forked from chiyu1468/AirTrapMine
(Sort Out) 1. 新增 fc_network_adapter.md
整理並記錄專案結構 程式功能無改動 修正排版與命名
This commit is contained in:
@@ -0,0 +1,166 @@
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這個檔案整理 此專案下 程式代碼的流程與思路
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只會挑出重要的變數與方法描述
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以利後續開發使用
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# 檔案結構
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特別注意:
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1. 有標註 [async method] 都是不該被直接呼叫的內部方法
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- *valuable* 這個是變數 **沒有括號**
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- *method (parameters...)* 這個是方法 **有括號**
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## mainOrchestrator.py : 程式進入點
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### **[Class]** Orchestrator
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最上層的發配資源與啟動終端機面板的調配者
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- *self.manager* 存放 async_io_manager 實例
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- *self.bridge* 存放 mavlink_bridge 實例
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- *self.plumber* 存放 serial_manager 實例
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- *self.vehicle_registry* 存放 vehicle_registry 實例
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- *self.panel_thread* 面板的執行緒
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- *self.panelState* 暫存面板與調配者互動的資料流動區
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- 面板運行狀態
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- 面板操作結果
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- 其他模組的運行狀態
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---
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- *mainLoop()* 核心方法
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- 更新個模組狀態到 *self.panelState*
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- 對應面板來的操作指令
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---
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對於 async_io_manager 控制實現
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- *create_udp_object()*
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- *delete_udp_object()*
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- *add_target_to_object()*
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- *remove_target_from_object()*
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---
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關於載具管理與檢視
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- *_update_vehicles_list()*
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- *_prepare_vehicle_info*
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---
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關於 serial_manager 控制實現
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- *create_serial_port_object()*
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### **[Class]** ControlPanel
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面板的核心運行物件
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把自己的變數 獨立出來都放到 PanelState 去
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- *panel_thread()* 核心方法
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- 主選單的引入
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- 主選單下所有的按鍵操作
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- 定義所有人為操作後續面板執行緒行為
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- *menu_tree()* 基礎選單的定義檔
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---
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關於 udp object 的操作
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- *create_object_list_menu()* object 選單的定義檔
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- *show_object_info()* 顯示 object 資訊
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- *select_target_socket()* object 對於轉拋功能的操作
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---
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關於 serial 的操作
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- *create_serial_port_menu()*
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- *create_linked_serial_menu()*
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- *show_linked_serial_info()*
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---
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關於載具檢視與操作
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- *create_vehicles_list_menu()*
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- *show_vehicle_info()*
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### **[Class]** PanelState
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作為面板執行緒(ControlPanel)與調配者(Orchestrator)溝通的管道
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不包含具體實作方法 是 ControlPanel 的延伸
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- *self.panel_info_msg_list* 顯示在面板上的資訊訊息
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## mavlinkObject.py
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### 全域變數
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- *stream_bridge_ring*
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- *return_packet_ring*
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### **[Class]** mavlink_bridge
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唯一實例
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實際去解析 mavlink 封包的地方
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接收 stream_bridge_ring 與 return_packet_ring 的資料
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- *self.thread* 自己的執行緒
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---
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- *_run_thread()* 核心方法
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- *_handle_XXXXX()* 每一種單項 mavlink 封包的解析
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### **[Class]** async_io_manager
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唯一實例
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異步 event loop
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管理 mavlink_object 的地方
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沒有核心方法
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- *self.thread* 自己的執行緒
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- *self.managed_objects* 資料結構 socket_id: mavlink_object
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---
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- *add_mavlink_object(mavlink_object)* [call method] 把一個 mavlink_object 物件加入管理
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- *_async_add_mavlink_object(mavlink_object)* [async method] 對應上面的內部方法 不該直接使用
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- *remove_mavlink_object(socket_id)* [call method] 從管理區把指定 mavlink_object 移除
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### **[Class]** mavlink_object
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儲存 mavlink socket
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處理 mavlink 封包分流的地方
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- *cls.mavlinkObjects* 資料結構 { socket_id(序號) : mavlink_object(物件實例) }
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- *self.mavlink_socket* 從 pymavlink 繼承的socket物件
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- *self.state* 描述這個 socket 物件的狀態
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---
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- *process_data()* [async method] 核心方法
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- *remove_target_socket()* *add_target_socket()*
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- *send_message()*
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## serialManager.py
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看這個檔案的重點再於要搞清楚 端口物件 還是 傳輸物件
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### **[Class]** serial_manager
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異步 event loop
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管理 mavlink_object 的地方
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- *self.thread* 自己的執行緒
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- *self.loop* 自己的事件迴圈
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- *self.serial_objects* 存放管理的物件 serial id num : serial_object
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---
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- *create_serial_link()* [call method] 把 serial 端口跟 UDP 端口打通
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- *_async_create_serial_link()* [async method] 把兩種端口接起來的重點程序
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- *remove_serial_link()* [call method] 關閉指定的 serial 端口
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- *_async_remove_serial_link()* [async method]
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### **[Class]** serial_object
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被塞在 serial_manager 裡面
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只是一個變數物件
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用來被儲存 serial 的資訊
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- *self.transport*
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- *self.protocol*
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- *self.udp_handler* UDP 端口物件
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- *self.serial_handler* Serial 端口物件
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### **[Class]** UDPHandler
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處理 UDP 收發的端口 作為一個端口物件
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作為 UDP OutBound 使用 所以不會佔用系統監聽資源
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- *self.transport* 自己的傳輸物件
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---
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- *datagram_received()* 先加碼成 Xbee 再呼叫 Serial 端口物件送出
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### **[Class]** SerialHandler
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處理 Serial 收發的端口 作為一個端口物件
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- *self.transport* 自己的傳輸物件
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---
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- *data_received()* 先組合 Serial 封包 再解碼 再呼叫 UDP 端口物件送出
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## mavlinkVehicleView.py
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這個檔案是作為載具的資訊暫存庫使用 會搭配 ROS2 的功能 再做利用
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# 開發記錄
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## 已實現功能
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1. mavlink 分流解析
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2. mavlink socket 建立
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3. mavlink socket 轉拋
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4. 連結 Serial 轉 UDP
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5. 各單元模組化
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6. 終端機介面控制
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7. 基礎載具流量觀測
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@@ -27,9 +27,8 @@ from .utils import RingBuffer, setup_logger
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from .utils import acquireSerial, acquirePort
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from .utils.acquirePort import find_available_port
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logger = setup_logger(os.path.basename(__file__))
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VERSION_NO = "v0.56"
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class PanelState:
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def __init__(self):
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@@ -84,8 +83,8 @@ class PanelState:
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def intoSTOPPED(self):
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self.panel_status = "Stopped"
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def set_user_input(self, text):
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self.user_input = text
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# def set_user_input(self, text):
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# self.user_input = text
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class MenuNode:
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def __init__(self, name, desc="", action=None, children=None):
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@@ -152,6 +151,445 @@ class ControlPanel:
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return user_input
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# ================ 關於 主要選單 的部份 ===================
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def menu_tree(self):
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"""建立多層選單結構"""
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return MenuNode("Main Menu", children=[
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MenuNode("MavLink Object", "UDP MavLink 通道選項", children=[
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MenuNode("New+", children=[
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MenuNode("UDP InBound", children=[
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MenuNode("IP(Listen)", "設定監聽的 IP 位址", "TEXT_UDP_IP"),
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MenuNode("Port(Listen)", "設定監聽的 Port", "TEXT_UDP_PORT"),
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MenuNode("Create", "建立 UDP InBound 連結口", "CREATE_UDP_INBOUND"),
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]),
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MenuNode("UDP OutBound", children=[
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MenuNode("IP(Target)", "設定目標的 IP 位址", "TEXT_UDP_IP"),
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MenuNode("Port(Target)", "設定目標的 Port", "TEXT_UDP_PORT"),
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MenuNode("Create", "建立 UDP OutBound 連結口", "CREATE_UDP_OUTBOUND"),
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]),
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]),
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MenuNode("ListAll", "顯示並管理所有連結口", "LIST_MAV_OBJECT"),
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]),
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MenuNode("Serial Manager", "Serial 連接埠選項", children=[
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MenuNode("New+", "新增 Serial 連接埠", action = "LIST_SERIAL_RES"),
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MenuNode("ListAll", "顯示並管理已連線的 Serial", action = "LIST_SERIAL_LINKS"),
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]),
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MenuNode("Vehicles Insp.", "檢視已連線的遠端載具", action = "INSPECT_VEHICLES"),
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MenuNode("Engineer Mode", "工程模式", children=[
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MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"),
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MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"),
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MenuNode("Stop Serial M.", "停止 Serial 端口轉接", "STOP_SERIAL_MANAGER"),
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]),
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MenuNode("Shutdown", "關閉整個系統", children=[
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MenuNode("Return", "繼續運行", "BACK"),
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MenuNode("Confirm", "關閉系統", "QUIT"),
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]),
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])
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def panel_thread(self, cmd_q: queue.Queue, state: PanelState, stop_evt: threading.Event):
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stdscr = None
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def cleanup():
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"""清理 curses 狀態"""
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if stdscr:
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stdscr.keypad(False)
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curses.nocbreak()
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curses.echo()
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curses.endwin()
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def pre_panel_shutdown():
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# 先關閉所有模組 再關閉面板
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cmd_q.put("SHUTDOWN_BRIDGE")
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cmd_q.put("SHUTDOWN_MANAGER")
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cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
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def draw_menu(screen):
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nonlocal stdscr
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stdscr = screen
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curses.curs_set(0)
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stdscr.nodelay(False) # 阻塞讀鍵
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stdscr.keypad(True)
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# 選單導航狀態
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menu_stack = [self.menu_tree()] # 選單堆疊
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idx_stack = [0] # 索引堆疊
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state.intoSTART() # 設定狀態為運行中
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while not stop_evt.is_set():
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current_menu = menu_stack[-1]
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current_idx = idx_stack[-1]
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# 獲取終端機尺寸
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height, width = stdscr.getmaxyx()
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# 簡單暴力的限制視窗的大小
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MIN_HEIGHT = (
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2 + # 邊界
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6 + # 狀態列 操作說明列 一個空白
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11+ # 最大選單 與 空白區
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5 # 訊息區域
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)
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if height < MIN_HEIGHT or width < 60:
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logger.error("Terminal size too small for Control Panel.")
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break
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stdscr.clear()
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stdscr.border()
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# 更新模組狀態顯示
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stdscr.addstr(0, 10, " MavLink MiddleWare ", curses.A_BOLD)
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stdscr.addstr(1, 2, f" Panel Status : {state.panel_status}")
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stdscr.addstr(2, 2, f"Object Manager State : {state.object_manager_state}")
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stdscr.addstr(3, 2, f"Mavlink Bridge State : {state.mavlink_bridge_state}")
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stdscr.addstr(4, 2, f"Socket Object number : {len(state.socket_object_list)}")
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stdscr.addstr(2, 36, f"Serial Manager State : {state.serial_manager_state}")
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# 顯示當前選單項目
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start_line = 6
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for i, child in enumerate(current_menu.children):
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marker = "➤ " if i == current_idx else " "
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# 動態顯示已輸入的值
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desc = child.desc
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if child.action == "TEXT_UDP_IP" and state.udp_info_temp["IP"]:
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desc = f"{child.desc} [{state.udp_info_temp['IP']}]"
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elif child.action == "TEXT_UDP_PORT" and state.udp_info_temp["Port"]:
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desc = f"{child.desc} [{state.udp_info_temp['Port']}]"
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elif child.action == "SET_SERIAL_COMM" and state.serial_info_temp["CommunicationType"]:
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desc = f"{child.desc} [{state.serial_info_temp['CommunicationType']}]"
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elif child.action == "TEXT_BAUD_SERIAL" and state.serial_info_temp["Baud"]:
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desc = f"{child.desc} [{state.serial_info_temp['Baud']}]"
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elif child.action == "LINK_SERIAL_TO_MIDDLEWARE_UDP":
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link_status = "Yes" if state.serial_info_temp["Go2Middleware"] else "No"
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desc = f"{child.desc} [{link_status}]"
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line = f"{marker}{child.name:15s} – {desc}"
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attr = curses.A_REVERSE if i == current_idx else curses.A_NORMAL
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stdscr.addstr(start_line + i, 4, line, attr)
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# 顯示訊息區域
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# info_start_line = start_line + len(current_menu.children) + 1
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info_start_line = height - 8
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max_msg_lines = 5 # 最多顯示 5 行訊息
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current_time = time.time()
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# 清理過時的訊息
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state.panel_info_msg_list = [
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(msg, timestamp) for msg, timestamp in state.panel_info_msg_list
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if current_time - timestamp < 2.0 #秒數
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]
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# 只顯示最新的 max_msg_lines 條訊息
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display_msgs = state.panel_info_msg_list[-max_msg_lines:]
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for i, msg_data in enumerate(display_msgs):
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if info_start_line + i >= help_line - 1: # 避免超出邊界
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break
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msg = msg_data[0] if isinstance(msg_data, tuple) else msg_data
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# 截斷過長的訊息
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max_msg_width = width - 6
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if len(msg) > max_msg_width:
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msg = msg[:max_msg_width-3] + "..."
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stdscr.addstr(info_start_line + i, 2, f"💬 {msg}", curses.A_BOLD)
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# 操作說明
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# help_line = start_line + len(current_menu.children) + 2
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help_line = height - 2
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stdscr.addstr(help_line, 2, "操作: ↑↓選擇 Enter確認 ←返回上層 →進入下層", curses.A_DIM)
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stdscr.addstr(height-1 , width-12, f" {VERSION_NO} ", curses.A_DIM)
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stdscr.refresh()
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# 若進入 TERMINATION 狀態，畫面可以刷新 但是不能操作
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# 驗證 其他附屬模組的狀態都停止後 就進入 STOPPED 狀態並跳出迴圈
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# 超過幾秒沒有反應就強制關閉
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if state.panel_status == "Terminating":
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if time.time() - state.termination_start_time > 7: # 其他組件設定5秒 這邊給多一點
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logger.warning("Control Panel forced shutdown after timeout.")
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state.intoSTOPPED()
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# stop_evt.set()
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# continue
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break
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time.sleep(0.1)
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if (state.mavlink_bridge_state == "Stopped" and
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state.object_manager_state == "Stopped" and
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state.serial_manager_state == "Stopped"):
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state.intoSTOPPED()
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# stop_evt.set()
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break
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continue
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# 設定短暫的 timeout，讓執行緒能夠響應 stop_evt
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stdscr.timeout(100)
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ch = stdscr.getch()
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if ch == -1: # 沒有操作
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continue
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# 處理按鍵
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if ch in (curses.KEY_UP, ord('k')):
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idx_stack[-1] = (current_idx - 1) % len(current_menu.children)
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elif ch in (curses.KEY_DOWN, ord('j')):
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idx_stack[-1] = (current_idx + 1) % len(current_menu.children)
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elif ch == (ord('O')):
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# 進入工程模式
|
||||
state.intoENGINEER()
|
||||
|
||||
elif ch == (ord('o')):
|
||||
# 離開工程模式
|
||||
state.intoSTART()
|
||||
|
||||
elif ch == curses.KEY_LEFT:
|
||||
# 返回上層
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
elif ch == curses.KEY_RIGHT:
|
||||
# 進入下層 (但不執行動作)
|
||||
selected = current_menu.children[current_idx]
|
||||
if selected.children: # 有子選單
|
||||
menu_stack.append(selected)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif ch in (ord('q'), 27):
|
||||
if state.panel_status == "Engineer":
|
||||
state.intoTERMINATION()
|
||||
pre_panel_shutdown()
|
||||
|
||||
elif ch in (curses.KEY_ENTER, 10, 13):
|
||||
selected = current_menu.children[current_idx]
|
||||
|
||||
# 處理不同類型的動作
|
||||
if selected.children: # 有子選單
|
||||
menu_stack.append(selected)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action == "BACK":
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
elif selected.action == "QUIT":
|
||||
state.intoTERMINATION()
|
||||
pre_panel_shutdown()
|
||||
|
||||
elif selected.action == "TEXT_UDP_IP":
|
||||
result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 IP 位址: ")
|
||||
if result is not None:
|
||||
state.udp_info_temp["IP"] = result
|
||||
|
||||
elif selected.action == "TEXT_UDP_PORT":
|
||||
result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 Port: ")
|
||||
if result is not None:
|
||||
state.udp_info_temp["Port"] = result
|
||||
|
||||
elif selected.action == "CREATE_UDP_INBOUND":
|
||||
cmd_q.put("CREATE_UDP_INBOUND")
|
||||
# 確認後回到上兩層
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
# menu_stack.pop()
|
||||
# idx_stack.pop()
|
||||
|
||||
elif selected.action == "CREATE_UDP_OUTBOUND":
|
||||
cmd_q.put("CREATE_UDP_OUTBOUND")
|
||||
# 確認後回到上兩層
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
# menu_stack.pop()
|
||||
# idx_stack.pop()
|
||||
|
||||
elif selected.action == "TEXT_BAUD_SERIAL":
|
||||
result = ControlPanel.input_dialog(stdscr, "請輸入 Baud Rate (e.g., 9600, 115200): ")
|
||||
if result is not None:
|
||||
try:
|
||||
baud_rate = int(result)
|
||||
except ValueError:
|
||||
state.panel_info_msg_list.append(("Invalid Baud Rate input.", time.time()))
|
||||
state.serial_info_temp["Baud"] = baud_rate
|
||||
|
||||
elif selected.action == "SET_SERIAL_COMM_XBEE":
|
||||
state.serial_info_temp["CommunicationType"] = "XBee(API-AT)"
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
|
||||
state.serial_info_temp["CommunicationType"] = "XBee(AT-AT)"
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
elif selected.action == "LINK_SERIAL_TO_MIDDLEWARE_UDP_YES":
|
||||
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")
|
||||
# 確認後回到上兩層
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
elif selected.action == "LIST_SERIAL_RES":
|
||||
created_list_menu = self.create_serial_port_menu(state, page=0)
|
||||
menu_stack.append(created_list_menu)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action == "LIST_SERIAL_LINKS":
|
||||
created_list_menu = self.create_linked_serial_menu(state, page=0)
|
||||
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)
|
||||
menu_stack.append(created_list_menu)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
|
||||
if hasattr(selected, 'page'):
|
||||
current_list_menu = menu_stack[-1]
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
# 依據選單種類 重新建立分頁
|
||||
if current_list_menu.name == "Serial Port List":
|
||||
created_list_menu = self.create_serial_port_menu(state, page=selected.page)
|
||||
elif current_list_menu.name == "Object List":
|
||||
created_list_menu = self.create_object_list_menu(state, page=selected.page)
|
||||
elif current_list_menu.name == "Linked Serial List":
|
||||
created_list_menu = self.create_linked_serial_menu(state, page=selected.page)
|
||||
elif current_list_menu.name == "Connected Vehicles":
|
||||
created_list_menu = self.create_vehicles_list_menu(state, page=selected.page)
|
||||
else:
|
||||
# 不支援的選單類型，回到原本的選單
|
||||
menu_stack.append(current_list_menu)
|
||||
idx_stack.append(0)
|
||||
continue
|
||||
|
||||
menu_stack.append(created_list_menu)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action == "INSPECT_MAV_OBJECT":
|
||||
# 顯示物件詳細資訊
|
||||
if hasattr(selected, 'socket_id'):
|
||||
cmd_q.put(("INSPECT_MAV_OBJECT", selected.socket_id))
|
||||
self.show_object_info(stdscr, selected.socket_id, state)
|
||||
|
||||
elif selected.action == "REMOVE_MAV_OBJECT":
|
||||
# 移除物件
|
||||
if hasattr(selected, 'socket_id'):
|
||||
cmd_q.put(("REMOVE_OBJECT", selected.socket_id))
|
||||
# 返回上層（回到列表）
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
# 反正刷新列表會出錯 乾脆再退一層 在下一次進入列表時刷新就好
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
elif selected.action == "MAVOBJ_MAKE_LINK":
|
||||
# 建立轉發連結
|
||||
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_ADD_TARGET", selected.socket_id, target_id))
|
||||
cmd_q.put(("MAVOBJ_ADD_TARGET", target_id, selected.socket_id)) # 雙向連結
|
||||
|
||||
elif selected.action == "MAVOBJ_CANCEL_LINK":
|
||||
# 取消轉發連結
|
||||
if hasattr(selected, 'socket_id'):
|
||||
target_id = self.select_target_socket(stdscr, selected.socket_id, state, remove_mode=True)
|
||||
if target_id is not None:
|
||||
cmd_q.put(("MAVOBJ_REMOVE_TARGET", selected.socket_id, target_id))
|
||||
cmd_q.put(("MAVOBJ_REMOVE_TARGET", target_id, selected.socket_id)) # 雙向取消連結
|
||||
|
||||
elif selected.action == "MAVOBJ_ADD_TARGET":
|
||||
# 添加目標端口
|
||||
if state.panel_status != "Engineer":
|
||||
state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
|
||||
continue # 只有在工程模式下才能操作
|
||||
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_ADD_TARGET", selected.socket_id, target_id))
|
||||
|
||||
elif selected.action == "STOP_MANAGER":
|
||||
if state.panel_status != "Engineer":
|
||||
state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
|
||||
continue # 只有在工程模式下才能操作
|
||||
cmd_q.put("SHUTDOWN_MANAGER")
|
||||
|
||||
elif selected.action == "STOP_BRIDGE":
|
||||
if state.panel_status != "Engineer":
|
||||
state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
|
||||
continue # 只有在工程模式下才能操作
|
||||
cmd_q.put("SHUTDOWN_BRIDGE")
|
||||
|
||||
elif selected.action == "STOP_SERIAL_MANAGER":
|
||||
if state.panel_status != "Engineer":
|
||||
state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
|
||||
continue # 只有在工程模式下才能操作
|
||||
cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
|
||||
|
||||
elif selected.action == "INSPECT_VEHICLES":
|
||||
# 進入載具檢視選單
|
||||
cmd_q.put("UPDATE_VEHICLES_LIST")
|
||||
created_list_menu = self.create_vehicles_list_menu(state, page=0)
|
||||
menu_stack.append(created_list_menu)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action == "INSPECT_VEHICLE":
|
||||
# 顯示載具詳細資訊
|
||||
if hasattr(selected, 'sysid') and hasattr(selected, 'compid'):
|
||||
cmd_q.put(("INSPECT_VEHICLE", selected.sysid, selected.compid))
|
||||
self.show_vehicle_info(stdscr, selected.sysid, selected.compid, cmd_q, state)
|
||||
|
||||
elif callable(selected.action):
|
||||
# 執行函式
|
||||
cmd_q.put(selected.action)
|
||||
|
||||
try:
|
||||
curses.wrapper(draw_menu)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
cleanup()
|
||||
|
||||
# ================ 關於 mavlink object 的部份 ===================
|
||||
|
||||
def create_object_list_menu(self, state: PanelState, page=0, items_per_page=8):
|
||||
@@ -666,445 +1104,6 @@ class ControlPanel:
|
||||
stdscr.clear()
|
||||
stdscr.refresh()
|
||||
|
||||
# ================ 關於 主要選單 的部份 ===================
|
||||
|
||||
def menu_tree(self):
|
||||
"""建立多層選單結構"""
|
||||
return MenuNode("Main Menu", children=[
|
||||
MenuNode("MavLink Object", "MavLink 通道選項", children=[
|
||||
MenuNode("New+", children=[
|
||||
MenuNode("UDP InBound", children=[
|
||||
MenuNode("IP(Listen)", "設定監聽的 IP 位址", "TEXT_UDP_IP"),
|
||||
MenuNode("Port(Listen)", "設定監聽的 Port", "TEXT_UDP_PORT"),
|
||||
MenuNode("Create", "建立 UDP InBound 連結口", "CREATE_UDP_INBOUND"),
|
||||
]),
|
||||
MenuNode("UDP OutBound", children=[
|
||||
MenuNode("IP(Target)", "設定目標的 IP 位址", "TEXT_UDP_IP"),
|
||||
MenuNode("Port(Target)", "設定目標的 Port", "TEXT_UDP_PORT"),
|
||||
MenuNode("Create", "建立 UDP OutBound 連結口", "CREATE_UDP_OUTBOUND"),
|
||||
]),
|
||||
]),
|
||||
MenuNode("ListAll", "顯示並管理所有連結口", "LIST_MAV_OBJECT"),
|
||||
]),
|
||||
MenuNode("Serial Manager", "Serial 連接埠選項", children=[
|
||||
MenuNode("New+", "新增 Serial 連接埠", action = "LIST_SERIAL_RES"),
|
||||
MenuNode("ListAll", "顯示並管理已連線的 Serial", action = "LIST_SERIAL_LINKS"),
|
||||
]),
|
||||
MenuNode("Vehicles Insp.", "檢視已連線的遠端載具", action = "INSPECT_VEHICLES"),
|
||||
MenuNode("Engineer Mode", "工程模式", children=[
|
||||
MenuNode("Stop Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"),
|
||||
MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"),
|
||||
MenuNode("Stop Serial M.", "停止 Serial 端口轉接", "STOP_SERIAL_MANAGER"),
|
||||
]),
|
||||
MenuNode("Shutdown", "關閉整個系統", children=[
|
||||
MenuNode("Return", "繼續運行", "BACK"),
|
||||
MenuNode("Confirm", "關閉系統", "QUIT"),
|
||||
]),
|
||||
])
|
||||
|
||||
def panel_thread(self, cmd_q: queue.Queue, state: PanelState, stop_evt: threading.Event):
|
||||
stdscr = None
|
||||
|
||||
def cleanup():
|
||||
"""清理 curses 狀態"""
|
||||
if stdscr:
|
||||
stdscr.keypad(False)
|
||||
curses.nocbreak()
|
||||
curses.echo()
|
||||
curses.endwin()
|
||||
|
||||
def pre_panel_shutdown():
|
||||
# 先關閉所有模組 再關閉面板
|
||||
cmd_q.put("SHUTDOWN_BRIDGE")
|
||||
cmd_q.put("SHUTDOWN_MANAGER")
|
||||
cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
|
||||
|
||||
def draw_menu(screen):
|
||||
nonlocal stdscr
|
||||
stdscr = screen
|
||||
|
||||
curses.curs_set(0)
|
||||
stdscr.nodelay(False) # 阻塞讀鍵
|
||||
stdscr.keypad(True)
|
||||
|
||||
# 選單導航狀態
|
||||
menu_stack = [self.menu_tree()] # 選單堆疊
|
||||
idx_stack = [0] # 索引堆疊
|
||||
|
||||
state.intoSTART() # 設定狀態為運行中
|
||||
|
||||
while not stop_evt.is_set():
|
||||
|
||||
current_menu = menu_stack[-1]
|
||||
current_idx = idx_stack[-1]
|
||||
|
||||
# 獲取終端機尺寸
|
||||
height, width = stdscr.getmaxyx()
|
||||
# 簡單暴力的限制視窗的大小
|
||||
MIN_HEIGHT = (
|
||||
2 + # 邊界
|
||||
6 + # 狀態列 操作說明列 一個空白
|
||||
11+ # 最大選單 與 空白區
|
||||
5 # 訊息區域
|
||||
)
|
||||
if height < MIN_HEIGHT or width < 60:
|
||||
logger.error("Terminal size too small for Control Panel.")
|
||||
break
|
||||
|
||||
stdscr.clear()
|
||||
stdscr.border()
|
||||
|
||||
# 更新模組狀態顯示
|
||||
stdscr.addstr(0, 10, " MavLink MiddleWare ", curses.A_BOLD)
|
||||
stdscr.addstr(1, 2, f" Panel Status : {state.panel_status}")
|
||||
stdscr.addstr(2, 2, f"Object Manager State : {state.object_manager_state}")
|
||||
stdscr.addstr(3, 2, f"Mavlink Bridge State : {state.mavlink_bridge_state}")
|
||||
stdscr.addstr(4, 2, f"Socket Object number : {len(state.socket_object_list)}")
|
||||
stdscr.addstr(2, 36, f"Serial Manager State : {state.serial_manager_state}")
|
||||
|
||||
# 顯示當前選單項目
|
||||
start_line = 6
|
||||
for i, child in enumerate(current_menu.children):
|
||||
marker = "➤ " if i == current_idx else " "
|
||||
# 動態顯示已輸入的值
|
||||
desc = child.desc
|
||||
if child.action == "TEXT_UDP_IP" and state.udp_info_temp["IP"]:
|
||||
desc = f"{child.desc} [{state.udp_info_temp['IP']}]"
|
||||
elif child.action == "TEXT_UDP_PORT" and state.udp_info_temp["Port"]:
|
||||
desc = f"{child.desc} [{state.udp_info_temp['Port']}]"
|
||||
elif child.action == "SET_SERIAL_COMM" and state.serial_info_temp["CommunicationType"]:
|
||||
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
|
||||
stdscr.addstr(start_line + i, 4, line, attr)
|
||||
|
||||
# 顯示訊息區域
|
||||
# info_start_line = start_line + len(current_menu.children) + 1
|
||||
info_start_line = height - 8
|
||||
max_msg_lines = 5 # 最多顯示 5 行訊息
|
||||
current_time = time.time()
|
||||
|
||||
# 清理過時的訊息
|
||||
state.panel_info_msg_list = [
|
||||
(msg, timestamp) for msg, timestamp in state.panel_info_msg_list
|
||||
if current_time - timestamp < 2.0 #秒數
|
||||
]
|
||||
|
||||
# 只顯示最新的 max_msg_lines 條訊息
|
||||
display_msgs = state.panel_info_msg_list[-max_msg_lines:]
|
||||
|
||||
for i, msg_data in enumerate(display_msgs):
|
||||
if info_start_line + i >= help_line - 1: # 避免超出邊界
|
||||
break
|
||||
msg = msg_data[0] if isinstance(msg_data, tuple) else msg_data
|
||||
# 截斷過長的訊息
|
||||
max_msg_width = width - 6
|
||||
if len(msg) > max_msg_width:
|
||||
msg = msg[:max_msg_width-3] + "..."
|
||||
|
||||
stdscr.addstr(info_start_line + i, 2, f"💬 {msg}", curses.A_BOLD)
|
||||
|
||||
|
||||
|
||||
# 操作說明
|
||||
# help_line = start_line + len(current_menu.children) + 2
|
||||
help_line = height - 2
|
||||
stdscr.addstr(help_line, 2, "操作: ↑↓選擇 Enter確認 ←返回上層 →進入下層", curses.A_DIM)
|
||||
|
||||
stdscr.refresh()
|
||||
|
||||
# 若進入 TERMINATION 狀態，畫面可以刷新 但是不能操作
|
||||
# 驗證 其他附屬模組的狀態都停止後 就進入 STOPPED 狀態並跳出迴圈
|
||||
# 超過幾秒沒有反應就強制關閉
|
||||
if state.panel_status == "Terminating":
|
||||
if time.time() - state.termination_start_time > 7: # 其他組件設定5秒 這邊給多一點
|
||||
logger.warning("Control Panel forced shutdown after timeout.")
|
||||
state.intoSTOPPED()
|
||||
# stop_evt.set()
|
||||
# continue
|
||||
break
|
||||
time.sleep(0.1)
|
||||
if (state.mavlink_bridge_state == "Stopped" and
|
||||
state.object_manager_state == "Stopped" and
|
||||
state.serial_manager_state == "Stopped"):
|
||||
state.intoSTOPPED()
|
||||
# stop_evt.set()
|
||||
break
|
||||
continue
|
||||
|
||||
# 設定短暫的 timeout，讓執行緒能夠響應 stop_evt
|
||||
stdscr.timeout(100)
|
||||
ch = stdscr.getch()
|
||||
|
||||
if ch == -1: # 沒有操作
|
||||
continue
|
||||
|
||||
# 處理按鍵
|
||||
if ch in (curses.KEY_UP, ord('k')):
|
||||
idx_stack[-1] = (current_idx - 1) % len(current_menu.children)
|
||||
|
||||
elif ch in (curses.KEY_DOWN, ord('j')):
|
||||
idx_stack[-1] = (current_idx + 1) % len(current_menu.children)
|
||||
|
||||
elif ch == (ord('O')):
|
||||
# 進入工程模式
|
||||
state.intoENGINEER()
|
||||
|
||||
elif ch == (ord('o')):
|
||||
# 離開工程模式
|
||||
state.intoSTART()
|
||||
|
||||
elif ch == curses.KEY_LEFT:
|
||||
# 返回上層
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
elif ch == curses.KEY_RIGHT:
|
||||
# 進入下層 (但不執行動作)
|
||||
selected = current_menu.children[current_idx]
|
||||
if selected.children: # 有子選單
|
||||
menu_stack.append(selected)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif ch in (ord('q'), 27):
|
||||
if state.panel_status == "Engineer":
|
||||
state.intoTERMINATION()
|
||||
pre_panel_shutdown()
|
||||
|
||||
elif ch in (curses.KEY_ENTER, 10, 13):
|
||||
selected = current_menu.children[current_idx]
|
||||
|
||||
# 處理不同類型的動作
|
||||
if selected.children: # 有子選單
|
||||
menu_stack.append(selected)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action == "BACK":
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
elif selected.action == "QUIT":
|
||||
state.intoTERMINATION()
|
||||
pre_panel_shutdown()
|
||||
|
||||
elif selected.action == "TEXT_UDP_IP":
|
||||
result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 IP 位址: ")
|
||||
if result is not None:
|
||||
state.udp_info_temp["IP"] = result
|
||||
|
||||
elif selected.action == "TEXT_UDP_PORT":
|
||||
result = ControlPanel.input_dialog(stdscr, "請輸入監聽的 Port: ")
|
||||
if result is not None:
|
||||
state.udp_info_temp["Port"] = result
|
||||
|
||||
elif selected.action == "CREATE_UDP_INBOUND":
|
||||
cmd_q.put("CREATE_UDP_INBOUND")
|
||||
# 確認後回到上兩層
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
# menu_stack.pop()
|
||||
# idx_stack.pop()
|
||||
|
||||
elif selected.action == "CREATE_UDP_OUTBOUND":
|
||||
cmd_q.put("CREATE_UDP_OUTBOUND")
|
||||
# 確認後回到上兩層
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
# menu_stack.pop()
|
||||
# idx_stack.pop()
|
||||
|
||||
elif selected.action == "TEXT_BAUD_SERIAL":
|
||||
result = ControlPanel.input_dialog(stdscr, "請輸入 Baud Rate (e.g., 9600, 115200): ")
|
||||
if result is not None:
|
||||
try:
|
||||
baud_rate = int(result)
|
||||
except ValueError:
|
||||
state.panel_info_msg_list.append(("Invalid Baud Rate input.", time.time()))
|
||||
state.serial_info_temp["Baud"] = baud_rate
|
||||
|
||||
elif selected.action == "SET_SERIAL_COMM_XBEE":
|
||||
state.serial_info_temp["CommunicationType"] = "XBee(API-AT)"
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
|
||||
state.serial_info_temp["CommunicationType"] = "XBee(AT-AT)"
|
||||
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")
|
||||
# 確認後回到上兩層
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
elif selected.action == "LIST_SERIAL_RES":
|
||||
created_list_menu = self.create_serial_port_menu(state, page=0)
|
||||
menu_stack.append(created_list_menu)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action == "LIST_SERIAL_LINKS":
|
||||
created_list_menu = self.create_linked_serial_menu(state, page=0)
|
||||
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)
|
||||
menu_stack.append(created_list_menu)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
|
||||
if hasattr(selected, 'page'):
|
||||
current_list_menu = menu_stack[-1]
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
# 依據選單種類 重新建立分頁
|
||||
if current_list_menu.name == "Serial Port List":
|
||||
created_list_menu = self.create_serial_port_menu(state, page=selected.page)
|
||||
elif current_list_menu.name == "Object List":
|
||||
created_list_menu = self.create_object_list_menu(state, page=selected.page)
|
||||
elif current_list_menu.name == "Linked Serial List":
|
||||
created_list_menu = self.create_linked_serial_menu(state, page=selected.page)
|
||||
elif current_list_menu.name == "Connected Vehicles":
|
||||
created_list_menu = self.create_vehicles_list_menu(state, page=selected.page)
|
||||
else:
|
||||
# 不支援的選單類型，回到原本的選單
|
||||
menu_stack.append(current_list_menu)
|
||||
idx_stack.append(0)
|
||||
continue
|
||||
|
||||
menu_stack.append(created_list_menu)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action == "INSPECT_MAV_OBJECT":
|
||||
# 顯示物件詳細資訊
|
||||
if hasattr(selected, 'socket_id'):
|
||||
cmd_q.put(("INSPECT_MAV_OBJECT", selected.socket_id))
|
||||
self.show_object_info(stdscr, selected.socket_id, state)
|
||||
|
||||
elif selected.action == "REMOVE_MAV_OBJECT":
|
||||
# 移除物件
|
||||
if hasattr(selected, 'socket_id'):
|
||||
cmd_q.put(("REMOVE_OBJECT", selected.socket_id))
|
||||
# 返回上層（回到列表）
|
||||
if len(menu_stack) > 1:
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
# 反正刷新列表會出錯 乾脆再退一層 在下一次進入列表時刷新就好
|
||||
menu_stack.pop()
|
||||
idx_stack.pop()
|
||||
|
||||
elif selected.action == "MAVOBJ_MAKE_LINK":
|
||||
# 建立轉發連結
|
||||
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_ADD_TARGET", selected.socket_id, target_id))
|
||||
cmd_q.put(("MAVOBJ_ADD_TARGET", target_id, selected.socket_id)) # 雙向連結
|
||||
|
||||
elif selected.action == "MAVOBJ_CANCEL_LINK":
|
||||
# 取消轉發連結
|
||||
if hasattr(selected, 'socket_id'):
|
||||
target_id = self.select_target_socket(stdscr, selected.socket_id, state, remove_mode=True)
|
||||
if target_id is not None:
|
||||
cmd_q.put(("MAVOBJ_REMOVE_TARGET", selected.socket_id, target_id))
|
||||
cmd_q.put(("MAVOBJ_REMOVE_TARGET", target_id, selected.socket_id)) # 雙向取消連結
|
||||
|
||||
elif selected.action == "MAVOBJ_ADD_TARGET":
|
||||
# 添加目標端口
|
||||
if state.panel_status != "Engineer":
|
||||
state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
|
||||
continue # 只有在工程模式下才能操作
|
||||
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_ADD_TARGET", selected.socket_id, target_id))
|
||||
|
||||
elif selected.action == "STOP_MANAGER":
|
||||
if state.panel_status != "Engineer":
|
||||
state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
|
||||
continue # 只有在工程模式下才能操作
|
||||
cmd_q.put("SHUTDOWN_MANAGER")
|
||||
|
||||
elif selected.action == "STOP_BRIDGE":
|
||||
if state.panel_status != "Engineer":
|
||||
state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
|
||||
continue # 只有在工程模式下才能操作
|
||||
cmd_q.put("SHUTDOWN_BRIDGE")
|
||||
|
||||
elif selected.action == "STOP_SERIAL_MANAGER":
|
||||
if state.panel_status != "Engineer":
|
||||
state.panel_info_msg_list.append(("Not in Engineer Mode.", time.time()))
|
||||
continue # 只有在工程模式下才能操作
|
||||
cmd_q.put("SHUTDOWN_SERIAL_MANAGER")
|
||||
|
||||
elif selected.action == "INSPECT_VEHICLES":
|
||||
# 進入載具檢視選單
|
||||
cmd_q.put("UPDATE_VEHICLES_LIST")
|
||||
created_list_menu = self.create_vehicles_list_menu(state, page=0)
|
||||
menu_stack.append(created_list_menu)
|
||||
idx_stack.append(0)
|
||||
|
||||
elif selected.action == "INSPECT_VEHICLE":
|
||||
# 顯示載具詳細資訊
|
||||
if hasattr(selected, 'sysid') and hasattr(selected, 'compid'):
|
||||
cmd_q.put(("INSPECT_VEHICLE", selected.sysid, selected.compid))
|
||||
self.show_vehicle_info(stdscr, selected.sysid, selected.compid, cmd_q, state)
|
||||
|
||||
elif callable(selected.action):
|
||||
# 執行函式
|
||||
cmd_q.put(selected.action)
|
||||
|
||||
try:
|
||||
curses.wrapper(draw_menu)
|
||||
except KeyboardInterrupt:
|
||||
pass
|
||||
finally:
|
||||
cleanup()
|
||||
|
||||
|
||||
|
||||
class Orchestrator:
|
||||
@@ -1189,7 +1188,7 @@ class Orchestrator:
|
||||
if socket_id in s_obj.target_sockets:
|
||||
self.remove_target_from_object(s_id, socket_id)
|
||||
# 再移除該物件
|
||||
self.delete_mavlink_object(socket_id)
|
||||
self.delete_udp_object(socket_id)
|
||||
elif action == "MAVOBJ_ADD_TARGET":
|
||||
source_id, target_id = cmd[1], cmd[2]
|
||||
self.add_target_to_object(source_id, target_id)
|
||||
@@ -1206,9 +1205,7 @@ class Orchestrator:
|
||||
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
|
||||
self.panelState.socket_info_single["target_sockets"] = mav_obj.target_sockets
|
||||
ip_info = mav_obj.mavlink_socket.port.getsockname()
|
||||
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["socket_connection_string"] = mav_obj.mavlink_socket.address
|
||||
self.panelState.socket_info_single["InfoReady"] = True # 標記資訊已準備好
|
||||
elif action == "INSPECT_LINKED_SERIAL":
|
||||
serial_id = cmd[1]
|
||||
@@ -1322,7 +1319,7 @@ class Orchestrator:
|
||||
|
||||
self.panelState.panel_info_msg_list.append((f"Created UDP {self.panelState.udp_info_temp['direction']} object: {connection_string}", time.time()))
|
||||
|
||||
def delete_mavlink_object(self, socket_id):
|
||||
def delete_udp_object(self, socket_id):
|
||||
"""移除指定的 mavlink_object"""
|
||||
self.manager.remove_mavlink_object(socket_id)
|
||||
|
||||
|
||||
@@ -663,16 +663,16 @@ class async_io_manager:
|
||||
self.running = False
|
||||
logger.info("async_io_manager event loop END!")
|
||||
|
||||
async def _main_task(self): # 當初想說可能要一個額外的 task 來管理 但是目前好像用不掉 先放著不管
|
||||
"""主任務協程 讓 async_io_manager 在執行緒中持續運作"""
|
||||
logger.info("async_io_manager main task started")
|
||||
# async def _main_task(self): # 當初想說可能要一個額外的 task 來管理 但是目前好像用不掉 先放著不管
|
||||
# """主任務協程 讓 async_io_manager 在執行緒中持續運作"""
|
||||
# logger.info("async_io_manager main task started")
|
||||
|
||||
while self.running and not self._stop_event.is_set():
|
||||
await asyncio.sleep(0.1)
|
||||
# while self.running and not self._stop_event.is_set():
|
||||
# await asyncio.sleep(0.1)
|
||||
|
||||
logger.info("async_io_manager main task ended")
|
||||
# logger.info("async_io_manager main task ended")
|
||||
|
||||
def add_mavlink_object(self, mavlink_obj):
|
||||
def add_mavlink_object(self, mavlink_obj: mavlink_object):
|
||||
"""添加 mavlink_object"""
|
||||
# 一個防呆 確保有 event loop 與 _main_task 正在運作
|
||||
if not self.running or not self.loop:
|
||||
@@ -718,7 +718,7 @@ class async_io_manager:
|
||||
logger.error(f"Failed to create task for mavlink_object {socket_id}: {e}")
|
||||
return False
|
||||
|
||||
def remove_mavlink_object(self, socket_id):
|
||||
def remove_mavlink_object(self, socket_id: int):
|
||||
"""移除 mavlink_object"""
|
||||
|
||||
# 一個防呆 確保有 event loop 正在運作
|
||||
|
||||
@@ -187,11 +187,11 @@ class ATCommandHandler:
|
||||
# print(f"[{self.serial_port}] Serial Low: 0x{serial_low:08X}")
|
||||
pass
|
||||
|
||||
|
||||
# ====================== 分割線 =====================
|
||||
|
||||
class SerialHandler(asyncio.Protocol): # asyncio.Protocol 用於處理 Serial 收發
|
||||
def __init__(self, udp_handler, serial_port_str):
|
||||
self.udp_handler = udp_handler # UDP 的傳輸把手
|
||||
self.udp_handler = udp_handler # UDP 的傳輸物件
|
||||
self.serial_port_str = serial_port_str
|
||||
self.at_handler = ATCommandHandler(serial_port_str)
|
||||
|
||||
@@ -327,8 +327,8 @@ class serial_manager:
|
||||
self.receiver_type = receiver_type
|
||||
self.target_port = target_port # 指向的 UPD 端口
|
||||
|
||||
self.transport = None
|
||||
self.protocol = None
|
||||
self.transport = None # TODO 這個變數可能沒有作用
|
||||
self.protocol = None # TODO 這個變數可能沒有作用
|
||||
self.udp_handler = None
|
||||
self.serial_handler = None
|
||||
|
||||
|
||||
Reference in New Issue
Block a user