Merge branch 'chiyu' into wenchun

.gitignore

@@ -8,7 +8,8 @@
 # 編譯的資料夾
 **/build/
 **/install/
-log/
+**/log/
+**/logs/
 
 # CMAKE 的衍生檔
 CMakeCache.txt

README.md

@@ -1,22 +1,44 @@
 這是天雷系統的專案
 
 ===
-專案核心環境
+專案核心框架
 1. ROS2 Humble
-2. Python
+2. Python 3.8.10
-3. Ardupilot
+
 
 ===
 必要相依套件
 
+Python
+1. pymavlink
+2. 
+
+ROS2
+1. source ~/ros2_humble/install/setup.bash
+2.
 
 ===
-建議的開發測試
+開發用輔助專案
 1. Gazebo Garden
+2. Ardupilot
 
 === 
 Package 簡述
+<<<<<<< HEAD
 
 ===
 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。
+=======
+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 
+    建立、維護與飛控韌體的連接 
+    構築 mavlink 封包
+    同時處理與 Gazebo 的 ardupilot_plugin 溝通的 FDM/JSON 訊息
+    處理無線模組的通訊格式 (XBee)
+
+>>>>>>> chiyu

src/fc_network_adapter/fc_network_adapter/devRun.py

@@ -0,0 +1,531 @@
+# 基礎功能的 import
+import queue
+import time
+
+# ROS2 的 import
+import rclpy
+
+# mavlink 的 import
+from pymavlink import mavutil
+
+# 自定義的 import
+import mavlinkObject as mo
+import mavlinkDevice as md
+
+# ====================== 分割線 =====================
+
+test_item = 51
+running_time = 30
+print('test_item : ', test_item)
+
+if test_item == 1:
+    # 測試 mavlink_object 中 updateMultiplexingList 的輸出
+    print('===> Start of Program .Test ', test_item)
+    mavlink_object_none = mo.mavlink_object(None)
+
+    print('=====================')
+    print('正常範例')
+    mavlink_object_none.multiplexingToAnalysis = []
+    mavlink_object_none.multiplexingToReturn = []
+    # mavlink_object_none.multiplexingToSwap = [[]]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+    print('multiplexingList : ', mavlink_object_none._multiplexingList)
+
+    print('=====================')
+    print('錯誤範例 長度不一致')
+    mavlink_object_none.multiplexingToSwap = [[-1], [11,12,13], [14,15,16],]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+
+    print('=====================')
+    print('正常範例')
+    mo.swap_queues.append(queue.Queue())
+    mo.swap_queues.append(queue.Queue())
+    mavlink_object_none.multiplexingToAnalysis = [0, 1, 2, 3, 4, 5]
+    mavlink_object_none.multiplexingToReturn = [6, 7, 8, 9, 10]
+    mavlink_object_none.multiplexingToSwap = [[-1], [11,12,13], [14,15,16],]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+    print('multiplexingList : ', mavlink_object_none._multiplexingList)
+
+    print('=====================')
+    print('錯誤範例 multiplexingToAnalysis 不可以有 -1')
+    mavlink_object_none.multiplexingToAnalysis = [-1, 1, 2, 3, 4, 5]
+    ret = mavlink_object_none.updateMultiplexingList()
+    print('execute result : ', ret)
+
+    print('<=== End of Program')
+
+elif test_item == 2:
+    # 測試 mavlink_object 創建時 socket_id 是否正確
+    # 說實在 這個測試項 似乎因為 python 的 GC 機制 會導致難以測試
+    print('===> Start of Program .Test ', test_item)
+    mavlink_object_none1 = mo.mavlink_object(None)
+    mavlink_object_none2 = mo.mavlink_object(None)
+    mavlink_object_none3 = mo.mavlink_object(None)
+    del mavlink_object_none2
+
+    print(len(mo.swap_queues))
+
+    mavlink_object_none2 = mo.mavlink_object(None)
+    print(len(mo.swap_queues))
+
+    print(mavlink_object_none1._multiplexingList)
+
+    print('<=== End of Program')
+
+elif test_item == 10:
+    # 需要開啟一個 ardupilot 的模擬器
+    # 這邊是測試代碼 運行10秒 過程中把三個 queue 的資料印出來
+    # 只啟用了 mavlink_object 的功能
+    print('===> Start of Program .Test ', test_item)
+
+    # 創建一個空的通道 這個通道的 socket_id 是 0
+    mavlink_object_none = mo.mavlink_object(None)
+
+    # 創建另一個通道
+    connection_string="udp:127.0.0.1:14550"
+    mavlink_socket = mavutil.mavlink_connection(connection_string)
+    mavlink_object1 = mo.mavlink_object(mavlink_socket)
+    # 設定通道轉發的參數
+    mavlink_object1.multiplexingToAnalysis = [30] # only ATTITUDE
+    mavlink_object1.multiplexingToReturn = [0] # only HEARTBEAT
+    mavlink_object1.multiplexingToSwap[0] = [74, ] # only VFR_HUD 
+
+    # print(mavlink_object1.multiplexingToSwap)
+    # print(mo.swap_queues)
+
+    # 啟動通道
+    mavlink_object1.run()
+
+    # 確認轉拋的設定有沒有錯
+    print("_multiplexingList for mavlink object :", mavlink_object1._multiplexingList)
+
+    # 運行幾秒並印出 queue 的資料
+    start_time = time.time()
+    while time.time() - start_time < running_time:
+        while not mo.fixed_stream_bridge_queue.empty():
+            print('fixed_stream_bridge_queue:')
+            t = mo.fixed_stream_bridge_queue.get()
+            print('from {} : {}'.format(t[0],t[2]))
+        while not mo.return_packet_processor_queue.empty():
+            print('return_packet_processor_queue:')
+            t = mo.return_packet_processor_queue.get()
+            print('from {} : {}'.format(t[0],t[2]))
+            # print(t[2].get_msgbuf())
+            # print(t[2].type)
+        
+        for n in range(len(mo.swap_queues)):
+            q = mo.swap_queues[n]
+            while not q.empty():
+                print('swap_queues:')
+                t = q.get()
+                print('{} gets : {}'.format(n,t))
+                
+
+    # 結束程式 退出所有 thread
+    mavlink_object1.running = False
+    mavlink_object1.thread.join()
+    mavlink_socket.close()
+    print('<=== End of Program')
+
+elif test_item == 11:
+    # 需要開啟一個 ardupilot 的模擬器
+    # 這邊是測試代碼 確認 analyzer 運行後對於 device object 的建立與封包統計狀況
+    # 啟用 mavlink_object 與 mavlink_bridge的thread區塊 的功能
+    print('===> Start of Program .Test ', test_item)
+
+    # 啟動 mavlink_bridge
+    analyzer = mo.mavlink_bridge()
+
+    # 創建通道
+    connection_string="udp:127.0.0.1:14550"
+    mavlink_socket = mavutil.mavlink_connection(connection_string)
+    mavlink_object2 = mo.mavlink_object(mavlink_socket)
+    # mavlink_object2.multiplexingToAnalysis = [0] # only HEARTBEAT
+    # mavlink_object2.multiplexingToReturn = []
+
+    # 啟動連線的模組
+    mavlink_object2.run()
+
+    # 做點延遲 讓 heartbeat 先吃進來
+    time.sleep(2)
+    print("=== connection established! ===")
+
+    # 印出目前所有 mavlink_systems 的內容
+    print('目前所有的系統 : ')
+    for sysid in analyzer.mavlink_systems:
+        print(analyzer.mavlink_systems[sysid])
+
+    start_time = time.time()
+    show_time = time.time() 
+    compid = 1   
+    while time.time() - start_time < running_time:
+        if (time.time() - show_time) >= 1:
+            show_time = time.time()
+            for sysid in analyzer.mavlink_systems:
+                print("目前收到的訊息數量 : ",analyzer.mavlink_systems[sysid].components[compid].msg_count)
+                print("目前遺失的訊息數量 : ",analyzer.mavlink_systems[sysid].components[compid].lost_packet_count)
+                print("現在飛機的模式 : ",analyzer.mavlink_systems[sysid].components[compid].emitParams['flightMode_mode'])
+                analyzer.mavlink_systems[sysid].resetComponentPacketCount(compid)
+            print("===================")
+
+    # 結束程式 退出所有 thread
+    mavlink_object2.stop()
+    mavlink_object2.thread.join()
+    analyzer.stop()
+
+    analyzer = mo.mavlink_bridge() # 這邊是測試是否只有一個 instance
+    analyzer.thread.join()
+    mavlink_socket.close()
+    print('<=== End of Program')
+
+elif test_item == 12:
+    # 需要開啟一個 ardupilot 的模擬器 與 GCS 
+    # 這邊是測試 mavlink object 作為交換器功能的代碼
+    print('===> Start of Program .Test ', test_item)
+
+    # 啟動連線的模組
+    analyzer = mo.mavlink_bridge()
+
+    # 初始化輸入通道
+    connection_string_in="udp:127.0.0.1:15551"
+    mavlink_socket_in = mavutil.mavlink_connection(connection_string_in)
+    mavlink_object_in = mo.mavlink_object(mavlink_socket_in)
+    mavlink_object_in.multiplexingToAnalysis = [0] # only HEARTBEAT
+
+    # 初始化輸出通道
+    connection_string_out="udpout:127.0.0.1:14553"
+    mavlink_socket_out = mavutil.mavlink_connection(connection_string_out)
+    mavlink_object_out = mo.mavlink_object(mavlink_socket_out)
+    mavlink_object_out.multiplexingToAnalysis = [0]
+
+    # 做一個空的通道驗證 可以拿來 debug
+    mavlink_object_none = mo.mavlink_object(None)
+
+    # 讓兩個通道互相傳輸
+    mavlink_object_in.multiplexingToSwap[mavlink_object_out.socket_id] = [-1, ] # all
+    mavlink_object_out.multiplexingToSwap[mavlink_object_in.socket_id] = [-1, ] # all
+    # mavlink_object_out.multiplexingToSwap[mavlink_object_none.socket_id] = [-1, ] # all
+
+    # 啟動通道
+    mavlink_object_in.run()
+    mavlink_object_out.run()
+
+    # 做點延遲 讓 heartbeat 先吃進來
+    time.sleep(3)
+    print("=== connection established! ===")
+
+    print('目前所有的系統 : ')
+    for sysid in analyzer.mavlink_systems:
+        print(analyzer.mavlink_systems[sysid])
+
+    # print(type(mavlink_socket_out))
+    # print(type(mavlink_socket_out.mav))
+
+    start_time = time.time()
+    show_time = time.time() 
+    while time.time() - start_time < running_time:
+        try:
+            test = mo.swap_queues[mavlink_object_none.socket_id].get(block=False)
+            print('none object : ', test)
+        except queue.Empty:
+            pass
+
+        if (time.time() - show_time) >= 2:
+            show_time = time.time()
+            for sysid in analyzer.mavlink_systems:
+                for compid in analyzer.mavlink_systems[sysid].components:
+                    print("Sysid : {} ,目前收到的訊息數量 : {}".format(sysid, analyzer.mavlink_systems[sysid].components[compid].msg_count))
+                analyzer.mavlink_systems[sysid].resetComponentPacketCount(compid)
+            print("===================")
+
+
+
+    # 結束程式 退出所有 thread
+    mavlink_object_in.stop()
+    mavlink_object_in.thread.join()
+    mavlink_object_out.stop()
+    mavlink_object_out.thread.join()
+    mavlink_socket_in.close()
+    mavlink_socket_out.close()
+
+    analyzer.stop()
+    print('<=== End of Program')
+
+elif test_item == 20:
+    # 這邊測試 node 生成 topic 的功能
+    # 利用 空的通道 發出假的 heartbeat 封包
+    print('===> Start of Program .Test ', test_item)
+    rclpy.init() # 注意要初始化 rclpy 才能使用 node
+    
+    from pymavlink.dialects.v20 import common as mavlink2
+
+    sysid = 1
+    compid = 1
+
+    # 啟動 mavlink_bridge
+    analyzer = mo.mavlink_bridge()
+
+    mav = mavlink2.MAVLink(None)
+    mav.srcSystem = sysid
+    mav.srcComponent = compid
+
+    # 這是一個 heartbeat 封包
+    fake_heartbeat = mavlink2.MAVLink_heartbeat_message(
+                        type=mavlink2.MAV_TYPE_QUADROTOR,
+                        autopilot=mavlink2.MAV_AUTOPILOT_ARDUPILOTMEGA,
+                        base_mode=3,
+                        custom_mode=0,
+                        system_status=0,
+                        mavlink_version=3
+    )
+    mavlink_bytes = fake_heartbeat.pack(mav)
+    fake_heartbeat_msg = mav.parse_char(mavlink_bytes)
+
+    print(analyzer.mavlink_systems)
+
+    mo.fixed_stream_bridge_queue.put((0, 0, fake_heartbeat_msg)) # socket id, timestamp, data
+    time.sleep(0.1) 
+    print(analyzer.mavlink_systems)
+
+    # ROS2 初始化
+    analyzer._init_node()
+
+    # 創建 ROS2 topic
+    analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid]) # sysid, compid
+    print("topic created")
+    time.sleep(5)
+
+    # 丟出 topic
+    analyzer.emit_info()
+
+    # 結束程式
+    analyzer.running = False
+    analyzer.destroy_node()
+
+    rclpy.shutdown()
+    analyzer.stop()
+    analyzer.thread.join()
+    print('<=== End of Program')
+
+elif test_item == 21:
+    # 需要開啟一個 ardupilot 的模擬器
+    # 這邊是測試代碼 引入 rclpy 來測試 node 的運行
+    
+    print('===> Start of Program .Test ', test_item)
+    rclpy.init() # 注意要初始化 rclpy 才能使用 node
+
+    # 啟動 mavlink_bridge
+    analyzer = mo.mavlink_bridge()
+    # 關於 Node 的初始化
+    show_time = time.time()
+    analyzer._init_node() # 初始化 node
+    print('初始化 node 完成 耗時 : ',time.time() - show_time)
+
+    # 創建通道
+    connection_string="udp:127.0.0.1:15551"
+    mavlink_socket = mavutil.mavlink_connection(connection_string)
+    mavlink_object3 = mo.mavlink_object(mavlink_socket)
+    # 啟動通道
+    mavlink_object3.run()
+
+
+    print('=== waiting for mavlink data ...')
+    time.sleep(2) # 等待 2 秒鐘 讓 device object 收到足夠的 mavlink 訊息
+    
+    print('目前所有的系統 : ')
+    for sysid in analyzer.mavlink_systems:
+        print(analyzer.mavlink_systems[sysid])
+
+    compid = 1   
+    sysid = 1
+    start_time = time.time()
+    analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    end_time = time.time()
+    print(f"Execution time for create_flightMode: {end_time - start_time} seconds")
+
+    print("start emit info")
+
+    start_time = time.time()
+    show_time = time.time() 
+    while time.time() - start_time < running_time:
+        try:
+            # rclpy.spin(analyzer)
+            analyzer.emit_info() # 這邊是測試 node 的運行
+            time.sleep(1)
+        except KeyboardInterrupt:
+            break
+    
+
+    # 程式結束
+    analyzer.destroy_node()
+    rclpy.shutdown()      
+
+    # 結束程式 退出所有 thread
+    mavlink_object3.stop()
+    mavlink_object3.thread.join()
+    analyzer.stop()
+    analyzer.thread.join()
+
+    mavlink_socket.close()
+    print('<=== End of Program')
+
+elif test_item == 22:
+    # 需要開啟一個 ardupilot 的模擬器 與 GCS 
+    # 這邊是測試代碼 引入 rclpy 來測試 node 的運行
+    print('===> Start of Program .Test ', test_item)
+    rclpy.init() # 注意要初始化 rclpy 才能使用 node
+
+    # 啟動 mavlink_bridge
+    analyzer = mo.mavlink_bridge()
+    # 關於 Node 的初始化
+    show_time = time.time()
+    analyzer._init_node() # 初始化 node
+    print('初始化 node 完成 耗時 : ',time.time() - show_time)
+
+    # 初始化兩個通道
+    connection_string_in="udp:127.0.0.1:15551"
+    mavlink_socket_in = mavutil.mavlink_connection(connection_string_in)
+    mavlink_object_in = mo.mavlink_object(mavlink_socket_in)
+    mavlink_object_in.multiplexingToAnalysis = [0, 30, 32, 33, 74, 147]
+
+
+    connection_string_out="udpout:127.0.0.1:14553"
+    mavlink_socket_out = mavutil.mavlink_connection(connection_string_out)
+    mavlink_object_out = mo.mavlink_object(mavlink_socket_out)
+    mavlink_object_out.multiplexingToAnalysis = [] 
+
+
+
+    # 讓兩個通道互相傳輸
+    mavlink_object_in.multiplexingToSwap[mavlink_object_out.socket_id] = [-1, ] # all
+    mavlink_object_out.multiplexingToSwap[mavlink_object_in.socket_id] = [-1, ] # all
+
+    # 啟動通道
+    mavlink_object_in.run()
+    mavlink_object_out.run()
+
+    print('waiting for mavlink data ...')
+    time.sleep(2) # 等待 2 秒鐘 讓 device object 收到足夠的 mavlink 訊息
+    
+    print('目前所有的系統 : ')
+    for sysid in analyzer.mavlink_systems:
+        print(analyzer.mavlink_systems[sysid])
+
+    compid = 1   
+    sysid = 1
+    show_time = time.time()
+    analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    print(f"Execution time for create_flightMode: {time.time() - show_time} seconds")
+
+    print("start emit info")
+
+    start_time = time.time()
+    show_time = time.time() 
+    show_time2 = time.time()
+   
+    while time.time() - start_time < running_time:
+        if (time.time() - show_time2) >= 1:
+            analyzer.emit_info() # 這邊是測試 node 的運行
+            # sss = analyzer.mavlink_systems[1].components[1].emitParams['flightMode_mode']
+            fmsg = analyzer.mavlink_systems[1].components[1].emitParams['flightMode']
+            sss = mavutil.mode_string_v10(fmsg)
+            # print("目前的飛行模式 : {}, Msg Seq : {}".format(sss, fmsg.get_seq()))
+            print("目前的飛行模式 : {}".format(sss))
+            show_time2 = time.time()
+
+        # if (time.time() - show_time) >= 2:
+        #     show_time = time.time()
+        #     for sysid in analyzer.mavlink_systems:
+        #         for compid in analyzer.mavlink_systems[sysid].components:
+        #             print("Sysid : {} ,目前收到的訊息數量 : {}".format(sysid, analyzer.mavlink_systems[sysid].components[compid].msg_count))
+        #         analyzer.mavlink_systems[sysid].resetComponentPacketCount(compid)
+        #     print("===================")
+
+        
+    
+    analyzer.destroy_node()
+    rclpy.shutdown()
+
+
+    # 結束程式 退出所有 thread
+    mavlink_object_in.stop()
+    mavlink_object_in.thread.join()
+    mavlink_socket_in.close()
+    mavlink_object_out.stop()
+    mavlink_object_out.thread.join()
+    mavlink_socket_out.close()
+    analyzer.stop()
+    analyzer.thread.join()
+
+    
+    print('<=== End of Program')
+
+elif test_item == 51:
+
+    # 晉凱的測試項目
+    print('===> Start of Program .Test ', test_item)
+    rclpy.init() # 注意要初始化 rclpy 才能使用 node
+
+    # 啟動 mavlink_bridge
+    analyzer = mo.mavlink_bridge()
+    # 關於 Node 的初始化
+    show_time = time.time()
+    analyzer._init_node() # 初始化 node
+    print('初始化 node 完成 耗時 : ',time.time() - show_time)
+
+    # 創建通道
+    connection_string="udp:127.0.0.1:15551"
+    mavlink_socket3 = mavutil.mavlink_connection(connection_string)
+    mavlink_object3 = mo.mavlink_object(mavlink_socket3)
+    # 設定通道流動
+    mavlink_object3.multiplexingToAnalysis = [0, 30, 32, 33, 74, 147]
+    mavlink_object3.multiplexingToReturn = [] # 
+    # mavlink_object3.multiplexingToSwap = [] #
+    # 啟動通道
+    mavlink_object3.run()
+
+
+
+    print('waiting for mavlink data ...')
+    time.sleep(2) # 等待 2 秒鐘 讓 device object 收到足夠的 mavlink 訊息
+
+    compid = 1   
+    sysid = 1
+    start_time = time.time()
+    analyzer.create_flightMode(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    analyzer.create_attitude(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    analyzer.create_local_position_pose(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    analyzer.create_local_position_velocity(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    analyzer.create_global_global(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    analyzer.create_vfr_hud(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    analyzer.create_battery(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    analyzer.create_global_rel(sysid, analyzer.mavlink_systems[sysid].components[compid])
+    end_time = time.time()
+    print(f"Execution time for create all topic: {end_time - start_time} seconds")
+
+    print("start emit info")
+
+    start_time = time.time()
+    show_time = time.time() 
+    while time.time() - start_time < running_time:
+        try:
+            # rclpy.spin(analyzer)
+            analyzer.emit_info() # 這邊是測試 node 的運行
+            time.sleep(0.5)
+        except KeyboardInterrupt:
+            break
+    
+    analyzer.destroy_node()
+    rclpy.shutdown()
+            
+    # 結束程式 退出所有 thread
+    mavlink_object3.stop()
+    mavlink_object3.thread.join()
+    analyzer.stop()
+    analyzer.thread.join()
+
+    mavlink_socket3.close()
+    print('<=== End of Program')

src/fc_network_adapter/fc_network_adapter/mavlinkDevice.py

@@ -0,0 +1,91 @@
+
+# 自定義的 import
+from theLogger import setup_logger
+
+# ====================== 分割線 =====================
+
+logger = setup_logger("mavlinkDevice.py")
+
+# 用來記錄每個 system 的資訊
+# 資料格式 { sysid : mavlink_device object }
+mavlink_systems = {}
+
+# ====================== 分割線 =====================
+
+# 這個 class 是用來記錄每個 system 的資訊 每個 system 可能會有多個 component
+class mavlink_device():
+    def __init__(self):
+        self.socket_id = None # 記錄來自於哪個 socket
+        self.sysid = None
+        self.components = {} # 用來記錄每個 component 的資訊 key 是 compid, value 是 component object
+
+    def __str__(self):
+        p_str = '=====================\n'
+        p_str += f'object id : {id(self)}\n' # debug
+        p_str += f'socket_id : {self.socket_id}\n'
+        p_str += f'sysid : {self.sysid}\n'
+        p_str += 'has components : \n'
+        for compid in self.components: 
+            p_str += f'compid : {compid}\n'
+            p_str += f'mav_type : {self.components[compid].mav_type}\n'            
+        # p_str += '=====================\n'
+        return p_str
+
+    def updateComponentPacketCount(self, compid, current_seq, current_type, current_time):
+        # 這段檢查遺失封包
+        try:
+            last_seq = self.components[compid].msg_seq
+        except KeyError:
+            # 這個 component id 還不存在
+            # logger.error('System ID : {} This Component ID : {} Did not init yet'.format(self.sysid, compid)) # 因為初始化的之前 會有大量非 heartbeat 的訊息進來 這是正常現象 TODO 之後要幫這個類別加上初始化狀態 再進行這個判斷
+            return
+
+        if last_seq != None:
+            expected_seq = (last_seq + 1) % 256
+            diff = current_seq - expected_seq
+            # print("current last exp diff : ",current_seq, last_seq, expected_seq, diff) # debug
+            if diff < 0:
+                diff += 256
+            self.components[compid].lost_packet_count += diff
+
+        # 這段更新封包的基本資訊
+        self.components[compid].msg_seq = current_seq
+        self.components[compid].last_msg_time = current_time
+        if current_type in self.components[compid].msg_count:
+            self.components[compid].msg_count[current_type] += 1
+        else:
+            self.components[compid].msg_count[current_type] = 1
+
+    def resetComponentPacketCount(self, compid):
+        self.components[compid].msg_count = {}
+        self.components[compid].msg_seq = None
+        self.components[compid].lost_packet_count = 0
+
+    class mavlink_component():
+        # 程式用不到的參數 但是做個記錄
+        # paraEmitList = ['base_mode', 'flightMode_mode', 
+        #                 'battery_voltage', # from BATTERY_STATUS (147)
+        #                 'gps_fix_type', # from GPS_RAW_INT (24)
+        #                 'roll', 'pitch', 'yaw',  # from ATTITUDE (30)
+        #                 'position_latitude', 'position_longitude', 'position_altitude', # from GLOBAL_POSITION_INT (33)
+        #                 'heading', # for VFR_HUD (74)
+        #                 ]
+
+        def __init__(self):
+            self.mav_type = None # 表示 Vehicle 或 component type (例如: 旋翼機是2, 雲台是26, GCS是6)
+            self.mav_autopilot = None # 表示 autopilot type (例如: ardupilot是3, px4是12)
+            self.mav_system_status = None # 表示 system status (例如: active是3, standby是4)
+            
+            # 紀錄從這個 component 收到最後的訊息序號和時間
+            self.msg_count = {}
+            self.msg_seq = None
+            self.lost_packet_count = 0
+            self.last_msg_time = 0
+
+            # 存放該 emit component 參數的區域 
+            # 內容格式為 {param_name(字串) : param_value}
+            # param_name 請見上面 paraEmitList
+            self.emitParams = {}
+            # 用來存放每個 topic 的 publisher
+            # 內容格式  為 {topic_name(字串) : [publisher(物件), method(函式)]} (?
+            self.publishers = {} 

src/fc_network_adapter/fc_network_adapter/mavlinkObject.py

@@ -0,0 +1,414 @@
+'''
+# 不同的匯流排只有單一種通訊協定 
+# 匯流排接到訊息後透過 queue stack 傳送到橋接器
+# 會有三種 Queue 分別作為 1. 固定串流橋接器 2. 回傳封包處理器 3. 轉拋串流
+# 第三種比較麻煩 會需要用 list 管理多個轉換器的 queue
+# 橋接器會將解析得到的結論 再透過 ros2 的 publisher 發送出去
+
+# 關於 mavlink 採用 pymavlink 這個套件 製作匯流排
+# pymavlink 的 socket 會由其他地方製作(例如 main) 再放到 mavlink_object 裡面
+# 這邊的 main 會是用來初始化 mavlink_object 並啟動他的 run function
+
+'''
+
+# 基礎功能的 import
+import threading
+import queue
+import time
+
+# mavlink 的 import
+from pymavlink import mavutil
+
+# ROS2 的 import
+from rclpy.node import Node
+
+# 自定義的 import
+from mavlinkDevice import mavlink_device
+from mavlinkPublish import mavlink_publisher
+from theLogger import setup_logger
+
+
+# ====================== 分割線 =====================
+
+logger = setup_logger("mavlinkObject.py")
+
+# 基礎功能的 import
+import threading
+import queue
+import time
+
+# mavlink 的 import
+from pymavlink import mavutil
+
+# ROS2 的 import
+from rclpy.node import Node
+
+# 自定義的 import
+from mavlinkDevice import mavlink_device, mavlink_systems
+from mavlinkPublish import mavlink_publisher
+from theLogger import setup_logger
+
+# ====================== 分割線 =====================
+
+logger = setup_logger("mavlinkObject.py")
+
+fixed_stream_bridge_queue = queue.Queue()
+return_packet_processor_queue = queue.Queue()
+swap_queues = [] # 這個 list 用來存放轉拋串流的 queue # 這些 queue 同時也是各自 mavlink_object 的 output buffer
+
+# ====================== 分割線 =====================
+
+class mavlink_bridge(Node, mavlink_publisher):
+    '''
+    這個 class 就是 固定串流橋接器
+    是用來接收 mavlink 訊息 並進行橋接
+    這個地方是針對 fixed_stream_bridge_queue 的資料做處理的
+    記錄有 mavlink bus 上有那些 system id 和 component id
+    為了每個 system id 都有一個對應的 device object
+    並且看是否有重複 system id
+
+    整段代碼包含兩大區塊 thread 和 node
+
+    thread 區塊內會對 fixed_stream_bridge_queue 進行監聽 並且將收到的訊息進行處理
+    其中 HEARTBEAT 是一個特殊類別 用來初始化整個 device object 
+
+    node 區塊則是處理 ros2 的 publisher 和 subscriber 訂閱相關
+    藉由控制 ros2 的機制再把 device object 的資訊發送出去
+
+    ps. 我限制了這個 class 只能有一個 instance
+    '''
+    _instance = None 
+    _lock = threading.Lock()  # 確保多線程安全
+
+    def __new__(cls, *args, **kwargs):
+        with cls._lock:  # 確保多線程環境下只有一個實例被創建
+            if cls._instance is None:
+                cls._instance = super(mavlink_bridge, cls).__new__(cls)
+        return cls._instance
+
+    def __init__(self):
+        if not hasattr(self, "initialized"):  # 防止重複初始化
+            self.initialized = True
+
+            # 關聯到全域變數
+            global mavlink_systems
+            self.mavlink_systems = mavlink_systems
+
+            # 當 object 建立時會直接運行 thread 直到消滅
+            self.running = True
+            self.thread = threading.Thread(target=self._run_thread)
+            self.thread.start()
+        else:
+            logger.error('mavlink_bridge instance already exists. Do not create another one.')
+
+    def stop(self):
+        self.running = False
+
+    # === Thread 區塊 ===
+    def _run_thread(self):
+        # start_time = time.time() # debug
+        logger.info('Start of mavlink_bridge._run_thread')
+        # 從 Queue fixed_stream_bridge_queue 中取出 mavlink 資料 並呼叫相對應的 function 進行後處理
+        while self.running:
+            if fixed_stream_bridge_queue.empty():
+                continue
+            msg_pack = fixed_stream_bridge_queue.get()
+
+            msg = msg_pack[2]
+            sysid = msg.get_srcSystem()
+            compid = msg.get_srcComponent()
+            msg_id = msg.get_msgId()
+
+            # 若這個 system id 還不存在 則建立 device object
+            if not sysid in self.mavlink_systems:
+                this_device = mavlink_device() # 創建一個新的 device object
+                self.mavlink_systems[sysid] = this_device
+                this_device.socket_id = msg_pack[0]
+                this_device.sysid = sysid
+            else:
+                this_device = self.mavlink_systems[sysid]
+                
+            # 若該 component id 存在 則直接使用該 component object
+            # 若該 component id 不存在 則利用 heartbeat 創建一個新的 component object
+            # 若該 component id 不存在 又不是 heartbeat 則不處理
+            if compid in self.mavlink_systems[sysid].components:
+                this_component = self.mavlink_systems[sysid].components[compid]
+            elif msg_id == 0:
+                # 只有透過 heartbeat 可以創建一個新的 component object
+                this_component = this_device.mavlink_component() 
+                this_device.components[msg.get_srcComponent()] = this_component
+                this_component.mav_type = msg.type
+                this_component.mav_autopilot = msg.autopilot
+            else:
+                continue
+
+            # ↓↓↓↓↓↓↓↓↓↓↓↓  處理不同訊息類型的功能寫在這裡 請加在這個 elif 之內 ↓↓↓↓↓↓↓↓↓↓↓↓ 
+
+            if msg_id == 0: # HEARTBEAT 處理
+                this_component.emitParams['base_mode'] = msg.base_mode    
+                this_component.emitParams['flightMode_mode'] = mavutil.mode_string_v10(msg)
+                this_component.emitParams['flightMode'] = msg # debug
+
+                # print("mav_type : ", msg.type) # debug
+                # print("get mode :", mavutil.mode_string_v10(msg)) # debug
+                # print("record mode :", this_component.emitParams['flightMode_mode']) # debug
+
+            elif msg_id == 30:  # ATTITUDE 處理
+                this_component.emitParams['attitude'] = msg
+
+            elif msg_id == 32:  # LOCAL_POSITION_NED 處理
+                this_component.emitParams['local_position'] = msg
+
+            elif msg_id == 33:  # GLOBAL_POSITION_INT 處理
+                this_component.emitParams['global_position'] = msg
+
+            elif msg_id == 74:  # VFR_HUD 處理
+                this_component.emitParams['vfr_hud'] = msg
+
+            elif msg_id == 147:  # BATTERY_STATUS 處理
+                this_component.emitParams['battery'] = msg
+
+            # ↑↑↑↑↑↑↑↑↑↑↑↑  處理不同訊息類型的功能寫在這裡 請加在這個 elif 之內 ↑↑↑↑↑↑↑↑↑↑↑↑
+
+            # 若未定義的訊息類型則不處理 並跳出訊息
+            else:
+                logger.warning('This Message Type Did not define process method : {} / {}'.format(msg.get_msgId(), msg.get_type())) 
+                continue
+
+        logger.info('End of mavlink_bridge._run_thread')
+
+    # === Node 區塊 ===
+    def _init_node(self):
+        logger.info('Start of mavlink_bridge._init_node')
+        super().__init__('mavlink_bridge') # TODO 不知道為何 這句耗時超長 可以到 5~10 秒
+
+    def emit_info(self):
+        # 這邊將 mavlink_systems 內所有的 device object 內所有的 component 輪循過 
+        # 把 emitParams 的參數發送出去
+        for sysid, device in self.mavlink_systems.items():
+            for compid, component in device.components.items():
+                for topic_name in component.publishers.keys():
+                    publisher = component.publishers[topic_name][0]
+                    packEmit_func = component.publishers[topic_name][1]
+                    packEmit_func(component.emitParams, publisher)
+                    
+    def _del_node(self):
+        # TODO 這邊要刪除 node 的時候要做的事情 
+        # 先註銷所有 mavlink_systems 中 component 的 publisher
+        # 再註銷所有 mavlink_systems 中的 device object
+        # 再註銷 node
+        pass
+
+# ====================== 分割線 =====================
+
+class mavlink_object():
+    '''
+    每個 mavlink bus 都會有一個 mavlink_object
+    其中主要是 thread 做統計封包與分流
+    分流表的控制在三個 list 分別為
+        multiplexingToAnalysis : 這個 list 是用來分流到固定串流橋接器的
+        multiplexingToReturn : 這個 list 是用來分流到回傳封包處理器的
+        multiplexingToSwap : 這個 list 是用來分流到轉拋串流的
+    透過先更新上述三個 list 後再執行 updateMultiplexingList 可以變更分流行為
+    '''
+    mavlinkObjects = {} # 用來記錄所有的 mavlink_object instance 資料格式 { socket_id(序號) : mavlink_object(物件實例) }
+    socket_num = 0 # 用來記錄目前的 socket 數量
+    def __new__(cls, *args, **kwargs):
+        # 每創建一個實例 就將其添加到 mavlinkObjects 列表中
+        # 創建時 會檢查 mavlinkObjects 列表中空缺的 socket_id 序號 
+        # 若序號無中斷 則 socket_id 往後加一 若序號有中斷 則填補最小的序號
+        # socket_id 從 0 開始
+
+        instance = super().__new__(cls)
+        socket_id = 0
+        for k in cls.mavlinkObjects.keys():
+            if k == socket_id:
+                socket_id += 1
+            else:
+                break
+        instance.socket_id = socket_id
+        cls.socket_num += 1
+        cls.mavlinkObjects[socket_id] = instance
+        return instance
+
+    def __init__(self, socket):
+        self.mavlink_socket = socket
+        # 這邊變數是執行的時候被使用的 不要直接寫入它
+        self._multiplexingList = []
+        # 存放要發送的訊息的 queue 或稱 buffer
+        self.output_buffer = queue.Queue()
+        if self.socket_id >= len(swap_queues):
+            swap_queues.append(self.output_buffer)
+        else:
+            swap_queues[self.socket_id] = self.output_buffer
+
+        # 關聯到全域變數
+        global mavlink_systems
+        self.mavlink_systems = mavlink_systems
+
+        # 這三個 list 用來分配不同的訊息到不同的 queue
+        self.multiplexingToAnalysis = [
+            0, # HEARTBEAT # 挺必要的項目
+        #     24, # GPS_RAW_INT
+        #     30, # ATTITUDE
+        #     33, # GLOBAL_POSITION_INT
+        #     74, # VFR_HUD
+        #     147, # BATTERY_STATUS
+        ]
+        self.multiplexingToReturn = []
+        self.multiplexingToSwap = [
+            [] for _ in range(len(swap_queues))
+        ]
+
+        # 刷新其他 mavlink_object 的 multiplexingToSwap
+        for k, object in self.mavlinkObjects.items():
+            if (k != self.socket_id) and (len(object.multiplexingToSwap) <= self.socket_id):
+                object.multiplexingToSwap.append([])
+                object.updateMultiplexingList()
+
+        logger.info('mavlink_object instance {} created'.format(self.socket_id))
+
+    def __del__(self):
+        # 停下自己的 thread
+        if self.mavlink_socket != None:
+            self.mavlink_socket.close()
+            self.stop()
+
+        # 移除其他 mavlink_object 的 multiplexingToSwap
+        for k, object in self.mavlinkObjects.items():
+            if (k != self.socket_id) and (len(object.multiplexingToSwap) > self.socket_id):
+                object.multiplexingToSwap[self.socket_id] = []
+                object.updateMultiplexingList()
+
+        # 移除自己的 swap_queues
+        swap_queues[self.socket_id] = None
+
+        # 處理 class 的 instance 記錄
+        self.socket_num -= 1
+        self.mavlinkObjects.pop(self.socket_id) # 刪除這個 instance
+
+        # logger 模組在這邊會一直掛掉 找不到問題 先用 print 代替
+        # print('mavlink_object instance {} deleted'.format(self.socket_id)) # debug 
+        # logger.info('mavlink_object instance {} deleted'.format(self.socket_id))
+        # try:
+        #     logger.info('mavlink_object instance {} deleted'.format(self.socket_id))
+        # except Exception as e:
+        #     print(f"Error logging in __del__: {e}")
+        # if 'logger' in globals() and logger:
+        #     logger.info('mavlink_object instance {} deleted'.format(self.socket_id))
+
+    def run(self):
+        # TODO 檢查 socket 是否有連線
+        self.thread = threading.Thread(target=self._run_thread)
+        self.running = self.updateMultiplexingList()
+        self.thread.start()
+
+    def stop(self):
+        self.running = False
+
+    def _run_thread(self):
+        logger.info('Start of mavlink_object._run_thread id : {}'.format(self.socket_id))
+        logger.info('Start of mavlink_object._run_thread id : {}'.format(self.socket_id))
+        start_time = time.time()
+        while self.running:
+            timestamp = time.time() # 記錄接受到訊息的時間 # 這邊若是在大量訊息造成壅塞時 可能會有些微偏差
+
+            # 處理接收到的封包
+            try:
+                mavlinkMsg = self.mavlink_socket.recv_msg()
+            except Exception as e:
+                logger.critical(f"Receiving data not mavlink format. Object Delete.")
+                logger.critical(f"Receiving data not mavlink format. Object Delete.")
+                print(f"[mavlinkObject.py] Error receiving mavlink data: {e}")
+                print(mavlinkMsg)
+                self.running = False
+                break
+
+            if mavlinkMsg: # data type should be 'pymavlink.dialects.v20.ardupilotmega. etc...'
+                # 統計收到的訊息 & 透過 mavlink 封包的序列號來檢查是否有遺失的封包 & 記錄最後收到的封包時間
+                sysid = mavlinkMsg.get_srcSystem()
+                compid = mavlinkMsg.get_srcComponent()
+                if sysid in self.mavlink_systems: #　只有當這個 system id 已經透過 HEARTBEAT 訊號被初始化過 才會記錄相關訊息
+                    # mavlinkMsg.get_type() # mavlinkMsg.get_msgId() # 前者是字串 後者是 int 都是代表 mavlink 類型
+                    mavlink_systems[sysid].updateComponentPacketCount(compid, mavlinkMsg.get_seq(), mavlinkMsg.get_msgId(), timestamp)
+
+                # break # Debug function can put here you can see the input data from mavlink
+
+                # 將訊息依照 multiplexing list 分發到不同的 queue
+                for i in range(len(self._multiplexingList)):
+                    if (self._multiplexingList[i] == []):
+                        continue
+                    elif (mavlinkMsg.get_msgId() in self._multiplexingList[i]) or (self._multiplexingList[i][0] == -1):
+                        if i == 0:
+                            fixed_stream_bridge_queue.put((self.socket_id,timestamp,mavlinkMsg))
+                        elif i == 1:
+                            return_packet_processor_queue.put((self.socket_id,timestamp,mavlinkMsg))
+                        else:
+                            _queue = swap_queues[i-2]
+                            # _queue.put((self.socket_id,timestamp,mavlinkMsg)) # 測試看看 也許不需要別的資訊 只需要封包
+                            _queue.put(mavlinkMsg)
+
+            # 處理要送出的封包
+            # 如果 有資料在 output_buffer 中則將其取出並發送
+            # 沒有就略過發送
+            try:
+                mavlinkMsg_send = self.output_buffer.get(block=False)
+            except queue.Empty:
+                mavlinkMsg_send = None
+            # except Exception as e:
+            #     logger.error(f"Error getting data from output_buffer: {e}")
+            #     mavlinkMsg_send = None
+
+            if mavlinkMsg_send:
+                # self.mavlink_socket.mav.send(mavlinkMsg_send)
+                self.mavlink_socket.write(mavlinkMsg_send.get_msgbuf()) # 這邊會將封包寫入 socket 中
+
+        # thread 結束
+        logger.info('End of mavlink_object._run_thread id : {}'.format(self.socket_id))
+
+    def updateMultiplexingList(self):
+        '''
+        更新 multiplexing list 並做簡單的檢查
+        '''
+        # 檢查 multiplexingToAnalysis 與 multiplexingToReturn 是否有 -1 值
+        check = (-1 in self.multiplexingToAnalysis) or (-1 in self.multiplexingToReturn)
+        if check:
+            logger.error('MultiplexingToAnalysis or MultiplexingToReturn NOT all type spilt. socket id : {}'.format(self.socket_id))
+            return False
+
+        # 檢查 multiplexingToSwap 與 swap_queues 的長度是否一致 而且 swap_queues 的長度不能為 0
+        check = len(self.multiplexingToSwap) != len(swap_queues) or len(swap_queues) == 0
+        if check:
+            logger.error('Multiplexing Queue not fit List , Please check the list. socket id : {}'.format(self.socket_id))
+            return False
+
+        # 對應到自己的 multiplexingToSwap 必需為空  避免對自己迴圈轉拋
+        try:
+            self.multiplexingToSwap[self.socket_id] = []
+        except IndexError:
+            logger.error('Multiplexing List of self socket id should be void. socket id : {}'.format(self.socket_id))
+            return False 
+
+        # 組合 multiplexing list
+        multiL_tmp = [self.multiplexingToAnalysis, self.multiplexingToReturn] + self.multiplexingToSwap
+
+        # 檢查 multiplexing list 格式是否有錯誤 # 全部都要是 list 每個 list 裡面都要是 int
+        check = all(isinstance(i, list) and all(isinstance(j, int) for j in i) for i in multiL_tmp)
+        if not check:
+            logger.error('Multiplexing List Format Error, Please check the list. socket id : {}'.format(self.socket_id))
+            return False # 若有錯誤則回傳 False
+
+        # 更新 multiplexing list 
+        self._multiplexingList = multiL_tmp
+
+        return True
+
+# ====================== 分割線 =====================
+
+# 整合到 ros2 之後的程式進入點
+def main_node():
+    pass
+
+
+if __name__ == '__main__':
+    pass

src/fc_network_adapter/fc_network_adapter/mavlinkPublish.py

@@ -0,0 +1,208 @@
+
+'''
+這個檔案只有一個 class
+是作為 mavlinkObject.py 中 mavlink_analyzer 類別的功能衍生
+
+主要概念是將 "離散的" mavlink 參數轉換成 ROS topic
+包含了創建 publisher 和 以及包裝並丟到 ros2 topic 的 packEmit 
+
+publisher topic name 命名規則為 <前綴詞>/s<sysid>/<具體 topic>
+'''
+
+import std_msgs.msg
+import sensor_msgs.msg
+import geometry_msgs.msg
+import mavros_msgs.msg
+
+from theLogger import setup_logger
+import math
+
+
+logger = setup_logger("mavlinkPublish.py")
+
+class mavlink_publisher():
+
+    prefix_path = 'MavLinkBus'
+
+    def create_flightMode(self, sysid, component_obj):
+        # target topic name # 請跟這個 method 的名稱保持一致
+        target_topic = 'flightMode'
+
+        # 這邊要檢查 flight_mode 是否存在
+        try:
+            _ = component_obj.emitParams['flightMode_mode']
+        except KeyError:
+            # 這個 component id 還不存在
+            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
+            return False
+        
+        # 若存在則 建立 publisher object 並回傳 true
+        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
+        publisher_ = self.create_publisher(std_msgs.msg.String, topic_name, 1)
+        component_obj.publishers[target_topic] = [publisher_, self.packEmit_flightMode]
+
+        return True
+
+    def packEmit_flightMode(cls, emitParams, publisher):
+        msg_str = emitParams['flightMode_mode']
+        msg = std_msgs.msg.String()
+        msg.data = msg_str
+        publisher.publish(msg)
+        pass
+
+    # ↓↓↓↓↓↓↓↓↓↓↓↓  處理不同 ros2 topic 訊息 請放在這裡  ↓↓↓↓↓↓↓↓↓↓↓↓ 
+    def euler_to_quaternion(cls,roll, pitch, yaw):
+        qx = math.sin(roll/2) * math.cos(pitch/2) * math.cos(yaw/2) - math.cos(roll/2) * math.sin(pitch/2) * math.sin(yaw/2)
+        qy = math.cos(roll/2) * math.sin(pitch/2) * math.cos(yaw/2) + math.sin(roll/2) * math.cos(pitch/2) * math.sin(yaw/2)
+        qz = math.cos(roll/2) * math.cos(pitch/2) * math.sin(yaw/2) - math.sin(roll/2) * math.sin(pitch/2) * math.cos(yaw/2)
+        qw = math.cos(roll/2) * math.cos(pitch/2) * math.cos(yaw/2) + math.sin(roll/2) * math.sin(pitch/2) * math.sin(yaw/2)
+        return [qx, qy, qz, qw]
+    
+    def create_attitude(self, sysid, component_obj):
+        target_topic = 'attitude'
+
+        try:
+            _ = component_obj.emitParams['attitude']
+        except KeyError:
+            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
+            return False
+        
+        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
+        publisher_ = self.create_publisher(sensor_msgs.msg.Imu, topic_name, 1)
+        component_obj.publishers[target_topic] = [publisher_, self.packEmit_attitude]
+
+    def packEmit_attitude(self, emitParams, publisher):
+        mav_msg = emitParams['attitude']
+        msg = sensor_msgs.msg.Imu()
+        x, y, z, w = self.euler_to_quaternion(mav_msg.roll, mav_msg.pitch, mav_msg.yaw)
+        msg.orientation.x = x
+        msg.orientation.y = y
+        msg.orientation.z = z
+        msg.orientation.w = w
+        msg.angular_velocity.x = mav_msg.rollspeed
+        msg.angular_velocity.y = mav_msg.pitchspeed
+        msg.angular_velocity.z = mav_msg.yawspeed
+        publisher.publish(msg)
+        pass
+    
+    def create_local_position_pose(self, sysid, component_obj):
+        target_topic = 'local_position/pose'
+        try:
+            _ = component_obj.emitParams['local_position']
+        except KeyError:
+            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
+            return False
+        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
+        publisher_ = self.create_publisher(geometry_msgs.msg.Point, topic_name, 1)
+        component_obj.publishers[target_topic] = [publisher_, self.packEmit_local_pose]
+
+    def packEmit_local_pose(cls, emitParams, publisher):
+        mav_msg = emitParams['local_position']
+        msg = geometry_msgs.msg.Point()
+        msg.x = mav_msg.x
+        msg.y = mav_msg.y
+        msg.z = mav_msg.z
+        publisher.publish(msg)
+        pass
+
+    def create_local_position_velocity(self, sysid, component_obj):
+        target_topic = 'local_position/velocity'
+        try:
+            _ = component_obj.emitParams['local_position']
+        except KeyError:
+            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
+            return False
+        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
+        publisher_ = self.create_publisher(geometry_msgs.msg.Vector3, topic_name, 1)
+        component_obj.publishers[target_topic] = [publisher_, self.packEmit_local_vel]
+
+    def packEmit_local_vel(cls, emitParams, publisher):
+        mav_msg = emitParams['local_position']
+        msg = geometry_msgs.msg.Vector3()
+        msg.x = mav_msg.vx
+        msg.y = mav_msg.vy
+        msg.z = mav_msg.vz
+        publisher.publish(msg)
+        pass
+
+    def create_global_global(self, sysid, component_obj):
+        target_topic = 'global_position/global'
+        try:
+            _ = component_obj.emitParams['global_position']
+        except KeyError:
+            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
+            return False
+        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
+        publisher_ = self.create_publisher(sensor_msgs.msg.NavSatFix, topic_name, 1)
+        component_obj.publishers[target_topic] = [publisher_, self.packEmit_global_global]
+
+    def packEmit_global_global(cls, emitParams, publisher):
+        mav_msg = emitParams['global_position']
+        msg = sensor_msgs.msg.NavSatFix()
+        msg.latitude = mav_msg.lat/1e7
+        msg.longitude = mav_msg.lon/1e7
+        msg.altitude = mav_msg.alt/1e3
+        publisher.publish(msg)
+        pass
+        
+    def create_global_rel(self, sysid, component_obj):
+        target_topic = 'global_position/rel_alt'
+        try:
+            _ = component_obj.emitParams['global_position']
+        except KeyError:
+            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
+            return False
+        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
+        publisher_ = self.create_publisher(std_msgs.msg.Float64, topic_name, 1)
+        component_obj.publishers[target_topic] = [publisher_, self.packEmit_global_rel]
+
+    def packEmit_global_rel(cls, emitParams, publisher):
+        mav_msg = emitParams['global_position']
+        msg = std_msgs.msg.Float64()
+        msg.data = float(mav_msg.relative_alt/1e3)
+        publisher.publish(msg)
+        pass
+
+    def create_vfr_hud(self, sysid, component_obj):
+        target_topic = 'vfr_hud'
+        try:
+            _ = component_obj.emitParams['vfr_hud']
+        except KeyError:
+            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
+            return False
+        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
+        publisher_ = self.create_publisher(mavros_msgs.msg.VfrHud, topic_name, 1)
+        component_obj.publishers[target_topic] = [publisher_, self.packEmit_vfr_hud]
+
+    def packEmit_vfr_hud(cls, emitParams, publisher):
+        mav_msg = emitParams['vfr_hud']
+        msg = mavros_msgs.msg.VfrHud()
+        msg.airspeed = mav_msg.airspeed
+        msg.groundspeed = mav_msg.groundspeed
+        msg.heading = mav_msg.heading
+        msg.throttle = float(mav_msg.throttle)
+        msg.altitude = mav_msg.alt
+        msg.climb = mav_msg.climb
+        publisher.publish(msg)
+        pass
+
+    def create_battery(self, sysid, component_obj):
+        target_topic = 'battery'
+        try:
+            _ = component_obj.emitParams['battery']
+        except KeyError:
+            logger.warning('System ID : {} This Component ID : {} Did not init yet'.format(component_obj['sysid'], component_obj['compid']))
+            return False
+        topic_name = '{}/s{}/{}'.format(self.prefix_path, sysid, target_topic)
+        publisher_ = self.create_publisher(sensor_msgs.msg.BatteryState, topic_name, 1)
+        component_obj.publishers[target_topic] = [publisher_, self.packEmit_battery]
+
+    def packEmit_battery(cls, emitParams, publisher):
+        mav_msg = emitParams['battery']
+        msg = sensor_msgs.msg.BatteryState()
+        msg.voltage = mav_msg.voltages[0]/1e3
+        publisher.publish(msg)
+        pass
+
+        
+    # ↑↑↑↑↑↑↑↑↑↑↑↑  處理不同 ros2 topic 訊息 請放在這裡  ↑↑↑↑↑↑↑↑↑↑↑↑

src/fc_network_adapter/fc_network_adapter/socketManager.py

@@ -0,0 +1,14 @@
+
+'''
+
+透過某個地方 得到 udp 或 uart 接口
+對於每個接口 視為一個獨立的物件 
+
+物件對於不同的接口 是為不同類型的物件
+
+每個類型的物件 創建一個獨立的執行緒 來處理資料
+關於執行緒的實作 是寫在另一個模組
+
+物件之間 也可以做資料轉換/轉拋
+
+'''

src/fc_network_adapter/fc_network_adapter/theLogger.py

@@ -0,0 +1,43 @@
+import logging
+import os
+from logging.handlers import TimedRotatingFileHandler
+
+# 全域 Logger 實例
+_global_logger = None
+
+def setup_logger(name: str, log_dir: str = "log", level=logging.DEBUG) -> logging.Logger:
+    global _global_logger
+
+    if _global_logger is None:
+        # 確保 logs 資料夾存在
+        os.makedirs(log_dir, exist_ok=True)
+
+        # 建立全域 Logger
+        _global_logger = logging.getLogger("global_logger")
+        _global_logger.setLevel(level)
+        _global_logger.propagate = False  # 防止重複輸出
+
+        formatter = logging.Formatter(
+            fmt="%(asctime)s | %(levelname)s | %(name)s | %(message)s",
+            datefmt="%m-%d %H:%M:%S"
+        )
+
+        # 檔案輸出（每天輪替）
+        file_handler = TimedRotatingFileHandler(
+            filename=os.path.join(log_dir, "application.log"),
+            when="midnight",  # 每天 0 點輪替
+            backupCount=7,    # 保留 7 天
+            encoding="utf-8"
+        )
+        file_handler.setFormatter(formatter)
+        _global_logger.addHandler(file_handler)
+
+        # 終端機輸出
+        console_handler = logging.StreamHandler()
+        console_handler.setFormatter(formatter)
+        _global_logger.addHandler(console_handler)
+
+    # 為每個模組建立子 Logger，並設定名稱
+    module_logger = _global_logger.getChild(name)
+    module_logger.name = name  # 修改子 Logger 的名稱，僅保留子 Logger 名稱
+    return module_logger

src/fc_network_adapter/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>fc_network_adapter</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="chiyu1468@hotmail.com">picars</maintainer>
+  <license>TODO: License declaration</license>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

src/fc_network_adapter/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/fc_network_adapter
+[install]
+install_scripts=$base/lib/fc_network_adapter

src/fc_network_adapter/setup.py

@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'fc_network_adapter'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='picars',
+    maintainer_email='chiyu1468@hotmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+        ],
+    },
+)

src/unitdev01/unitdev01/gui.py

@@ -0,0 +1,444 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout,
+                            QWidget, QLabel, QSplitter, QScrollArea, 
+                            QSizePolicy, QApplication)
+from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal, QUrl
+from PyQt6.QtGui import QColor
+from PyQt6.QtWebEngineWidgets import QWebEngineView
+import math
+import re
+import os
+import sys
+from threading import Lock
+from geometry_msgs.msg import Point, Vector3
+from sensor_msgs.msg import BatteryState, NavSatFix, Imu
+from std_msgs.msg import String, Float64
+from mavros_msgs.msg import VfrHud
+
+class DroneSignals(QObject):
+    update_signal = pyqtSignal(str, str, object)  # (msg_type, drone_id, data)
+
+class DroneMonitor(Node):
+    def __init__(self):
+        super().__init__('drone_monitor')
+        self.signals = DroneSignals()
+        self.drone_topics = {}
+        self.lock = Lock()
+        
+        # 主题检测定时器
+        self.create_timer(1.0, self.scan_topics)
+        
+    def scan_topics(self):
+        topics = self.get_topic_names_and_types()
+        drone_pattern = re.compile(r'/MavLinkBus/(s\d+)/(\w+)')
+        
+        found_drones = set()
+        for topic_name, _ in topics:
+            if match := drone_pattern.match(topic_name):
+                drone_id, topic_type = match.groups()
+                found_drones.add(drone_id)
+                with self.lock:
+                    self.drone_topics.setdefault(drone_id, set()).add(topic_type)
+        
+        for drone_id in found_drones:
+            if not hasattr(self, f'drone_{drone_id}_subs'):
+                self.setup_drone_subs(drone_id)
+    
+    def setup_drone_subs(self, drone_id):
+        base_topic = f'/MavLinkBus/{drone_id}'
+        
+        subs = {
+            'attitude': self.create_subscription(
+                Imu,
+                f'{base_topic}/attitude',
+                lambda msg, did=drone_id: self.attitude_callback(did, msg),
+                10
+            ),
+            'battery': self.create_subscription(
+                BatteryState,
+                f'{base_topic}/battery',
+                lambda msg, did=drone_id: self.battery_callback(did, msg),
+                10
+            ),
+            'flightMode': self.create_subscription(
+                String,
+                f'{base_topic}/flightMode',
+                lambda msg, did=drone_id: self.mode_callback(did, msg),
+                10
+            ),
+            'global': self.create_subscription(
+                NavSatFix,
+                f'{base_topic}/global_position/global',
+                lambda msg, did=drone_id: self.gps_callback(did, msg),
+                10
+            ),
+            'rel_alt': self.create_subscription(
+                Float64,
+                f'{base_topic}/global_position/rel_alt',
+                lambda msg, did=drone_id: self.altitude_callback(did, msg),
+                10
+            ),
+            'local_pose': self.create_subscription(
+                Point,
+                f'{base_topic}/local_position/pose',
+                lambda msg, did=drone_id: self.local_pose_callback(did, msg),
+                10
+            ),
+            'local_vel': self.create_subscription(
+                Vector3,
+                f'{base_topic}/local_position/velocity',
+                lambda msg, did=drone_id: self.local_vel_callback(did, msg),
+                10
+            ),
+            'vfr_hud': self.create_subscription(
+                VfrHud,
+                f'{base_topic}/vfr_hud',
+                lambda msg, did=drone_id: self.hud_callback(did, msg),
+                10
+            )
+        }
+        
+        setattr(self, f'drone_{drone_id}_subs', subs)
+        self.signals.update_signal.emit('new_drone', drone_id, None)
+
+    def quaternion_to_euler(self, q):
+        sinr_cosp = 2 * (q.w * q.x + q.y * q.z)
+        cosr_cosp = 1 - 2 * (q.x**2 + q.y**2)
+        roll = math.atan2(sinr_cosp, cosr_cosp)
+        
+        sinp = 2 * (q.w * q.y - q.z * q.x)
+        pitch = math.asin(sinp) if abs(sinp) < 1 else math.copysign(math.pi/2, sinp)
+        
+        siny_cosp = 2 * (q.w * q.z + q.x * q.y)
+        cosy_cosp = 1 - 2 * (q.y**2 + q.z**2)
+        yaw = math.atan2(siny_cosp, cosy_cosp)
+        
+        return math.degrees(roll), math.degrees(pitch), math.degrees(yaw)
+
+    # 回调函数
+    def attitude_callback(self, drone_id, msg):
+        if hasattr(msg, 'orientation'):
+            roll, pitch, yaw = self.quaternion_to_euler(msg.orientation)
+            self.signals.update_signal.emit('attitude', drone_id, {
+                'roll': roll,
+                'pitch': pitch,
+                'yaw': yaw,
+                'rates': (msg.angular_velocity.x, 
+                         msg.angular_velocity.y,
+                         msg.angular_velocity.z)
+            })
+
+    def battery_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('battery', drone_id, {
+            'voltage': msg.voltage
+        })
+
+    def mode_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('mode', drone_id, msg.data)
+
+    def gps_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('gps', drone_id, {
+            'lat': msg.latitude,
+            'lon': msg.longitude
+            ,'alt': msg.altitude
+        })
+
+    def local_vel_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('velocity', drone_id, {
+            'vx': msg.x,
+            'vy': msg.y,
+            'vz': msg.z
+        })
+
+    def altitude_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('altitude', drone_id, {
+            'altitude': msg.data
+        })
+
+    def local_pose_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('local_pose', drone_id, {
+            'x': msg.x,
+            'y': msg.y,
+            'z': msg.z
+        })
+
+    def hud_callback(self, drone_id, msg):
+        self.signals.update_signal.emit('hud', drone_id, {
+            'airspeed': msg.airspeed,
+            'groundspeed': msg.groundspeed,
+            'heading': msg.heading,
+            'throttle': msg.throttle,
+            'alt': msg.altitude,
+            'climb': msg.climb
+        })
+
+class ControlStationUI(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.setWindowTitle('GCS')
+        self.resize(1400, 900)
+        self.drones = {}
+        
+        # 初始化ROS2
+        rclpy.init()
+        self.monitor = DroneMonitor()
+        self.monitor.signals.update_signal.connect(self.update_ui)
+        
+        # ROS执行器配置
+        self.executor = rclpy.executors.SingleThreadedExecutor()
+        self.executor.add_node(self.monitor)
+        
+        # 初始化UI
+        self.drone_positions = {}
+        self.map_loaded = False
+        self.init_ui()
+        
+        # 定时处理ROS事件
+        self.timer = QTimer()
+        self.timer.timeout.connect(self.spin_ros)
+        self.timer.start(50)
+
+    def init_ui(self):
+        main_splitter = QSplitter(Qt.Orientation.Horizontal)
+        
+        # 左侧信息面板
+        left_panel = QWidget()
+        left_layout = QVBoxLayout(left_panel)
+        left_layout.setContentsMargins(5, 5, 5, 5)
+        
+        # 信息滚动区域
+        scroll_area = QScrollArea()
+        scroll_area.setWidgetResizable(True)
+        self.info_container = QWidget()
+        self.info_layout = QVBoxLayout(self.info_container)
+        self.info_layout.setAlignment(Qt.AlignmentFlag.AlignTop)
+        scroll_area.setWidget(self.info_container)
+        
+        left_layout.addWidget(scroll_area)
+        
+        # 右侧地图区域
+        self.map_view = QWebEngineView()
+
+        inline_html = '''
+            <!DOCTYPE html>
+            <html>
+            <head>
+            <meta charset="utf-8" />
+            <link rel="stylesheet" href="https://unpkg.com/leaflet/dist/leaflet.css" />
+            <script src="https://unpkg.com/leaflet/dist/leaflet.js"></script>
+            <script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
+            <style>
+                html, body, #map { height: 100%; margin: 0; }
+            </style>
+            </head>
+            <body>
+            <div id="map"></div>
+            <script>
+                var map = L.map('map').setView([0, 0], 2);
+                L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
+                maxZoom: 19
+                }).addTo(map);
+
+                var arrowIcon = L.icon({
+                iconUrl: 'https://cdn-icons-png.flaticon.com/512/399/399308.png', // 朝上的箭頭
+                iconSize: [40, 40],
+                iconAnchor: [20, 20]
+                });
+
+                var markers = {};
+
+                function updateDrone(lat, lon, id, heading) {
+                if (markers[id]) {
+                    markers[id].setLatLng([lat, lon]);
+                    markers[id].setRotationAngle(heading);
+                } else {
+                    markers[id] = L.marker([lat, lon], {
+                    icon: arrowIcon,
+                    rotationAngle: heading,
+                    rotationOrigin: 'center'
+                    }).addTo(map).bindPopup(id);
+                }
+                map.setView([lat, lon], 16);
+                }
+            </script>
+            </body>
+            </html>
+        '''
+        self.map_view.setHtml(inline_html)
+        self.map_view.loadFinished.connect(self.on_map_loaded)
+
+        main_splitter.addWidget(left_panel)
+        main_splitter.addWidget(self.map_view)
+        main_splitter.setSizes([400, 1000])
+        
+        self.setCentralWidget(main_splitter)
+
+    def on_map_loaded(self, ok: bool):
+        if ok:
+            self.map_loaded = True
+        else:
+            print("⚠️ 地图页加载失败")
+
+    def create_drone_panel(self, drone_id):
+        panel = QWidget()
+        panel.setObjectName(f"panel_{drone_id}")
+        panel.setStyleSheet("""
+            QWidget#panel_%s {
+                background-color: #2A2A2A;
+                border-radius: 8px;
+                margin: 6px;
+                padding: 10px;
+                border: 1px solid #444;
+            }
+            QLabel {
+                color: #DDD;
+                font-size: 12px;
+                padding: 2px;
+            }
+        """ % drone_id)
+        
+        layout = QVBoxLayout(panel)
+        layout.setContentsMargins(8, 8, 8, 8)
+        layout.setSpacing(4)
+        
+        # 顶部标题栏
+        header = QWidget()
+        header_layout = QHBoxLayout(header)
+        header_layout.setContentsMargins(0, 0, 0, 0)
+        
+        # ID显示
+        id_label = QLabel(drone_id)
+        id_label.setStyleSheet("""
+            font-weight: bold; 
+            font-size: 14px; 
+            color: #7FFFD4;
+            min-width: 80px;
+        """)
+        
+        # 状态指示灯
+        status_light = QLabel("●")
+        status_light.setStyleSheet("color: #00FF00; font-size: 16px;")
+        
+        header_layout.addWidget(id_label)
+        header_layout.addWidget(status_light)
+        header_layout.addStretch()
+        
+        layout.addWidget(header)
+        
+        # 数据字段（带标签）
+        self.create_data_row(layout, "模式:", f"{drone_id}_mode", "--")
+        self.create_data_row(layout, "電壓:", f"{drone_id}_battery", "--")
+        self.create_data_row(layout, "GPS:", f"{drone_id}_gps", "--")
+        self.create_data_row(layout, "高度:", f"{drone_id}_altitude", "--")
+        self.create_data_row(layout, "Local:", f"{drone_id}_local", "--")
+        self.create_data_row(layout, "HUD:", f"{drone_id}_hud", "--")
+        
+        return panel
+
+    def create_data_row(self, layout, title, object_name, default):
+        row = QWidget()
+        hbox = QHBoxLayout(row)
+        hbox.setContentsMargins(0, 0, 0, 0)
+        
+        # 标题标签
+        title_label = QLabel(title)
+        title_label.setStyleSheet("color: #888; min-width: 80px;")
+        title_label.setSizePolicy(QSizePolicy.Policy.Fixed, QSizePolicy.Policy.Preferred)
+        
+        # 数据标签
+        value_label = QLabel(default)
+        value_label.setObjectName(object_name)
+        value_label.setWordWrap(True)
+        value_label.setStyleSheet("margin-left: 10px;")
+        
+        hbox.addWidget(title_label)
+        hbox.addWidget(value_label)
+        layout.addWidget(row)
+
+    def update_ui(self, msg_type, drone_id, data):
+        if msg_type == 'new_drone':
+            self.add_drone(drone_id)
+            return
+        
+        if not (panel := self.drones.get(drone_id)):
+            return
+        
+        if msg_type == 'mode':
+            self.update_field(panel, drone_id, 'mode', f"{data}", 
+                            '#FF5555' if '返航' in data else '#55FF55')
+        
+        elif msg_type == 'battery':
+            voltage = data.get('voltage', 0)
+            self.update_field(panel, drone_id, 'battery', 
+                            f"{voltage:.1f} V",
+                            '#FF6464' if voltage < 12 else '#FFFFFF')
+        
+        elif msg_type == 'gps':
+            lat, lon = data['lat'], data['lon']
+            self.drone_positions[drone_id] = (lat, lon)
+            text = (f"緯度: {lat:.6f}°\n"
+                    f"經度: {lon:.6f}°")
+            self.update_field(panel, drone_id, 'gps', text)
+
+        elif msg_type == 'altitude':
+            text = (f"{data['altitude']:.1f} m")
+            self.update_field(panel, drone_id, 'altitude', text)
+        
+        elif msg_type == 'local_pose':
+            text = (f"({data['x']:.1f}, {data['y']:.1f}, {data['z']:.1f})")
+            self.update_field(panel, drone_id, 'local', text)
+        
+        elif msg_type == 'hud':
+            heading = data['heading']
+            text = (f"地速: {data['groundspeed']:.1f} m/s\n"
+                    f"航向: {heading:.1f}°")
+            self.update_field(panel, drone_id, 'hud', text)
+
+            if self.map_loaded and drone_id in self.drone_positions:
+                lat, lon = self.drone_positions[drone_id]
+                js = f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});"
+                self.map_view.page().runJavaScript(js)
+    '''
+        elif msg_type == 'velocity':
+            text = (f"VX: {data['vx']:.1f} m/s\n"
+                    f"VY: {data['vy']:.1f} m/s\n"
+                    f"VZ: {data['vz']:.1f} m/s")
+            self.update_field(panel, drone_id, 'velocity', text)
+        
+        elif msg_type == 'attitude':
+            text = (f"Roll: {data['roll']:.1f}°\n"
+                    f"Pitch: {data['pitch']:.1f}°\n"
+                    f"Yaw: {data['yaw']:.1f}°")
+            self.update_field(panel, drone_id, 'attitude', text)
+    '''        
+    def update_field(self, panel, drone_id, field, text, color=None):
+        if label := panel.findChild(QLabel, f"{drone_id}_{field}"):
+            label.setText(text)
+            if color:
+                label.setStyleSheet(f"color: {color};")
+
+    def add_drone(self, drone_id):
+        if drone_id not in self.drones:
+            panel = self.create_drone_panel(drone_id)
+            self.info_layout.addWidget(panel)
+            self.drones[drone_id] = panel
+
+    def spin_ros(self):
+        try:
+            self.executor.spin_once(timeout_sec=0)
+        except Exception as e:
+            print(f"ROS spin error: {e}")
+
+    def closeEvent(self, event):
+        self.monitor.destroy_node()
+        self.executor.shutdown()
+        rclpy.shutdown()
+        event.accept()
+
+if __name__ == '__main__':
+    app = QApplication(sys.argv)
+    station = ControlStationUI()
+    station.show()
+    app.exec(app.exec())

src/unitdev01/unitdev01/interface.py

@@ -144,7 +144,6 @@ class DroneControlApp(QMainWindow):
         self.workers.imu_signal.connect(self.update_imu)
         self.workers.hdg_signal.connect(self.update_hdg)
         self.workers.groundspeed_signal.connect(self.update_groundspeed)
-
         self.workers.start()
             
     def initUI(self):

src/unitdev01/unitdev01/mavlink.py

@@ -1,5 +1,6 @@
 import sys
-import rclpy
+import time
+import math
 from PyQt5 import QtWidgets
 from PyQt5.QtCore import QThread, pyqtSignal
 from PyQt5.QtWidgets import QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QPushButton, QCheckBox, QWidget, QMainWindow, QComboBox
@@ -14,34 +15,118 @@ class MAVLinkWorker(QThread):
     imu_signal = pyqtSignal(str, float)
     hdg_signal = pyqtSignal(str, float)
     groundspeed_signal = pyqtSignal(str, float)
+    ping_signal = pyqtSignal(str, float)
+    loss_signal = pyqtSignal(str, float)
+    frequency_signal = pyqtSignal(str, float)
+    param_signal = pyqtSignal(str, int)
+    kbps_signal = pyqtSignal(str, float)
 
-    def __init__(self, connection_string="udp:127.0.0.1:14550"):
+    def __init__(self, connection_string="udp:127.0.0.1:14550", usb='/dev/ttyUSB0'):
         super().__init__()
-        self.connection = mavutil.mavlink_connection(connection_string)
+        self.namespaces = ['UAV1', 'UAV2', 'UAV3']
+        self.connection = mavutil.mavlink_connection(usb, baud=57600)
+        self.connection.wait_heartbeat()
+        for sysid in self.namespaces:
+            sysid = int(sysid.replace('UAV', ''))
+            self.set_sr_params(sysid)
         self.running = True
-        self.uav_data = {}
+
+        # 用於計算頻率丟包
+        self.message_count = {}
+        self.frequency = {}
+        self.start_time = {}
+        self.seq_numbers = {}
+        self.packet_loss_count = {}
+        self.total_packet_count = {}
+        self.loss_percentage = {}
+        self.total_bytes_received = {}
+        self.throughput_KBps = {}
+
+        for namespace in self.namespaces:
+            self.request_param(namespace, "SR1_EXTRA1")
+        self.connection.mav.timesync_send( 
+            0, #tc1
+            int(time.time() * 1e9) #ts1
+        )
 
     def run(self):
         while self.running:
             try:
-                msg = self.connection.recv_match(blocking=True)
+                msg = self.connection.recv_msg()
+                current_time = time.time()
                 if not msg:
                     continue
-
-                msg_type = msg.get_type()
                 sysid = msg.get_srcSystem()
-                namespace = f"uav{sysid}"
+                if sysid == 0:
+                    continue
+                namespace = f"UAV{sysid}"
+                msg_type = msg.get_type()
+                if msg_type =="BAD_DATA":
+                    continue
                 
-                if sysid not in self.uav_data:
+
-                    self.uav_data[sysid] = {"sysid": sysid}
+                if sysid not in self.total_bytes_received:
+                    self.total_bytes_received[sysid] = 0
+                    self.throughput_KBps[sysid] = 0
+
+                # 計算訊息大小
+                msg_bytes = msg.get_msgbuf()  # 取得封包的 bytes
+                if msg_bytes:
+                    self.total_bytes_received[sysid] += len(msg_bytes)
+                
+                # Packet loss calculation
+                if sysid not in self.seq_numbers:
+                    self.seq_numbers[sysid] = msg.get_seq()  # Initialize sequence number tracking
+                    self.packet_loss_count[sysid] = 0
+                    self.total_packet_count[sysid] = 1
+                else:
+                    current_seq = msg.get_seq()
+                    expected_seq = (self.seq_numbers[sysid] + 1) % 256
+                    self.total_packet_count[sysid] += 1
+
+                    if current_seq != expected_seq: # Packet(s) lost
+                        lost_packets = (current_seq - expected_seq) % 256
+                        self.packet_loss_count[sysid] += lost_packets
+                        self.total_packet_count[sysid] += lost_packets
+
+                    self.seq_numbers[sysid] = current_seq
+                    self.loss_percentage[sysid] = (self.packet_loss_count[sysid] / self.total_packet_count[sysid]) * 100
+                    self.loss_signal.emit(namespace, self.loss_percentage[sysid])
+
+                # Frequency calculation
+                if sysid not in self.message_count:
+                    self.message_count[sysid] = 0
+                    self.start_time[sysid] = current_time
+
+                self.message_count[sysid] += 1
+
+                # 每隔一段時間更新
+                elapsed_time = current_time - self.start_time[sysid]
+                if elapsed_time >= 1:
+                    # 每秒頻率
+                    self.frequency[sysid] = self.message_count[sysid] / elapsed_time
+                    self.frequency_signal.emit(namespace, self.frequency[sysid])
+
+                    # 發送 timesync request
+                    self.connection.mav.timesync_send( 
+                        0, #tc1
+                        int(current_time * 1e9) #ts1
+                    )
+                    #吞吐量
+                    self.throughput_KBps[sysid] = (self.total_bytes_received[sysid] / (1024)) / elapsed_time 
+                    self.kbps_signal.emit(namespace, self.throughput_KBps[sysid])
+
+                    self.start_time[sysid] = current_time
+                    self.message_count[sysid] = 0
+                    self.total_bytes_received[sysid] = 0
 
                 if msg_type == "HEARTBEAT":
                     mode = mavutil.mode_string_v10(msg)
                     self.state_signal.emit(namespace, mode)
 
                 elif msg_type == "BATTERY_STATUS":
-                    percentage = msg.battery_remaining/100
+                    voltage = msg.voltages[0] / 1000
-                    self.battery_signal.emit(namespace, percentage)
+                    self.battery_signal.emit(namespace, voltage)
 
                 elif msg_type == "GLOBAL_POSITION_INT":
                     latitude = msg.lat / 1e7
@@ -60,7 +145,7 @@ class MAVLinkWorker(QThread):
                     self.local_position_signal.emit(namespace, x, y, z)
 
                 elif msg_type == "ATTITUDE":
-                    pitch = msg.pitch
+                    pitch = math.degrees(msg.pitch)
                     self.imu_signal.emit(namespace, pitch)
 
                 elif msg_type == "VFR_HUD":
@@ -69,6 +154,16 @@ class MAVLinkWorker(QThread):
                     self.hdg_signal.emit(namespace, heading)
                     self.groundspeed_signal.emit(namespace, groundspeed)
 
+                elif msg_type == "TIMESYNC":
+                    round_trip_time = (int(current_time * 1e9) - msg.ts1) / 1e6
+                    if(round_trip_time<1e6):
+                        self.ping_signal.emit(namespace, round_trip_time)
+                
+                elif msg_type == 'PARAM_VALUE':
+                    param_name = "SR1_EXTRA1"
+                    if msg.param_id == param_name:
+                        self.param_signal.emit(namespace, msg.param_value)
+
             except Exception as e:
                 print(f"Error reading message: {e}")
 
@@ -77,7 +172,7 @@ class MAVLinkWorker(QThread):
         self.connection.close()
 
     def set_mode(self, namespace, mode):
-        sysid = int(namespace[-1])
+        sysid = int(namespace.replace('UAV', ''))
         if mode == 'STABILIZE':
             mode = 0
         elif mode == 'AUTO':
@@ -86,56 +181,47 @@ class MAVLinkWorker(QThread):
             mode = 4
         elif mode == 'LOITER':
             mode = 5
-        self.connection.mav.set_mode_send(
+        self.connection.mav.set_mode_send( #SET_MODE (11) — [DEP]
             sysid,
             mavutil.mavlink.MAV_MODE_FLAG_CUSTOM_MODE_ENABLED,
             mode
         )
 
     def arm(self, namespace, arm):
-        sysid = int(namespace[-1])
+        sysid = int(namespace.replace('UAV', ''))
         self.connection.mav.command_long_send(
             sysid,
             1,  # Component ID
-            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, #MAV_CMD_COMPONENT_ARM_DISARM (400)
             0,  # Confirmation
             1 if arm else 0,
             0, 0, 0, 0, 0, 0
         )
-        # self.connection.mav.command_long_send(
-        #     sysid,
-        #     1,  # Component ID
-        #     mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
-        #     0,
-        #     33,
-        #     -1, 
-        #     0, 0, 0, 0, 0
-        # )
 
     def takeoff(self, namespace, altitude):
-        sysid = int(namespace[-1])
+        sysid = int(namespace.replace('UAV', ''))
         self.connection.mav.command_long_send(
             sysid,
             1,  # Component ID
-            mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,  # Command to execute
+            mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,  #MAV_CMD_NAV_TAKEOFF (22)
             0,                                # Confirmation (0 = first transmission)
             0, 0, 0, 0,                      # Parameters 1-4 (Unused in takeoff command)
             0, 0, altitude            # Latitude, Longitude, Altitude (target_altitude in meters)
         )
 
     def land(self, namespace):
-        sysid = int(namespace[-1])
+        sysid = int(namespace.replace('UAV', ''))
         self.connection.mav.command_long_send(
             sysid,
             1,  # Component ID
-            mavutil.mavlink.MAV_CMD_NAV_LAND, 
+            mavutil.mavlink.MAV_CMD_NAV_LAND, #MAV_CMD_NAV_LAND (21)
             0,                                
             0, 0, 0, 0,                       
             0, 0, 0                           
         )
 
     def set_local_position(self, namespace, x, y, z):
-        sysid = int(namespace[-1])
+        sysid = int(namespace.replace('UAV', ''))
         self.connection.mav.set_position_target_local_ned_send(
             0, sysid, 1,  # time_boot_ms, sysid, compid
             mavutil.mavlink.MAV_FRAME_LOCAL_NED,  # Frame
@@ -146,12 +232,80 @@ class MAVLinkWorker(QThread):
             0, 0  # Yaw, yaw_rate
         )
     
+    def reboot_drone(self, namespace):
+        sysid = int(namespace.replace('UAV', ''))
+        self.connection.mav.command_long_send(
+            sysid,
+            1,  # target_component (一般為1)
+            mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,  # Reboot 命令
+            0,  # confirmation
+            1,  # 第一個參數 (1 = reboot，0 = 無操作，2 = 關機)
+            0, 0, 0, 0, 0, 0  # 其餘參數保留
+        )
+
+    def set_param(self, namespace, param_name, value):
+        sysid = int(namespace.replace('UAV', ''))
+        try:
+            self.connection.mav.param_set_send(
+                sysid,
+                1,
+                param_name.encode('utf-8'),
+                float(value),
+                mavutil.mavlink.MAV_PARAM_TYPE_REAL32
+            )
+        except Exception as e:
+            print(f"Failed to set parameter {param_name}: {e}")
+
+    def request_param(self, namespace, param_name):
+        sysid = int(namespace.replace('UAV', ''))
+        try:
+            self.connection.mav.param_request_read_send(
+                sysid,  # 系統 ID
+                1,  # 組件 ID
+                param_name.encode('utf-8'),  # 參數名稱
+                -1  # 參數索引，-1 表示根據名稱請求
+            )
+        except Exception as e:
+            print(f"Failed to set parameter {param_name}: {e}")
+
+    '''
+    def set_sr_params(self, sysid):
+        """ 直接設置 MAVLink 訊息頻率 """
+        freqs = [0, 2, 4]
+        params = {
+            "SR1_ADSB": freqs[0],
+            "SR1_EXT_STAT": freqs[1],
+            "SR1_EXTRA1": freqs[2],
+            "SR1_EXTRA2": freqs[2],
+            "SR1_EXTRA3": freqs[1],
+            "SR1_POSITION": freqs[1],
+            "SR1_RAW_SENS": freqs[1],
+            "SR1_RC_CHAN": freqs[1]
+        }
+        for param, value in params.items():
+            self.set_param(f"UAV{sysid}", param, value)
+    '''
+    def set_sr_params(self, sysid):
+        """ 直接設置 MAVLink 訊息頻率 """
+        freqs = [0, 1, 1]
+        params = {
+            "SR1_ADSB": freqs[0],
+            "SR1_EXT_STAT": freqs[0],
+            "SR1_EXTRA1": freqs[2],
+            "SR1_EXTRA2": freqs[2],
+            "SR1_EXTRA3": freqs[0],
+            "SR1_POSITION": freqs[1],
+            "SR1_RAW_SENS": freqs[1],
+            "SR1_RC_CHAN": freqs[0]
+        }
+        for param, value in params.items():
+            self.set_param(f"UAV{sysid}", param, value)
 
 class DroneControlApp(QMainWindow):
     def __init__(self):
         super().__init__()
-        self.namespaces = ['uav1', 'uav2', 'uav3']
         self.workers = MAVLinkWorker()
+        self.namespaces = self.workers.namespaces
         self.initUI()
         
         # Connect signals to update the UI
@@ -163,7 +317,11 @@ class DroneControlApp(QMainWindow):
         self.workers.imu_signal.connect(self.update_imu)
         self.workers.hdg_signal.connect(self.update_hdg)
         self.workers.groundspeed_signal.connect(self.update_groundspeed)
-
+        self.workers.ping_signal.connect(self.update_ping)
+        self.workers.loss_signal.connect(self.update_loss)
+        self.workers.frequency_signal.connect(self.update_frequency)
+        self.workers.param_signal.connect(self.update_param)
+        self.workers.kbps_signal.connect(self.update_kbps)
         self.workers.start()
             
     def initUI(self):
@@ -193,15 +351,20 @@ class DroneControlApp(QMainWindow):
 
             # 狀態顯示
             self.uav_labels[namespace] = {
-                "status": QLabel(f"{namespace} 狀態：等待數據..."),
+                "status": QLabel("狀態：等待數據..."),
-                "battery": QLabel(f"{namespace} 電量：等待數據..."),
+                "battery": QLabel("電壓：等待數據..."),
-                "gps": QLabel(f"{namespace} GPS位置：等待數據...\n\n"),
+                "local_position": QLabel("Local Position：等待數據..."),
-                "fix": QLabel(f"{namespace} Fix Type：等待數據..."),
+                "gps": QLabel("GPS位置：等待數據...\n\n"),
-                "satellites": QLabel(f"{namespace} 衛星數量：等待數據..."),
+                "fix": QLabel("Fix Type：等待數據..."),
-                "local_position": QLabel(f"{namespace} Local Position：等待數據..."),
+                "satellites": QLabel("衛星數量：等待數據..."),
-                "groundspeed": QLabel(f"{namespace} 地面速度：等待數據..."),
+                "groundspeed": QLabel("地面速度：等待數據..."),
-                "pitch": QLabel(f"{namespace} Pitch：等待數據..."),
+                "pitch": QLabel("Pitch：等待數據..."),
-                "heading": QLabel(f"{namespace} Heading：等待數據..."),
+                "heading": QLabel("Heading：等待數據..."),
+                "ping": QLabel("Ping：等待數據..."),
+                "loss": QLabel("丟包：等待數據..."),
+                "frequency": QLabel("頻率：等待數據..."),
+                "kbps": QLabel("吞吐量：等待數據..."),
+                "param": QLabel("SR1_EXTRA1：等待數據...")
             }
 
             # 把每個資訊添加到該 UAV 的垂直佈局中
@@ -213,6 +376,16 @@ class DroneControlApp(QMainWindow):
 
         main_layout.addLayout(uav_layout)
 
+        # SR1_EXTRA1參數設置
+        param_layout = QHBoxLayout()
+        self.paramInput = QLineEdit()
+        self.paramInput.setPlaceholderText("輸入SR1_EXTRA1的新值")
+        self.setParamButton = QPushButton("設置SR1_EXTRA1")
+        self.setParamButton.clicked.connect(self.set_SR1_EXTRA1)
+        param_layout.addWidget(self.paramInput)
+        param_layout.addWidget(self.setParamButton)
+        main_layout.addLayout(param_layout)
+
         # 模式切換區域
         mode_layout = QHBoxLayout()
         self.modeComboBox = QComboBox()
@@ -224,6 +397,23 @@ class DroneControlApp(QMainWindow):
         mode_layout.addWidget(self.modeButton)
         main_layout.addLayout(mode_layout)
 
+        # 解鎖按鈕
+        fly_layout = QHBoxLayout()
+        self.armButton = QPushButton("解鎖")
+        self.armButton.clicked.connect(self.arm_drone)
+
+        # 起飛按鈕
+        self.takeoffButton = QPushButton("起飛")
+        self.takeoffButton.clicked.connect(self.takeoff_drone)
+
+        # 降落按鈕
+        self.landButton = QPushButton("降落")
+        self.landButton.clicked.connect(self.land_drone)
+        fly_layout.addWidget(self.armButton)
+        fly_layout.addWidget(self.takeoffButton)
+        fly_layout.addWidget(self.landButton)
+        main_layout.addLayout(fly_layout)
+
         # XYZ 設置欄位
         xyz_layout = QHBoxLayout()
         self.positionX = QLineEdit()
@@ -232,31 +422,21 @@ class DroneControlApp(QMainWindow):
         self.positionY.setPlaceholderText("Y")
         self.positionZ = QLineEdit()
         self.positionZ.setPlaceholderText("Z")
+        self.setPositionButton = QPushButton("設置位置")
+        self.setPositionButton.clicked.connect(self.set_local_position)
         xyz_layout.addWidget(QLabel("輸入位置："))
         xyz_layout.addWidget(self.positionX)
         xyz_layout.addWidget(self.positionY)
         xyz_layout.addWidget(self.positionZ)
+        xyz_layout.addWidget(self.setPositionButton)
         main_layout.addLayout(xyz_layout)
 
         # 設置 XYZ 的按鈕
-        self.setPositionButton = QPushButton("設置位置")
-        self.setPositionButton.clicked.connect(self.set_local_position)
-        main_layout.addWidget(self.setPositionButton)
 
-        # 解鎖按鈕
+        #設置重啟按鈕
-        self.armButton = QPushButton("解鎖")
+        self.rebootButton = QPushButton("重啟")
-        self.armButton.clicked.connect(self.arm_drone)
+        self.rebootButton.clicked.connect(self.reboot_drone)
-        main_layout.addWidget(self.armButton)
+        main_layout.addWidget(self.rebootButton)
-
-        # 起飛按鈕
-        self.takeoffButton = QPushButton("起飛")
-        self.takeoffButton.clicked.connect(self.takeoff_drone)
-        main_layout.addWidget(self.takeoffButton)
-
-        # 降落按鈕
-        self.landButton = QPushButton("降落")
-        self.landButton.clicked.connect(self.land_drone)
-        main_layout.addWidget(self.landButton)
 
         # 設置主佈局
         central_widget = QWidget(self)
@@ -271,13 +451,13 @@ class DroneControlApp(QMainWindow):
             event.accept()
 
     def update_state(self, namespace, mode):
-        self.uav_labels[namespace]["status"].setText(f"{namespace} 狀態：{mode}")
+        self.uav_labels[namespace]["status"].setText(f"狀態：{mode}")
 
-    def update_battery(self, namespace, percentage):
+    def update_battery(self, namespace, voltage):
-        self.uav_labels[namespace]["battery"].setText(f"{namespace} 電量：{percentage * 100:.2f}%")
+        self.uav_labels[namespace]["battery"].setText(f"電壓：{voltage:.2f} V")
 
     def update_gps(self, namespace, latitude, longitude):
-        self.uav_labels[namespace]["gps"].setText(f"{namespace} GPS位置： \nLat:{latitude:.6f}° \nLon:{longitude:.6f}°")
+        self.uav_labels[namespace]["gps"].setText(f"GPS位置： \n    Lat:{latitude:.6f}° \n    Lon:{longitude:.6f}°")
 
     def update_gps_status(self, namespace, fix_type, satellites_visible):
         fix_type_str = {
@@ -288,20 +468,35 @@ class DroneControlApp(QMainWindow):
             4: "RTK Float",
             5: "RTK Fix"
         }.get(fix_type, "Unknown")
-        self.uav_labels[namespace]["fix"].setText(f"{namespace} Fix Type：{fix_type_str}")
+        self.uav_labels[namespace]["fix"].setText(f"Fix Type：{fix_type_str}")
-        self.uav_labels[namespace]["satellites"].setText(f"{namespace} 衛星數量：{satellites_visible}")
+        self.uav_labels[namespace]["satellites"].setText(f"衛星數量：{satellites_visible}")
 
     def update_local_position(self, namespace, x, y, z):
-        self.uav_labels[namespace]["local_position"].setText(f"{namespace} Local：({x:.2f}, {y:.2f}, {z:.2f})")
+        self.uav_labels[namespace]["local_position"].setText(f"Local：({x:.2f}, {y:.2f}, {z:.2f})")
 
     def update_imu(self, namespace, pitch):
-        self.uav_labels[namespace]["pitch"].setText(f"{namespace} Pitch：{pitch:.2f}°")
+        self.uav_labels[namespace]["pitch"].setText(f"Pitch：{pitch:.2f}°")
 
     def update_hdg(self, namespace, heading):
-        self.uav_labels[namespace]["heading"].setText(f"{namespace} Heading：{heading:.2f}°")
+        self.uav_labels[namespace]["heading"].setText(f"Heading：{heading:.2f}°")
 
     def update_groundspeed(self, namespace, groundspeed):
-        self.uav_labels[namespace]["groundspeed"].setText(f"{namespace} 地面速度：{groundspeed:.2f} m/s")
+        self.uav_labels[namespace]["groundspeed"].setText(f"地面速度：{groundspeed:.2f} m/s")
+    
+    def update_ping(self, namespace, ping):
+        self.uav_labels[namespace]["ping"].setText(f"Ping：{ping:.2f} ms")
+
+    def update_loss(self, namespace, loss):
+        self.uav_labels[namespace]["loss"].setText(f"丟包：{loss:.2f}%")
+
+    def update_frequency(self, namespace, frequency):
+        self.uav_labels[namespace]["frequency"].setText(f"頻率：{frequency:.2f} Hz")
+
+    def update_kbps(self, namespace, kbps):
+        self.uav_labels[namespace]["kbps"].setText(f"吞吐量：{kbps:.2f} KB/s")
+
+    def update_param(self, namespace, value):
+        self.uav_labels[namespace]["param"].setText(f"SR1_EXTRA1:{value}")
 
     def change_mode(self):
         try:
@@ -323,10 +518,12 @@ class DroneControlApp(QMainWindow):
     def takeoff_drone(self):
         try:
             z_text = self.positionZ.text().strip()
-            altitude = float(z_text) if z_text else 5.0
+            z = float(z_text) if z_text else 5.0
-            for namespace in self.namespaces:
+            h = 2
+            for i, namespace in enumerate(self.namespaces):
                 if self.uav_checkboxes[namespace].isChecked():
-                    self.workers.takeoff(namespace, altitude)
+                    self.workers.takeoff(namespace, z + h * i)
+            
         except ValueError:
             QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
 
@@ -340,14 +537,33 @@ class DroneControlApp(QMainWindow):
             x = float(self.positionX.text().strip())
             y = float(self.positionY.text().strip())
             z = float(self.positionZ.text().strip())
-            for namespace in self.namespaces:
+            h = 2
+            for i, namespace in enumerate(self.namespaces):
                 if self.uav_checkboxes[namespace].isChecked():
-                    self.workers.set_local_position(namespace, x, y, z)
+                    self.workers.set_local_position(namespace, x, y, z + h * i)
+            
         except ValueError:
             QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
 
-def main(args=None):
+    def reboot_drone(self):
-    rclpy.init(args=args)
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.reboot_drone(namespace)
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(self, "錯誤", f"重啟失敗：{e}")
+
+    def set_SR1_EXTRA1(self):
+        param_value = self.paramInput.text().strip()
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.set_param(namespace, "SR1_EXTRA1", param_value)
+                    self.workers.request_param(namespace, "SR1_EXTRA1")
+        except ValueError:
+            QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
+
+def main():
     app = QtWidgets.QApplication(sys.argv)
     window = DroneControlApp()
     window.show()

src/unitdev01/unitdev01/xbee.py

@@ -0,0 +1,619 @@
+import sys
+import time
+import math
+import serial
+import struct
+from PyQt5 import QtWidgets
+from PyQt5.QtCore import QThread, pyqtSignal
+from PyQt5.QtWidgets import QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QPushButton, QCheckBox, QWidget, QMainWindow, QComboBox
+from pymavlink import mavutil
+from pymavlink.dialects.v20 import ardupilotmega as mavlink2
+
+class PacketCapture:
+    def __init__(self):
+        self.data = bytearray()
+
+    def write(self, b):
+        self.data.extend(b)
+        return len(b)
+  
+class MAVLinkWorker(QThread):
+    state_signal = pyqtSignal(str, str)
+    battery_signal = pyqtSignal(str, float)
+    gps_signal = pyqtSignal(str, float, float)
+    gps_status_signal = pyqtSignal(str, int, int)
+    local_position_signal = pyqtSignal(str, float, float, float)
+    imu_signal = pyqtSignal(str, float)
+    hdg_signal = pyqtSignal(str, float)
+    groundspeed_signal = pyqtSignal(str, float)
+    ping_signal = pyqtSignal(str, float)
+    loss_signal = pyqtSignal(str, float)
+    frequency_signal = pyqtSignal(str, float)
+    param_signal = pyqtSignal(str, int)
+    kbps_signal = pyqtSignal(str, float)
+
+    def __init__(self):
+        super().__init__()
+        self.namespaces = ['UAV1', 'UAV2', 'UAV3']
+        self.connection = mavutil.mavlink_connection('/dev/ttyUSB0', baud=57600)
+        self.connection.wait_heartbeat()
+        for sysid in self.namespaces:
+            sysid = int(sysid.replace('UAV', ''))
+            self.set_sr_params(sysid)
+        self.running = True
+
+        # 用於計算頻率丟包
+        self.message_count = {}
+        self.frequency = {}
+        self.start_time = {}
+        self.seq_numbers = {}
+        self.packet_loss_count = {}
+        self.total_packet_count = {}
+        self.loss_percentage = {}
+        self.total_bytes_received = {}
+        self.throughput_KBps = {}
+
+        for namespace in self.namespaces:
+            self.request_param(namespace, "SR1_EXTRA1")
+        self.connection.mav.timesync_send( 
+            0, #tc1
+            int(time.time() * 1e9) #ts1
+        )
+
+    def run(self):
+        while self.running:
+            try:
+                msg = self.connection.recv_msg()
+                current_time = time.time()
+                if not msg:
+                    continue
+                sysid = msg.get_srcSystem()
+                if sysid == 0:
+                    continue
+                namespace = f"UAV{sysid}"
+                msg_type = msg.get_type()
+                if msg_type =="BAD_DATA":
+                    continue
+                
+                if sysid not in self.total_bytes_received:
+                    self.total_bytes_received[sysid] = 0
+                    self.throughput_KBps[sysid] = 0
+
+                # 計算訊息大小
+                msg_bytes = msg.get_msgbuf()  # 取得封包的 bytes
+                if msg_bytes:
+                    self.total_bytes_received[sysid] += len(msg_bytes)
+                
+                # Packet loss calculation
+                if sysid not in self.seq_numbers:
+                    self.seq_numbers[sysid] = msg.get_seq()  # Initialize sequence number tracking
+                    self.packet_loss_count[sysid] = 0
+                    self.total_packet_count[sysid] = 1
+                else:
+                    current_seq = msg.get_seq()
+                    expected_seq = (self.seq_numbers[sysid] + 1) % 256
+                    self.total_packet_count[sysid] += 1
+
+                    if current_seq != expected_seq: # Packet(s) lost
+                        lost_packets = (current_seq - expected_seq) % 256
+                        self.packet_loss_count[sysid] += lost_packets
+                        self.total_packet_count[sysid] += lost_packets
+
+                    self.seq_numbers[sysid] = current_seq
+                    self.loss_percentage[sysid] = (self.packet_loss_count[sysid] / self.total_packet_count[sysid]) * 100
+                    self.loss_signal.emit(namespace, self.loss_percentage[sysid])
+
+                # Frequency calculation
+                if sysid not in self.message_count:
+                    self.message_count[sysid] = 0
+                    self.start_time[sysid] = current_time
+
+                self.message_count[sysid] += 1
+
+                # 每隔一段時間更新
+                elapsed_time = current_time - self.start_time[sysid]
+                if elapsed_time >= 1:
+                    # 每秒頻率
+                    self.frequency[sysid] = self.message_count[sysid] / elapsed_time
+                    self.frequency_signal.emit(namespace, self.frequency[sysid])
+
+                    # 發送 timesync request
+                    self.connection.mav.timesync_send( 
+                        0, #tc1
+                        int(current_time * 1e9) #ts1
+                    )
+                    #吞吐量
+                    self.throughput_KBps[sysid] = (self.total_bytes_received[sysid] / (1024)) / elapsed_time 
+                    self.kbps_signal.emit(namespace, self.throughput_KBps[sysid])
+
+                    self.start_time[sysid] = current_time
+                    self.message_count[sysid] = 0
+                    self.total_bytes_received[sysid] = 0
+
+                if msg_type == "HEARTBEAT":
+                    mode = mavutil.mode_string_v10(msg)
+                    self.state_signal.emit(namespace, mode)
+
+                elif msg_type == "BATTERY_STATUS":
+                    voltage = msg.voltages[0] / 1000
+                    self.battery_signal.emit(namespace, voltage)
+
+                elif msg_type == "GLOBAL_POSITION_INT":
+                    latitude = msg.lat / 1e7
+                    longitude = msg.lon / 1e7
+                    self.gps_signal.emit(namespace, latitude, longitude)
+
+                elif msg_type == "GPS_RAW_INT":
+                    fix_type = msg.fix_type
+                    satellites_visible = msg.satellites_visible
+                    self.gps_status_signal.emit(namespace, fix_type, satellites_visible)
+
+                elif msg_type == "LOCAL_POSITION_NED":
+                    x = msg.y
+                    y = msg.x
+                    z = -msg.z
+                    self.local_position_signal.emit(namespace, x, y, z)
+
+                elif msg_type == "ATTITUDE":
+                    pitch = math.degrees(msg.pitch)
+                    self.imu_signal.emit(namespace, pitch)
+
+                elif msg_type == "VFR_HUD":
+                    groundspeed = msg.groundspeed
+                    heading = msg.heading
+                    self.hdg_signal.emit(namespace, heading)
+                    self.groundspeed_signal.emit(namespace, groundspeed)
+
+                elif msg_type == "TIMESYNC":
+                    round_trip_time = (int(current_time * 1e9) - msg.ts1) / 1e6
+                    if(round_trip_time<1e6):
+                        self.ping_signal.emit(namespace, round_trip_time)
+                
+                elif msg_type == 'PARAM_VALUE':
+                    param_name = "SR1_EXTRA1"
+                    if msg.param_id == param_name:
+                        self.param_signal.emit(namespace, msg.param_value)
+
+            except Exception as e:
+                print(f"Error reading message: {e}")
+
+    def stop(self):
+        self.running = False
+        self.connection.close()
+
+    def build_api_tx_frame(self, data: bytes, frame_id=0x01):
+        frame_type = 0x10
+        dest_addr64 = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'  # Broadcast
+        dest_addr16 = b'\xFF\xFE'
+        broadcast_radius = 0x00
+        options = 0x00
+
+        frame = struct.pack(">B", frame_type) + struct.pack(">B", frame_id)
+        frame += dest_addr64 + dest_addr16
+        frame += struct.pack(">BB", broadcast_radius, options) + data
+        checksum = 0xFF - (sum(frame) & 0xFF)
+        return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
+
+    def send_command(self, msg):
+        # Create the packet and send via serial port
+        PORT = "/dev/ttyUSB0"
+        BAUD = 57600
+        ser = serial.Serial(PORT, BAUD)
+        capture = PacketCapture()
+        mav = mavlink2.MAVLink(capture, srcSystem=1, srcComponent=1)
+        mav.version = 2
+        mav.send(msg)
+        api_frame = self.build_api_tx_frame(capture.data)
+        ser.write(api_frame)
+        print("RAW HEX:", capture.data.hex())
+
+    def set_mode(self, namespace, mode):
+        sysid = int(namespace.replace('UAV', ''))
+        if mode == 'STABILIZE':
+            mode = 0
+        elif mode == 'AUTO':
+            mode = 3
+        elif mode == 'GUIDED':
+            mode = 4
+        elif mode == 'LOITER':
+            mode = 5
+
+        msg = self.connection.mav.command_long_encode(
+            target_system=sysid,
+            target_component=1,
+            command=mavutil.mavlink.MAV_CMD_DO_SET_MODE,
+            confirmation=0,
+            param1=1,  # Custom mode enabled
+            param2=mode,
+            param3=0, param4=0, param5=0, param6=0, param7=0
+        )
+        self.send_command(msg)
+
+    def arm(self, namespace, arm):
+        sysid = int(namespace.replace('UAV', ''))
+        msg = self.connection.mav.command_long_encode(
+            target_system=sysid,
+            target_component=1,
+            command=mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+            confirmation=0,
+            param1=1 if arm else 0,  # 1 to arm, 0 to disarm
+            param2=0, param3=0, param4=0, param5=0, param6=0, param7=0
+        )
+        self.send_command(msg)
+
+    def takeoff(self, namespace, altitude):
+        sysid = int(namespace.replace('UAV', ''))
+        msg = self.connection.mav.command_long_encode(
+            target_system=sysid,
+            target_component=1,
+            command=mavutil.mavlink.MAV_CMD_NAV_TAKEOFF,
+            confirmation=0,
+            param1=0, param2=0, param3=0, param4=0, param5=0, param6=0,
+            param7=altitude
+        )
+        self.send_command(msg)
+
+    def land(self, namespace):
+        sysid = int(namespace.replace('UAV', ''))
+        msg = self.connection.mav.command_long_encode(
+            target_system=sysid,
+            target_component=1,
+            command=mavutil.mavlink.MAV_CMD_NAV_LAND,
+            confirmation=0,
+            param1=0, param2=0, param3=0, param4=0, param5=0, param6=0,
+            param7=0
+        )
+        self.send_command(msg)
+
+    def set_local_position(self, namespace, x, y, z):
+        sysid = int(namespace.replace('UAV', ''))
+        msg = self.connection.mav.set_position_target_local_ned_encode(
+            0, sysid, 1,  # time_boot_ms, sysid, compid
+            mavutil.mavlink.MAV_FRAME_LOCAL_NED,  # Frame
+            0b110111111000,  # Mask
+            y, x, -z,  # Position
+            0, 0, 0,  # Velocity
+            0, 0, 0,  # Acceleration
+            0, 0  # Yaw, yaw_rate
+        )
+        self.send_command(msg)
+
+    def reboot_drone(self, namespace):
+        sysid = int(namespace.replace('UAV', ''))
+        self.connection.mav.command_long_send(
+            sysid,
+            1,  # target_component (一般為1)
+            mavutil.mavlink.MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN,  # Reboot 命令
+            0,  # confirmation
+            1,  # 第一個參數 (1 = reboot，0 = 無操作，2 = 關機)
+            0, 0, 0, 0, 0, 0  # 其餘參數保留
+        )
+
+    def set_param(self, namespace, param_name, value):
+        sysid = int(namespace.replace('UAV', ''))
+        try:
+            self.connection.mav.param_set_send(
+                sysid,
+                1,
+                param_name.encode('utf-8'),
+                float(value),
+                mavutil.mavlink.MAV_PARAM_TYPE_REAL32
+            )
+        except Exception as e:
+            print(f"Failed to set parameter {param_name}: {e}")
+
+    def request_param(self, namespace, param_name):
+        sysid = int(namespace.replace('UAV', ''))
+        try:
+            self.connection.mav.param_request_read_send(
+                sysid,  # 系統 ID
+                1,  # 組件 ID
+                param_name.encode('utf-8'),  # 參數名稱
+                -1  # 參數索引，-1 表示根據名稱請求
+            )
+        except Exception as e:
+            print(f"Failed to set parameter {param_name}: {e}")
+
+    '''
+    def set_sr_params(self, sysid):
+        """ 直接設置 MAVLink 訊息頻率 """
+        freqs = [0, 2, 4]
+        params = {
+            "SR1_ADSB": freqs[0],
+            "SR1_EXT_STAT": freqs[1],
+            "SR1_EXTRA1": freqs[2],
+            "SR1_EXTRA2": freqs[2],
+            "SR1_EXTRA3": freqs[1],
+            "SR1_POSITION": freqs[1],
+            "SR1_RAW_SENS": freqs[1],
+            "SR1_RC_CHAN": freqs[1]
+        }
+        for param, value in params.items():
+            self.set_param(f"UAV{sysid}", param, value)
+    '''
+    def set_sr_params(self, sysid):
+        """ 直接設置 MAVLink 訊息頻率 """
+        freqs = [0, 1, 1]
+        params = {
+            "SR1_ADSB": freqs[0],
+            "SR1_EXT_STAT": freqs[0],
+            "SR1_EXTRA1": freqs[2],
+            "SR1_EXTRA2": freqs[2],
+            "SR1_EXTRA3": freqs[0],
+            "SR1_POSITION": freqs[1],
+            "SR1_RAW_SENS": freqs[1],
+            "SR1_RC_CHAN": freqs[0]
+        }
+        for param, value in params.items():
+            self.set_param(f"UAV{sysid}", param, value)
+
+class DroneControlApp(QMainWindow):
+    def __init__(self):
+        super().__init__()
+        self.workers = MAVLinkWorker()
+        self.namespaces = self.workers.namespaces
+        self.initUI()
+        
+        # Connect signals to update the UI
+        self.workers.state_signal.connect(self.update_state)
+        self.workers.battery_signal.connect(self.update_battery)
+        self.workers.gps_signal.connect(self.update_gps)
+        self.workers.gps_status_signal.connect(self.update_gps_status)
+        self.workers.local_position_signal.connect(self.update_local_position)
+        self.workers.imu_signal.connect(self.update_imu)
+        self.workers.hdg_signal.connect(self.update_hdg)
+        self.workers.groundspeed_signal.connect(self.update_groundspeed)
+        self.workers.ping_signal.connect(self.update_ping)
+        self.workers.loss_signal.connect(self.update_loss)
+        self.workers.frequency_signal.connect(self.update_frequency)
+        self.workers.param_signal.connect(self.update_param)
+        self.workers.kbps_signal.connect(self.update_kbps)
+        self.workers.start()
+            
+    def initUI(self):
+        self.setWindowTitle("多無人機控制介面")
+        self.setGeometry(100, 100, 800, 600)
+
+        # 主佈局
+        main_layout = QVBoxLayout()
+
+        # 無人機選擇區域
+        uav_layout = QHBoxLayout()
+        self.uav_checkboxes = {}
+        for namespace in self.namespaces:
+            checkbox = QCheckBox(namespace)
+            checkbox.setChecked(True)  # 預設勾選
+            self.uav_checkboxes[namespace] = checkbox
+            uav_layout.addWidget(checkbox)
+        main_layout.addLayout(uav_layout)
+
+        # 顯示所有無人機資訊，從左到右顯示
+        uav_layout = QHBoxLayout()
+        
+        # 逐個顯示 UAV 的資訊
+        self.uav_labels = {}
+        for namespace in self.namespaces:
+            uav_info_layout = QVBoxLayout()  # 每台 UAV 的資訊垂直排列
+
+            # 狀態顯示
+            self.uav_labels[namespace] = {
+                "status": QLabel("狀態：等待數據..."),
+                "battery": QLabel("電壓：等待數據..."),
+                "local_position": QLabel("Local Position：等待數據..."),
+                "gps": QLabel("GPS位置：等待數據...\n\n"),
+                "fix": QLabel("Fix Type：等待數據..."),
+                "satellites": QLabel("衛星數量：等待數據..."),
+                "groundspeed": QLabel("地面速度：等待數據..."),
+                "pitch": QLabel("Pitch：等待數據..."),
+                "heading": QLabel("Heading：等待數據..."),
+                "ping": QLabel("Ping：等待數據..."),
+                "loss": QLabel("丟包：等待數據..."),
+                "frequency": QLabel("頻率：等待數據..."),
+                "kbps": QLabel("吞吐量：等待數據..."),
+                "param": QLabel("SR1_EXTRA1：等待數據...")
+            }
+
+            # 把每個資訊添加到該 UAV 的垂直佈局中
+            for label in self.uav_labels[namespace].values():
+                uav_info_layout.addWidget(label)
+
+            # 將該 UAV 的資訊佈局加到主佈局中（從左到右排列）
+            uav_layout.addLayout(uav_info_layout)
+
+        main_layout.addLayout(uav_layout)
+
+        # SR1_EXTRA1參數設置
+        param_layout = QHBoxLayout()
+        self.paramInput = QLineEdit()
+        self.paramInput.setPlaceholderText("輸入SR1_EXTRA1的新值")
+        self.setParamButton = QPushButton("設置SR1_EXTRA1")
+        self.setParamButton.clicked.connect(self.set_SR1_EXTRA1)
+        param_layout.addWidget(self.paramInput)
+        param_layout.addWidget(self.setParamButton)
+        main_layout.addLayout(param_layout)
+
+        # 模式切換區域
+        mode_layout = QHBoxLayout()
+        self.modeComboBox = QComboBox()
+        self.modeComboBox.addItems(["GUIDED", "STABILIZE", "AUTO", "LOITER"])
+        self.modeButton = QPushButton("切換模式")
+        self.modeButton.clicked.connect(self.change_mode)
+        mode_layout.addWidget(QLabel("選擇模式："))
+        mode_layout.addWidget(self.modeComboBox)
+        mode_layout.addWidget(self.modeButton)
+        main_layout.addLayout(mode_layout)
+
+        # 解鎖按鈕
+        fly_layout = QHBoxLayout()
+        self.armButton = QPushButton("解鎖")
+        self.armButton.clicked.connect(self.arm_drone)
+
+        # 起飛按鈕
+        self.takeoffButton = QPushButton("起飛")
+        self.takeoffButton.clicked.connect(self.takeoff_drone)
+
+        # 降落按鈕
+        self.landButton = QPushButton("降落")
+        self.landButton.clicked.connect(self.land_drone)
+        fly_layout.addWidget(self.armButton)
+        fly_layout.addWidget(self.takeoffButton)
+        fly_layout.addWidget(self.landButton)
+        main_layout.addLayout(fly_layout)
+
+        # XYZ 設置欄位
+        xyz_layout = QHBoxLayout()
+        self.positionX = QLineEdit()
+        self.positionX.setPlaceholderText("X")
+        self.positionY = QLineEdit()
+        self.positionY.setPlaceholderText("Y")
+        self.positionZ = QLineEdit()
+        self.positionZ.setPlaceholderText("Z")
+        self.setPositionButton = QPushButton("設置位置")
+        self.setPositionButton.clicked.connect(self.set_local_position)
+        xyz_layout.addWidget(QLabel("輸入位置："))
+        xyz_layout.addWidget(self.positionX)
+        xyz_layout.addWidget(self.positionY)
+        xyz_layout.addWidget(self.positionZ)
+        xyz_layout.addWidget(self.setPositionButton)
+        main_layout.addLayout(xyz_layout)
+
+        # 設置 XYZ 的按鈕
+
+        #設置重啟按鈕
+        self.rebootButton = QPushButton("重啟")
+        self.rebootButton.clicked.connect(self.reboot_drone)
+        main_layout.addWidget(self.rebootButton)
+
+        # 設置主佈局
+        central_widget = QWidget(self)
+        central_widget.setLayout(main_layout)
+        self.setCentralWidget(central_widget)
+        self.show()
+
+    def closeEvent(self, event):
+        try:
+            self.workers.stop()
+        finally:
+            event.accept()
+
+    def update_state(self, namespace, mode):
+        self.uav_labels[namespace]["status"].setText(f"狀態：{mode}")
+
+    def update_battery(self, namespace, voltage):
+        self.uav_labels[namespace]["battery"].setText(f"電壓：{voltage:.2f} V")
+
+    def update_gps(self, namespace, latitude, longitude):
+        self.uav_labels[namespace]["gps"].setText(f"GPS位置： \n    Lat:{latitude:.6f}° \n    Lon:{longitude:.6f}°")
+
+    def update_gps_status(self, namespace, fix_type, satellites_visible):
+        fix_type_str = {
+            0: "No Fix",
+            1: "No Fix",
+            2: "2D Fix",
+            3: "3D Fix",
+            4: "RTK Float",
+            5: "RTK Fix"
+        }.get(fix_type, "Unknown")
+        self.uav_labels[namespace]["fix"].setText(f"Fix Type：{fix_type_str}")
+        self.uav_labels[namespace]["satellites"].setText(f"衛星數量：{satellites_visible}")
+
+    def update_local_position(self, namespace, x, y, z):
+        self.uav_labels[namespace]["local_position"].setText(f"Local：({x:.2f}, {y:.2f}, {z:.2f})")
+
+    def update_imu(self, namespace, pitch):
+        self.uav_labels[namespace]["pitch"].setText(f"Pitch：{pitch:.2f}°")
+
+    def update_hdg(self, namespace, heading):
+        self.uav_labels[namespace]["heading"].setText(f"Heading：{heading:.2f}°")
+
+    def update_groundspeed(self, namespace, groundspeed):
+        self.uav_labels[namespace]["groundspeed"].setText(f"地面速度：{groundspeed:.2f} m/s")
+    
+    def update_ping(self, namespace, ping):
+        self.uav_labels[namespace]["ping"].setText(f"Ping：{ping:.2f} ms")
+
+    def update_loss(self, namespace, loss):
+        self.uav_labels[namespace]["loss"].setText(f"丟包：{loss:.2f}%")
+
+    def update_frequency(self, namespace, frequency):
+        self.uav_labels[namespace]["frequency"].setText(f"頻率：{frequency:.2f} Hz")
+
+    def update_kbps(self, namespace, kbps):
+        self.uav_labels[namespace]["kbps"].setText(f"吞吐量：{kbps:.2f} KB/s")
+
+    def update_param(self, namespace, value):
+        self.uav_labels[namespace]["param"].setText(f"SR1_EXTRA1:{value}")
+
+    def change_mode(self):
+        try:
+            selected_mode = self.modeComboBox.currentText()
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.set_mode(namespace, selected_mode)
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(self, "錯誤", f"模式切換失敗：{str(e)}")
+
+    def arm_drone(self):
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.arm(namespace, True)
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(self, "錯誤", f"解鎖失敗：{e}")
+
+    def takeoff_drone(self):
+        try:
+            z_text = self.positionZ.text().strip()
+            z = float(z_text) if z_text else 5.0
+            h = 2
+            for i, namespace in enumerate(self.namespaces):
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.takeoff(namespace, z + h * i)
+            
+        except ValueError:
+            QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
+
+    def land_drone(self):
+        for namespace in self.namespaces:
+            if self.uav_checkboxes[namespace].isChecked():
+                self.workers.land(namespace)
+
+    def set_local_position(self):
+        try:
+            x = float(self.positionX.text().strip())
+            y = float(self.positionY.text().strip())
+            z = float(self.positionZ.text().strip())
+            h = 2
+            for i, namespace in enumerate(self.namespaces):
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.set_local_position(namespace, x, y, z + h * i)
+            
+        except ValueError:
+            QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
+
+    def reboot_drone(self):
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.reboot_drone(namespace)
+        except Exception as e:
+            QtWidgets.QMessageBox.warning(self, "錯誤", f"重啟失敗：{e}")
+
+    def set_SR1_EXTRA1(self):
+        param_value = self.paramInput.text().strip()
+        try:
+            for namespace in self.namespaces:
+                if self.uav_checkboxes[namespace].isChecked():
+                    self.workers.set_param(namespace, "SR1_EXTRA1", param_value)
+                    self.workers.request_param(namespace, "SR1_EXTRA1")
+        except ValueError:
+            QtWidgets.QMessageBox.warning(self, "錯誤", "請輸入有效的數值！")
+
+def main():
+    app = QtWidgets.QApplication(sys.argv)
+    window = DroneControlApp()
+    window.show()
+    sys.exit(app.exec_())
+
+if __name__ == '__main__':
+    main()

src/unitdev02/setup.py

@@ -21,7 +21,8 @@ setup(
     entry_points={
         'console_scripts': [
             'showmavsimple = unitdev02.test01:mavlink_analyzer_simple',
-            'fdm_switch_one = unitdev02.test01:fdm_swicth_example_one',
+            'fdm_switch_one = unitdev02.test01:fdm_switch_example_one',
+            'fdm_switch_two = unitdev02.test01:fdm_switch_example_two',
         ],
     },
 )

src/unitdev02/unitdev02/client.py

@@ -0,0 +1,14 @@
+import socket
+
+SOCKET_PATH = "/tmp/unix_socket_example"
+
+# 建立 socket
+client = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+client.connect(SOCKET_PATH)
+
+# 傳送資料
+client.sendall(b"Hello from client!")
+data = client.recv(1024)
+print("📤 Server replied:", data.decode())
+
+client.close()

src/unitdev02/unitdev02/lifecycle_node.py

@@ -0,0 +1,45 @@
+
+
+
+import rclpy
+from rclpy.node import Node
+from std_msgs.msg import String
+import time
+
+# import mavros_msgs.srv
+
+class TalkerNode(Node):
+    def __init__(self):
+        start_time = time.time()
+        super().__init__('talker_node')
+        end_time = time.time()
+        print(f"Node initialization took {end_time - start_time:.2f} seconds")
+
+        self.publisher_ = self.create_publisher(String, 'hahatest/_1', 10)
+        self.timer = self.create_timer(1.0, self.timer_callback)  # 每秒執行一次
+        self.get_logger().info('TalkerNode has been started.')
+
+    def timer_callback(self):
+        msg = String()
+        msg.data = 'Hello, ROS 2!'
+        self.publisher_.publish(msg)
+        self.get_logger().info(f'Published: "{msg.data}"')
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = TalkerNode()
+
+    print("Before sleep")
+    time.sleep(5)  # 等待 5 秒鐘
+    print("After sleep")
+    try:
+        start_time = time.time()
+        while time.time() - start_time < 10:  # 持續 10 秒鐘
+            rclpy.spin_once(node)
+            time.sleep(1)  # 每秒執行一次
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()

src/unitdev02/unitdev02/server.py

@@ -0,0 +1,33 @@
+import socket
+import os
+
+# socket file path
+SOCKET_PATH = "/tmp/unix_socket_example"
+
+# 若檔案存在就先刪除
+if os.path.exists(SOCKET_PATH):
+    os.remove(SOCKET_PATH)
+
+# 建立 socket
+server = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+
+# 綁定 socket 到檔案
+server.bind(SOCKET_PATH)
+server.listen(1)
+
+print("🔌 Server waiting for connection...")
+
+# 等待 client 連線
+conn, _ = server.accept()
+print("✅ Client connected.")
+
+while True:
+    data = conn.recv(1024)
+    if not data:
+        break
+    print("📥 Received:", data.decode())
+    conn.sendall(b"Echo: " + data)
+
+conn.close()
+server.close()
+os.remove(SOCKET_PATH)

src/unitdev02/unitdev02/test01.md

@@ -47,3 +47,59 @@ RC_CHANNELS：遙控器 (RC) 的通道數據，代表從操控者 (或模擬器)
 7. 任務與導航
 MISSION_CURRENT：目前正在執行的飛行任務 (Mission) 的編號。
 SIMSTATE：SITL 模擬器的狀態，如飛行模式、地面速度等。
+
+
+
+================================
+
+
+['__annotations__', '__class__', '__delattr__', '__dict__', '__dir__', '__doc__', '__eq__', '__format__', '__ge__', '__getattribute__', '__getitem__', '__gt__', '__hash__', '__init__', '__init_subclass__', '__le__', '__lt__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', 
+
+'_crc', '_fieldnames', '_header', '_instance_field', '_instance_offset', '_instances', '_link_id', '_msgbuf', '_pack', '_payload', '_posted', '_signed', '_timestamp', , 
+
+, 'crc_extra',  'fieldunits_by_name', 'format_attr', 'get_crc', , 'get_header', 'get_link_id', , 'get_msgbuf', 'get_payload', 'get_seq', 'get_signed', 'instance_field', 'instance_offset', 'lengths',  'name', 'native_format', 'ordered_fieldnames', 'orders', 'pack', 'pitch', 'pitchspeed', 'roll', 'rollspeed', 'sign_packet', 'time_boot_ms', 'to_dict', 'to_json', 'unpacker', 'yaw', 'yawspeed']
+
+mavlink 封包 種類名稱
+'get_type()'  '_type' 'msgname'  
+'get_msgId()'  'id'
+'fieldenums_by_name'
+
+
+發送端的 sysid  get_srcComponent()
+發送端的 compid get_srcComponent()
+
+這邊是一組的 mavlink 封包 內容的
+資料長度 'array_lengths'  
+資料名稱 'fieldnames'  'get_fieldnames()' 
+資料格式 'fieldtypes'  
+
+=====================================
+
+ HEARTBEAT {type : 2, autopilot : 3, base_mode : 81, custom_mode : 0, system_status : 3, mavlink_version : 3}
+
+=====================================
+
+
+?
+
+https://github.com/ros/angles
+https://github.com/ros-geographic-info/geographic_info
+
+
+指令
+
+mkdir -p ~/ros2_geographic_info/src
+cd ~/ros2_geographic_info/src
+git clone https://github.com/ros/angles.git -b ros2 
+git clone https://github.com/ros-geographic-info/geographic_info.git -b ros2
+
+cd ..
+rosdep check --from-paths src --ignore-src
+
+colcon build --packages-select angles
+. ./install/setup.bash
+colcon build --packages-select geographic_info
+. ./install/setup.bash
+colcon build --packages-select mavros_msgs
+
+

src/unitdev02/unitdev02/test01.py

@@ -6,6 +6,10 @@ import time
 import socket
 import struct
 
+# used at fdm_switch_example_two
+import threading
+import queue
+
 def mavlink_analyzer_simple(count = 500):
     # rclpy.init()
     # node = rclpy.create_node('mavlink_analyzer_simple')
@@ -32,11 +36,17 @@ def mavlink_analyzer_simple(count = 500):
 
             if msg.get_type() == 'SERVO_OUTPUT_RAW':
                 print(msg)
+                pass
 
         else:
             print('No message yet, 1 second for data to fill')
             sleep(1)
 
+    print("markA ------")
+    print(msg.get_type())
+    print(msg.ordered_fieldnames)
+    print("markA ------ END")
+
     print('Messages Type received:')
     print(msg_count)
 
@@ -52,7 +62,6 @@ def fdm_parser_example(data=None):
         data = bytes.fromhex('1a48e903b1340500e803e803e803e803000000000000000000000000000000000000000000000000')
     # 1a48e903b1340500e803e803e803e803000000000000000000000000000000000000000000000000
 
-
     parse_format = 'HHI16H'
 
     if len(data) != struct.calcsize(parse_format):
@@ -103,7 +112,8 @@ def fdm_switch_example_one():
         elapsed_time = current_time - start_time
 
         if elapsed_time >= 1.0:
-            print(f"Packets received in the last second: {packet_count}")
+            # print(f"Packets received in the last second: {packet_count}")
+            print(f'JSON Pack : {data_g2s}')
             packet_count = 0
             start_time = current_time
             fdm_parser_example(data_s2g)
@@ -113,34 +123,140 @@ def fdm_switch_example_two():
     '''
     這個範例在 SITL 與 Gazebo 之間 做一個簡單的UDP轉發器 
     有轉換數據格式
+
+    time_usec
+    servo1_raw 
+    servo16_raw
     '''
     # read info from SITL via MAVLink
-    connection_string="udp:127.0.0.1:14550"
+    connection_string="udp:127.0.0.1:14550" # uart mavlink  # MATLAB
     connection = mavutil.mavlink_connection(connection_string)
 
     # set a target link pass JSON to Gazebo, as a client
     sock_g2s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
     server_address = ('127.0.0.1', 19002)
 
+    data_queue = queue.Queue()
+    servo_out = [0] * 16 # [0 0 0 0 0 0 0 0 0.....]
+    data_queue.put(servo_out)
+
+    def send_data_from_queue(sock, server_address, q, frame_rate_fdm=1, frame_count_fdm=1):
+        interval = 1.0 / frame_rate_fdm
+        while True:
+            start_time = time.time()
+            try:
+                data = q.get(timeout=0.1) # [0 0 0 0 0 0 0 0 0.....]
+                if data is None:
+                    break
+                last_data = data
+            except queue.Empty:
+                data = last_data
+            data_fdm = struct.pack('HHI16H', 0x481a, int(frame_rate_fdm * 0.1), frame_count_fdm, *servo_out) # [ FMD ]
+            sock.sendto(data_fdm, server_address)
+            frame_count_fdm += 3
+            # fdm_parser_example(data_fdm) # debug
+
+            elapsed_time = time.time() - start_time
+            sleep_time = interval - elapsed_time
+            if sleep_time > 0:
+                sleep(sleep_time)
+
+    Running = True
+    thread = threading.Thread(target=send_data_from_queue, args=(sock_g2s, server_address, data_queue))
+    thread.start()
+    print('Start sending data to Gazebo')
+
+    while Running:
+        msgb1 = None
+        msg = connection.recv_msg()
+        while msg :
+            if msg.get_type() == 'SERVO_OUTPUT_RAW':
+                msgb1 = msg
+                # break # 這裡不需要break，因為我要最後一個 servo_output_raw 的值
+            msg = connection.recv_msg()
+
+        if msgb1:
+            for i in range(16):
+                servo_out[i] = getattr(msgb1, f'servo{i+1}_raw')
+                data_queue.put(servo_out)
+            msgb1 = None
+            # Running = False # debug
+        else:
+            # print('No message yet, 10 ms for data to fill')
+            sleep(0.01)
+
+        # Example of putting data into the queue
+        # data_queue.put(data)
+        # To stop the thread, you can put None into the queue
+        # data_queue.put(None)
+
+from pymavlink.dialects.v20 import common  # 使用 MAVLink 2.0
+
+def mavlink_btye_generator_test():
+
+    # 創建一個 MAVLink 對象
+    mav = common.MAVLink(None)  # 不透過 connection，直接使用 None
+
+    # 創建一個 HEARTBEAT 訊息
+    msg = mav.heartbeat_encode(
+        type=mavutil.mavlink.MAV_TYPE_QUADROTOR,
+        autopilot=mavutil.mavlink.MAV_AUTOPILOT_GENERIC,
+        base_mode=0,
+        custom_mode=0,
+        system_status=mavutil.mavlink.MAV_STATE_ACTIVE
+    )
+    msg = mav.command_long_encode(
+        target_system=1,
+        target_component=1,
+        command=mavutil.mavlink.MAV_CMD_DO_SET_MODE,
+        confirmation=0,
+        param1=0,  # Custom mode
+        param2=0,  # Custom sub-mode
+        param3=0,
+        param4=0,
+        param5=0,
+        param6=0,
+        param7=0
+    )
+
+
+
+    # 取得 MAVLink 訊息的 bytes
+    mavlink_bytes = msg.pack(mav)
+
+    # 回傳 bytes
+    print(mavlink_bytes)
+    print(type(mavlink_bytes))
+
+    mav2 = common.MAVLink(None)
+    # my_msg = mav2.decode(mavlink_bytes)
+    print("========")
+    print(dir(mav2))
+    # print(my_msg)
+
+def simple_getMavlink():
+    connection_string="udp:127.0.0.1:14550"
+    # connection_string='/dev/ttyUSB0'
+    connection = mavutil.mavlink_connection(connection_string)
+
+    while True:
+        msg = connection.recv_msg()
+        if msg:
+            print(msg)
+        else:
+            print('No message yet, 0.1 second for data to fill')
+            sleep(0.1)
+
+
 
 print('Start')
-mavlink_analyzer_simple()
+# fdm_switch_example_two()
+# fdm_parser_example()
+# mavlink_analyzer_simple(8)
+# mavlink_btye_generator_test()
+simple_getMavlink()
 
-# connection_string="udp:127.0.0.1:14550"
-# connection = mavutil.mavlink_connection(connection_string)
 
-# connection.mav.command_long_send(
-#     1,
-#     1,
-#     mavutil.mavlink.MAV_CMD_SET_MESSAGE_INTERVAL,
-#     0, 33, 1000000, 0, 0, 0, 0, 0
-# )
 
-# connection.mav.command_long_send(
+
-#         1,
+# mavlink_socket_out = mavutil.mavlink_connection(connection_string_out, source_system=17, source_component=200)
-#         1,  # Component ID
-#         mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
-#         0,  # Confirmation
-#         1,  # 0: disarm, 1: arm
-#         0, 0, 0, 0, 0, 0
-#     )

src/unitdev04/coordinator_api.py

@@ -0,0 +1,47 @@
+import threading
+import time
+from digi.xbee.devices import XBeeDevice
+
+# Configure XBee connection
+PORT = "/dev/ttyUSB1"
+BAUD_RATE = 57600
+
+# Initialize XBee device
+device = XBeeDevice(PORT, BAUD_RATE)
+device.open()
+
+# Callback function to handle incoming messages
+def data_received_callback(xbee_message):
+    sender = xbee_message.remote_device.get_64bit_addr()
+    try:
+        data = xbee_message.data.decode("utf-8")  # Attempt UTF-8 decoding
+    except UnicodeDecodeError:
+        data = xbee_message.data.hex()  # Fallback to HEX if decoding fails
+    print(f"\nReceived from {sender}: {data}\nEnter message: ", end="")
+
+# Register callback for incoming data
+device.add_data_received_callback(data_received_callback)
+
+# Function to send broadcast messages (runs in a separate thread)
+def send_messages():
+    while True:
+        user_input = input("\nEnter message: ")  # User input
+        status = device.send_data_broadcast(user_input)  # Broadcast message
+        if status:
+            print("Broadcast message sent successfully!")
+        else:
+            print("Failed to send broadcast message.")
+
+# Start the message sending thread
+send_thread = threading.Thread(target=send_messages, daemon=True)
+send_thread.start()
+
+print("Broadcast chat mode activated. Type a message and press Enter to send.\n")
+
+# Keep the program running
+try:
+    while True:
+        time.sleep(0.1)  # Reduce CPU usage and ensure stability
+except KeyboardInterrupt:
+    print("\nProgram terminated.")
+    device.close()

src/unitdev04/endpoint_at.py

@@ -0,0 +1,41 @@
+import serial
+import threading
+
+PORT = "COM15"  # AT Mode XBee COM Port
+BAUD_RATE = 57600
+
+# Initialize serial connection
+ser = serial.Serial(PORT, BAUD_RATE, timeout=1)
+
+# Function to receive messages from the Coordinator
+def receive_data():
+    while True:
+        data = ser.readline().decode("utf-8", errors="ignore").strip()  # Read incoming data
+        if data:
+            print(f"\nReceived from Coordinator: {data}")
+            print("Enter message: ", end="", flush=True)  # Keep input prompt intact
+
+# Function to send messages to the Coordinator
+def send_data():
+    while True:
+        user_input = input("\nEnter message: ")  # User input
+        ser.write(user_input.encode() + b'\r')  # Send message in AT Mode
+        print("Message sent.")
+
+# Start the receiving thread
+receive_thread = threading.Thread(target=receive_data, daemon=True)
+receive_thread.start()
+
+# Start the sending thread
+send_thread = threading.Thread(target=send_data, daemon=True)
+send_thread.start()
+
+print("AT Mode XBee communication started. Type a message and press Enter to send.\n")
+
+# Keep the program running
+try:
+    while True:
+        pass
+except KeyboardInterrupt:
+    print("\nProgram terminated.")
+    ser.close()