diff --git a/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py b/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py index e4c0cf0..52655ff 100644 --- a/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py +++ b/src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py @@ -38,15 +38,21 @@ class PanelState: self.object_manager_state = "Stopped" self.serial_manager_state = "Stopped" self.socket_object_list = [] # 已有的 mavlink object - self.linked_serial_dict = {} # 已連線的 serial 端口 + self.linked_serial_dict = {} # 已連線的 serial 端口 serial id num : serial_port string self.panel_info_msg_list = [] # 顯示在面板上的資訊訊息 - # 這邊是儲存關於 socket object 的資料 + # 關於創建通道時的暫存資訊 self.udp_info_temp = {"IP": "127.0.0.1", "Port": "", "Direction": ""} # 暫存 UDP 設定資訊 - self.serial_info_temp = {"Port": "", "Baud": 115200, "CommunicationType": "", "Go2Middleware": True} # 暫存 Serial 設定資訊 - self.socket_info_single = {"socket_type": "", "socket_state": "", "bridge_msg_types": "", "return_msg_types": "", - "target_sockets": "", "primary_socket_id": "", "socket_connection_string": "", - "InfoReady": False} # 暫存單一 socket 的資訊 + self.serial_info_temp = {"Port": "", "Baud": 115200, "CommunicationType": "", "Go2Middleware": False} # 暫存 Serial 設定資訊 + + # 關於顯示通道資訊 + self.socket_info_single = { + "socket_type": "", "socket_state": "", "bridge_msg_types": "", "return_msg_types": "", + "target_sockets": "", "primary_socket_id": "", "socket_connection_string": "", + "InfoReady": False} # 暫存單一 socket 的資訊 + self.serial_info_single = { + "serial_port": "", "baudrate": "", "receiver_type": "", "target_port": "", + "InfoReady": False} # 暫存單一 serial 連結的資訊 def intoSTART(self): self.panel_status = "Running" @@ -178,6 +184,15 @@ class ControlPanel: def show_object_info(self, stdscr, socket_id, state: PanelState): """顯示物件詳細資訊的對話框""" + + start = time.time() + while not state.socket_info_single.get('InfoReady', False): + # 太久沒有回應 + if time.time() - start > 2: + state.panel_info_msg_list.append(("Fail! Socket Info NOT Aquire!", time.time())) + return + time.sleep(0.05) # 等待資訊準備好 + height, width = stdscr.getmaxyx() dialog_height = 15 dialog_width = min(70, width - 4) @@ -187,13 +202,10 @@ class ControlPanel: dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x) dialog_win.border() dialog_win.addstr(0, 2, f" Socket #{socket_id} 詳細資訊 ", curses.A_BOLD) - - while not state.socket_info_single.get('InfoReady', False): - time.sleep(0.05) # 等待資訊準備好 # 這裡顯示基本資訊 dialog_win.addstr(2, 2, f"Socket ID : {socket_id}") - # dialog_win.addstr(3, 2, f"Socket status : 運行中") + dialog_win.addstr(3, 2, f"Socket status : {state.socket_info_single.get('socket_state', 'N/A')}") # show_str = ", ".join(map(str, state.socket_info_single.get('socket_type', ''))) dialog_win.addstr(4, 2, f"Socket Type : {state.socket_info_single.get('socket_type', '')}") dialog_win.addstr(4, 30, f"{state.socket_info_single.get('socket_connection_string', '')}") @@ -300,6 +312,10 @@ class ControlPanel: # MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"), ]), MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"), + MenuNode("Link to Middleware", "方便功能 可以直接建立 UDP object", "LINK_SERIAL_TO_MIDDLEWARE_UDP", children=[ + MenuNode("Yes", action = "LINK_SERIAL_TO_MIDDLEWARE_UDP_YES"), + MenuNode("No", action = "LINK_SERIAL_TO_MIDDLEWARE_UDP_NO"), + ]), MenuNode("Create", "建立此串口", "CREATE_SERIAL_PORT"), MenuNode("返回", "回到列表", "BACK"), ]) @@ -369,8 +385,55 @@ class ControlPanel: menu.current_page = page return menu - def show_linked_serial_info(self): - pass + def show_linked_serial_info(self, stdscr, serial_id, state: PanelState): + """顯示 Serial 連結詳細資訊的對話框""" + + start = time.time() + while not state.serial_info_single.get('InfoReady', False): + # 太久沒有回應 + if time.time() - start > 2: + state.panel_info_msg_list.append(("Fail! Serial Info NOT Aquire!", time.time())) + return + time.sleep(0.05) # 等待資訊準備好 + + height, width = stdscr.getmaxyx() + dialog_height = 15 + dialog_width = min(70, width - 4) + start_y = (height - dialog_height) // 2 + start_x = (width - dialog_width) // 2 + + dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x) + dialog_win.border() + dialog_win.addstr(0, 2, f" Serial Link #{serial_id} 詳細資訊 ", curses.A_BOLD) + + # 從 linked_serial_dict 獲取資訊 + serial_info = state.linked_serial_dict.get(serial_id, {}) + + if not serial_info: + dialog_win.addstr(2, 2, f"無法取得 Serial #{serial_id} 的資訊") + else: + # 顯示基本資訊 + dialog_win.addstr(2, 2, f"Serial ID : {serial_id}") + dialog_win.addstr(3, 2, f"Serial Port : {state.serial_info_single.get('serial_port', 'N/A')}") + dialog_win.addstr(4, 2, f"Baudrate : {state.serial_info_single.get('baudrate', 'N/A')}") + dialog_win.addstr(5, 2, f"Communication : {state.serial_info_single.get('receiver_type', 'N/A')}") + dialog_win.addstr(6, 2, f"Target UDP Port : {state.serial_info_single.get('target_port', 'N/A')}") + dialog_win.addstr(7, 2, f"Status : {state.serial_info_single.get('status', 'Running')}") + + # 如果有額外資訊可以繼續添加 + if 'thread_alive' in serial_info: + thread_status = "Alive" if serial_info['thread_alive'] else "Stopped" + dialog_win.addstr(8, 2, f"Thread Status : {thread_status}") + + state.serial_info_single['InfoReady'] = False # 重置狀態以便下次使用 + + dialog_win.addstr(dialog_height - 2, 2, "按任意鍵返回...") + dialog_win.refresh() + + dialog_win.getch() + del dialog_win + stdscr.clear() + stdscr.refresh() # ================ 關於 主要選單 的部份 =================== @@ -481,6 +544,9 @@ class ControlPanel: desc = f"{child.desc} [{state.serial_info_temp['CommunicationType']}]" elif child.action == "TEXT_BAUD_SERIAL" and state.serial_info_temp["Baud"]: desc = f"{child.desc} [{state.serial_info_temp['Baud']}]" + elif child.action == "LINK_SERIAL_TO_MIDDLEWARE_UDP": + link_status = "Yes" if state.serial_info_temp["Go2Middleware"] else "No" + desc = f"{child.desc} [{link_status}]" line = f"{marker}{child.name:15s} – {desc}" attr = curses.A_REVERSE if i == current_idx else curses.A_NORMAL @@ -643,6 +709,16 @@ class ControlPanel: menu_stack.pop() idx_stack.pop() + elif selected.action == "LINK_SERIAL_TO_MIDDLEWARE_UDP_YES": + logger.info("mark A") + state.serial_info_temp["Go2Middleware"] = True + menu_stack.pop() + idx_stack.pop() + elif selected.action == "LINK_SERIAL_TO_MIDDLEWARE_UDP_NO": + state.serial_info_temp["Go2Middleware"] = False + menu_stack.pop() + idx_stack.pop() + elif selected.action == "CREATE_SERIAL_PORT": state.serial_info_temp["Port"] = menu_stack[-1].name # 從選單取得 Port 名稱 cmd_q.put("CREATE_SERIAL_PORT") @@ -663,6 +739,24 @@ class ControlPanel: menu_stack.append(created_list_menu) idx_stack.append(0) + elif selected.action == "INSPECT_LINKED_SERIAL": + # 顯示 Serial 連結詳細資訊 + if hasattr(selected, 'serial_id'): + cmd_q.put(("INSPECT_LINKED_SERIAL", selected.serial_id)) + self.show_linked_serial_info(stdscr, selected.serial_id, state) + + elif selected.action == "REMOVE_LINKED_SERIAL": + # 移除 Serial 連結 + if hasattr(selected, 'serial_id'): + cmd_q.put(("REMOVE_LINKED_SERIAL", selected.serial_id)) + # 返回上層（回到列表） + if len(menu_stack) > 1: + menu_stack.pop() + idx_stack.pop() + # 一樣退兩層 + menu_stack.pop() + idx_stack.pop() + elif selected.action == "LIST_MAV_OBJECT": # 動態生成 mavlink_object 列表選單 created_list_menu = self.create_object_list_menu(state, page=0) @@ -714,7 +808,6 @@ class ControlPanel: if hasattr(selected, 'socket_id'): target_id = self.select_target_socket(stdscr, selected.socket_id, state) if target_id is not None: - # cmd_q.put(("MAVOBJ_MAKE_LINK", selected.socket_id, target_id)) cmd_q.put(("MAVOBJ_ADD_TARGET", selected.socket_id, target_id)) cmd_q.put(("MAVOBJ_ADD_TARGET", target_id, selected.socket_id)) # 雙向連結 @@ -770,6 +863,7 @@ class ControlPanel: class Orchestrator: def __init__(self, stop_sig): self.stop_evt = stop_sig # 外部操作去中斷 "面板" 執行緒的訊號 (內部自己停止的話不需要用這個) + self.occupied_ip_ports = {} # 紀錄已被佔用的 ip:port 組合 "ip str" : [port int, port int, ...] # === 1) 面板部分的準備 === self.cmd_q = queue.Queue() @@ -855,7 +949,7 @@ class Orchestrator: mav_obj = self.manager.managed_objects.get(socket_id, None) if mav_obj: self.panelState.socket_info_single["socket_type"] = mav_obj.socket_type - # self.panelState.socket_info_single["socket_state"] = "Running" if mav_obj.running + self.panelState.socket_info_single["socket_state"] = mav_obj.state.name self.panelState.socket_info_single["bridge_msg_types"] = mav_obj.bridge_msg_types self.panelState.socket_info_single["return_msg_types"] = mav_obj.return_msg_types self.panelState.socket_info_single["primary_socket_id"] = mav_obj.primary_socket_id @@ -864,6 +958,18 @@ class Orchestrator: self.panelState.socket_info_single["socket_connection_string"] = f"{ip_info[0]}:{ip_info[1]}" # getattr(mav_obj.mavlink_socket, "connection_string", "") self.panelState.socket_info_single["InfoReady"] = True # 標記資訊已準備好 + elif action == "INSPECT_LINKED_SERIAL": + serial_id = cmd[1] + serial_obj = self.plumber.serial_objects.get(serial_id, None) + if serial_obj: + self.panelState.serial_info_single["serial_port"] = serial_obj.serial_port + self.panelState.serial_info_single["baudrate"] = serial_obj.baudrate + self.panelState.serial_info_single["receiver_type"] = serial_obj.receiver_type.name + self.panelState.serial_info_single["target_port"] = serial_obj.target_port + self.panelState.serial_info_single["InfoReady"] = True # 標記資訊已準備好 + elif action == "REMOVE_LINKED_SERIAL": + serial_id = cmd[1] + self.plumber.remove_serial_link(serial_id) elif cmd == "CREATE_UDP_INBOUND": self.panelState.udp_info_temp["direction"] = "inbound" @@ -919,18 +1025,35 @@ class Orchestrator: # =============== 面板動作 - Mavlink Object =============== def create_udp_object(self): + # 監聽部分 if self.panelState.udp_info_temp["direction"] == "inbound": connection_string = f"udp:{self.panelState.udp_info_temp['IP']}:{self.panelState.udp_info_temp['Port']}" + # 監聽的 port 要先檢查是否被佔用 + ip = self.panelState.udp_info_temp['IP'] + port = int(self.panelState.udp_info_temp['Port']) + port_check_list = self.occupied_ip_ports.get(ip, []) + self.occupied_ip_ports.get("0.0.0.0", []) + if port in port_check_list: + self.panelState.panel_info_msg_list.append((f"Failed! Port {port} on IP {ip} occupied.", time.time()-1)) + return + # 再記錄被佔用的 port + if ip in self.occupied_ip_ports: + self.occupied_ip_ports[ip].append(port) + else: + self.occupied_ip_ports[ip] = [port] + # 外放資訊部分 elif self.panelState.udp_info_temp["direction"] == "outbound": connection_string = f"udpout:{self.panelState.udp_info_temp['IP']}:{self.panelState.udp_info_temp['Port']}" try: + # 檢測這個 connection_string 是否能成功建立 mavlink 連結 mavlink_socket = mavutil.mavlink_connection(connection_string) except Exception as e: self.panelState.panel_info_msg_list.append((f"Failed to create UDP {self.panelState.udp_info_temp['direction']} object: {e}", time.time()-1)) return + # mavlink 連結建立成功 把他丟到 mavlink_object mavlink_object = mo.mavlink_object(mavlink_socket) mavlink_object.socket_type = "UDP " + self.panelState.udp_info_temp['direction'].capitalize() + # 再把 mavlink_object 丟到 manager 的 event loop 裡面去管理與執行 self.manager.add_mavlink_object(mavlink_object) self.panelState.panel_info_msg_list.append((f"Created UDP {self.panelState.udp_info_temp['direction']} object: {connection_string}", time.time())) @@ -967,6 +1090,14 @@ class Orchestrator: # =============== 面板動作 - Serial Manager =============== def create_serial_port_object(self): + # 先檢查是否已有相同的 Serial Port 被建立 + serial_port_strs = self.panelState.linked_serial_dict.values() # linked_serial_dict 會在上面的 mainLoop 被不斷更新 + if self.panelState.serial_info_temp['Port'] in serial_port_strs: + self.panelState.panel_info_msg_list.append( + (f"Fail! Serial Port {self.panelState.serial_info_temp['Port']} already linked.", time.time()) + ) + return + # 獲取可用的 udp port udp_port_tmp = find_available_port(19000, 20000) @@ -1004,6 +1135,16 @@ class Orchestrator: self.panelState.panel_info_msg_list.append((f"Failed to create Serial Port object at {self.panelState.serial_info_temp['Port']}.", time.time())) return + self.panelState.panel_info_msg_list.append((f"Created Serial Port object at {self.panelState.serial_info_temp['Port']}.", time.time())) + + # 自動建立對應的 UDP 監聽端口 + if self.panelState.serial_info_temp['Go2Middleware']: + self.panelState.udp_info_temp['IP'] = "127.0.0.1" + self.panelState.udp_info_temp['Port'] = str(udp_port_tmp) + self.panelState.udp_info_temp['direction'] = "inbound" + self.create_udp_object() + + def main(): stop_evt = threading.Event() @@ -1024,3 +1165,15 @@ if __name__ == "__main__": main() +''' +================= 改版記錄 ============================ + +2025.12.23 +1. 新增 serial 通道的資訊顯示完整化 +2. 新增 serial 通道刪除功能 +3. 新增 serial 直接順便開 ip object +4. 修改 避免 serial 與 ip port 重複建立相同的通道 +5. 修改 show_object_info 與 show_linked_serial_info 改變檢核 Ready 方式 避免卡死 + + +''' diff --git a/src/fc_network_adapter/fc_network_adapter/serialManager.py b/src/fc_network_adapter/fc_network_adapter/serialManager.py index e1f7a80..c4e6dba 100644 --- a/src/fc_network_adapter/fc_network_adapter/serialManager.py +++ b/src/fc_network_adapter/fc_network_adapter/serialManager.py @@ -359,7 +359,7 @@ class serial_manager: self.loop = None self.running = False self.serial_count = 0 - self.serial_objects = {} # serial id num : serial object + self.serial_objects = {} # serial id num : serial_object def __del__(self): self.loop = None @@ -626,6 +626,8 @@ if __name__ == '__main__': linked_serial = sm.get_serial_link() print(linked_serial) - time.sleep(10) + + sm.remove_serial_link(1) + time.sleep(3) sm.shutdown() \ No newline at end of file