diff --git a/src/unitdev01/unitdev01/gui.py b/src/unitdev01/unitdev01/gui.py
index 6ff9a2c..a227321 100644
--- a/src/unitdev01/unitdev01/gui.py
+++ b/src/unitdev01/unitdev01/gui.py
@@ -41,49 +41,83 @@ class DroneMonitor(Node):
# 定義需要過濾的模式
self.filtered_modes = ['Mode(0x000000c0)']
- # 啟動 WebSocket client 執行緒
- threading.Thread(target=self.start_ws_client, daemon=True).start()
+ # 定義多個 WebSocket 連接配置
+ self.websocket_connections = [
+ {
+ 'name': 'local_1',
+ 'url': 'ws://192.168.137.1:5163',
+ 'enabled': True
+ },
+ {
+ 'name': 'local_2',
+ 'url': 'ws://0.0.0.0:8756',
+ 'enabled': True # 新增的端口
+ },
+ {
+ 'name': 'remote_8756',
+ 'url': 'ws://192.168.50.48:8756',
+ 'enabled': False # 可選擇啟用
+ }
+ ]
+
+ # 啟動多個 WebSocket client 執行緒
+ for connection in self.websocket_connections:
+ if connection['enabled']:
+ threading.Thread(
+ target=self.start_ws_client,
+ args=(connection,),
+ daemon=True,
+ name=f"WebSocket-{connection['name']}"
+ ).start()
# 主题检测定时器
self.create_timer(1.0, self.scan_topics)
- def start_ws_client(self):
+ def start_ws_client(self, connection_config):
+ """啟動單個 WebSocket 客戶端"""
asyncio.set_event_loop(asyncio.new_event_loop())
- asyncio.get_event_loop().run_until_complete(self.ws_client_loop())
+ asyncio.get_event_loop().run_until_complete(
+ self.ws_client_loop(connection_config)
+ )
- async def ws_client_loop(self):
+ async def ws_client_loop(self, connection_config):
+ """單個 WebSocket 連接的主循環"""
retry_count = 0
max_retries = 5
base_delay = 1.0
- local = "ws://0.0.0.0:8765" # 本地 WebSocket 地址
- remote = "ws://192.168.50.48:8756"
+ connection_name = connection_config['name']
+ url = connection_config['url']
+
+ print(f"Starting WebSocket client for {connection_name} at {url}")
+
while retry_count < max_retries:
try:
- async with websockets.connect(local) as websocket:
- print("WebSocket connected")
+ async with websockets.connect(url) as websocket:
+ print(f"WebSocket {connection_name} connected to {url}")
retry_count = 0 # 重置重試計數
async for message in websocket:
try:
data = json.loads(message)
+ # 添加連接來源信息
+ data['_connection_source'] = connection_name
self.process_websocket_message(data)
except json.JSONDecodeError as e:
- print(f"WebSocket JSON decode error: {e}")
+ print(f"WebSocket {connection_name} JSON decode error: {e}")
except Exception as e:
- print(f"WebSocket message processing error: {e}")
+ print(f"WebSocket {connection_name} message processing error: {e}")
except websockets.exceptions.ConnectionClosedError:
- print("WebSocket connection closed")
+ print(f"WebSocket {connection_name} connection closed")
break
except Exception as e:
retry_count += 1
delay = base_delay * (2 ** min(retry_count, 4)) # 指數退避
- print(f"WebSocket connection error: {e}, retrying in {delay}s (attempt {retry_count}/{max_retries})")
+ print(f"WebSocket {connection_name} connection error: {e}, retrying in {delay}s (attempt {retry_count}/{max_retries})")
await asyncio.sleep(delay)
- print("WebSocket client stopped after maximum retries")
-
-
+ print(f"WebSocket client {connection_name} stopped after maximum retries")
+
def process_websocket_message(self, data):
try:
drone_id = data.get('system_id')
@@ -446,7 +480,7 @@ class ControlStationUI(QMainWindow):
scroll = QScrollArea()
scroll.setWidget(self.drone_panel_container)
scroll.setWidgetResizable(True)
- self.left_tab.addTab(scroll, "無人機")
+ self.left_tab.addTab(scroll, "無人載具")
# 底部控制按鈕區域
bottom_control = QWidget()
@@ -594,35 +628,57 @@ class ControlStationUI(QMainWindow):
+
+
+
+