764,96 @@ class MavlinkCommandService(Node): return response - + # ═══════════════════════════════════════════════════════════════════════ + # Service Handler: 發送 SET_POSITION_TARGET_GLOBAL_INT (86) + # ═══════════════════════════════════════════════════════════════════════ + def handle_set_position_target_global_int(self, request, response): + ''' + 隸屬於 MavLink Offboard Control Protocol + ''' + # 設定失效回應 + response.message = "Unknown error" + response.ack_result = serviceAckResult.UNKNOWN + timeout_sec = request.timeout_sec + + # 1) 確認是否已經有相同 sysid 的其他需求正在 pending + if request.target_sysid in self._pending_by_sysid: + response.message = f"sysid {request.target_sysid} already has pending request" + response.ack_result = serviceAckResult.MAVLINK_BUSY + return response + + # 2) 找到 socket 標地 + socketObject = self._index(request.target_sysid, request.target_compid) + if socketObject is None: + response.message = "This system id not found." + response.ack_result = serviceAckResult.MAVLINK_DEV_NOTFOUND + return response + + # 3) 接收封包系統 的設定 + # 在 socket 那邊先把要的封包種類導流進來 + expect_recieve_msg_id = 87 # POSITION_TARGET_GLOBAL_INT + socketObject.set_return_message_types(list(socketObject.return_msg_types) + [expect_recieve_msg_id]) + evt = threading.Event() + # 設定封包檢驗 + def match_fn(compare_msg): + if compare_msg.get_msgId() != expect_recieve_msg_id : + return False + return True + + # 4) 送出封包 + socketObject.MAVLink.set_position_target_global_int_send( + request.time_boot_ms, + request.target_sysid, + request.target_compid, + request.coordinate_frame, + request.type_mask, + request.lat_int, request.lon_int, request.alt, + request.vx, request.vy, request.vz, + request.afx, request.afy, request.afz, + request.yaw, request.yaw_rate + ) + + time.sleep(0.01) # 因應 mavlink 的廣播式回應 後置回應監聽 並且故意延遲10ms 讓系統代謝掉舊的87封包 + _pending = PendingEntry(event = evt, match_fn = match_fn) + self._pending_by_sysid[request.target_sysid] = _pending + + fail_skip = False + # 5) 等待回應封包 + if not evt.wait(timeout_sec): + response.message = "mavlink timeout - SET POSITION 86" + response.ack_result = MAVLINK_SEND_BUT_NO_EXP_STEAM + fail_skip = True + + # 6) 處理回應封包 + if not fail_skip: + ack_msg = _pending.result_mav_msg + + response.message = "" + response.ack_result = 0 + 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 + response.r_lon_int = ack_msg.lon_int + response.r_alt = ack_msg.alt + response.r_vx = ack_msg.vx + response.r_vy = ack_msg.vy + response.r_vz = ack_msg.vz + response.r_afx = ack_msg.afx + response.r_afy = ack_msg.afy + response.r_afz = ack_msg.afz + response.r_yaw = ack_msg.yaw + response.r_yaw_rate = ack_msg.yaw_rate + + # 7) 接收封包系統 的重置 + msg_types = list(socketObject.return_msg_types) + if expect_recieve_msg_id in msg_types: + msg_types.remove(expect_recieve_msg_id) + socketObject.set_return_message_types(msg_types) + del evt + self._pending_by_sysid.pop(request.target_sysid, None) + + return response + # ═══════════════════════════════════════════════════════════════════════ # Service Handler: 參數請求 # ═══════════════════════════════════════════════════════════════════════ @@ -790,7 +932,21 @@ class MavlinkCommandService(Node): response.success = True response.message = "Param request sent (placeholder implementation)" return response - + + + def handle_add_two_ints(self, request, response): + """測試用 Service Handler 未來刪除""" + logger.info(f"Received add_two_ints request: {request.a} + {request.b}") + response.sum = request.a + request.b + logger.info( + f"[add_two_ints] thread_ident={threading.get_ident()} time={time.time()}" + ) + time.sleep(1) + + return response + + + def stop(self): """停止服務""" self.running = False @@ -837,7 +993,8 @@ class fc_ros_manager: try: # 初始化 ROS2 - rclpy.init() + if not rclpy.ok(): + rclpy.init(args=None) # 創建節點 node self.status_publisher = VehicleStatusPublisher() @@ -973,7 +1130,15 @@ ros2_manager = fc_ros_manager() 5. 預留 MavlinkCommandService 結構（稍後實現） 2026.03.27 -1. 完成 ros2 service 結構與 timesync command_long 協議 +1. 完成 ros2 service 結構與 timesync 與 command_long 協議 + +2026.04.07 +1. 完成 ros2 的 MavPositionTargetGlobalInt 區域 +2. 優化 response.ack_result 回傳值的資訊 + +TODO +1. service 部分會需要跟 mavlinkobject 大量互動 也許需要考慮對方的生命週期 +2. 還沒測試 如果有失效狀態讓 fc_ros_manager 中斷了 如何恢復的問題 ''' diff --git a/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py b/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py index b924c42..81dbbf9 100644 --- a/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py +++ b/src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py @@ -5,14 +5,14 @@ VehicleView - Pure State Container """ import os -from typing import Dict, Optional, Any +from typing import Dict, Optional, Any, Tuple from dataclasses import dataclass, field from enum import Enum from .utils import setup_logger logger = setup_logger(os.path.basename(__file__)) - +MODULE_VER = "1.00" # ====================== Enums ===================== @@ -402,11 +402,18 @@ class VehicleViewRegistry: def __init__(self): self._vehicles: Dict[int, VehicleView] = {} + # 高頻讀取用 snapshot（弱一致性） + self._vehicles_snapshot_items: Tuple[Tuple[int, VehicleView], ...] = tuple() + + def _refresh_snapshot(self) -> None: + """重建快照（僅在 key 集合變動時觸發）""" + self._vehicles_snapshot_items = tuple(self._vehicles.items()) def register(self, sysid: int) -> VehicleView: """註冊新的載具視圖""" if sysid not in self._vehicles: self._vehicles[sysid] = VehicleView(sysid) + self._refresh_snapshot() logger.info(f"Registered new VehicleView for system {sysid}") return self._vehicles[sysid] @@ -418,6 +425,7 @@ class VehicleViewRegistry: """註銷載具視圖""" if sysid in self._vehicles: del self._vehicles[sysid] + self._refresh_snapshot() logger.info(f"Unregistered VehicleView for system {sysid}") return True return False @@ -425,10 +433,22 @@ class VehicleViewRegistry: def get_all(self) -> Dict[int, VehicleView]: """取得所有載具視圖""" return self._vehicles.copy() + + def read_all(self) -> Tuple[Tuple[int, VehicleView], ...]: + """ + 高效讀取所有載具視圖快照（弱一致性） + + 注意: + - 回傳 immutable tuple 快照，適合高頻迭代 + - 僅在 register/unregister/clear 後更新，可能不是最新資料 + - 適合高頻讀取且可接受弱一致性的情境 + """ + return self._vehicles_snapshot_items def clear(self) -> None: """清空所有載具視圖""" self._vehicles.clear() + self._refresh_snapshot() logger.info("Cleared all VehicleViews") def __len__(self) -> int: @@ -449,5 +469,8 @@ vehicle_registry = VehicleViewRegistry() 2026.01.16 1. 新增 重置指定組件的封包統計 功能 +2026.04.13 +1. 新增 VehicleViewRegistry.read_all 方法 讓 ROS2 Node 組件更有效率的讀取其中的資料 + ''' diff --git a/src/fc_network_adapter/fc_network_adapter/serialManager.py b/src/fc_network_adapter/fc_network_adapter/serialManager.py index 883af90..8638432 100644 --- a/src/fc_network_adapter/fc_network_adapter/serialManager.py +++ b/src/fc_network_adapter/fc_network_adapter/serialManager.py @@ -26,6 +26,7 @@ from .utils import setup_logger # ====================== 分割線 ===================== logger = setup_logger(os.path.basename(__file__)) +MODULE_VER = "0.60" # ====================== 分割線 ===================== diff --git a/src/fc_network_apps/__init__.py b/src/fc_network_apps/__init__.py index d619718..09a5885 100644 --- a/src/fc_network_apps/__init__.py +++ b/src/fc_network_apps/__init__.py @@ -1,14 +1,10 @@ -from .longCommand import CommandLongClient, ChangeModeResult -from .changeMode import change_mode -from .arm_disarm import arm_disarm -from .takeoff import takeoff -from .land import land +from .longCommand import CommandLongClient, CommandLongResult +from .navigation import PositionTargetGlobalIntClient, PositionTargetGlobalIntResult + __all__ = [ "CommandLongClient", - "ChangeModeResult", - "change_mode", - "arm_disarm", - "takeoff", - "land", + "PositionTargetGlobalIntClient", + "CommandLongResult", + "PositionTargetGlobalIntResult", ] diff --git a/src/fc_network_apps/arm_disarm.py b/src/fc_network_apps/arm_disarm.py deleted file mode 100644 index 21f8386..0000000 --- a/src/fc_network_apps/arm_disarm.py +++ /dev/null @@ -1,93 +0,0 @@ -"""Simple wrapper for arm/disarm via fc_network ROS2 service (MAV_CMD_COMPONENT_ARM_DISARM).""" - -from __future__ import annotations - -from dataclasses import dataclass -from typing import Optional - -import rclpy -from rclpy.node import Node - -from fc_interfaces.srv import MavCommandLong - -COMMAND_COMPONENT_ARM_DISARM = 400 -DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long" -DEFAULT_TIMEOUT_SEC = 2.0 - - -@dataclass -class ArmDisarmResult: - success: bool - message: str - ack_result: int - - -def arm_disarm( - *, - target_sysid: int, - arm: bool, - target_compid: int = 0, - confirmation: int = 0, - param2: float = 0.0, - timeout_sec: float = DEFAULT_TIMEOUT_SEC, - service_name: str = DEFAULT_SERVICE_NAME, -) -> ArmDisarmResult: - """One-shot MAV_CMD_COMPONENT_ARM_DISARM (400) wrapper. - - param1: 1.0 to arm, 0.0 to disarm. - param2: usually 0. Some stacks use 21196 for force-arm (ArduPilot); pass via param2 if needed. - """ - rclpy.init(args=None) - node: Optional[Node] = None - try: - node = Node("fc_arm_disarm_client_once") - client = node.create_client(MavCommandLong, service_name) - - if not client.wait_for_service(timeout_sec=timeout_sec): - return ArmDisarmResult( - success=False, - message=f"Service not available: {service_name}", - ack_result=-1, - ) - - req = MavCommandLong.Request() - req.target_sysid = target_sysid - req.target_compid = target_compid - req.command = COMMAND_COMPONENT_ARM_DISARM - req.confirmation = confirmation - req.param1 = 1.0 if arm else 0.0 - req.param2 = float(param2) - req.param3 = 0.0 - req.param4 = 0.0 - req.param5 = 0.0 - req.param6 = 0.0 - req.param7 = 0.0 - req.timeout_sec = float(timeout_sec) - - future = client.call_async(req) - rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0) - if not future.done() or future.result() is None: - return ArmDisarmResult( - success=False, - message="Service call timeout or no response.", - ack_result=-1, - ) - - response = future.result() - return ArmDisarmResult( - success=response.success, - message=response.message, - ack_result=response.ack_result, - ) - finally: - if node is not None: - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - r = arm_disarm(target_sysid=3, arm=True) - print( - f"arm_disarm success={r.success}, " - f"ack_result={r.ack_result}, message='{r.message}'" - ) diff --git a/src/fc_network_apps/changeMode.py b/src/fc_network_apps/changeMode.py deleted file mode 100644 index aa98230..0000000 --- a/src/fc_network_apps/changeMode.py +++ /dev/null @@ -1,99 +0,0 @@ -"""Simple wrapper for mode change via fc_network ROS2 service. - -Reference CLI command: -ros2 service call /fc_network/vehicle/send_command_long \ - fc_interfaces/srv/MavCommandLong \ - "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, \ - param1: 1, param2: 4, param3: 0, param4: 0, param5: 0, param6: 0, \ - param7: 0, timeout_sec: 2}" -""" - -from __future__ import annotations - -from dataclasses import dataclass -from typing import Optional - -import rclpy -from rclpy.node import Node - -from fc_interfaces.srv import MavCommandLong - -COMMAND_DO_SET_MODE = 176 -DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long" -DEFAULT_TIMEOUT_SEC = 2.0 - -@dataclass -class ChangeModeResult: - """Return value for mode change requests.""" - - success: bool - message: str - ack_result: int - -def change_mode( - *, - target_sysid: int, - custom_mode: float, - target_compid: int = 0, - base_mode: float = 1.0, - confirmation: int = 0, - timeout_sec: float = DEFAULT_TIMEOUT_SEC, - service_name: str = DEFAULT_SERVICE_NAME, -) -> ChangeModeResult: - - """One-shot helper for collaborators who want minimal code.""" - rclpy.init(args=None) - node: Optional[Node] = None - try: - node = Node("fc_change_mode_client_once") - client = node.create_client(MavCommandLong, service_name) - - if not client.wait_for_service(timeout_sec=timeout_sec): - return ChangeModeResult( - success=False, - message=f"Service not available: {service_name}", - ack_result=-1, - ) - - req = MavCommandLong.Request() - req.target_sysid = target_sysid - req.target_compid = target_compid - req.command = COMMAND_DO_SET_MODE - req.confirmation = confirmation - req.param1 = float(base_mode) - req.param2 = float(custom_mode) - req.param3 = 0.0 - req.param4 = 0.0 - req.param5 = 0.0 - req.param6 = 0.0 - req.param7 = 0.0 - req.timeout_sec = float(timeout_sec) - - future = client.call_async(req) - rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0) - if not future.done() or future.result() is None: - return ChangeModeResult( - success=False, - message="Service call timeout or no response.", - ack_result=-1, - ) - - response = future.result() - return ChangeModeResult( - success=response.success, - message=response.message, - ack_result=response.ack_result, - ) - finally: - if node is not None: - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - # Example values are aligned with your terminal command. - result = change_mode(target_sysid=3, custom_mode=4) - print( - f"change_mode success={result.success}, " - f"ack_result={result.ack_result}, message='{result.message}'" - ) \ No newline at end of file diff --git a/src/fc_network_apps/land.py b/src/fc_network_apps/land.py deleted file mode 100644 index d21f381..0000000 --- a/src/fc_network_apps/land.py +++ /dev/null @@ -1,90 +0,0 @@ -"""Simple wrapper for land via fc_network ROS2 service.""" - -from __future__ import annotations - -from dataclasses import dataclass -from typing import Optional - -import rclpy -from rclpy.node import Node - -from fc_interfaces.srv import MavCommandLong - -COMMAND_NAV_LAND = 21 -DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long" -DEFAULT_TIMEOUT_SEC = 2.0 - - -@dataclass -class LandResult: - success: bool - message: str - ack_result: int - - -def land( - *, - target_sysid: int, - target_compid: int = 0, - yaw_deg: float = 0.0, - latitude: Optional[float] = None, - longitude: Optional[float] = None, - altitude_m: float = 0.0, - timeout_sec: float = DEFAULT_TIMEOUT_SEC, - service_name: str = DEFAULT_SERVICE_NAME, -) -> LandResult: - """One-shot MAV_CMD_NAV_LAND wrapper.""" - rclpy.init(args=None) - node: Optional[Node] = None - try: - node = Node("fc_land_client_once") - client = node.create_client(MavCommandLong, service_name) - - if not client.wait_for_service(timeout_sec=timeout_sec): - return LandResult( - success=False, - message=f"Service not available: {service_name}", - ack_result=-1, - ) - - req = MavCommandLong.Request() - req.target_sysid = target_sysid - req.target_compid = target_compid - req.command = COMMAND_NAV_LAND - req.confirmation = 0 - req.param1 = 0.0 - req.param2 = 0.0 - req.param3 = 0.0 - req.param4 = float(yaw_deg) - req.param5 = float(latitude) if latitude is not None else 0.0 - req.param6 = float(longitude) if longitude is not None else 0.0 - req.param7 = float(altitude_m) - req.timeout_sec = float(timeout_sec) - - future = client.call_async(req) - rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0) - if not future.done() or future.result() is None: - return LandResult( - success=False, - message="Service call timeout or no response.", - ack_result=-1, - ) - - response = future.result() - return LandResult( - success=response.success, - message=response.message, - ack_result=response.ack_result, - ) - finally: - if node is not None: - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - result = land(target_sysid=3) - print( - f"land success={result.success}, " - f"ack_result={result.ack_result}, message='{result.message}'" - ) diff --git a/src/fc_network_apps/longCommand.py b/src/fc_network_apps/longCommand.py index 6911c7c..853adf5 100644 --- a/src/fc_network_apps/longCommand.py +++ b/src/fc_network_apps/longCommand.py @@ -1,3 +1,4 @@ +"""ROS2 client for fc_network MavCommandLong service (COMMAND_LONG 系列指令).""" from __future__ import annotations @@ -10,66 +11,177 @@ from rclpy.node import Node from fc_interfaces.srv import MavCommandLong COMMAND_DO_SET_MODE = 176 +COMMAND_NAV_LAND = 21 +COMMAND_NAV_TAKEOFF = 22 +COMMAND_COMPONENT_ARM_DISARM = 400 + DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long" DEFAULT_TIMEOUT_SEC = 2.0 @dataclass -class ChangeModeResult: - """Return value for mode change requests.""" - +class CommandLongResult: success: bool message: str ack_result: int - class CommandLongClient(Node): - """Small ROS2 client dedicated to change flight mode.""" + """ROS2 client : 對同一個 send_command_long service 發送各種 MAV_CMD_*。""" def __init__(self, service_name: str = DEFAULT_SERVICE_NAME) -> None: - rclpy.init() - super().__init__("fc_change_mode_client") + if not rclpy.ok(): + rclpy.init(args=None) + super().__init__("fc_command_long_client") self._client = self.create_client(MavCommandLong, service_name) def wait_for_service(self, timeout_sec: float = 3.0) -> bool: return self._client.wait_for_service(timeout_sec=timeout_sec) - def change_mode( + def _send_command_long( self, *, target_sysid: int, - custom_mode: float, - target_compid: int = 0, - base_mode: float = 1.0, - confirmation: int = 0, - timeout_sec: float = DEFAULT_TIMEOUT_SEC ) -> ChangeModeResult: - + target_compid: int, + command: int, + confirmation: int, + param1: float, + param2: float, + param3: float, + param4: float, + param5: float, + param6: float, + param7: float, + timeout_sec: float, + ) -> CommandLongResult: req = MavCommandLong.Request() req.target_sysid = target_sysid req.target_compid = target_compid - req.command = COMMAND_DO_SET_MODE + req.command = command req.confirmation = confirmation - req.param1 = float(base_mode) - req.param2 = float(custom_mode) - req.param3 = 0.0 - req.param4 = 0.0 - req.param5 = 0.0 - req.param6 = 0.0 - req.param7 = 0.0 + req.param1 = param1 + req.param2 = param2 + req.param3 = param3 + req.param4 = param4 + req.param5 = param5 + req.param6 = param6 + req.param7 = param7 req.timeout_sec = float(timeout_sec) future = self._client.call_async(req) rclpy.spin_until_future_complete(self, future, timeout_sec=timeout_sec + 1.0) if not future.done() or future.result() is None: - return ChangeModeResult( + return CommandLongResult( success=False, - message="Service call timeout or no response.", + message="Service timeout.", ack_result=-1, ) response = future.result() - return ChangeModeResult( + return CommandLongResult( success=response.success, message=response.message, ack_result=response.ack_result, - ) \ No newline at end of file + ) + + def change_mode( + self, + *, + target_sysid: int, + custom_mode: float, + target_compid: int = 0, + base_mode: float = 1.0, + confirmation: int = 0, + timeout_sec: float = DEFAULT_TIMEOUT_SEC, + ) -> CommandLongResult: + return self._send_command_long( + target_sysid=target_sysid, + target_compid=target_compid, + command=COMMAND_DO_SET_MODE, + confirmation=confirmation, + param1=float(base_mode), + param2=float(custom_mode), + param3=0.0, + param4=0.0, + param5=0.0, + param6=0.0, + param7=0.0, + timeout_sec=timeout_sec, + ) + + def takeoff( + self, + *, + target_sysid: int, + altitude_m: float, + target_compid: int = 0, + min_pitch_deg: float = 0.0, + yaw_deg: float = 0.0, + latitude: Optional[float] = None, + longitude: Optional[float] = None, + timeout_sec: float = DEFAULT_TIMEOUT_SEC, + ) -> CommandLongResult: + return self._send_command_long( + target_sysid=target_sysid, + target_compid=target_compid, + command=COMMAND_NAV_TAKEOFF, + confirmation=0, + param1=float(min_pitch_deg), + param2=0.0, + param3=0.0, + param4=float(yaw_deg), + param5=float(latitude) if latitude is not None else 0.0, + param6=float(longitude) if longitude is not None else 0.0, + param7=float(altitude_m), + timeout_sec=timeout_sec, + ) + + def land( + self, + *, + target_sysid: int, + target_compid: int = 0, + yaw_deg: float = 0.0, + latitude: Optional[float] = None, + longitude: Optional[float] = None, + altitude_m: float = 0.0, + timeout_sec: float = DEFAULT_TIMEOUT_SEC, + ) -> CommandLongResult: + return self._send_command_long( + target_sysid=target_sysid, + target_compid=target_compid, + command=COMMAND_NAV_LAND, + confirmation=0, + param1=0.0, + param2=0.0, + param3=0.0, + param4=float(yaw_deg), + param5=float(latitude) if latitude is not None else 0.0, + param6=float(longitude) if longitude is not None else 0.0, + param7=float(altitude_m), + timeout_sec=timeout_sec, + ) + + def arm_disarm( + self, + *, + target_sysid: int, + arm: bool, + target_compid: int = 0, + confirmation: int = 0, + param2: float = 0.0, + timeout_sec: float = DEFAULT_TIMEOUT_SEC, + ) -> CommandLongResult: + return self._send_command_long( + target_sysid=target_sysid, + target_compid=target_compid, + command=COMMAND_COMPONENT_ARM_DISARM, + confirmation=confirmation, + param1=1.0 if arm else 0.0, + param2=float(param2), + param3=0.0, + param4=0.0, + param5=0.0, + param6=0.0, + param7=0.0, + timeout_sec=timeout_sec, + ) diff --git a/src/fc_network_apps/navigation.py b/src/fc_network_apps/navigation.py new file mode 100644 index 0000000..4e9f4c7 --- /dev/null +++ b/src/fc_network_apps/navigation.py @@ -0,0 +1,262 @@ +"""ROS2 client for fc_network MavPositionTargetGlobalInt service (SET_POSITION_TARGET_GLOBAL_INT / Offboard).""" + +from __future__ import annotations + +import math +from dataclasses import dataclass + +import rclpy +from rclpy.node import Node + +from fc_interfaces.srv import MavPositionTargetGlobalInt + +DEFAULT_SERVICE_NAME = "/fc_network/vehicle/pos_global_int" +DEFAULT_TIMEOUT_SEC = 2.0 + +# MAV_FRAME +MAV_FRAME_GLOBAL_RELATIVE_ALT_INT = 6 # 使用 WGS84 GNSS 座標系 高度為相對於 Home 點高度 + +# POSITION_TARGET_TYPEMASK +# 1 1 Ignore position x +# 2 2 Ignore position y +# 3 4 Ignore position z +# 4 8 Ignore velocity x +# 5 16 Ignore velocity y +# 6 32 Ignore velocity z +# 7 64 Ignore acceleration x +# 8 128 Ignore acceleration y +# 9 256 Ignore acceleration z +# 10 512 Use force instead of acceleration +# 11 1024 Ignore yaw +# 12 2048 Ignore yaw rate +# 13+ Not Used +# 6543210987654321 +POSITION_ONLY = 0b0000110111111000 # 忽略速度、加速度、偏航 + + +# 回傳 echo 與送出值比對時，浮點欄位允許的絕對誤差（MAVLink float 轉傳常有小差） +_FLOAT_ECHO_ABS_TOL = 1e-5 +def _float_echo_equal(a: float, b: float) -> bool: + return math.isclose(float(a), float(b), rel_tol=0.0, abs_tol=_FLOAT_ECHO_ABS_TOL) + + +def _echo_position_target_matches( + *, + type_mask: int, + lat_int: int, + lon_int: int, + alt: float, + vx: float, + vy: float, + vz: float, + afx: float, + afy: float, + afz: float, + yaw: float, + yaw_rate: float, + time_boot_ms: int, + resp, +) -> tuple[bool, str]: + """ + 比對本次送出的軌跡欄位與 server 填回的 r_* 是否一致。 + 若不符，回傳 (False, 簡短說明)；相符則 (True, "")。 + """ + + _tm_sent = int(type_mask) & 0xFFF + _tm_recv = int(resp.r_type_mask) & 0xFFF + if _tm_recv != _tm_sent: + return False, f"type_mask echo: sent {_tm_sent:012b} != ack {_tm_recv:012b}" + + coordinate_tolerance = 5 * 100 + if abs(resp.r_lat_int - lat_int) >= coordinate_tolerance: + return False, f"lat_int echo: sent {lat_int} != ack {resp.r_lat_int}" + if abs(resp.r_lon_int - lon_int) >= coordinate_tolerance: + return False, f"lon_int echo: sent {lon_int} != ack {resp.r_lon_int}" + # TODO 我給飛控相對高度 它回給我絕對高度 看來這個比較方法 還有很多改良點 但是之後吧 + # if not _float_echo_equal(resp.r_alt, alt): + # return False, f"alt echo: sent {alt} != ack {resp.r_alt}" + if not _float_echo_equal(resp.r_vx, vx): + return False, f"vx echo: sent {vx} != ack {resp.r_vx}" + if not _float_echo_equal(resp.r_vy, vy): + return False, f"vy echo: sent {vy} != ack {resp.r_vy}" + if not _float_echo_equal(resp.r_vz, vz): + return False, f"vz echo: sent {vz} != ack {resp.r_vz}" + if not _float_echo_equal(resp.r_afx, afx): + return False, f"afx echo: sent {afx} != ack {resp.r_afx}" + if not _float_echo_equal(resp.r_afy, afy): + return False, f"afy echo: sent {afy} != ack {resp.r_afy}" + if not _float_echo_equal(resp.r_afz, afz): + return False, f"afz echo: sent {afz} != ack {resp.r_afz}" + if not _float_echo_equal(resp.r_yaw, yaw): + return False, f"yaw echo: sent {yaw} != ack {resp.r_yaw}" + if not _float_echo_equal(resp.r_yaw_rate, yaw_rate): + return False, f"yaw_rate echo: sent {yaw_rate} != ack {resp.r_yaw_rate}" + # if int(resp.r_time_boot_ms) != int(time_boot_ms): + # return False, f"time_boot_ms echo: sent {time_boot_ms} != r {resp.r_time_boot_ms}" + return True, "" + + +@dataclass +class PositionTargetGlobalIntResult: + """對應 MavPositionTargetGlobalInt.srv 的 Response；success 依「送出與 r_* echo 是否一致」。""" + success: bool + message: str + ack_result: int + r_time_boot_ms: int = 0 + r_type_mask: int = 0 + r_lat_int: int = 0 + r_lon_int: int = 0 + r_alt: float = 0.0 + r_vx: float = 0.0 + r_vy: float = 0.0 + r_vz: float = 0.0 + r_afx: float = 0.0 + r_afy: float = 0.0 + r_afz: float = 0.0 + r_yaw: float = 0.0 + r_yaw_rate: float = 0.0 + +class PositionTargetGlobalIntClient(Node): + """ + ROS2 client：對 pos_global_int service 發送 SET_POSITION_TARGET_GLOBAL_INT (msg 86)， + 並等待 POSITION_TARGET_GLOBAL_INT (msg 87) 回應（由 server 端處理）。 + """ + + def __init__(self, service_name: str = DEFAULT_SERVICE_NAME) -> None: + if not rclpy.ok(): + rclpy.init(args=None) + super().__init__("fc_position_target_global_int_client") + self._client = self.create_client(MavPositionTargetGlobalInt, service_name) + + def wait_for_service(self, timeout_sec: float = 3.0) -> bool: + return self._client.wait_for_service(timeout_sec=timeout_sec) + + def _send_position_target_global_int( + self, + *, + target_sysid: int, + target_compid: int, + time_boot_ms: int, + coordinate_frame: int, + type_mask: int, + lat_int: int, + lon_int: int, + alt: float, + vx: float, + vy: float, + vz: float, + afx: float, + afy: float, + afz: float, + yaw: float, + yaw_rate: float, + timeout_sec: float, + ) -> PositionTargetGlobalIntResult: + req = MavPositionTargetGlobalInt.Request() + req.target_sysid = target_sysid + req.target_compid = target_compid + req.time_boot_ms = time_boot_ms + req.coordinate_frame = coordinate_frame + req.type_mask = type_mask + req.lat_int = lat_int + req.lon_int = lon_int + req.alt = float(alt) + req.vx = float(vx) + req.vy = float(vy) + req.vz = float(vz) + req.afx = float(afx) + req.afy = float(afy) + req.afz = float(afz) + req.yaw = float(yaw) + req.yaw_rate = float(yaw_rate) + req.timeout_sec = float(timeout_sec) + + future = self._client.call_async(req) + rclpy.spin_until_future_complete(self, future, timeout_sec=float(timeout_sec) + 1.0) + if not future.done() or future.result() is None: + return PositionTargetGlobalIntResult( + success=False, + message="Service timeout.", + ack_result=-1, + ) + + resp = future.result() + + if resp.ack_result != 0: + return PositionTargetGlobalIntResult( + success=False, + message=resp.message, + ack_result=resp.ack_result, + ) + + echo_ok, echo_detail = _echo_position_target_matches( + type_mask=type_mask, + lat_int=lat_int, + lon_int=lon_int, + alt=alt, + vx=vx, + vy=vy, + vz=vz, + afx=afx, + afy=afy, + afz=afz, + yaw=yaw, + yaw_rate=yaw_rate, + time_boot_ms=time_boot_ms, + resp=resp, + ) + # out_message = resp.message + # if not echo_ok: + # out_message = echo_detail if not out_message else f"{echo_detail} | server: {out_message}" + + return PositionTargetGlobalIntResult( + success=echo_ok, + message=echo_detail, + ack_result=resp.ack_result, + r_time_boot_ms=int(resp.r_time_boot_ms), + r_type_mask=int(resp.r_type_mask), + r_lat_int=int(resp.r_lat_int), + r_lon_int=int(resp.r_lon_int), + r_alt=float(resp.r_alt), + r_vx=float(resp.r_vx), + r_vy=float(resp.r_vy), + r_vz=float(resp.r_vz), + r_afx=float(resp.r_afx), + r_afy=float(resp.r_afy), + r_afz=float(resp.r_afz), + r_yaw=float(resp.r_yaw), + r_yaw_rate=float(resp.r_yaw_rate), + ) + + def goto_position_only( + self, + *, + target_sysid: int, + target_compid: int = 0, + latitude_deg: float, + longitude_deg: float, + alt: float = 0.0, + timeout_sec: float, + ): + lat_int = int(round(latitude_deg * 1e7)) + lon_int = int(round(longitude_deg * 1e7)) + + return self._send_position_target_global_int( + target_sysid=target_sysid, + target_compid=target_compid, + time_boot_ms= 0, + coordinate_frame=MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, + type_mask=POSITION_ONLY, + lat_int=lat_int, + lon_int=lon_int, + alt=alt, + vx=0, + vy=0, + vz=0, + afx=0, + afy=0, + afz=0, + yaw=0, + yaw_rate=0, + timeout_sec=timeout_sec, + ) diff --git a/src/fc_network_apps/takeoff.py b/src/fc_network_apps/takeoff.py deleted file mode 100644 index 47754b7..0000000 --- a/src/fc_network_apps/takeoff.py +++ /dev/null @@ -1,91 +0,0 @@ -"""Simple wrapper for takeoff via fc_network ROS2 service.""" - -from __future__ import annotations - -from dataclasses import dataclass -from typing import Optional - -import rclpy -from rclpy.node import Node - -from fc_interfaces.srv import MavCommandLong - -COMMAND_NAV_TAKEOFF = 22 -DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long" -DEFAULT_TIMEOUT_SEC = 2.0 - - -@dataclass -class TakeoffResult: - success: bool - message: str - ack_result: int - - -def takeoff( - *, - target_sysid: int, - altitude_m: float, - target_compid: int = 0, - min_pitch_deg: float = 0.0, - yaw_deg: float = 0.0, - latitude: Optional[float] = None, - longitude: Optional[float] = None, - timeout_sec: float = DEFAULT_TIMEOUT_SEC, - service_name: str = DEFAULT_SERVICE_NAME, -) -> TakeoffResult: - """One-shot MAV_CMD_NAV_TAKEOFF wrapper.""" - rclpy.init(args=None) - node: Optional[Node] = None - try: - node = Node("fc_takeoff_client_once") - client = node.create_client(MavCommandLong, service_name) - - if not client.wait_for_service(timeout_sec=timeout_sec): - return TakeoffResult( - success=False, - message=f"Service not available: {service_name}", - ack_result=-1, - ) - - req = MavCommandLong.Request() - req.target_sysid = target_sysid - req.target_compid = target_compid - req.command = COMMAND_NAV_TAKEOFF - req.confirmation = 0 - req.param1 = float(min_pitch_deg) - req.param2 = 0.0 - req.param3 = 0.0 - req.param4 = float(yaw_deg) - req.param5 = float(latitude) if latitude is not None else 0.0 - req.param6 = float(longitude) if longitude is not None else 0.0 - req.param7 = float(altitude_m) - req.timeout_sec = float(timeout_sec) - - future = client.call_async(req) - rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0) - if not future.done() or future.result() is None: - return TakeoffResult( - success=False, - message="Service call timeout or no response.", - ack_result=-1, - ) - - response = future.result() - return TakeoffResult( - success=response.success, - message=response.message, - ack_result=response.ack_result, - ) - finally: - if node is not None: - node.destroy_node() - rclpy.shutdown() - - -if __name__ == "__main__": - result = takeoff(target_sysid=3, altitude_m=10.0) - print( - f"takeoff success={result.success}, " - f"ack_result={result.ack_result}, message='{result.message}'" - ) diff --git a/src/someotherpkg/src/example2_change_mode.py b/src/someotherpkg/src/example2_change_mode.py deleted file mode 100644 index 37ef478..0000000 --- a/src/someotherpkg/src/example2_change_mode.py +++ /dev/null @@ -1,55 +0,0 @@ - - -from fc_network_apps import CommandLongClient -import time - -def main(): - # Equivalent to: - # ros2 service call /fc_network/vehicle/send_command_long ... param1:1 param2:4 - commandAPI = CommandLongClient() - result = commandAPI.change_mode( - target_sysid=3, - target_compid=0, - base_mode=1.0, - custom_mode=4.0, - timeout_sec=2.0, - ) - - print("=== change mode result ===") - print(f"success : {result.success}") - print(f"ack_result: {result.ack_result}") - print(f"message : {result.message}") - - time.sleep(1) - - result = commandAPI.change_mode( - target_sysid=3, - target_compid=0, - base_mode=1.0, - custom_mode=3.0, - timeout_sec=2.0, - ) - - print("=== change mode result ===") - print(f"success : {result.success}") - print(f"ack_result: {result.ack_result}") - print(f"message : {result.message}") - - time.sleep(1) - - result = commandAPI.change_mode( - target_sysid=3, - target_compid=0, - base_mode=1.0, - custom_mode=5.0, - timeout_sec=2.0, - ) - - print("=== change mode result ===") - print(f"success : {result.success}") - print(f"ack_result: {result.ack_result}") - print(f"message : {result.message}") - - -if __name__ == "__main__": - main() \ No newline at end of file diff --git a/src/someotherpkg/src/example_arm_disarm.py b/src/someotherpkg/src/example_arm_disarm.py deleted file mode 100644 index 8b55a27..0000000 --- a/src/someotherpkg/src/example_arm_disarm.py +++ /dev/null @@ -1,30 +0,0 @@ -"""Usage example for arm/disarm helper. - -Run from repo root with module mode: - python -m someotherpkg.src.example_arm_disarm -""" - -from fc_network_apps import arm_disarm - - -def main() -> None: - # MAV_CMD_COMPONENT_ARM_DISARM (command=400) - # param1: 1 = arm, 0 = disarm - result = arm_disarm( - target_sysid=3, - target_compid=0, - arm=True, - timeout_sec=2.0, - ) - - print("=== arm result ===") - print(f"success : {result.success}") - print(f"ack_result: {result.ack_result}") - print(f"message : {result.message}") - - # To disarm instead: - # result = arm_disarm(target_sysid=3, target_compid=0, arm=False, timeout_sec=2.0) - - -if __name__ == "__main__": - main() diff --git a/src/someotherpkg/src/example_change_mode.py b/src/someotherpkg/src/example_change_mode.py deleted file mode 100644 index 108244a..0000000 --- a/src/someotherpkg/src/example_change_mode.py +++ /dev/null @@ -1,29 +0,0 @@ -"""Usage example for collaborators. - -Run after sourcing your ROS2 workspace: - source install/local_setup.bash - python src/fc_network_apps/example_change_mode.py -""" - -from fc_network_apps import change_mode - - -def main() -> None: - # Equivalent to: - # ros2 service call /fc_network/vehicle/send_command_long ... param1:1 param2:4 - result = change_mode( - target_sysid=3, - target_compid=0, - base_mode=1.0, - custom_mode=4.0, - timeout_sec=2.0, - ) - - print("=== change mode result ===") - print(f"success : {result.success}") - print(f"ack_result: {result.ack_result}") - print(f"message : {result.message}") - - -if __name__ == "__main__": - main() diff --git a/src/someotherpkg/src/example_land.py b/src/someotherpkg/src/example_land.py deleted file mode 100644 index 460ca5a..0000000 --- a/src/someotherpkg/src/example_land.py +++ /dev/null @@ -1,27 +0,0 @@ -"""Usage example for land helper. - -Run from repo root with module mode: - python -m someotherpkg.src.example_land -""" - -from fc_network_apps import land - - -def main() -> None: - # MAV_CMD_NAV_LAND (command=21) - # This example asks vehicle sysid=3 to land. - result = land( - target_sysid=3, - target_compid=0, - yaw_deg=0.0, - timeout_sec=2.0, - ) - - print("=== land result ===") - print(f"success : {result.success}") - print(f"ack_result: {result.ack_result}") - print(f"message : {result.message}") - - -if __name__ == "__main__": - main() diff --git a/src/someotherpkg/src/example_takeoff.py b/src/someotherpkg/src/example_takeoff.py deleted file mode 100644 index 3d0fa54..0000000 --- a/src/someotherpkg/src/example_takeoff.py +++ /dev/null @@ -1,28 +0,0 @@ -"""Usage example for takeoff helper. - -Run from repo root with module mode: - python -m someotherpkg.src.example_takeoff -""" - -from fc_network_apps import takeoff - - -def main() -> None: - # MAV_CMD_NAV_TAKEOFF (command=22) - # This example asks vehicle sysid=3 to take off to 10 meters. - result = takeoff( - target_sysid=3, - target_compid=0, - altitude_m=10.0, - yaw_deg=0.0, - timeout_sec=2.0, - ) - - print("=== takeoff result ===") - print(f"success : {result.success}") - print(f"ack_result: {result.ack_result}") - print(f"message : {result.message}") - - -if __name__ == "__main__": - main() diff --git a/src/someotherpkg/src/example_wholeMoving.py b/src/someotherpkg/src/example_wholeMoving.py new file mode 100644 index 0000000..4f3dd0d --- /dev/null +++ b/src/someotherpkg/src/example_wholeMoving.py @@ -0,0 +1,111 @@ + + +import fc_network_apps as fap +import time + +def main(): + commandAPI = fap.CommandLongClient() + navAPI = fap.PositionTargetGlobalIntClient() + + target_sysid = 3 + + + print("=== change mode ===") + result = fap.CommandLongResult(success=False,message="",ack_result=-1) + while not result.success: + result.ack_result -= 1 + result = commandAPI.change_mode( + target_sysid=target_sysid, + base_mode=1.0, + custom_mode=4.0, + timeout_sec=3.0, + ) + print(f"success : {result.success}") + print(f"ack_result: {result.ack_result}") + print(f"message : {result.message}") + time.sleep(1) + if result.ack_result < -3: + return + + print("=== arm vehicle ===") + result = fap.CommandLongResult(success=False,message="",ack_result=-1) + while not result.success: + result.ack_result -= 1 + result = commandAPI.arm_disarm( + target_sysid=target_sysid, + arm = True, + ) + print(f"success : {result.success}") + print(f"ack_result: {result.ack_result}") + print(f"message : {result.message}") + time.sleep(1) + if result.ack_result < -3: + return + + print("=== takeoff ===") + result = fap.CommandLongResult(success=False,message="",ack_result=-1) + while not result.success: + result.ack_result -= 1 + result = commandAPI.takeoff( + target_sysid=target_sysid, + altitude_m = 100.0, + ) + print(f"success : {result.success}") + print(f"ack_result: {result.ack_result}") + print(f"message : {result.message}") + time.sleep(1) + if result.ack_result < -3: + return + + + time.sleep(15) + + print("=== set_position_target_global_int_deg ===") + result_deg = navAPI.goto_position_only( + target_sysid=target_sysid, + latitude_deg=-35.376655, + longitude_deg=149.157011, + alt=150.0, + timeout_sec=3.0, + ) + print(f"success : {result_deg.success}") + print(f"ack_result: {result_deg.ack_result}") + print(f"message : {result_deg.message}") + print(f"r_lat_int : {result_deg.r_lat_int} r_lon_int: {result_deg.r_lon_int}") + + time.sleep(180) + + result_deg = navAPI.goto_position_only( + target_sysid=target_sysid, + latitude_deg=-35.3632621, + longitude_deg=149.1652375, + alt=100.0, + timeout_sec=3.0, + ) + print("=== set_position_target_global_int_deg ===") + print(f"success : {result_deg.success}") + print(f"ack_result: {result_deg.ack_result}") + print(f"message : {result_deg.message}") + print(f"r_lat_int : {result_deg.r_lat_int} r_lon_int: {result_deg.r_lon_int}") + + time.sleep(180) + + print("=== land ===") + result = fap.CommandLongResult(success=False,message="",ack_result=-1) + while not result.success: + result.ack_result -= 1 + result = commandAPI.land( + target_sysid=3, + target_compid=0, + ) + print(f"success : {result.success}") + print(f"ack_result: {result.ack_result}") + print(f"message : {result.message}") + time.sleep(1) + if result.ack_result < -3: + return + +if __name__ == "__main__": + main() + + diff --git a/src/unitdev02/unitdev02/devnote.txt b/src/unitdev02/unitdev02/devnote.txt index b4d7dbc..d8309aa 100644 --- a/src/unitdev02/unitdev02/devnote.txt +++ b/src/unitdev02/unitdev02/devnote.txt @@ -24,25 +24,34 @@ python -m fc_network_adapter.tests.test_vehicleStatusPublisher python -m fc_network_adapter.tests.test_ringBuffer python -m fc_network_adapter.fc_network_adapter.mainOrchestrator +python -m someotherpkg.src.example_takeoff_land python -m someotherpkg.src.example_change_mode ros2 topic list -ros2 topic echo +ros2 topic echo /fc_network/vehicle/sys3/battery /home/picars/ardupilot/build/sitl/bin/arducopter -S --model + --speedup 1 --slave 0 --defaults /home/picars/ardupilot/Tools/autotest/default_params/copter.parm --sim-address=127.0.0.1 -I3 --sysid 7 mavproxy.py --master=tcp:127.0.0.1:5790 --out=udp:127.0.0.1:14560 - ros2 service call /mavlink/add_two_ints example_interfaces/srv/AddTwoInts "{a: 5,b: 8}" ros2 service call /fc_network/vehicle/mav_ping fc_interfaces/srv/MavPing "{target_sysid: 3, target_compid: 0, ping_seq: 1}" ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, param3: 0,param4: 0,param5: 0,param6: 0,param7: 0, timeout_sec: 2}" +ros2 service call /fc_network/vehicle/send_command_long fc_interfaces/srv/MavCommandLong "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, param1: 1, param2: 4, timeout_sec: 2}" -MAV_CMD_DO_SET_MODE (176) +ros2 service call /fc_network/vehicle/pos_global_int fc_interfaces/srv/MavPositionTargetGlobalInt "{target_sysid: 3, target_compid: 1, coordinate_frame: 6, type_mask: 3576, lat_int: -35376655, lon_int: 149157011, alt: 20.0, timeout_sec: 5.0}" sudo tcpdump -i lo 'udp dst port 14561' -X sudo tcpdump -i lo 'udp dst port 14550' -X -vv -sudo tcpdump -i lo -X udp port 14550 \ No newline at end of file +sudo tcpdump -i lo -X udp port 14550 + +幾個要討論的 +1. 專案文件中 .mat 檔案是幹嘛的? +2. GUI 的 print [Panel/Map Update] 11 Hz 希望關閉 +3. readme 那串文字來源? 用途? +4. GUI介面 加一下海拔高 跟 相對高 速度跟位置 變更為 XY速度 XY位置 +5. pitch yaw roll 出來了 弄一下 +6.