1. (adding) mainOrchestrator 增加版本先驗程序

2. (adding) mavlinkVehicleView 增加 read_all 快速讀取
3. (modify) 優化 longCommand 與 navigation 使其更好引用
4. (adding) 提供一個完整的 example_wholeMoving 作為範例
4. (remove) 移除 fc_network_app 重複功能
5. (modify) 修改 overview_table 部分顯示文字

README.md

@@ -1,43 +1,46 @@
 這是天雷系統的專案
 
-===
-專案核心框架
-1. ROS2 Humble
-2. Python 3.8.10
 
 
 ===
-必要相依套件 順便記錄我開發時的環境版本
+## 功能簡介
-
-Python
-1. pymavlink -> Version: 2.4.42
-2. conda-forge 中的 pyserial-asyncio
-3. importlib_metadata -> Version: 8.5.0
-4. setuptools -> Version: 58.2.0 (版本太新不行)
-5. pyserial-asyncio
-
-
-ROS2
-1. source ~/ros2_humble/install/setup.bash
-2.
-
-===
-功能簡介
 1. mavlink 多對多支援平台
 2. 不允許進到 ros 系統有相同 sysid
 3. 假設一台載具上所有 component 共用同一 socket
 
 ===
-開發用輔助專案
+## 運行環境
+
+### 專案核心框架
+1. ROS2 Humble
+2. Python 3.8.10
+
+### 必要相依套件及版本
+- Python
+[Package] fc_network_adapter
+    1. pymavlink -> Version: 2.4.42
+    2. conda-forge 中的 pyserial-asyncio
+    3. importlib_metadata -> Version: 8.5.0
+    4. setuptools -> Version: 58.2.0 (版本太新不行)
+    5. pyserial-asyncio
+[Package] GUI
+    1. testresources
+    2. websockets
+    3. PyQt6
+    4. PyQt6-WebEngine
+
+- ROS2
+1. source ~/ros2_humble/install/setup.bash
+2. geographic_info (https://github.com/ros-geographic-info/geographic_info.git) 已經作為 submodule 放在 external
+3. angles (https://github.com/ros/angles.git) 已經作為 submodule 放在 external
+4. mavros_msgs (https://github.com/mavlink/mavros) 這個專案中的一個資料夾 這邊手動複製的
+
+### 開發用輔助專案
 1. Gazebo Garden
 2. Ardupilot
 
 ===
-依賴的 ROS 庫
+## 使用說明
-1. https://github.com/ros-geographic-info/geographic_info.git 記得要搞 ros2 版本的
-2. https://github.com/ros/angles.git
-3. mavros_msgs 是 https://github.com/mavlink/mavros 這個專案中的一個資料夾 這邊手動複製的
-
 Clone 專案後 請先執行這些指令
 ```bash
 # 1.同步 submodule
@@ -49,17 +52,29 @@ colcon build --packages-select angles geographic_msgs
 colcon build --packages-select mavros_msgs # 這個依賴前面的
 colcon build --packages-select fc_interfaces # 自己定義的
 
+```
+1. 
+主要專案 fc_network_adapter 請一律在 ~/AirTrapMine/src/ 路徑下 以模組化啟動程式 
+```bash
+# 記得先開啟 依賴 Package 到 overlay
+. ./install/local_setup.bash
+# 範例
+cd ~/AirTrapMine/src/ # 這是範例!!!
+python -m fc_network_adapter.fc_network_adapter.mainOrchestrator
+python -m fc_network_adapter.tests.demo_integration
+python -m someotherpkg.src.example_wholeMoving
 ```
 
-
+2. 
-=== 
+GUI 介面
-Package 簡述
+在 ~/AirTrapMine/src/GUI 路徑下 直接啟動
-<<<<<<< HEAD
+```bash
+cd ~/AirTrapMine/src/GUI
+python gui.py
+```
 
 ===
-簡述0328
+## 資料夾說明
-主要是透過test_transform這隻程式執行fdm_switch_example_one_with_remote_forwarding這個副函式，透過UDP將封包轉接到Matlab，並在Matlab進行演算法迭代後，打包JSON檔，並再次透過port口傳回封包，傳回來的封包會在close_loop這隻程式被解析，並提取其中有關velocity的資料儲存成變數，以mavlink的方式打入Ardupilot，以實現封閉迴路的構思。
-=======
 1. unitdev 為各自協作者做開發時的測試區
     01 -> 晉凱(ken)
     02 -> 其宇(chiyu)
@@ -77,19 +92,13 @@ Package 簡述
     使用者的外層包裝
 5. someotherpkg
     如何使用 fc_network_apps 的範例檔案
+6. GUI 
+    由 PyQt6 開發的互動式介面
 N. logs 是執行時期的記錄檔
 
 ===
-主要專案 fc_network_adapter 請一律在 ~/AirTrapMine/src/ 資料夾下 以模組化啟動程式
 
-例如 在 ~/AirTrapMine/src/ 資料夾下 
-```bash
-# 記得先開啟 依賴 Package 到 overlay
-. ./install/local_setup.bash
-# 範例
-python -m fc_network_adapter.fc_network_adapter.mainOrchestrator
-python -m fc_network_adapter.tests.demo_integration
 
-```
 
->>>>>>> chiyu
+簡述0328
+主要是透過test_transform這隻程式執行fdm_switch_example_one_with_remote_forwarding這個副函式，透過UDP將封包轉接到Matlab，並在Matlab進行演算法迭代後，打包JSON檔，並再次透過port口傳回封包，傳回來的封包會在close_loop這隻程式被解析，並提取其中有關velocity的資料儲存成變數，以mavlink的方式打入Ardupilot，以實現封閉迴路的構思。

src/GUI/overview_table.py

@@ -6,7 +6,7 @@ class OverviewTable(QTableWidget):
     """總覽表格，顯示所有無人機的狀態資訊"""
     
     # 默認的資訊類型和映射
-    DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "位置", "速度", "地速", "航向",
+    DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "XY位置", "XY速度", "地速", "航向",
                           "空速", "油門", "HUD ALT", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
     
     DEFAULT_INFO_TYPE_MAP = {

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -29,7 +29,7 @@ from .utils import acquireSerial, acquirePort
 from .utils.acquirePort import find_available_port
 
 logger = setup_logger(os.path.basename(__file__))
-VERSION_NO = "v0.61"
+PROJECT_VER = "v0.61"
 
 class PanelState:
     def __init__(self):
@@ -39,9 +39,9 @@ class PanelState:
         self.object_manager_state = "Stopped"
         self.serial_manager_state = "Stopped"
         self.ros2_manager_state = "Stopped"
-        self.socket_object_list = [] # 已有的 mavlink object 
+        self.socket_object_list = [] # 已有的 mavlink object
         self.linked_serial_dict = {} # 已連線的 serial 端口 serial id num : serial_port string
-        self.panel_info_msg_list = [] # 顯示在面板上的資訊訊息 
+        self.panel_info_msg_list = [] # 顯示在面板上的資訊訊息
 
         # 關於創建通道時的暫存資訊
         self.udp_info_temp = {"IP": "127.0.0.1", "Port": "", "Direction": ""} # 暫存 UDP 設定資訊
@@ -102,36 +102,36 @@ class ControlPanel:
     def input_dialog(stdscr, prompt="請輸入文字: "):
         """顯示輸入對話框"""
         height, width = stdscr.getmaxyx()
-        
+
         # 建立輸入視窗
         dialog_height = 5
         dialog_width = min(60, width - 4)
         start_y = (height - dialog_height) // 2
         start_x = (width - dialog_width) // 2
-        
+
         # 建立視窗邊框
         dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x)
         dialog_win.border()
         dialog_win.addstr(1, 2, prompt)
         dialog_win.addstr(3, 2, "按 Enter 確認, ESC 取消")
         dialog_win.refresh()
-        
+
         # 輸入區域
         input_win = curses.newwin(1, dialog_width - 6, start_y + 2, start_x + 2)
         input_win.keypad(True)
-        
+
         curses.echo()
         curses.curs_set(1)
-        
+
         user_input = ""
-        
+
         while True:
             input_win.clear()
             input_win.addstr(0, 0, user_input[-dialog_width+8:])  # 顯示輸入內容（滾動）
             input_win.refresh()
-            
+
             ch = input_win.getch()
-            
+
             if ch == 27:  # ESC
                 user_input = None
                 break
@@ -141,16 +141,16 @@ class ControlPanel:
                 user_input = user_input[:-1]
             elif 32 <= ch <= 126:  # 可打印字符
                 user_input += chr(ch)
-        
+
         curses.noecho()
         curses.curs_set(0)
-        
+
         # 清理視窗
         del input_win
         del dialog_win
         stdscr.clear()
         stdscr.refresh()
-        
+
         return user_input
 
     # ================ 關於 主要選單 的部份 ===================
@@ -179,9 +179,9 @@ class ControlPanel:
                 ]),
                 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 Manager", "停止 Mavlink 物件管理", "STOP_MANAGER"),
-                    MenuNode("Stop Bridge", "停止 Mavlink-ROS 橋接", "STOP_BRIDGE"), 
+                    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("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"),
@@ -191,7 +191,7 @@ class ControlPanel:
 
     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:
@@ -209,7 +209,7 @@ class ControlPanel:
         def draw_menu(screen):
             nonlocal stdscr
             stdscr = screen
-            
+
             curses.curs_set(0)
             stdscr.nodelay(False)  # 阻塞讀鍵
             stdscr.keypad(True)
@@ -219,12 +219,12 @@ class ControlPanel:
             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
@@ -237,7 +237,7 @@ class ControlPanel:
                 if height < MIN_HEIGHT or width < 60:
                     logger.error("Terminal size too small for Control Panel.")
                     break
-                
+
                 stdscr.clear()
                 stdscr.border()
 
@@ -267,26 +267,26 @@ class ControlPanel:
                     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 
+                # 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
@@ -298,13 +298,13 @@ class ControlPanel:
 
                     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.addstr(height-1 , width-12, f" {VERSION_NO} ", curses.A_DIM)
+                stdscr.addstr(height-1 , width-12, f" {PROJECT_VER} ", curses.A_DIM)
 
                 stdscr.refresh()
 
@@ -319,8 +319,8 @@ class ControlPanel:
                         # continue
                         break
                     time.sleep(0.1)
-                    if (state.mavlink_bridge_state == "Stopped" and 
+                    if (state.mavlink_bridge_state == "Stopped" and
-                        state.object_manager_state == "Stopped" and 
+                        state.object_manager_state == "Stopped" and
                         state.serial_manager_state == "Stopped"):
                         state.intoSTOPPED()
                         # stop_evt.set()
@@ -330,14 +330,14 @@ class ControlPanel:
                 # 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)
 
@@ -347,14 +347,14 @@ class ControlPanel:
 
                 elif ch == (ord('o')):
                     # 離開工程模式
-                    state.intoSTART()                
+                    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]
@@ -369,26 +369,26 @@ class ControlPanel:
 
                 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:
@@ -402,7 +402,7 @@ class ControlPanel:
                             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
@@ -457,8 +457,8 @@ class ControlPanel:
                     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)                        
+                        idx_stack.append(0)
-                    
+
                     elif selected.action == "INSPECT_LINKED_SERIAL":
                         # 顯示 Serial 連結詳細資訊
                         if hasattr(selected, 'serial_id'):
@@ -488,7 +488,7 @@ class ControlPanel:
                             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)
@@ -503,16 +503,16 @@ class ControlPanel:
                                 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'):
@@ -575,7 +575,7 @@ class ControlPanel:
                         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'):
@@ -585,7 +585,7 @@ class ControlPanel:
                     elif callable(selected.action):
                         # 執行函式
                         cmd_q.put(selected.action)
-                        
+
         try:
             curses.wrapper(draw_menu)
         except KeyboardInterrupt:
@@ -593,12 +593,12 @@ class ControlPanel:
         finally:
             cleanup()
 
-    # ================ 關於 mavlink object 的部份 =================== 
+    # ================ 關於 mavlink object 的部份 ===================
 
     def create_object_list_menu(self, state: PanelState, page=0, items_per_page=8):
         """動態創建 mavlink_object 列表選單（支持分頁）"""
         children = []
-        
+
         if not state.socket_object_list:
             children.append(MenuNode("(Empty)", "目前沒有連結口", None))
         else:
@@ -606,7 +606,7 @@ class ControlPanel:
             total_pages = (total_items + items_per_page - 1) // items_per_page
             start_idx = page * items_per_page
             end_idx = min(start_idx + items_per_page, total_items)
-            
+
             # 顯示當前頁的物件
             for socket_id in state.socket_object_list[start_idx:end_idx]:
                 # 為每個 socket 創建子選單
@@ -656,11 +656,11 @@ class ControlPanel:
         dialog_width = min(70, width - 4)
         start_y = (height - dialog_height) // 2
         start_x = (width - dialog_width) // 2
-        
+
         dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x)
         dialog_win.border()
         dialog_win.addstr(0, 2, f" Socket #{socket_id} 詳細資訊 ", curses.A_BOLD)
-        
+
         # 這裡顯示基本資訊
         dialog_win.addstr(2, 2, f"Socket ID     : {socket_id}")
         dialog_win.addstr(3, 2, f"Socket status : {state.socket_info_single.get('socket_state', 'N/A')}")
@@ -676,15 +676,15 @@ class ControlPanel:
         dialog_win.addstr(8, 2, f"Switching Targets: {show_str if show_str else 'N/A'}")
 
         state.socket_info_single['InfoReady'] = False  # 重置狀態以便下次使用
-        
+
         dialog_win.addstr(dialog_height - 2, 2, "按任意鍵返回...")
         dialog_win.refresh()
-        
+
         dialog_win.getch()
         del dialog_win
         stdscr.clear()
         stdscr.refresh()
-    
+
     def select_target_socket(self, stdscr, source_socket_id, state: PanelState, remove_mode=False):
         """選擇目標 socket 的對話框"""
         height, width = stdscr.getmaxyx()
@@ -692,13 +692,13 @@ class ControlPanel:
         dialog_width = min(50, width - 4)
         start_y = (height - dialog_height) // 2
         start_x = (width - dialog_width) // 2
-        
+
         dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x)
         dialog_win.keypad(True)
-        
+
         title = "選擇要移除的目標" if remove_mode else "選擇轉發目標"
         available_sockets = [sid for sid in state.socket_object_list if sid != source_socket_id]
-        
+
         if not available_sockets:
             dialog_win.border()
             dialog_win.addstr(0, 2, f" {title} ", curses.A_BOLD)
@@ -710,24 +710,24 @@ class ControlPanel:
             stdscr.clear()
             stdscr.refresh()
             return None
-        
+
         selected_idx = 0
-        
+
         while True:
             dialog_win.clear()
             dialog_win.border()
             dialog_win.addstr(0, 2, f" {title} ", curses.A_BOLD)
-            
+
             for i, socket_id in enumerate(available_sockets):
                 marker = "➤" if i == selected_idx else " "
                 attr = curses.A_REVERSE if i == selected_idx else curses.A_NORMAL
                 dialog_win.addstr(2 + i, 2, f"{marker} Socket #{socket_id}", attr)
-            
+
             dialog_win.addstr(dialog_height - 2, 2, "Enter確認 ESC取消")
             dialog_win.refresh()
-            
+
             ch = dialog_win.getch()
-            
+
             if ch in (curses.KEY_UP, ord('k')):
                 selected_idx = (selected_idx - 1) % len(available_sockets)
             elif ch in (curses.KEY_DOWN, ord('j')):
@@ -749,11 +749,11 @@ class ControlPanel:
     def create_serial_port_menu(self, state: PanelState, page=0, items_per_page=8):
         """動態創建 serial port 列表選單（支持分頁）"""
         children = []
-        
+
         # 獲取可用的 Serial 連接埠列表
         # serial_ports = acquireSerial.get_serial_ports() # debug 全部抓一抓
         serial_ports = acquireSerial.get_serial_ports_with_filter(['/dev/ttyUSB*', '/dev/ttyACM*'])
-        
+
         if not serial_ports:
             children.append(MenuNode("(Empty)", "目前沒有串口設備", None))
         else:
@@ -761,7 +761,7 @@ class ControlPanel:
             total_pages = (total_items + items_per_page - 1) // items_per_page
             start_idx = page * items_per_page
             end_idx = min(start_idx + items_per_page, total_items)
-            
+
             # 顯示當前頁的串口
             for port in serial_ports[start_idx:end_idx]:
                 port_menu = MenuNode(f"{port}", children=[
@@ -781,7 +781,7 @@ class ControlPanel:
                 for child in port_menu.children:
                     child.port = port
                 children.append(port_menu)
-            
+
             # 添加分頁控制
             if total_pages > 1:
                 children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
@@ -793,7 +793,7 @@ class ControlPanel:
                     next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE")
                     next_node.page = page + 1
                     children.append(next_node)
-        
+
         children.append(MenuNode("GoUp", "回到上層選單", "BACK"))
         menu = MenuNode("Serial Port List", f"串口列表 (第 {page + 1} 頁)", children=children)
         menu.current_page = page
@@ -802,7 +802,7 @@ class ControlPanel:
     def create_linked_serial_menu(self, state: PanelState, page=0, items_per_page=8):
         """動態創建 已連線的 serial port 列表選單（支持分頁）並包含後續管理功能"""
         children = []
-        
+
         if not state.linked_serial_dict:
             children.append(MenuNode("(Empty)", "目前沒有連結口", None))
         else:
@@ -810,7 +810,7 @@ class ControlPanel:
             total_pages = (total_items + items_per_page - 1) // items_per_page
             start_idx = page * items_per_page
             end_idx = min(start_idx + items_per_page, total_items)
-            
+
             # 顯示當前頁的物件
             linked_serial_id_list = list(state.linked_serial_dict.keys())
             for serial_id in linked_serial_id_list[start_idx:end_idx]:
@@ -825,7 +825,7 @@ class ControlPanel:
                 for child in obj_menu.children:
                     child.serial_id = serial_id
                 children.append(obj_menu)
-            
+
             # 添加分頁控制
             if total_pages > 1:
                 children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
@@ -837,7 +837,7 @@ class ControlPanel:
                     next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE")
                     next_node.page = page + 1
                     children.append(next_node)
-        
+
         children.append(MenuNode("GoUp", "回到上層選單", "BACK"))
         menu = MenuNode("Linked Serial List", f"連結口列表 (第 {page + 1} 頁)", children=children)
         menu.current_page = page
@@ -859,14 +859,14 @@ class ControlPanel:
         dialog_width = min(70, width - 4)
         start_y = (height - dialog_height) // 2
         start_x = (width - dialog_width) // 2
-        
+
         dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x)
         dialog_win.border()
         dialog_win.addstr(0, 2, f" Serial Link #{serial_id} 詳細資訊 ", curses.A_BOLD)
 
         # 從 linked_serial_dict 獲取資訊
         serial_info = state.linked_serial_dict.get(serial_id, {})
-        
+
         if not serial_info:
             dialog_win.addstr(2, 2, f"無法取得 Serial #{serial_id} 的資訊")
         else:
@@ -877,17 +877,17 @@ class ControlPanel:
             dialog_win.addstr(5, 2, f"Communication   : {state.serial_info_single.get('receiver_type', 'N/A')}")
             dialog_win.addstr(6, 2, f"Target UDP Port : {state.serial_info_single.get('target_port', 'N/A')}")
             dialog_win.addstr(7, 2, f"Status          : {state.serial_info_single.get('status', 'Running')}")
-            
+
             # 如果有額外資訊可以繼續添加
             if 'thread_alive' in serial_info:
                 thread_status = "Alive" if serial_info['thread_alive'] else "Stopped"
                 dialog_win.addstr(8, 2, f"Thread Status   : {thread_status}")
-        
+
         state.serial_info_single['InfoReady'] = False  # 重置狀態以便下次使用
 
         dialog_win.addstr(dialog_height - 2, 2, "按任意鍵返回...")
         dialog_win.refresh()
-        
+
         dialog_win.getch()
         del dialog_win
         stdscr.clear()
@@ -900,7 +900,7 @@ class ControlPanel:
         每個 vehicle-component 組合都是獨立的選單項目
         """
         children = []
-        
+
         if not state.connected_vehicles_dict:
             children.append(MenuNode("(Empty)", "目前沒有已連線的載具", None))
         else:
@@ -908,22 +908,22 @@ class ControlPanel:
             total_pages = (total_items + items_per_page - 1) // items_per_page
             start_idx = page * items_per_page
             end_idx = min(start_idx + items_per_page, total_items)
-            
+
             # vehicle_id_list 現在是 (sysid, compid) 的元組列表
             vehicle_comp_list = list(state.connected_vehicles_dict.keys())
-            
+
             # 顯示當前頁的物件
             for sysid, compid in vehicle_comp_list[start_idx:end_idx]:
                 # 建立顯示名稱
                 display_name = f"Vehicle #{sysid} - Comp #{compid}"
                 desc = f"載具 {sysid} 組件 {compid}"
-                
+
                 vehicle_menu = MenuNode(display_name, desc, "INSPECT_VEHICLE")
                 # 將 sysid 和 compid 附加到選單項目上
                 vehicle_menu.sysid = sysid
                 vehicle_menu.compid = compid
                 children.append(vehicle_menu)
-            
+
             # 添加分頁控制
             if total_pages > 1:
                 children.append(MenuNode("---", f"第 {page+1}/{total_pages} 頁", None))
@@ -935,7 +935,7 @@ class ControlPanel:
                     next_node = MenuNode("Next ▶", "下頁", "NEXT_PAGE")
                     next_node.page = page + 1
                     children.append(next_node)
-        
+
         children.append(MenuNode("GoUp", "回到上層選單", "BACK"))
         menu = MenuNode("Connected Vehicles", f"已連線載具列表 (第 {page + 1} 頁)", children=children)
         menu.current_page = page
@@ -943,7 +943,7 @@ class ControlPanel:
 
     def show_vehicle_info(self, stdscr, sysid, compid, cmd_q: queue.Queue, state: PanelState):
         """顯示載具組件詳細資訊（動態更新，顯示變化率）"""
-        
+
         # 等待資訊準備
         start = time.time()
         while not state.vehicle_info_single.get('InfoReady', False):
@@ -951,30 +951,30 @@ class ControlPanel:
                 state.panel_info_msg_list.append(("Fail! Vehicle Info NOT Acquired!", time.time()))
                 return
             time.sleep(0.05)
-        
+
         info = state.vehicle_info_single
         height, width = stdscr.getmaxyx()
         dialog_height = min(22, height - 4)
         dialog_width = min(70, width - 4)
         start_y = (height - dialog_height) // 2
         start_x = (width - dialog_width) // 2
-        
+
         dialog_win = curses.newwin(dialog_height, dialog_width, start_y, start_x)
         dialog_win.nodelay(True)  # 非阻塞模式，允許動態更新
         dialog_win.keypad(True)
-        
+
         # MAV_TYPE 名稱對應
         MAV_TYPE_NAMES = {
             0: "Generic", 1: "Fixed Wing", 2: "Quadrotor", 3: "Helicopter",
             4: "Antenna Tracker", 5: "GCS", 6: "Airship", 10: "Ground Rover",
             12: "Boat", 13: "Submarine", 26: "Gimbal", 30: "Camera"
         }
-        
+
         # 動態更新迴圈
         last_update = time.time()
         while True:
             current_time = time.time()
-            
+
             # 每 1 秒重新請求資料
             if current_time - last_update >= 1.0:
                 # 觸發資料更新（透過 Orchestrator）
@@ -989,58 +989,58 @@ class ControlPanel:
                 # 更新 info 參照
                 info = state.vehicle_info_single
                 last_update = current_time
-            
+
             dialog_win.clear()
             dialog_win.border()
             dialog_win.addstr(0, 2, f" Vehicle #{info['sysid']} - Component #{info['compid']} ", curses.A_BOLD)
-            
+
             # === 基礎資訊 ===
             dialog_win.addstr(2, 2, "[Identity]", curses.A_UNDERLINE)
             dialog_win.addstr(2, 32, "[Connection]", curses.A_UNDERLINE)
-            
+
             # # MAV Type # 這個用不到
             # mav_type = info.get('vehicle_type', 'N/A')
             # mav_type_str = f"{mav_type} ({MAV_TYPE_NAMES.get(mav_type, 'Unknown')})" if isinstance(mav_type, int) else str(mav_type)
             # dialog_win.addstr(3, 2, f"MAV Type       : {mav_type_str}")
-            
+
             # Component Type
             dialog_win.addstr(3, 2, f"Component Type : {info.get('component_type', 'N/A')}")
-            
+
             # Autopilot Type
             if info.get('mav_autopilot') is not None:
                 dialog_win.addstr(4, 2, f"Autopilot      : {info.get('mav_autopilot', 'N/A')}")
-            
+
             # Connection Info
             dialog_win.addstr(3, 32, f"Connection : {info.get('connection_type', 'N/A')}")
             dialog_win.addstr(4, 32, f"Socket ID  : #{info.get('socket_id', 'N/A')}")
-            
+
             # === 封包統計 ===
             stats = info.get('packet_stats', {})
             dialog_win.addstr(7, 2, "[Packet Statistics]", curses.A_UNDERLINE)
-            
+
             received = stats.get('received', 0)
             lost = stats.get('lost', 0)
             loss_rate = stats.get('loss_rate', 0.0)
             last_seq = stats.get('last_seq', 'N/A')
-            
+
             # 計算變化
             received_delta = stats.get('received_delta', 0)
             lost_delta = stats.get('lost_delta', 0)
-            
+
             # 顯示變化率
             recv_str = f"{received:6d}"
             if received_delta > 0:
                 recv_str += f" (+{received_delta}↑)"
-            
+
             lost_str = f"{lost:4d}"
             if lost_delta > 0:
                 lost_str += f" (+{lost_delta}↑)"
-            
+
             dialog_win.addstr(8, 2, f"Received  : {recv_str}")
             dialog_win.addstr(8, 32, f"Lost       : {lost_str}")
             dialog_win.addstr(9, 2, f"Loss Rate : {loss_rate:.2f}%")
             dialog_win.addstr(9, 32, f"Last Seq   : {last_seq}")
-            
+
             # 最後接收時間
             last_msg_time = stats.get('last_msg_time')
             if last_msg_time:
@@ -1050,50 +1050,50 @@ class ControlPanel:
                 dialog_win.addstr(10, 32, f"Elapsed    : {elapsed:.1f}s")
             else:
                 dialog_win.addstr(10, 2, "Last Time : N/A")
-            
+
             # === 訊息類型分佈 ===
             dialog_win.addstr(12, 2, "[Message Types] (Top 12)", curses.A_UNDERLINE)
-            
+
             msg_counts = info.get('msg_type_counts', {})
-            
+
             # MAVLink 訊息名稱對應（縮寫版本）
             MSG_NAMES = {
                 0: "HB", 1: "SYS_ST", 24: "GPS_RAW", 27: "RAW_IMU",
                 30: "ATT", 32: "LOC_POS", 33: "GLB_POS", 62: "NAV_CTL",
                 74: "VFR_HUD", 147: "BATT_ST"
             }
-            
+
             # 顯示前 12 個最常見的訊息類型（兩列各 6 個）
             msg_items = list(msg_counts.items())[:12]
             line = 13
             for i, (msg_id, count) in enumerate(msg_items):
                 msg_name = MSG_NAMES.get(msg_id, "???")
                 delta = stats.get(f'msg_delta_{msg_id}', 0)
-                
+
                 # 格式化數據
                 if delta > 0:
                     data_str = f"{count}(+{delta}↑)"
                 else:
                     data_str = f"{count}"
-                
+
                 # 格式化顯示：[ID]NAME  DATA (ID固定3字符寬度，右對齊)
                 display_str = f"[{msg_id:3d}]{msg_name:8s} {data_str}"
-                
+
                 # 左列(偶數索引)或右列(奇數索引)
                 col = 2 if i % 2 == 0 else 36
                 row = line + (i // 2)
-                
+
                 if row >= dialog_height - 3:  # 避免超出邊界
                     break
-                    
+
                 dialog_win.addstr(row, col, display_str)
-            
+
             # 確保跳過顯示區域
             line = line + 6
-            
+
             dialog_win.addstr(dialog_height - 2, 2, "Press R: Reset Stats, C: Unregister, other key to return...")
             dialog_win.refresh()
-            
+
             # 檢查是否有按鍵（非阻塞）
             ch = dialog_win.getch()
             if ch in (ord('R'), ord('r')):
@@ -1103,10 +1103,10 @@ class ControlPanel:
                 break
             elif ch != -1:  # 有按鍵則退出
                 break
-            
+
             # 短暫延遲
             time.sleep(0.1)
-        
+
         state.vehicle_info_single['InfoReady'] = False
         del dialog_win
         stdscr.clear()
@@ -1140,19 +1140,19 @@ class Orchestrator:
         self.fc_ros_manager = mros.ros2_manager
         self.fc_ros_manager.initialize()
         self.fc_ros_manager.status_publisher.rate_controller.topic_intervals = {
-            'position': 1.0,   
+            'position': 1.0,
-            'attitude': 0.0,    
+            'attitude': 1.0,
-            'velocity': 0.0,     
+            'velocity': 0.0,
-            'battery': 1.0,   
+            'battery': 1.0,
-            'vfr_hud': 1.0,    
+            'vfr_hud': 1.0,
-            'mode': 0.0,       
+            'mode': 0.0,
-            'summary': 1.0,    
+            'summary': 1.0,
         }
 
     def engageWholeSystem(self):
         """啟動整個系統"""
         # === 1) 面板部分的啟動 ===
-        self.panel_thread = threading.Thread(target=self.cPanel.panel_thread, args=(self.cmd_q, self.panelState, self.stop_evt)) 
+        self.panel_thread = threading.Thread(target=self.cPanel.panel_thread, args=(self.cmd_q, self.panelState, self.stop_evt))
         self.panel_thread.start()
 
         # === 2) async_io_manager & mavlink_bridge 部分的啟動 ===
@@ -1215,7 +1215,7 @@ class Orchestrator:
                             for s_id in mo.mavlink_object.mavlinkObjects:
                                 s_obj = mo.mavlink_object.mavlinkObjects[s_id]
                                 if socket_id in s_obj.target_sockets:
-                                    self.remove_target_from_object(s_id, socket_id)   
+                                    self.remove_target_from_object(s_id, socket_id)
                             # 再移除該物件
                             self.delete_udp_object(socket_id)
                         elif action == "MAVOBJ_ADD_TARGET":
@@ -1262,7 +1262,7 @@ class Orchestrator:
                         elif action == "UNREGISTER_VEHICLE":
                             sysid = cmd[1]
                             self.vehicle_registry.unregister(sysid)
-                            
+
                     elif cmd == "CREATE_UDP_INBOUND":
                         self.panelState.udp_info_temp["direction"] = "inbound"
                         self.create_udp_object()
@@ -1291,8 +1291,8 @@ class Orchestrator:
             logger.error(f"Unexpected error in main loop: {e}")
         finally:
 
-            # 驗證並確保所有模組都被下達關閉訊號 
+            # 驗證並確保所有模組都被下達關閉訊號
-            # 若是由面板操作結束系統 這些關閉行為將於 ControlPanel.pre_panel_shutdown() 觸發 
+            # 若是由面板操作結束系統 這些關閉行為將於 ControlPanel.pre_panel_shutdown() 觸發
             if self.bridge.thread.is_alive():
                 if self.bridge.running:
                     self.bridge.stop()
@@ -1318,7 +1318,7 @@ class Orchestrator:
                 self.panel_thread.join(timeout=2)
 
             time.sleep(0.5) # 等待各模組穩定關閉
-                
+
             logger.info("Main orchestrator END!")
 
     # =============== 面板動作 - Mavlink Object ===============
@@ -1339,10 +1339,11 @@ class Orchestrator:
                 self.occupied_ip_ports[ip].append(port)
             else:
                 self.occupied_ip_ports[ip] = [port]
+
         # 外放資訊部分
         elif self.panelState.udp_info_temp["direction"] == "outbound":
             connection_string = f"udpout:{self.panelState.udp_info_temp['IP']}:{self.panelState.udp_info_temp['Port']}"
-        
+
         try:
             # 檢測這個 connection_string 是否能成功建立 mavlink 連結
             mavlink_socket = mavutil.mavlink_connection(connection_string)
@@ -1362,7 +1363,7 @@ class Orchestrator:
             mavlink_object.socket_type = socket_type
 
         self.panelState.panel_info_msg_list.append((f"Created UDP {self.panelState.udp_info_temp['direction']} object: {connection_string}", time.time()))
-    
+
     def delete_udp_object(self, socket_id):
         """移除指定的 mavlink_object"""
 
@@ -1406,10 +1407,10 @@ class Orchestrator:
     def _update_vehicles_list(self):
         """更新已連線載具列表（從 vehicle_registry 獲取）"""
         vehicles_dict = {}
-        
+
         # 從 vehicle_registry 獲取所有載具
         all_vehicles = self.vehicle_registry.get_all()
-        
+
         for sysid, vehicle in all_vehicles.items():
             # 遍歷每個載具的所有組件
             for compid, component in vehicle.components.items():
@@ -1422,9 +1423,9 @@ class Orchestrator:
                     'connection_via': vehicle.connected_via.value,
                     'socket_id': vehicle.custom_meta.get('socket_id', 'N/A')
                 }
-        
+
         self.panelState.connected_vehicles_dict = vehicles_dict
-    
+
     def _prepare_vehicle_info(self, sysid, compid):
         """準備載具組件的詳細資訊（包含變化率計算）"""
         vehicle = self.vehicle_registry.get(sysid)
@@ -1433,37 +1434,37 @@ class Orchestrator:
             return
 
         socket_id = vehicle.custom_meta.get('socket_id', 'N/A')
-        
+
         component = vehicle.get_component(compid)
         if not component:
             logger.warning(f"Component {compid} not found in vehicle {sysid}")
             return
-        
+
         stats = component.packet_stats
-        
+
         # 取得之前的統計資料（用於計算變化）
         prev_stats = self.panelState.vehicle_info_single.get('prev_stats', {})
         prev_received = prev_stats.get('received', 0)
         prev_lost = prev_stats.get('lost', 0)
         prev_msg_counts = prev_stats.get('msg_counts', {})
-        
+
         # 計算變化率
         received_delta = stats.received_count - prev_received
         lost_delta = stats.lost_count - prev_lost
-        
+
         # 準備訊息類型計數（排序後取前幾個）
         sorted_msg_counts = dict(sorted(
             stats.msg_type_count.items(),
             key=lambda x: x[1],
             reverse=True
         )[:12])  # 取前 12 個最常見的
-        
+
         # 計算每種訊息類型的變化
         msg_deltas = {}
         for msg_id, count in sorted_msg_counts.items():
             prev_count = prev_msg_counts.get(msg_id, 0)
             msg_deltas[f'msg_delta_{msg_id}'] = count - prev_count
-        
+
         # 更新 vehicle_info_single
         socket_type = "N/A"
         socket_obj =mo.mavlink_object.mavlinkObjects.get(socket_id, None)
@@ -1481,7 +1482,7 @@ class Orchestrator:
             "packet_stats": {
                 "received": stats.received_count,
                 "lost": stats.lost_count,
-                "loss_rate": (stats.lost_count / stats.received_count * 100 
+                "loss_rate": (stats.lost_count / stats.received_count * 100
                              if stats.received_count > 0 else 0),
                 "last_seq": stats.last_seq,
                 "last_msg_time": stats.last_msg_time,
@@ -1508,8 +1509,8 @@ class Orchestrator:
                 (f"Fail! Serial Port {self.panelState.serial_info_temp['Port']} already linked.", time.time())
             )
             return
-        
+
-        # 獲取可用的 udp port 
+        # 獲取可用的 udp port
         udp_port_tmp = find_available_port(19000, 20000)
 
         # 定義通訊類型映射表
@@ -1526,7 +1527,7 @@ class Orchestrator:
                 ("Please select Communication Type first.", time.time())
             )
             return
-        
+
         # 查找對應的通訊類型
         comm_type_tmp = COMM_TYPE_MAP.get(comm_type)
         if comm_type_tmp is None:
@@ -1554,12 +1555,31 @@ class Orchestrator:
             self.panelState.udp_info_temp['Port'] = str(udp_port_tmp)
             self.panelState.udp_info_temp['direction'] = "inbound"
             self.create_udp_object("SERIAL_XBEE")
-        
+
 
 def main():
 
-    stop_evt = threading.Event()
+    # =========== 各項模組的版本先驗 ===========
+    # 除非你有在做這幾項模組的改版 不然動到這邊的版本號 代表執行環境有很大的問題!!!!!!
+    version_check = True
+    if mo.MODULE_VER != "1.50":
+        print("Module Version Error! : mavlinkObkect")
+        version_check = False
+    if mros.MODULE_VER != "1.50":
+        print("Module Version Error! : mavlinkROS2Nodes")
+        version_check = False
+    if mvv.MODULE_VER != "1.00":
+        print("Module Version Error! : mavlinkVehicleView")
+        version_check = False
+    if sm.MODULE_VER != "0.60":
+        print("Module Version Error! : serialManager")
+        version_check = False
+    if version_check == False:
+        print("Environment Obstacle! Check YOUR Execution System Path First!!")
+        return
+    # ========================================
 
+    stop_evt = threading.Event()
     def signal_handler(signum, frame):
         """處理 Ctrl+C 信號 藉此訊號 會結束下面的 while 迴圈 並逐步關閉各模組"""
         stop_evt.set()
@@ -1593,4 +1613,7 @@ if __name__ == "__main__":
 4. 註解掉無效代碼 action == "UPDATE_VEHICLES_LIST" 區塊
 5. 系統納入 mavlink ROS2 Manager 模組
 
+2025.04.13
+1. 加入各項模組的版本先驗 檢驗失敗就直接離開
+
 '''

src/fc_network_adapter/fc_network_adapter/mavlinkObject.py

@@ -58,6 +58,8 @@ from .utils import RingBuffer, setup_logger
 # ====================== 分割線 =====================
 
 logger = setup_logger(os.path.basename(__file__))
+MODULE_VER = "1.50"
+
 
 stream_bridge_ring = RingBuffer(capacity=1024, buffer_id=255)
 return_packet_ring = RingBuffer(capacity=256, buffer_id=254)

src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py

@@ -39,6 +39,7 @@ from . import mavlinkObject as mo
 from .utils import setup_logger
 
 logger = setup_logger(os.path.basename(__file__))
+MODULE_VER = "1.50"
 
 # ============================================================================
 #                       VehicleStatusPublisher Node
@@ -55,14 +56,16 @@ class PublishRateController:
         # 例如：'ekf_status': 1.0,  # EKF 狀態
         # ═══════════════════════════════════════════════════════════════
         # 各 topic 的發布間隔（秒）
+        # 注意 這邊是定義區 不要把參數寫在這裡 所以預設全部關閉
+        # 以這個專案 請看 mainOrchestrator.py 的 Orchestrator 初始化階段
         self.topic_intervals = {
-            'position': 0.5,       # GPS位置
+            'position': 0.0,       # GPS位置
-            'attitude': 0.5,       # 姿態
+            'attitude': 0.0,       # 姿態
-            'velocity': 0.5,       # 速度
+            'velocity': 0.0,       # 速度
-            'battery': 1.0,        # 電池
+            'battery': 0.0,        # 電池
-            'vfr_hud': 0.5,        # VFR HUD
+            'vfr_hud': 0.0,        # VFR HUD
-            'mode': 1.0,           # 飛行模式
+            'mode': 0.0,           # 飛行模式
-            'summary': 1.0,        # 載具摘要
+            'summary': 0.0,        # 載具摘要
             # 在這裡新增更多 topics...
         }
         # 記錄每個 topic 的最後發布時間 {(sysid, topic): timestamp}
@@ -139,10 +142,8 @@ class VehicleStatusPublisher(Node):
         if not self.running:
             return
 
-        # 從 vehicle_registry 獲取所有載具
+        # 高頻快路徑：讀取 registry 的 immutable 快照
-        all_vehicles = mvv.vehicle_registry.get_all()
+        for sysid, vehicle in mvv.vehicle_registry.read_all():
-        
-        for sysid, vehicle in all_vehicles.items():
             self._publish_vehicle_status(vehicle)
     
     def _publish_vehicle_status(self, vehicle: mvv.VehicleView):
@@ -232,7 +233,6 @@ class VehicleStatusPublisher(Node):
         att = status.attitude
         if att.roll is None:
             return
-        
         publisher = self._get_or_create_publisher(sysid, 'attitude', sensor_msgs.msg.Imu)
         
         if publisher.get_subscription_count() == 0:
@@ -257,6 +257,7 @@ class VehicleStatusPublisher(Node):
         
         publisher.publish(msg)
     
+    # TODO 這邊要改成 XY 的位置與速度
     def _publish_velocity(self, sysid: int, status: mvv.ComponentStatus):
         """發布速度"""
         if not self.rate_controller.should_publish(sysid, 'velocity'):

src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py

@@ -5,14 +5,14 @@ VehicleView - Pure State Container
 """
 
 import os
-from typing import Dict, Optional, Any
+from typing import Dict, Optional, Any, Tuple
 from dataclasses import dataclass, field
 from enum import Enum
 
 from .utils import setup_logger
 
 logger = setup_logger(os.path.basename(__file__))
-
+MODULE_VER = "1.00"
 
 # ====================== Enums =====================
 
@@ -402,11 +402,18 @@ class VehicleViewRegistry:
     
     def __init__(self):
         self._vehicles: Dict[int, VehicleView] = {}
+        # 高頻讀取用 snapshot（弱一致性）
+        self._vehicles_snapshot_items: Tuple[Tuple[int, VehicleView], ...] = tuple()
+
+    def _refresh_snapshot(self) -> None:
+        """重建快照（僅在 key 集合變動時觸發）"""
+        self._vehicles_snapshot_items = tuple(self._vehicles.items())
     
     def register(self, sysid: int) -> VehicleView:
         """註冊新的載具視圖"""
         if sysid not in self._vehicles:
             self._vehicles[sysid] = VehicleView(sysid)
+            self._refresh_snapshot()
             logger.info(f"Registered new VehicleView for system {sysid}")
         return self._vehicles[sysid]
     
@@ -418,6 +425,7 @@ class VehicleViewRegistry:
         """註銷載具視圖"""
         if sysid in self._vehicles:
             del self._vehicles[sysid]
+            self._refresh_snapshot()
             logger.info(f"Unregistered VehicleView for system {sysid}")
             return True
         return False
@@ -425,10 +433,22 @@ class VehicleViewRegistry:
     def get_all(self) -> Dict[int, VehicleView]:
         """取得所有載具視圖"""
         return self._vehicles.copy()
+
+    def read_all(self) -> Tuple[Tuple[int, VehicleView], ...]:
+        """
+        高效讀取所有載具視圖快照（弱一致性）
+
+        注意:
+        - 回傳 immutable tuple 快照，適合高頻迭代
+        - 僅在 register/unregister/clear 後更新，可能不是最新資料
+        - 適合高頻讀取且可接受弱一致性的情境
+        """
+        return self._vehicles_snapshot_items
     
     def clear(self) -> None:
         """清空所有載具視圖"""
         self._vehicles.clear()
+        self._refresh_snapshot()
         logger.info("Cleared all VehicleViews")
     
     def __len__(self) -> int:
@@ -449,5 +469,8 @@ vehicle_registry = VehicleViewRegistry()
 2026.01.16
 1. 新增 重置指定組件的封包統計 功能
 
+2026.04.13
+1. 新增 VehicleViewRegistry.read_all 方法 讓 ROS2 Node 組件更有效率的讀取其中的資料
+
 '''
 

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -26,6 +26,7 @@ from .utils import setup_logger
 # ====================== 分割線 =====================
 
 logger = setup_logger(os.path.basename(__file__))
+MODULE_VER = "0.60"
 
 # ====================== 分割線 =====================
 

src/fc_network_apps/__init__.py

@@ -1,14 +1,10 @@
-from .longCommand import CommandLongClient, ChangeModeResult
+from .longCommand import CommandLongClient, CommandLongResult
-from .changeMode import change_mode
+from .navigation import PositionTargetGlobalIntClient, PositionTargetGlobalIntResult
-from .arm_disarm import arm_disarm
+
-from .takeoff import takeoff
-from .land import land
 
 __all__ = [
     "CommandLongClient",
-    "ChangeModeResult",
+    "PositionTargetGlobalIntClient",
-    "change_mode",
+    "CommandLongResult",
-    "arm_disarm",
+    "PositionTargetGlobalIntResult",
-    "takeoff",
-    "land",
 ]

src/fc_network_apps/arm_disarm.py

@@ -1,93 +0,0 @@
-"""Simple wrapper for arm/disarm via fc_network ROS2 service (MAV_CMD_COMPONENT_ARM_DISARM)."""
-
-from __future__ import annotations
-
-from dataclasses import dataclass
-from typing import Optional
-
-import rclpy
-from rclpy.node import Node
-
-from fc_interfaces.srv import MavCommandLong
-
-COMMAND_COMPONENT_ARM_DISARM = 400
-DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
-DEFAULT_TIMEOUT_SEC = 2.0
-
-
-@dataclass
-class ArmDisarmResult:
-    success: bool
-    message: str
-    ack_result: int
-
-
-def arm_disarm(
-    *,
-    target_sysid: int,
-    arm: bool,
-    target_compid: int = 0,
-    confirmation: int = 0,
-    param2: float = 0.0,
-    timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    service_name: str = DEFAULT_SERVICE_NAME,
-) -> ArmDisarmResult:
-    """One-shot MAV_CMD_COMPONENT_ARM_DISARM (400) wrapper.
-
-    param1: 1.0 to arm, 0.0 to disarm.
-    param2: usually 0. Some stacks use 21196 for force-arm (ArduPilot); pass via param2 if needed.
-    """
-    rclpy.init(args=None)
-    node: Optional[Node] = None
-    try:
-        node = Node("fc_arm_disarm_client_once")
-        client = node.create_client(MavCommandLong, service_name)
-
-        if not client.wait_for_service(timeout_sec=timeout_sec):
-            return ArmDisarmResult(
-                success=False,
-                message=f"Service not available: {service_name}",
-                ack_result=-1,
-            )
-
-        req = MavCommandLong.Request()
-        req.target_sysid = target_sysid
-        req.target_compid = target_compid
-        req.command = COMMAND_COMPONENT_ARM_DISARM
-        req.confirmation = confirmation
-        req.param1 = 1.0 if arm else 0.0
-        req.param2 = float(param2)
-        req.param3 = 0.0
-        req.param4 = 0.0
-        req.param5 = 0.0
-        req.param6 = 0.0
-        req.param7 = 0.0
-        req.timeout_sec = float(timeout_sec)
-
-        future = client.call_async(req)
-        rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0)
-        if not future.done() or future.result() is None:
-            return ArmDisarmResult(
-                success=False,
-                message="Service call timeout or no response.",
-                ack_result=-1,
-            )
-
-        response = future.result()
-        return ArmDisarmResult(
-            success=response.success,
-            message=response.message,
-            ack_result=response.ack_result,
-        )
-    finally:
-        if node is not None:
-            node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    r = arm_disarm(target_sysid=3, arm=True)
-    print(
-        f"arm_disarm success={r.success}, "
-        f"ack_result={r.ack_result}, message='{r.message}'"
-    )

src/fc_network_apps/changeMode.py

@@ -1,99 +0,0 @@
-"""Simple wrapper for mode change via fc_network ROS2 service.
-
-Reference CLI command:
-ros2 service call /fc_network/vehicle/send_command_long \
-  fc_interfaces/srv/MavCommandLong \
-  "{target_sysid: 3, target_compid: 0, command: 176, confirmation: 0, \
-    param1: 1, param2: 4, param3: 0, param4: 0, param5: 0, param6: 0, \
-    param7: 0, timeout_sec: 2}"
-"""
-
-from __future__ import annotations
-
-from dataclasses import dataclass
-from typing import Optional
-
-import rclpy
-from rclpy.node import Node
-
-from fc_interfaces.srv import MavCommandLong
-
-COMMAND_DO_SET_MODE = 176
-DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
-DEFAULT_TIMEOUT_SEC = 2.0
-
-@dataclass
-class ChangeModeResult:
-    """Return value for mode change requests."""
-
-    success: bool
-    message: str
-    ack_result: int
-
-def change_mode(
-    *,
-    target_sysid: int,
-    custom_mode: float,
-    target_compid: int = 0,
-    base_mode: float = 1.0,
-    confirmation: int = 0,
-    timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    service_name: str = DEFAULT_SERVICE_NAME,
-) -> ChangeModeResult:
-
-    """One-shot helper for collaborators who want minimal code."""
-    rclpy.init(args=None)
-    node: Optional[Node] = None
-    try:
-        node = Node("fc_change_mode_client_once")
-        client = node.create_client(MavCommandLong, service_name)
-
-        if not client.wait_for_service(timeout_sec=timeout_sec):
-            return ChangeModeResult(
-                success=False,
-                message=f"Service not available: {service_name}",
-                ack_result=-1,
-            )
-
-        req = MavCommandLong.Request()
-        req.target_sysid = target_sysid
-        req.target_compid = target_compid
-        req.command = COMMAND_DO_SET_MODE
-        req.confirmation = confirmation
-        req.param1 = float(base_mode)
-        req.param2 = float(custom_mode)
-        req.param3 = 0.0
-        req.param4 = 0.0
-        req.param5 = 0.0
-        req.param6 = 0.0
-        req.param7 = 0.0
-        req.timeout_sec = float(timeout_sec)
-
-        future = client.call_async(req)
-        rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0)
-        if not future.done() or future.result() is None:
-            return ChangeModeResult(
-                success=False,
-                message="Service call timeout or no response.",
-                ack_result=-1,
-            )
-
-        response = future.result()
-        return ChangeModeResult(
-            success=response.success,
-            message=response.message,
-            ack_result=response.ack_result,
-        )
-    finally:
-        if node is not None:
-            node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    # Example values are aligned with your terminal command.
-    result = change_mode(target_sysid=3, custom_mode=4)
-    print(
-        f"change_mode success={result.success}, "
-        f"ack_result={result.ack_result}, message='{result.message}'"
-    )

src/fc_network_apps/land.py

@@ -1,90 +0,0 @@
-"""Simple wrapper for land via fc_network ROS2 service."""
-
-from __future__ import annotations
-
-from dataclasses import dataclass
-from typing import Optional
-
-import rclpy
-from rclpy.node import Node
-
-from fc_interfaces.srv import MavCommandLong
-
-COMMAND_NAV_LAND = 21
-DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
-DEFAULT_TIMEOUT_SEC = 2.0
-
-
-@dataclass
-class LandResult:
-    success: bool
-    message: str
-    ack_result: int
-
-
-def land(
-    *,
-    target_sysid: int,
-    target_compid: int = 0,
-    yaw_deg: float = 0.0,
-    latitude: Optional[float] = None,
-    longitude: Optional[float] = None,
-    altitude_m: float = 0.0,
-    timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    service_name: str = DEFAULT_SERVICE_NAME,
-) -> LandResult:
-    """One-shot MAV_CMD_NAV_LAND wrapper."""
-    rclpy.init(args=None)
-    node: Optional[Node] = None
-    try:
-        node = Node("fc_land_client_once")
-        client = node.create_client(MavCommandLong, service_name)
-
-        if not client.wait_for_service(timeout_sec=timeout_sec):
-            return LandResult(
-                success=False,
-                message=f"Service not available: {service_name}",
-                ack_result=-1,
-            )
-
-        req = MavCommandLong.Request()
-        req.target_sysid = target_sysid
-        req.target_compid = target_compid
-        req.command = COMMAND_NAV_LAND
-        req.confirmation = 0
-        req.param1 = 0.0
-        req.param2 = 0.0
-        req.param3 = 0.0
-        req.param4 = float(yaw_deg)
-        req.param5 = float(latitude) if latitude is not None else 0.0
-        req.param6 = float(longitude) if longitude is not None else 0.0
-        req.param7 = float(altitude_m)
-        req.timeout_sec = float(timeout_sec)
-
-        future = client.call_async(req)
-        rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0)
-        if not future.done() or future.result() is None:
-            return LandResult(
-                success=False,
-                message="Service call timeout or no response.",
-                ack_result=-1,
-            )
-
-        response = future.result()
-        return LandResult(
-            success=response.success,
-            message=response.message,
-            ack_result=response.ack_result,
-        )
-    finally:
-        if node is not None:
-            node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    result = land(target_sysid=3)
-    print(
-        f"land success={result.success}, "
-        f"ack_result={result.ack_result}, message='{result.message}'"
-    )

src/fc_network_apps/longCommand.py

@@ -25,10 +25,6 @@ class CommandLongResult:
     message: str
     ack_result: int
 
-
-ChangeModeResult = CommandLongResult
-
-
 class CommandLongClient(Node):
     """ROS2 client : 對同一個 send_command_long service 發送各種 MAV_CMD_*。"""
 

src/fc_network_apps/navigation.py

@@ -99,7 +99,6 @@ def _echo_position_target_matches(
 @dataclass
 class PositionTargetGlobalIntResult:
     """對應 MavPositionTargetGlobalInt.srv 的 Response；success 依「送出與 r_* echo 是否一致」。"""
-
     success: bool
     message: str
     ack_result: int
@@ -117,7 +116,6 @@ class PositionTargetGlobalIntResult:
     r_yaw: float = 0.0
     r_yaw_rate: float = 0.0
 
-
 class PositionTargetGlobalIntClient(Node):
     """
     ROS2 client：對 pos_global_int service 發送 SET_POSITION_TARGET_GLOBAL_INT (msg 86)，
@@ -230,51 +228,6 @@ class PositionTargetGlobalIntClient(Node):
             r_yaw_rate=float(resp.r_yaw_rate),
         )
 
-    # def set_position_target_global_int(
-    #     self,
-    #     *,
-    #     target_sysid: int,
-    #     target_compid: int = 0,
-    #     time_boot_ms: int = 0,
-    #     coordinate_frame: int = 6,
-    #     type_mask: int = 0,
-    #     lat_int: int = 0,
-    #     lon_int: int = 0,
-    #     alt: float = 0.0,
-    #     vx: float = 0.0,
-    #     vy: float = 0.0,
-    #     vz: float = 0.0,
-    #     afx: float = 0.0,
-    #     afy: float = 0.0,
-    #     afz: float = 0.0,
-    #     yaw: float = 0.0,
-    #     yaw_rate: float = 0.0,
-    #     timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    # ) -> PositionTargetGlobalIntResult:
-    #     """
-    #     送出 SET_POSITION_TARGET_GLOBAL_INT；coordinate_frame 預設 6 (MAV_FRAME_GLOBAL_INT)
-    #     可依飛控／任務覆寫。
-    #     """
-    #     return self._send_position_target_global_int(
-    #         target_sysid=target_sysid,
-    #         target_compid=target_compid,
-    #         time_boot_ms=time_boot_ms,
-    #         coordinate_frame=coordinate_frame,
-    #         type_mask=type_mask,
-    #         lat_int=lat_int,
-    #         lon_int=lon_int,
-    #         alt=alt,
-    #         vx=vx,
-    #         vy=vy,
-    #         vz=vz,
-    #         afx=afx,
-    #         afy=afy,
-    #         afz=afz,
-    #         yaw=yaw,
-    #         yaw_rate=yaw_rate,
-    #         timeout_sec=timeout_sec,
-    #     )
-
     def goto_position_only(
         self,
         *,
@@ -307,47 +260,3 @@ class PositionTargetGlobalIntClient(Node):
             yaw_rate=0,
             timeout_sec=timeout_sec,
         )
-
-    # def set_position_target_global_int_deg(
-    #     self,
-    #     *,
-    #     target_sysid: int,
-    #     latitude_deg: float,
-    #     longitude_deg: float,
-    #     target_compid: int = 0,
-    #     time_boot_ms: int = 0,
-    #     coordinate_frame: int = MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
-    #     type_mask: int = 0,
-    #     alt: float = 0.0,
-    #     vx: float = 0.0,
-    #     vy: float = 0.0,
-    #     vz: float = 0.0,
-    #     afx: float = 0.0,
-    #     afy: float = 0.0,
-    #     afz: float = 0.0,
-    #     yaw: float = 0.0,
-    #     yaw_rate: float = 0.0,
-    #     timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    # ) -> PositionTargetGlobalIntResult:
-    #     """以度為單位的緯經，轉成 MAVLink 的 lat_int / lon_int (1e7 * deg)。"""
-    #     lat_int = int(round(latitude_deg * 1e7))
-    #     lon_int = int(round(longitude_deg * 1e7))
-    #     return self.set_position_target_global_int(
-    #         target_sysid=target_sysid,
-    #         target_compid=target_compid,
-    #         time_boot_ms=time_boot_ms,
-    #         coordinate_frame=coordinate_frame,
-    #         type_mask=type_mask,
-    #         lat_int=lat_int,
-    #         lon_int=lon_int,
-    #         alt=alt,
-    #         vx=vx,
-    #         vy=vy,
-    #         vz=vz,
-    #         afx=afx,
-    #         afy=afy,
-    #         afz=afz,
-    #         yaw=yaw,
-    #         yaw_rate=yaw_rate,
-    #         timeout_sec=timeout_sec,
-    #     )

src/fc_network_apps/takeoff.py

@@ -1,91 +0,0 @@
-"""Simple wrapper for takeoff via fc_network ROS2 service."""
-
-from __future__ import annotations
-
-from dataclasses import dataclass
-from typing import Optional
-
-import rclpy
-from rclpy.node import Node
-
-from fc_interfaces.srv import MavCommandLong
-
-COMMAND_NAV_TAKEOFF = 22
-DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
-DEFAULT_TIMEOUT_SEC = 2.0
-
-
-@dataclass
-class TakeoffResult:
-    success: bool
-    message: str
-    ack_result: int
-
-
-def takeoff(
-    *,
-    target_sysid: int,
-    altitude_m: float,
-    target_compid: int = 0,
-    min_pitch_deg: float = 0.0,
-    yaw_deg: float = 0.0,
-    latitude: Optional[float] = None,
-    longitude: Optional[float] = None,
-    timeout_sec: float = DEFAULT_TIMEOUT_SEC,
-    service_name: str = DEFAULT_SERVICE_NAME,
-) -> TakeoffResult:
-    """One-shot MAV_CMD_NAV_TAKEOFF wrapper."""
-    rclpy.init(args=None)
-    node: Optional[Node] = None
-    try:
-        node = Node("fc_takeoff_client_once")
-        client = node.create_client(MavCommandLong, service_name)
-
-        if not client.wait_for_service(timeout_sec=timeout_sec):
-            return TakeoffResult(
-                success=False,
-                message=f"Service not available: {service_name}",
-                ack_result=-1,
-            )
-
-        req = MavCommandLong.Request()
-        req.target_sysid = target_sysid
-        req.target_compid = target_compid
-        req.command = COMMAND_NAV_TAKEOFF
-        req.confirmation = 0
-        req.param1 = float(min_pitch_deg)
-        req.param2 = 0.0
-        req.param3 = 0.0
-        req.param4 = float(yaw_deg)
-        req.param5 = float(latitude) if latitude is not None else 0.0
-        req.param6 = float(longitude) if longitude is not None else 0.0
-        req.param7 = float(altitude_m)
-        req.timeout_sec = float(timeout_sec)
-
-        future = client.call_async(req)
-        rclpy.spin_until_future_complete(node, future, timeout_sec=timeout_sec + 1.0)
-        if not future.done() or future.result() is None:
-            return TakeoffResult(
-                success=False,
-                message="Service call timeout or no response.",
-                ack_result=-1,
-            )
-
-        response = future.result()
-        return TakeoffResult(
-            success=response.success,
-            message=response.message,
-            ack_result=response.ack_result,
-        )
-    finally:
-        if node is not None:
-            node.destroy_node()
-        rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    result = takeoff(target_sysid=3, altitude_m=10.0)
-    print(
-        f"takeoff success={result.success}, "
-        f"ack_result={result.ack_result}, message='{result.message}'"
-    )

src/someotherpkg/src/example2_change_mode.py

@@ -1,55 +0,0 @@
-
-
-from fc_network_apps import CommandLongClient
-import time
-
-def main():
-    # Equivalent to:
-    # ros2 service call /fc_network/vehicle/send_command_long ... param1:1 param2:4
-    commandAPI = CommandLongClient()
-    result = commandAPI.change_mode(
-        target_sysid=3,
-        target_compid=0,
-        base_mode=1.0,
-        custom_mode=4.0,
-        timeout_sec=2.0,
-    )
-
-    print("=== change mode result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-    time.sleep(1)
-
-    result = commandAPI.change_mode(
-        target_sysid=3,
-        target_compid=0,
-        base_mode=1.0,
-        custom_mode=3.0,
-        timeout_sec=2.0,
-    )
-
-    print("=== change mode result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-    time.sleep(1)
-    
-    result = commandAPI.change_mode(
-        target_sysid=3,
-        target_compid=0,
-        base_mode=1.0,
-        custom_mode=5.0,
-        timeout_sec=2.0,
-    )
-
-    print("=== change mode result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-
-if __name__ == "__main__":
-    main()

src/someotherpkg/src/example_arm_disarm.py

@@ -1,30 +0,0 @@
-"""Usage example for arm/disarm helper.
-
-Run from repo root with module mode:
-    python -m someotherpkg.src.example_arm_disarm
-"""
-
-from fc_network_apps import arm_disarm
-
-
-def main() -> None:
-    # MAV_CMD_COMPONENT_ARM_DISARM (command=400)
-    # param1: 1 = arm, 0 = disarm
-    result = arm_disarm(
-        target_sysid=3,
-        target_compid=0,
-        arm=True,
-        timeout_sec=2.0,
-    )
-
-    print("=== arm result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-    # To disarm instead:
-    # result = arm_disarm(target_sysid=3, target_compid=0, arm=False, timeout_sec=2.0)
-
-
-if __name__ == "__main__":
-    main()

src/someotherpkg/src/example_change_mode.py

@@ -1,29 +0,0 @@
-"""Usage example for collaborators.
-
-Run after sourcing your ROS2 workspace:
-    source install/local_setup.bash
-    python src/fc_network_apps/example_change_mode.py
-"""
-
-from fc_network_apps import change_mode
-
-
-def main() -> None:
-    # Equivalent to:
-    # ros2 service call /fc_network/vehicle/send_command_long ... param1:1 param2:4
-    result = change_mode(
-        target_sysid=3,
-        target_compid=0,
-        base_mode=1.0,
-        custom_mode=4.0,
-        timeout_sec=2.0,
-    )
-
-    print("=== change mode result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-
-if __name__ == "__main__":
-    main()

src/someotherpkg/src/example_land.py

@@ -1,27 +0,0 @@
-"""Usage example for land helper.
-
-Run from repo root with module mode:
-    python -m someotherpkg.src.example_land
-"""
-
-from fc_network_apps import land
-
-
-def main() -> None:
-    # MAV_CMD_NAV_LAND (command=21)
-    # This example asks vehicle sysid=3 to land.
-    result = land(
-        target_sysid=3,
-        target_compid=0,
-        yaw_deg=0.0,
-        timeout_sec=2.0,
-    )
-
-    print("=== land result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-
-if __name__ == "__main__":
-    main()

src/someotherpkg/src/example_position_goto.py

@@ -1,48 +0,0 @@
-
-
-from __future__ import annotations
-
-from fc_network_apps.navigation import PositionTargetGlobalIntClient
-import time
-
-def main() -> None:
-    # 目標載具 system id（依你的連線修改）
-    target_sysid = 3
-
-    nav = PositionTargetGlobalIntClient()
-    if not nav.wait_for_service(timeout_sec=5.0):
-        print("Service /fc_network/vehicle/pos_global_int not available.")
-        return
-
-    result_deg = nav.goto_position_only(
-        target_sysid=target_sysid,
-        latitude_deg=-35.376655,
-        longitude_deg=149.157011,
-        alt=200.0,
-        timeout_sec=3.0,
-    )
-    print("=== set_position_target_global_int_deg ===")
-    print(f"success   : {result_deg.success}")
-    print(f"ack_result: {result_deg.ack_result}")
-    print(f"message   : {result_deg.message}")
-    print(f"r_lat_int : {result_deg.r_lat_int}  r_lon_int: {result_deg.r_lon_int}")
-
-
-    time.sleep(180)
-
-    result_deg = nav.goto_position_only(
-        target_sysid=target_sysid,
-        latitude_deg=-35.3632621,
-        longitude_deg=149.1652375,
-        alt=100.0,
-        timeout_sec=3.0,
-    )
-    print("=== set_position_target_global_int_deg ===")
-    print(f"success   : {result_deg.success}")
-    print(f"ack_result: {result_deg.ack_result}")
-    print(f"message   : {result_deg.message}")
-    print(f"r_lat_int : {result_deg.r_lat_int}  r_lon_int: {result_deg.r_lon_int}")
-
-
-if __name__ == "__main__":
-    main()

src/someotherpkg/src/example_takeoff.py

@@ -1,28 +0,0 @@
-"""Usage example for takeoff helper.
-
-Run from repo root with module mode:
-    python -m someotherpkg.src.example_takeoff
-"""
-
-from fc_network_apps import takeoff
-
-
-def main() -> None:
-    # MAV_CMD_NAV_TAKEOFF (command=22)
-    # This example asks vehicle sysid=3 to take off to 10 meters.
-    result = takeoff(
-        target_sysid=3,
-        target_compid=0,
-        altitude_m=10.0,
-        yaw_deg=0.0,
-        timeout_sec=2.0,
-    )
-
-    print("=== takeoff result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-
-if __name__ == "__main__":
-    main()

src/someotherpkg/src/example_takeoff_land.py

@@ -1,64 +0,0 @@
-
-from fc_network_apps import CommandLongClient
-import time
-
-def main():
-    # Equivalent to:
-    # ros2 service call /fc_network/vehicle/send_command_long ... param1:1 param2:4
-    commandAPI = CommandLongClient()
-
-    result = commandAPI.change_mode(
-        target_sysid=3,
-        target_compid=0,
-        base_mode=1.0,
-        custom_mode=4.0,
-        timeout_sec=3.0,
-    )
-
-    print("=== change mode result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-    time.sleep(3)
-
-    result = commandAPI.arm_disarm(
-        target_sysid=3,
-        target_compid=0,
-        arm = True,
-    )
-
-    print("=== change mode result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-    time.sleep(1)
-
-    result = commandAPI.takeoff(
-        target_sysid=3,
-        target_compid=0,
-        altitude_m = 30.0,
-    )
-
-    print("=== change mode result ===")
-    print(f"success   : {result.success}")
-    print(f"ack_result: {result.ack_result}")
-    print(f"message   : {result.message}")
-
-    # time.sleep(20)
-
-    # result = commandAPI.land(
-    #     target_sysid=3,
-    #     target_compid=0,
-    # )
-
-    # print("=== change mode result ===")
-    # print(f"success   : {result.success}")
-    # print(f"ack_result: {result.ack_result}")
-    # print(f"message   : {result.message}")
-
-
-
-if __name__ == "__main__":
-    main()

src/someotherpkg/src/example_wholeMoving.py

@@ -0,0 +1,111 @@
+
+
+import fc_network_apps as fap
+import time
+
+def main():
+    commandAPI = fap.CommandLongClient()
+    navAPI = fap.PositionTargetGlobalIntClient()
+
+    target_sysid = 3
+
+
+    print("=== change mode ===")
+    result = fap.CommandLongResult(success=False,message="",ack_result=-1)
+    while not result.success:
+        result.ack_result -= 1
+        result = commandAPI.change_mode(
+            target_sysid=target_sysid,
+            base_mode=1.0,
+            custom_mode=4.0,
+            timeout_sec=3.0,
+        )
+        print(f"success   : {result.success}")
+        print(f"ack_result: {result.ack_result}")
+        print(f"message   : {result.message}")
+        time.sleep(1)
+        if result.ack_result < -3:
+            return
+
+    print("=== arm vehicle ===")
+    result = fap.CommandLongResult(success=False,message="",ack_result=-1)
+    while not result.success:
+        result.ack_result -= 1
+        result = commandAPI.arm_disarm(
+            target_sysid=target_sysid,
+            arm = True,
+        )
+        print(f"success   : {result.success}")
+        print(f"ack_result: {result.ack_result}")
+        print(f"message   : {result.message}")
+        time.sleep(1)
+        if result.ack_result < -3:
+            return
+
+    print("=== takeoff ===")
+    result = fap.CommandLongResult(success=False,message="",ack_result=-1)
+    while not result.success:
+        result.ack_result -= 1
+        result = commandAPI.takeoff(
+            target_sysid=target_sysid,
+            altitude_m = 100.0,
+        )
+        print(f"success   : {result.success}")
+        print(f"ack_result: {result.ack_result}")
+        print(f"message   : {result.message}")
+        time.sleep(1)
+        if result.ack_result < -3:
+            return
+
+
+    time.sleep(15)
+
+    print("=== set_position_target_global_int_deg ===")
+    result_deg = navAPI.goto_position_only(
+        target_sysid=target_sysid,
+        latitude_deg=-35.376655,
+        longitude_deg=149.157011,
+        alt=150.0,
+        timeout_sec=3.0,
+    )
+    print(f"success   : {result_deg.success}")
+    print(f"ack_result: {result_deg.ack_result}")
+    print(f"message   : {result_deg.message}")
+    print(f"r_lat_int : {result_deg.r_lat_int}  r_lon_int: {result_deg.r_lon_int}")
+
+    time.sleep(180)
+
+    result_deg = navAPI.goto_position_only(
+        target_sysid=target_sysid,
+        latitude_deg=-35.3632621,
+        longitude_deg=149.1652375,
+        alt=100.0,
+        timeout_sec=3.0,
+    )
+    print("=== set_position_target_global_int_deg ===")
+    print(f"success   : {result_deg.success}")
+    print(f"ack_result: {result_deg.ack_result}")
+    print(f"message   : {result_deg.message}")
+    print(f"r_lat_int : {result_deg.r_lat_int}  r_lon_int: {result_deg.r_lon_int}")
+
+    time.sleep(180)
+
+    print("=== land ===")
+    result = fap.CommandLongResult(success=False,message="",ack_result=-1)
+    while not result.success:
+        result.ack_result -= 1
+        result = commandAPI.land(
+            target_sysid=3,
+            target_compid=0,
+        )
+        print(f"success   : {result.success}")
+        print(f"ack_result: {result.ack_result}")
+        print(f"message   : {result.message}")
+        time.sleep(1)
+        if result.ack_result < -3:
+            return
+
+if __name__ == "__main__":
+    main()
+
+

src/unitdev02/unitdev02/devnote.txt

@@ -35,7 +35,6 @@ ros2 topic echo
 
 mavproxy.py --master=tcp:127.0.0.1:5790 --out=udp:127.0.0.1:14560
 
-
 ros2 service call /mavlink/add_two_ints example_interfaces/srv/AddTwoInts "{a: 5,b: 8}"
 ros2 service call /fc_network/vehicle/mav_ping fc_interfaces/srv/MavPing "{target_sysid: 3, target_compid: 0, ping_seq: 1}"
 
@@ -49,16 +48,7 @@ sudo tcpdump -i lo 'udp dst port 14561' -X
 sudo tcpdump -i lo 'udp dst port 14550' -X -vv
 sudo tcpdump -i lo -X udp port 14550
 
-
+幾個要討論的
-colcon build --packages-select fc_interfaces
+1. 專案文件中 .mat 檔案是幹嘛的?
-
+2. GUI 的 print [Panel/Map Update] 11 Hz 希望關閉
-
+3. readme 那串文字來源? 用途?
-
--35.360150, 149.159659
--35.376655, 149.157011
-
-0b00 0000 00000 00000
-
-0b00 0011 01111 11000
-0b     11 01111 11000
-0b 1111 1101 1111 1000