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@ -0,0 +1,499 @@
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'''
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'''
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# 基礎功能的 import
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import asyncio
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import serial_asyncio
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import os
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import sys
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import serial
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import signal
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from enum import Enum, auto
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# # XBee 模組
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# from xbee.frame import APIFrame
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# 自定義的 import
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from .utils import setup_logger
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# ====================== 分割線 =====================
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logger = setup_logger(os.path.basename(__file__))
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# ====================== 分割線 =====================
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class XBeeFrameHandler:
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"""XBee API Frame 處理器"""
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@staticmethod
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def parse_at_command_response(frame: bytes) -> dict:
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"""解析 AT Command Response (0x88)"""
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if len(frame) < 8:
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return None
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frame_type = frame[3]
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if frame_type != 0x88:
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return None
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frame_id = frame[4]
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at_command = frame[5:7]
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status = frame[7]
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data = frame[8:] if len(frame) > 8 else b''
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return {
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'frame_id': frame_id,
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'command': at_command,
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'status': status,
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'data': data,
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'is_ok': status == 0x00
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}
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@staticmethod
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def parse_receive_packet(frame: bytes) -> dict:
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# """解析 RX Packet (0x90) - 未來擴展用"""
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# if len(frame) < 15 or frame[3] != 0x90:
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# return None
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# return {
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# 'source_addr': frame[4:12],
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# 'reserved': frame[12:14],
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# 'options': frame[14],
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# 'data': frame[15:-1]
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# }
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pass
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@staticmethod
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def encapsulate_data(data: bytes, dest_addr64: bytes, frame_id=0x01) -> bytes:
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"""
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將數據封裝為 XBee API 傳輸幀
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使用 XBee API 格式封裝數據:
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- 傳輸請求幀 (0x10)
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- 使用廣播地址
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- 添加適當的頭部和校驗和
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"""
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frame_type = 0x10
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dest_addr16 = b'\xFF\xFE'
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broadcast_radius = 0x00
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options = 0x00
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frame = struct.pack(">B", frame_type) + struct.pack(">B", frame_id)
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frame += dest_addr64 + dest_addr16
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frame += struct.pack(">BB", broadcast_radius, options) + data
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checksum = 0xFF - (sum(frame) & 0xFF)
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return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
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@staticmethod
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def decapsulate_data(data: bytes):
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# 這裡可以根據需要進行數據解封裝
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# XBee API 幀格式:
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# 起始分隔符(1字節) + 長度(2字節) + API標識符(1字節) + 數據 + 校驗和(1字節)
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# 檢查幀起始符 (0x7E)
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if not data or len(data) < 5 or data[0] != 0x7E:
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return data
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# 獲取數據長度 (不包括校驗和)
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# length = (data[1] << 8) + data[2]
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length = (data[1] << 8) | data[2]
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# 檢查幀完整性
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if len(data) < length + 4: # 起始符 + 長度(2字節) + 數據 + 校驗和
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return data
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# 提取API標識符和數據
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frame_type = data[3]
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# frame_data = data[4:4+length-1] # 減1是因為API標識符已經算在長度中
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# 根據不同的幀類型進行處理
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if frame_type == 0x90: # 例如，這是"接收數據包"類型
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rf_data_start = 3 + 12
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return data[rf_data_start:3 + length]
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else:
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return None
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return data
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class ATCommandHandler:
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"""AT 指令回應處理器"""
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def __init__(self, serial_port: str):
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self.serial_port = serial_port
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self.handlers = {
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b'DB': self._handle_rssi,
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b'SH': self._handle_serial_high,
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b'SL': self._handle_serial_low,
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# 可擴展其他 AT 指令
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}
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def handle_response(self, response: dict):
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"""根據 AT 指令類型分派處理"""
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if not response or not response['is_ok']:
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if response:
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print(f"[{self.serial_port}] AT {response['command'].decode()} 失敗，狀態碼: {response['status']}")
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return
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command = response['command']
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handler = self.handlers.get(command)
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if handler:
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handler(response['data'])
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else:
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print(f"[{self.serial_port}] 未處理的 AT 指令: {command.decode()}")
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def _handle_rssi(self, data: bytes):
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"""處理 DB (RSSI) 回應"""
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if not data:
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return
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rssi_value = data[0]
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now = time.time()
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# 檢查是否最近有收到 MAVLink
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last_mavlink_time = serial_last_mavlink_time.get(self.serial_port, 0)
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if now - last_mavlink_time > 0.5:
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print(f"[{self.serial_port}] 超過 0.5 秒未接收 MAVLink，RSSI = -{rssi_value} dBm 已忽略")
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return
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# 取得對應的 sysid
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sysid = serial_to_sysid.get(self.serial_port)
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if sysid is None:
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print(f"[{self.serial_port}] 找不到 sysid 對應，RSSI = -{rssi_value} dBm，已忽略")
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return
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# 記錄 RSSI
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rssi_history[sysid].append(-rssi_value)
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time_history[sysid].append(now)
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# print(f"[SYSID:{sysid}] RSSI = -{rssi_value} dBm")
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def _handle_serial_high(self, data: bytes):
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"""處理 SH (Serial Number High) - 範例"""
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if len(data) >= 4:
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serial_high = int.from_bytes(data[:4], 'big')
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print(f"[{self.serial_port}] Serial High: 0x{serial_high:08X}")
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def _handle_serial_low(self, data: bytes):
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"""處理 SL (Serial Number Low) - 範例"""
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if len(data) >= 4:
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serial_low = int.from_bytes(data[:4], 'big')
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print(f"[{self.serial_port}] Serial Low: 0x{serial_low:08X}")
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class SerialHandler(asyncio.Protocol): # asyncio.Protocol 用於處理 Serial 收發
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def __init__(self, udp_handler, serial_port_str):
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self.udp_handler = udp_handler # UDP 的傳輸把手
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self.serial_port_str = serial_port_str
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self.at_handler = ATCommandHandler(serial_port)
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self.buffer = bytearray() # 用於緩存接收到的資料
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self.transport = None # Serial 自己的傳輸物件
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# self.first_data = True # 標記是否為第一次收到資料
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# self.has_processed = False # 測試模式用 處理數據旗標 # debug
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def connection_made(self, transport):
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self.transport = transport
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if hasattr(self.udp_handler, 'set_serial_handler'):
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self.udp_handler.set_serial_handler(self)
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logger.info(f"Serial port {self.serial_port_str} connected.")
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# Serial 收到資料的處理過程
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def data_received(self, data):
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# 1. 把收到的資料加入緩衝區
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self.buffer.extend(data)
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# 2. 需要完整的 header 才能解析
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while len(self.buffer) >= 3:
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# 3. 瞄準 XBee API Frame (0x7E 開頭的封包)
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if self.buffer[0] != 0x7E:
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self.buffer.pop(0) # 如果不是就丟掉
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continue
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# 4. 讀取 payload 長度
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length = (self.buffer[1] << 8) | self.buffer[2]
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full_length = 3 + length + 1
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# 5. 等待完整封包
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if len(self.buffer) < full_length:
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break
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# 6. 提取完整 frame 並從緩衝區移除
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frame_payload = self.buffer[:full_length]
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del self.buffer[:full_length]
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# 7. 判斷 frame 類型
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frame_type = frame[3]
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if frame_type == 0x88:
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# 處理 AT Command 回應
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# response = XBeeFrameHandler.parse_at_command_response(frame)
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# self.at_handler.handle_response(response)
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pass # debug
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elif frame_type == 0x90:
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# Receive Packet (RX) payload 先解碼
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processed_data = XBeeFrameHandler.decapsulate_data(bytes(frame_payload))
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# 轉換失敗就捨棄了
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if processed_data is None:
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break
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# 再透過 UDP 送出
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self.udp_handler.transport.sendto(processed_data, (self.udp_handler.LOCAL_HOST_IP, self.udp_handler.target_port))
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else:
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# 其他類型的 frame 未來可擴展處理 現在忽略
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logger.warning(f"[{self.serial_port_str}] Undefined frame type: 0x{frame_type:02X}")
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# # RSSI
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# if frame[3] == 0x88 and frame[5:7] == b'DB': # frame[3] == 0x88 AT -> API 封包
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# # frame[5:7] == b'DB' -> API 封包的DB參數
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# status = frame[7] #
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# if status == 0x00 and len(frame) > 8: # status == 0x00 -> 這個封包是有效封包
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# rssi_value = frame[8]
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# now = time.time()
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# # === 優化 1：僅信任最近 0.5 秒內有接收 MAVLink 的 port
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# last_time = serial_last_mavlink_time.get(self.serial_port, 0)
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# if now - last_time <= 0.5:
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# sysid = serial_to_sysid.get(self.serial_port, None)
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# if sysid is not None:
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# rssi_history[sysid].append(-rssi_value)
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# time_history[sysid].append(now)
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# # print(f"[SYSID:{sysid}] RSSI = -{rssi_value} dBm")
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# else:
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# print(f"[{self.serial_port}] 找不到 sysid 對應，RSSI = -{rssi_value} dBm，已忽略")
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# else:
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# print(f"[{self.serial_port}] 超過 0.5 秒未接收 MAVLink，RSSI = -{rssi_value} dBm 已忽略")
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# else:
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# print(f"[{self.serial_port}] DB 指令失敗，狀態碼: {status}")
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# def write_to_serial(self, data):
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# # 在資料透過 Serial 發送之前進行處理
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# processed_data = self.encapsulate_data(data)
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# # 處理失敗就不發送
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# if processed_data not None:
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# self.transport.write(processed_data)
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class UDPHandler(asyncio.DatagramProtocol): # asyncio.DatagramProtocol 用於處理 UDP 收發
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LOCAL_HOST_IP = '127.0.0.1' # 只送給本地端IP
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def __init__(self, target_port):
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self.target_port = target_port # 目標 UDP 端口
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self.serial_handler = None # Serial 的傳輸物件
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self.transport = None # UDP 自己的傳輸物件
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self.remote_addr = None # 儲存動態獲取的遠程地址 # debug
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# self.has_processed = False # 測試模式用 處理數據旗標 # debug
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def connection_made(self, transport):
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self.transport = transport
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print("UDP transport ready. Waiting for serial data before sending...")
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def set_serial_handler(self, serial_handler):
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self.serial_handler = serial_handler
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# UDP 收到資料的處理過程
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def datagram_received(self, data, addr):
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# 儲存對方的地址（這樣就能向同一個來源回傳數據）
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# self.remote_addr = addr
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# print(f"Received UDP data from {addr}, setting as remote address")
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processed_data = XBeeFrameHandler.encapsulate_data(data)
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if self.serial_handler:
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self.serial_handler.transport.write(processed_data)
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# def send_udp(self, data):
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# # 藉由 UDP 發送資料出去
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# # 在透過 UDP 發送數據之前進行解封裝
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# decoded_data = self.decapsulate_data(data)
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# if decoded_data is None:
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# return
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# if self.transport:
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# self.transport.sendto(decoded_data, (self.LOCAL_HOST_IP, self.target_port))
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#==================================================================
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class SerialReceiverType(Enum):
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"""連接類型"""
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TELEMETRY = auto()
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XBEEAPI = auto()
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OTHER = auto()
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class serial_manager:
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class serial_object:
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def __init__(self, serial_port, baudrate, target_port, receiver_type: SerialReceiverType):
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self.serial_port = serial_port # /dev/ttyUSB or COM3 ...etc
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self.baudrate = baudrate
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self.receiver_type = receiver_type
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self.target_port = target_port # 指向的 UPD 端口
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self.transport = None
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self.protocol = None
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|
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self.udp_handler = None
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|
|
self.serial_handler = None
|
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|
|
def __init__(self):
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|
self.thread = None
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|
|
self.loop = None
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|
|
self.running = False
|
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|
|
self.serial_count = 0
|
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|
|
self.serial_objects = {} # serial id num : serial object
|
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|
|
|
|
def __del__(self):
|
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|
|
self.loop = None
|
|
|
|
|
self.thread = None
|
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|
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|
|
|
def start(self):
|
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|
|
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|
|
|
if self.running:
|
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|
|
logger.warning("serial_manager already running")
|
|
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|
|
return
|
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|
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|
|
|
|
self.running = True
|
|
|
|
|
|
|
|
|
|
# 啟動獨立線程 命名為 SerialManager
|
|
|
|
|
self.thread = threading.Thread(
|
|
|
|
|
target=self._run_event_loop,
|
|
|
|
|
name="SerialManager"
|
|
|
|
|
)
|
|
|
|
|
self.thread.daemon = False # 不設為 daemon，確保正確關閉
|
|
|
|
|
self.thread.start()
|
|
|
|
|
|
|
|
|
|
# 等待 _run_event_loop 建立事件循環的物件 self.loop
|
|
|
|
|
start_timeout = 2.0
|
|
|
|
|
start_time = time.time()
|
|
|
|
|
while not self.loop and time.time() - start_time < start_timeout:
|
|
|
|
|
time.sleep(0.1)
|
|
|
|
|
|
|
|
|
|
# 檢查另一個執行緒有沒有成功建立事件循環物件 self.loop
|
|
|
|
|
if self.loop:
|
|
|
|
|
logger.info("serial_manager thread started <-")
|
|
|
|
|
return True
|
|
|
|
|
else:
|
|
|
|
|
logger.error("serial_manager failed to start")
|
|
|
|
|
return False
|
|
|
|
|
|
|
|
|
|
def shutdown(self):
|
|
|
|
|
pass
|
|
|
|
|
|
|
|
|
|
def _run_event_loop(self):
|
|
|
|
|
"""在獨立線程中運行 asyncio 事件循環"""
|
|
|
|
|
self.loop = asyncio.new_event_loop()
|
|
|
|
|
asyncio.set_event_loop(self.loop)
|
|
|
|
|
|
|
|
|
|
# # 為每個 serial_object 建立連接
|
|
|
|
|
# for serial_obj in self.serial_objects:
|
|
|
|
|
# coro = serial_asyncio.create_serial_connection(
|
|
|
|
|
# self.loop,
|
|
|
|
|
# lambda: SerialProtocol(serial_obj.receiver_type),
|
|
|
|
|
# serial_obj.serial_port,
|
|
|
|
|
# baudrate=serial_obj.baudrate
|
|
|
|
|
# )
|
|
|
|
|
# transport, protocol = self.loop.run_until_complete(coro)
|
|
|
|
|
# serial_obj.transport = transport
|
|
|
|
|
# serial_obj.protocol = protocol
|
|
|
|
|
|
|
|
|
|
try:
|
|
|
|
|
self.loop.run_forever()
|
|
|
|
|
finally:
|
|
|
|
|
self.loop.close()
|
|
|
|
|
|
|
|
|
|
def create_serial_link(self, serial_port, baudrate, target_port, receiver_type: SerialReceiverType):
|
|
|
|
|
|
|
|
|
|
if self.loop is None:
|
|
|
|
|
logger.error("Event loop not running, cannot create serial link")
|
|
|
|
|
return False
|
|
|
|
|
|
|
|
|
|
# 檢查 serial port 有效
|
|
|
|
|
self.check_serial_port(serial_port)
|
|
|
|
|
|
|
|
|
|
serial_obj = self.serial_object(serial_port, baudrate, target_port, receiver_type)
|
|
|
|
|
|
|
|
|
|
# 建立 UDP 處理器 並指定目標端口位置
|
|
|
|
|
serial_obj.udp_handler = UDPHandler(target_port)
|
|
|
|
|
# 建立 UDP 傳輸，不指定接收端口(自己)，讓系統自動分配
|
|
|
|
|
try:
|
|
|
|
|
serial_obj.transport, serial_obj.protocol = await self.loop.create_datagram_endpoint(
|
|
|
|
|
lambda: serial_obj.udp_handler,
|
|
|
|
|
local_addr=('0.0.0.0', 0) # 使用端口 0 讓系統自動分配可用端口
|
|
|
|
|
)
|
|
|
|
|
except Exception as e:
|
|
|
|
|
logger.error(f"Cannot Create UDP Endpoint: {str(e)}")
|
|
|
|
|
return False
|
|
|
|
|
|
|
|
|
|
# 建立 Serial 傳輸，將 UDP 處理器傳給它
|
|
|
|
|
try:
|
|
|
|
|
serial_obj.serial_handler = SerialHandler(serial_obj.udp_handler)
|
|
|
|
|
|
|
|
|
|
_, serial_transport = await serial_asyncio.create_serial_connection(
|
|
|
|
|
self.loop, lambda: serial_obj.serial_handler, serial_port, baudrate=baudrate
|
|
|
|
|
)
|
|
|
|
|
except Exception as e:
|
|
|
|
|
logger.error(f"Cannot Create Serial Connection: {str(e)}")
|
|
|
|
|
serial_obj.transport.close()
|
|
|
|
|
return
|
|
|
|
|
|
|
|
|
|
# self.serial_objects.append(serial_obj)
|
|
|
|
|
self.serial_objects[serial_count+1] = serial_obj
|
|
|
|
|
serial_count += 1
|
|
|
|
|
|
|
|
|
|
async def _async_create_serial_link(self, serial_port, baudrate, target_port):
|
|
|
|
|
pass
|
|
|
|
|
|
|
|
|
|
def remove_serial_link(serial_id):
|
|
|
|
|
pass
|
|
|
|
|
|
|
|
|
|
async def _async_remove_serial_link(self, serial_id):
|
|
|
|
|
pass
|
|
|
|
|
|
|
|
|
|
def check_serial_port(serial_port):
|
|
|
|
|
"""檢查串口是否存在與可用"""
|
|
|
|
|
# 檢查設備是否存在
|
|
|
|
|
if not os.path.exists(serial_port):
|
|
|
|
|
logger.error(f"Serial Device {serial_port} Not Found")
|
|
|
|
|
return False
|
|
|
|
|
|
|
|
|
|
# 檢查是否有權限訪問設備
|
|
|
|
|
try:
|
|
|
|
|
os.access(serial_port, os.R_OK | os.W_OK)
|
|
|
|
|
except Exception as e:
|
|
|
|
|
logger.error(f"Cannot Access Serial Device {serial_port}: {str(e)}")
|
|
|
|
|
return False
|
|
|
|
|
|
|
|
|
|
# 檢查是否被占用
|
|
|
|
|
try:
|
|
|
|
|
# 嘗試打開串口
|
|
|
|
|
ser = serial.Serial(serial_port, SERIAL_BAUDRATE)
|
|
|
|
|
ser.close() # 打開成功後立即關閉
|
|
|
|
|
return True
|
|
|
|
|
except serial.SerialException as e:
|
|
|
|
|
logger.error(f"Serial Device {serial_port} is Occupied or Inaccessible: {str(e)}")
|
|
|
|
|
return False
|
|
|
|
|
except Exception as e:
|
|
|
|
|
logger.error(f"Unknown Error: {str(e)}")
|
|
|
|
|
return False
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
if __main__ == '__main__':
|
|
|
|
|
sm = serial_manager()
|
|
|
|
|
sm.start()
|
|
|
|
|
|
|
|
|
|
SERIAL_PORT = '/dev/ttyUSB0' # 手動指定
|
|
|
|
|
SERIAL_BAUDRATE = 115200
|
|
|
|
|
UDP_REMOTE_IP = '127.0.0.1'
|
|
|
|
|
UDP_REMOTE_PORT = 14560
|
|
|
|
|
sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_IP, SerialReceiverType.XBEEAPI)
|
