(temp) 整理檔案與註解

README.md

@@ -1,7 +1,5 @@
 這是天雷系統的專案
 
-
-
 ===
 ## 功能簡介
 1. mavlink 多對多支援平台

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -38,7 +38,7 @@ class SerialMode(Enum):
     NOT_USE = auto()       # 不使用
 
 
-# ====================== Frame Processor 基類與實現 =====================
+# ====================== Frame Processor Base and Implementation =====================
 
 class FrameProcessor(ABC):
     """協議處理器基類"""
@@ -123,11 +123,9 @@ class XBeeFrameProcessor(FrameProcessor):
     
     def process_outgoing(self, data: bytes) -> bytes:
         """將數據封裝為 XBee API 傳輸幀"""
-        return XBeeFrameProcessor.encapsulate_data(data)
+        return XBeeFrameHandler.encapsulate_data(data)
 
 
-# ====================== XBee Frame Handler =====================
-
 class XBeeFrameHandler:
     """XBee API Frame 處理器"""
     
@@ -200,6 +198,10 @@ class XBeeFrameHandler:
         return data[rf_data_start:3 + length]
 
 
+
+
+# ====================== Dongle Command Handler =====================
+
 class ATCommandHandler:
     """AT 指令回應處理器"""
     
@@ -240,9 +242,7 @@ class ATCommandHandler:
         """處理 SL (Serial Number Low)"""
         pass
 
-
+# ================ Serial UDP Socket Object ==============
-# ====================== Serial Handler =====================
-
 class SerialHandler(asyncio.Protocol):
     """asyncio.Protocol 用於處理 Serial 收發"""
     
@@ -291,8 +291,6 @@ class SerialHandler(asyncio.Protocol):
             )
 
 
-# ====================== UDP Handler =====================
-
 class UDPHandler(asyncio.DatagramProtocol):
     """asyncio.DatagramProtocol 用於處理 UDP 收發"""
     
@@ -600,7 +598,7 @@ if __name__ == '__main__':
 
     SERIAL_PORT = '/dev/ttyUSB0'  # 手動指定
     SERIAL_BAUDRATE = 115200
-    UDP_REMOTE_PORT = 14571
+    UDP_REMOTE_PORT = 14561
     sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialMode.XBEEAPI2AT)
 
     # SERIAL_PORT = '/dev/ttyACM0'  # 手動指定

src/unitdev02/unitdev02/lifecycle_node.py

@@ -1,45 +0,0 @@
-
-
-
-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/ping_test.py

@@ -0,0 +1,188 @@
+import time
+from pymavlink import mavutil
+
+# # 強制 source_system=255
+# master = mavutil.mavlink_connection('udpout:localhost:14561', source_system=255)
+
+# print("Starting Force-Ping Test...")
+
+# while True:
+#     # 1. 發送 Heartbeat (證明連線活著)
+#     master.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS, 
+#                              mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
+    
+#     # 2. 強制發送 PING (target 1, 1)
+#     # 我們加一個計數器，方便在 tcpdump 裡辨識
+#     ping_seq = int(time.time()) % 100
+#     master.mav.ping_send(int(time.time() * 1e6), ping_seq, 1, 1)
+    
+#     print(f"Sent Heartbeat and PING (seq {ping_seq})")
+    
+#     # 3. 非阻塞讀取，避免卡死
+#     msg = master.recv_match(blocking=False)
+#     if msg:
+#         print(f"--> Received something: {msg.get_type()}")
+        
+#     time.sleep(1) # 每秒噴一次
+
+# -------------------------------------------------------------------
+
+# # 改成 udpin，這會讓你的程式守在 14561 等模擬器送資料進來
+# # 這樣你就能收到模擬器的 Heartbeat，建立連線後再發 PING
+# master = mavutil.mavlink_connection('udpin:localhost:14561', source_system=255)
+
+# print("Waiting for simulator heartbeat...")
+# # 這一行很重要：先收到 Heartbeat，pymavlink 才會設定好 target 地址
+# master.wait_heartbeat()
+# print(f"Heartbeat from system {master.target_system} component {master.target_component}")
+
+# while True:
+#     # 既然收到了，現在發 PING 就會順著原路回去
+#     master.mav.ping_send(int(time.time() * 1e6), 1, master.target_system, master.target_component)
+#     print("PING sent!")
+    
+#     msg = master.recv_match(type='PING', blocking=True, timeout=2)
+#     if msg:
+#         print(f"Got PING response: {msg}")
+#     time.sleep(1)
+
+
+# -------------------------------------------------------------------
+
+# import time
+# from pymavlink import mavutil
+
+# # 核心修改：因為 MAVProxy 正在往 14561 噴資料，我們必須「接住」它
+# # 使用 udpin 會讓你的程式在 14561 監聽
+# master = mavutil.mavlink_connection('udpin:localhost:14561', source_system=254)
+
+# print("正在等待 MAVProxy 轉發的 Heartbeat...")
+
+# # 只要這行跑過，代表你跟 MAVProxy 握手成功了
+# master.wait_heartbeat()
+# print(f"成功連線到系統 {master.target_system}！")
+
+# while True:
+#     # 1. 務必發送 Heartbeat，讓 MAVProxy 知道要把回應送回這個 Port
+#     master.mav.heartbeat_send(
+#         mavutil.mavlink.MAV_TYPE_GCS, 
+#         mavutil.mavlink.MAV_AUTOPILOT_INVALID, 
+#         0, 0, 0
+#     )
+
+#     # 2. 修改 target_component 為 1 (飛控核心)
+#     # 注意：這裡刻意將 seq 設為動態，方便你在 watch PING 裡觀察
+#     p_seq = int(time.time()) % 255
+#     master.mav.ping_send(
+#         int(time.time() * 1e6), 
+#         p_seq, 
+#         1, 
+#         1  # <--- 改成 1 試試看！
+#     )
+#     print(f"Sent PING seq {p_seq} to 1/1")
+
+#     # 3. 讀取所有訊息，看看有沒有 PING 回來
+#     # 有時候回應的 target_system 可能是 255 (你的 ID)
+#     msg = master.recv_match(type='PING', blocking=True, timeout=1.0)
+#     if msg:
+#         print(f"🎉 成功！收到回應: {msg}")
+    
+#     time.sleep(1)
+
+
+
+# -------------------------------------------------------------------
+
+
+# import time
+# from pymavlink import mavutil
+
+# # 建議一樣用 udpin 監聽 MAVProxy 的輸出
+# master = mavutil.mavlink_connection('udpin:localhost:14561', source_system=255)
+
+# def get_time_ns():
+#     return int(time.time() * 1e9) # 轉為奈秒
+
+# print("開始測試 TIMESYNC 響應...")
+
+# while True:
+#     now_ns = get_time_ns()
+    
+#     # 發送 TIMESYNC 請求
+#     # tc1=0 代表這是請求，ts1=當前時間
+#     master.mav.timesync_send(0, now_ns)
+    
+#     # 等待回應
+#     msg = master.recv_match(type='TIMESYNC', blocking=True, timeout=1.0)
+    
+#     if msg and msg.tc1 != 0:
+#         # 收到回應，msg.tc1 應該等於我們剛才送出的 now_ns
+#         rtt_ms = (get_time_ns() - msg.tc1) / 1e6
+#         print(f"🕒 TIMESYNC RTT: {rtt_ms:.3f} ms")
+#         break # 測試一次就好
+#     else:
+#         print("等待 TIMESYNC 回應中...")
+        
+#     time.sleep(1)
+
+# -------------------------------------------------------------------
+
+import time
+import statistics
+from pymavlink import mavutil
+
+# 連接到 MAVProxy 轉發的端口
+master = mavutil.mavlink_connection('udpin:localhost:14561', source_system=255)
+
+# 測試設定
+TARGET_SYS = 2  # 你想測試的載具 ID
+SAMPLES = 20    # 取 20 次樣本來算平均和抖動
+rtt_history = []
+
+print(f"開始測試對 System {TARGET_SYS} 的通道品質...")
+
+def get_time_ns():
+    return int(time.time() * 1e9)
+
+try:
+    while len(rtt_history) < SAMPLES:
+        ts1_send = get_time_ns()
+        
+        # 發送 TIMESYNC (V1/V2 格式相容)
+        # 針對特定系統發送
+        master.mav.timesync_send(0, ts1_send)
+        
+        # 等待回應 (過濾目標系統的訊息)
+        msg = master.recv_match(type='TIMESYNC', blocking=True, timeout=1.0)
+        
+        if msg and msg.get_srcSystem() == TARGET_SYS and msg.tc1 != 0:
+            ts1_recv = get_time_ns()
+            rtt_ns = ts1_recv - msg.tc1
+            rtt_ms = rtt_ns / 1e6
+            rtt_history.append(rtt_ms)
+            print(f"Sample {len(rtt_history)}: RTT = {rtt_ms:.3f} ms")
+        else:
+            print("Request timeout or mismatched ID...")
+            
+        time.sleep(0.1) # 快速採樣
+
+    # 4. 計算統計數據
+    avg_latency = statistics.mean(rtt_history)
+    std_dev = statistics.stdev(rtt_history) # 這就是 Jitter 的一種表現
+    max_rtt = max(rtt_history)
+    min_rtt = min(rtt_history)
+
+    print("\n--- 物理通道品質分析報告 ---")
+    print(f"目標載具  : System {TARGET_SYS}")
+    print(f"平均延遲 (Avg) : {avg_latency:.3f} ms")
+    print(f"最小延遲 (Min) : {min_rtt:.3f} ms")
+    print(f"最大延遲 (Max) : {max_rtt:.3f} ms")
+    print(f"抖動幅度 (Jitter): {std_dev:.3f} ms (標準差)")
+    
+    if std_dev > 10:
+        print("警告：網路抖動過高，可能影響控制穩定性！")
+    else:
+        print("通道品質：良好")
+
+except KeyboardInterrupt:
+    print("測試終止。")

src/unitdev02/unitdev02/pymav_nullbuffer.py

@@ -0,0 +1,46 @@
+from pymavlink.dialects.v20 import common as mavlink
+
+class NullBuffer:
+    def write(self, data): pass
+    def seek(self, pos): pass
+    def tell(self): return 0
+
+class CapturingBuffer:
+    def __init__(self):
+        self.last_data = b''
+    def write(self, data):
+        self.last_data = bytes(data)
+    def seek(self, pos): pass
+    def tell(self): return 0
+
+# 1. 初始化（僅作為編碼器）
+# file 參數可以是任何擁有 write() 方法的物件，這裡用 BytesIO 模擬
+# 初始化方法一：使用 BytesIO
+# import io
+# out_buf = io.BytesIO()
+# mav = mavlink.MAVLink(out_buf, srcSystem=1, srcComponent=191)
+
+# 初始化方法二：使用自定義的 NullBuffer
+mav = mavlink.MAVLink(NullBuffer(), srcSystem=1, srcComponent=191)
+mav.seq = 254
+
+# 2. 建立心跳包並取得二進制數據
+# 連續產出「不同」的訊息物件
+for i in range(3):
+    msg = mav.heartbeat_encode(mavlink.MAV_TYPE_GCS, 0, 0, 0, 0)
+    data = msg.pack(mav)
+    mav.seq = (mav.seq + 1) & 0xFF
+    # MAVLink 2 的序列號在第 3 個 Byte (Index 2)
+    print(f"第 {i} 次發送, Seq: {data[4]}, Raw: {data.hex()}")
+
+
+
+print("分隔線")
+
+buf = CapturingBuffer()
+mav_buf2 = mavlink.MAVLink(buf, srcSystem=1, srcComponent=191)
+
+for i in range(3):
+    mav_buf2.heartbeat_send(mavlink.MAV_TYPE_GCS, 0, 0, 0, 0)
+    data = buf.last_data
+    print(f"第 {i} 次發送, Seq: {data[4]}, Raw: {data.hex()}")

src/unitdev02/unitdev02/serial_udp_ad.py

@@ -0,0 +1,71 @@
+import asyncio
+import serial_asyncio
+
+SERIAL_PORT = '/dev/ttyUSB0'   # 修改為你的 serial port
+SERIAL_BAUDRATE = 115200       # 修改為你的 baudrate
+UDP_REMOTE_IP = '192.168.1.100' # 修改為目標 IP
+UDP_REMOTE_PORT = 5005         # 修改為目標 port
+UDP_LOCAL_PORT = 5006          # 本地 UDP 監聽 port
+
+class SerialToUDP(asyncio.Protocol):
+    def __init__(self, udp_transport):
+        self.udp_transport = udp_transport
+
+    def connection_made(self, transport):
+        self.transport = transport
+
+    def data_received(self, data):
+        # Serial 收到資料，轉發到 UDP
+        self.udp_transport.sendto(data, (UDP_REMOTE_IP, UDP_REMOTE_PORT))
+
+    def write_to_serial(self, data):
+        self.transport.write(data)
+
+class UDPToSerial(asyncio.DatagramProtocol):
+    def __init__(self, serial_proto):
+        self.serial_proto = serial_proto
+
+    def datagram_received(self, data, addr):
+        # UDP 收到資料，轉發到 Serial
+        self.serial_proto.write_to_serial(data)
+
+async def main():
+    loop = asyncio.get_running_loop()
+
+    # 定義協議工廠函數
+    def create_empty_protocol():
+        return asyncio.DatagramProtocol()
+
+    # 建立 UDP1 傳輸
+    udp_transport, _ = await loop.create_datagram_endpoint(
+        create_empty_protocol,
+        local_addr=('0.0.0.0', UDP_LOCAL_PORT)
+    )
+
+    # 建立 Serial 傳輸
+    serial_proto = SerialToUDP(udp_transport)
+    def get_serial_protocol():
+        return serial_proto
+
+    _, serial_transport = await serial_asyncio.create_serial_connection(
+        loop, get_serial_protocol, SERIAL_PORT, baudrate=SERIAL_BAUDRATE
+    )
+
+    # 建立 UDP2 監聽
+    udp_proto = UDPToSerial(serial_proto)
+    def get_udp_protocol():
+        return udp_proto
+
+    udp_listen_transport, _ = await loop.create_datagram_endpoint(
+        get_udp_protocol,
+        local_addr=('0.0.0.0', UDP_LOCAL_PORT)
+    )
+
+    # 保持運行
+    try:
+        await asyncio.Future()
+    except asyncio.CancelledError:
+        pass
+
+if __name__ == '__main__':
+    asyncio.run(main())

src/unitdev02/unitdev02/sslChech.sh

@@ -1,27 +0,0 @@
-#!/bin/bash
-
-# 網站清單
-DOMAINS=("google.com" "smarter.nchu.edu.tw")
-
-echo "網站 SSL 憑證剩餘天數："
-echo "---------------------------"
-
-for domain in "${DOMAINS[@]}"; do
-    end_date=$(echo | openssl s_client -servername "$domain" -connect "$domain:443" 2>/dev/null |
-        openssl x509 -noout -enddate | cut -d= -f2)
-
-    end_timestamp=$(date -d "$end_date" +%s)
-    now_timestamp=$(date +%s)
-
-    remaining_days=$(( (end_timestamp - now_timestamp) / 86400 ))
-
-    if [ $remaining_days -lt 0 ]; then
-        status="已過期 ❌"
-    elif [ $remaining_days -lt 15 ]; then
-        status="即將到期 ⚠️"
-    else
-        status="正常 ✅"
-    fi
-
-    printf "%-20s 到期日：%-25s 剩餘天數：%3d 天 %s\n" "$domain" "$end_date" "$remaining_days" "$status"
-done

src/unitdev02/unitdev02/udp_unix_ad.py

@@ -0,0 +1,40 @@
+import socket
+import sys
+import select
+
+# 設定來源 IP 與 Port
+SRC_IP = '127.0.0.1'    # 監聽所有介面
+SRC_PORT = 16661      # 請自行修改
+
+# 建立 UDP 監聽 socket
+src_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+src_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+src_sock.bind((SRC_IP, SRC_PORT))
+print(f"Listening for UDP on {SRC_IP}:{SRC_PORT}")
+
+# 設定目標 Unix socket 路徑
+UNIX_SOCKET_PATH = '/tmp/unix_socket_mavlink.sock'  # 請自行修改
+
+# 建立 Unix socket 連線
+unix_sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+try:
+    unix_sock.connect(UNIX_SOCKET_PATH)
+except Exception as e:
+    print(f"Failed to connect to unix socket: {e}")
+    sys.exit(1)
+
+while True:
+    # 使用 select 監聽兩個 socket
+    readable, _, _ = select.select([src_sock, unix_sock], [], [])
+    for sock in readable:
+        if sock is src_sock:
+            data, addr = src_sock.recvfrom(4096)
+            if data:
+                unix_sock.sendall(data)
+                # print(f"Received UDP data from {addr}: {data}") # debug
+                # break # debug
+        elif sock is unix_sock:
+            data = unix_sock.recv(4096)
+            if data:
+                # 回送到最近收到資料的 UDP client
+                src_sock.sendto(data, addr)