1. (modify) acquireSerial.py 撈取多個端口字串功能

2. (modify) 調整面板的顯示字串
3. (remove) serial_udp_bitrans.py 用不到了

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -21,6 +21,7 @@ from pymavlink import mavutil
 # 自定義的 import
 from . import mavlinkObject as mo
 from . import serialManager as sm
+from . import mavlinkVehicleView as mvv
 
 from .utils import RingBuffer, setup_logger
 from .utils import acquireSerial, acquirePort
@@ -142,7 +143,7 @@ class ControlPanel:
         children = []
         
         if not state.socket_object_list:
-            children.append(MenuNode("(空)", "目前沒有連結口", None))
+            children.append(MenuNode("(Empty)", "目前沒有連結口", None))
         else:
             total_items = len(state.socket_object_list)
             total_pages = (total_items + items_per_page - 1) // items_per_page
@@ -158,7 +159,7 @@ class ControlPanel:
                     MenuNode("Cancel Link", "取消轉發連結", "MAVOBJ_CANCEL_LINK"),
                     MenuNode("Add Target", "添加轉發目標(工程)", "MAVOBJ_ADD_TARGET"),
                     MenuNode("Remove", "移除此連結口", "REMOVE_MAV_OBJECT"),
-                    MenuNode("返回", "回到列表", "BACK"),
+                    MenuNode("GoUp", "回到列表", "BACK"),
                 ])
                 # 將 socket_id 附加到每個子選單項目上
                 for child in obj_menu.children:
@@ -177,7 +178,7 @@ class ControlPanel:
                     next_node.page = page + 1
                     children.append(next_node)
 
-        children.append(MenuNode("返回", "回到上層選單", "BACK"))
+        children.append(MenuNode("GoUp", "回到上層選單", "BACK"))
         menu = MenuNode("Object List", f"連結口列表 (第 {page + 1} 頁)", children=children)
         menu.current_page = page
         return menu
@@ -294,10 +295,10 @@ class ControlPanel:
         
         # 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*')
+        serial_ports = acquireSerial.get_serial_ports_with_filter(['/dev/ttyUSB*', '/dev/ttyACM*'])
         
         if not serial_ports:
-            children.append(MenuNode("(空)", "目前沒有串口設備", None))
+            children.append(MenuNode("(Empty)", "目前沒有串口設備", None))
         else:
             total_items = len(serial_ports)
             total_pages = (total_items + items_per_page - 1) // items_per_page
@@ -312,12 +313,12 @@ class ControlPanel:
                         # MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
                     ]),
                     MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"),
-                    MenuNode("Link to Middleware", "方便功能 可以直接建立 UDP object", "LINK_SERIAL_TO_MIDDLEWARE_UDP", children=[
+                    MenuNode("Link to MW", "直接建立 Middleware UDP", "LINK_SERIAL_TO_MIDDLEWARE_UDP", children=[
                         MenuNode("Yes", action = "LINK_SERIAL_TO_MIDDLEWARE_UDP_YES"),
                         MenuNode("No",  action = "LINK_SERIAL_TO_MIDDLEWARE_UDP_NO"),
                     ]),
                     MenuNode("Create", "建立此串口", "CREATE_SERIAL_PORT"),
-                    MenuNode("返回", "回到列表", "BACK"),
+                    MenuNode("GoUp", "回到列表", "BACK"),
                 ])
                 # 將 port 附加到每個子選單項目上
                 for child in port_menu.children:
@@ -336,7 +337,7 @@ class ControlPanel:
                     next_node.page = page + 1
                     children.append(next_node)
         
-        children.append(MenuNode("返回", "回到上層選單", "BACK"))
+        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
         return menu
@@ -346,7 +347,7 @@ class ControlPanel:
         children = []
         
         if not state.linked_serial_dict:
-            children.append(MenuNode("(空)", "目前沒有連結口", None))
+            children.append(MenuNode("(Empty)", "目前沒有連結口", None))
         else:
             total_items = len(state.linked_serial_dict)
             total_pages = (total_items + items_per_page - 1) // items_per_page
@@ -361,7 +362,7 @@ class ControlPanel:
                     MenuNode("Info", "查看詳細資訊", "INSPECT_LINKED_SERIAL"),
                     MenuNode("Remove", "移除此連結口", "REMOVE_LINKED_SERIAL"),
                     # MenuNode("Change UDP Target", "變更目標 UDP (工程)", "CHANGE_LINKED_SERIAL_TARGET"),
-                    MenuNode("返回", "回到列表", "BACK"),
+                    MenuNode("GoUp", "回到列表", "BACK"),
                 ])
                 # 將 serial_id 附加到每個子選單項目上
                 for child in obj_menu.children:
@@ -380,7 +381,7 @@ class ControlPanel:
                     next_node.page = page + 1
                     children.append(next_node)
         
-        children.append(MenuNode("返回", "回到上層選單", "BACK"))
+        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
         return menu
@@ -435,6 +436,49 @@ class ControlPanel:
         stdscr.clear()
         stdscr.refresh()
 
+# ================ 關於載具檢視的部份 ===================
+
+    def create_vehicles_list_menu(self, state: PanelState, page=0, items_per_page=8):
+        """動態創建 已連線載具 列表選單（支持分頁）"""
+        children = []
+        
+        if not state.connected_vehicles_dict:
+            children.append(MenuNode("(Empty)", "目前沒有已連線的載具", None))
+        else:
+            total_items = len(state.connected_vehicles_dict)
+            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 = list(state.connected_vehicles_dict.keys())
+            # 顯示當前頁的物件
+            for vehicle_id in vehicle_id_list[start_idx:end_idx]:
+                vehicle_menu = MenuNode(f"Vehicle #{vehicle_id}", f"載具 {vehicle_id}", None, children=[
+                    MenuNode("Info", "查看詳細資訊", "INSPECT_VEHICLE"),
+                    MenuNode("GoUp", "回到列表", "BACK"),
+                ])
+                # 將 vehicle_id 附加到每個子選單項目上
+                for child in vehicle_menu.children:
+                    child.vehicle_id = vehicle_id
+                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))
+                if page > 0:
+                    prev_node = MenuNode("◀ Prev", "上頁", "PREV_PAGE")
+                    prev_node.page = page - 1
+                    children.append(prev_node)
+                if page < total_pages - 1:
+                    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
+        return menu
+
 # ================ 關於 主要選單 的部份 ===================
 
     def menu_tree(self):
@@ -457,8 +501,9 @@ class ControlPanel:
                 ]),
                 MenuNode("Serial Manager", "Serial 連接埠選項", children=[
                     MenuNode("New+", "新增 Serial 連接埠", action = "LIST_SERIAL_RES"),
-                    MenuNode("ListAll", "顯示已連線的 Serial", action = "LIST_SERIAL_LINKS"),
+                    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"), 
@@ -865,6 +910,8 @@ class Orchestrator:
         self.stop_evt = stop_sig # 外部操作去中斷 "面板" 執行緒的訊號 (內部自己停止的話不需要用這個)
         self.occupied_ip_ports = {} # 紀錄已被佔用的 ip:port 組合 "ip str" : [port int, port int, ...]
 
+        self.vehicle_registry = mvv.vehicle_registry
+
         # === 1) 面板部分的準備 ===
         self.cmd_q = queue.Queue()
         self.panelState = PanelState() # 面板的狀態儲存

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -237,7 +237,7 @@ class SerialHandler(asyncio.Protocol): # asyncio.Protocol 用於處理 Serial
                 # 處理 AT Command 回應
                 # response = XBeeFrameHandler.parse_at_command_response(an_frame)
                 # self.at_handler.handle_response(response)
-                pass # debug
+                pass
                 
             elif frame_type == 0x90:
                 # Receive Packet (RX) payload 先解碼 
@@ -279,16 +279,6 @@ class SerialHandler(asyncio.Protocol): # asyncio.Protocol 用於處理 Serial
             #         print(f"[{self.serial_port}] DB 指令失敗，狀態碼: {status}")
         
 
-    # def write_to_serial(self, data):
-    #     # 在資料透過 Serial 發送之前進行處理
-    #     processed_data = self.encapsulate_data(data)
-
-    #     # 處理失敗就不發送
-    #     if processed_data not None:
-    #         self.transport.write(processed_data)
-
-
-
 class UDPHandler(asyncio.DatagramProtocol): # asyncio.DatagramProtocol 用於處理 UDP 收發
     
     LOCAL_HOST_IP = '127.0.0.1'  # 只送給本地端IP
@@ -311,7 +301,7 @@ class UDPHandler(asyncio.DatagramProtocol): # asyncio.DatagramProtocol 用於處
     # UDP 收到資料的處理過程
     def datagram_received(self, data, addr):
         # 儲存對方的地址（這樣就能向同一個來源回傳數據）
-        # self.remote_addr = addr
+        # self.remote_addr = addr # debug
         # print(f"Received UDP data from {addr}, setting as remote address")
         
         processed_data = XBeeFrameHandler.encapsulate_data(data)
@@ -319,18 +309,6 @@ class UDPHandler(asyncio.DatagramProtocol): # asyncio.DatagramProtocol 用於處
         if self.serial_handler:
             self.serial_handler.transport.write(processed_data)
     
-
-    # def send_udp(self, data):
-    #     # 藉由 UDP 發送資料出去
-
-    #     # 在透過 UDP 發送數據之前進行解封裝
-    #     decoded_data = self.decapsulate_data(data)
-    #     if decoded_data is None:
-    #         return
-        
-    #     if self.transport:
-    #         self.transport.sendto(decoded_data, (self.LOCAL_HOST_IP, self.target_port))
-    
 #==================================================================
 
 class SerialReceiverType(Enum):

src/fc_network_adapter/fc_network_adapter/serial_udp_bitrans.py

@@ -1,340 +0,0 @@
-import asyncio
-import serial_asyncio
-
-# 附加驗證功能
-import os
-import sys
-import serial
-import signal
-
-# XBee 模組
-from xbee.frame import APIFrame
-
-# =========================
-
-SERIAL_PORT = '/dev/ttyACM0'   # serial port
-SERIAL_BAUDRATE = 57600       # serial baudrate
-
-UDP_REMOTE_IP = '127.0.0.1' # UDP Target IP
-UDP_REMOTE_PORT = 14550         # UDP Target port
-
-# 測試用 只會吃一次資料
-DEBUG_MODE = False
-
-# =========================
-
-def check_serial_port():
-    """檢查串口是否存在與可用"""
-    # 檢查設備是否存在
-    if not os.path.exists(SERIAL_PORT):
-        print(f"錯誤：串口設備 {SERIAL_PORT} 不存在")
-        return False
-        
-    # 檢查是否有權限訪問設備
-    try:
-        os.access(SERIAL_PORT, os.R_OK | os.W_OK)
-    except Exception as e:
-        print(f"錯誤：無法訪問串口設備 {SERIAL_PORT}：{str(e)}")
-        return False
-    
-    # 檢查是否被占用
-    try:
-        # 嘗試打開串口
-        ser = serial.Serial(SERIAL_PORT, SERIAL_BAUDRATE)
-        ser.close()  # 打開成功後立即關閉
-        return True
-    except serial.SerialException as e:
-        print(f"錯誤：串口設備 {SERIAL_PORT} 被占用或無法訪問：{str(e)}")
-        return False
-    except Exception as e:
-        print(f"錯誤：檢查串口時發生未知錯誤：{str(e)}")
-        return False
-
-# =========================
-
-class SerialToUDP(asyncio.Protocol): # asyncio.Protocol 用於處理 Serial 收發
-    def __init__(self, udp_protocol):
-        self.udp_protocol = udp_protocol
-        self.first_data = True  # 標記是否為第一次收到資料
-        self.has_processed = False # 測試模式用 處理數據旗標 # debug
-
-    def connection_made(self, transport):
-        self.transport = transport
-        if hasattr(self.udp_protocol, 'set_serial_transport'):
-            self.udp_protocol.set_serial_transport(self)
-        print(f"Serial connection established on {SERIAL_PORT}")
-
-    ## =====================================
-
-    # Serial 收到資料，轉發到 UDP
-    def data_received(self, data):
-        # 在 DEBUG 模式下，如果已經處理過數據，則直接返回 # debug
-        if DEBUG_MODE and self.has_processed:
-            return
-
-        # 標記首次收到資料
-        if hasattr(self.udp_protocol, 'send_udp'):
-            if self.first_data:
-                print(f"First data received from serial, forwarding to UDP: {data[:20]}...")
-                self.first_data = False
-
-        # 轉發數據
-        self.udp_protocol.send_udp(data)
-
-        if DEBUG_MODE:  # 測試模式用 # debug
-            self.has_processed = True
-            print("[DEBUG] SerialToUDP Mark")
-
-    def write_to_serial(self, data):
-        # 在資料透過 Serial 發送之前進行處理
-        processed_data = self.encapsulate_data(data)
-
-        # 處理失敗就不發送
-        if processed_data not None:
-            self.transport.write(processed_data)
-
-    def encapsulate_data(self, data):
-
-        """
-        將數據封裝為 XBee API 傳輸幀
-        
-        使用 XBee API 格式封裝數據:
-        - 傳輸請求幀 (0x10)
-        - 使用廣播地址
-        - 添加適當的頭部和校驗和
-        """
-
-        ## 方法一
-        # 設置幀參數
-        frame_id = 0x01          # 幀識別碼，用於確認
-        frame_type = 0x10        # 幀類型：傳輸請求
-        dest_addr64 = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'  # 64位目標地址 (廣播)
-        dest_addr16 = b'\xFF\xFE'  # 16位目標地址 (未知/廣播)
-        broadcast_radius = 0x00  # 廣播半徑 (0 = 最大)
-        options = 0x00           # 傳輸選項
-        
-        # 構建幀數據部分
-        frame_data = bytearray()
-        frame_data.append(frame_type)     # 添加幀類型
-        frame_data.append(frame_id)       # 添加幀 ID
-        frame_data.extend(dest_addr64)    # 添加 64 位目標地址
-        frame_data.extend(dest_addr16)    # 添加 16 位目標地址
-        frame_data.append(broadcast_radius)  # 添加廣播半徑
-        frame_data.append(options)        # 添加選項
-        frame_data.extend(data)           # 添加實際數據內容
-        
-        # 計算校驗和 (0xFF 減去所有字節的總和的最低 8 位)
-        checksum = 0xFF - (sum(frame_data) & 0xFF)
-        
-        # 構建完整的 API 幀
-        # 起始分隔符 + 長度 (兩字節) + 幀數據 + 校驗和
-        complete_frame = bytearray()
-        complete_frame.append(0x7E)                          # 添加起始分隔符
-        complete_frame.extend(struct.pack(">H", len(frame_data)))  # 添加長度 (高位優先)
-        complete_frame.extend(frame_data)                    # 添加幀數據
-        complete_frame.append(checksum)                      # 添加校驗和
-        
-        return bytes(complete_frame)
-
-        ## 方法二
-        # frame_id=0x01
-        # frame_type = 0x10
-        # dest_addr64 = b'\x00\x00\x00\x00\x00\x00\xFF\xFF'  # 廣播
-        # dest_addr16 = b'\xFF\xFE'
-        # broadcast_radius = 0x00
-        # options = 0x00
-
-        # frame = struct.pack(">B", frame_type) + struct.pack(">B", frame_id)
-        # frame += dest_addr64 + dest_addr16
-        # frame += struct.pack(">BB", broadcast_radius, options) + data
-        # checksum = 0xFF - (sum(frame) & 0xFF)
-        # return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
-
-
-class UDPHandler(asyncio.DatagramProtocol): # asyncio.DatagramProtocol 用於處理 UDP 收發
-    def __init__(self):
-        self.serial_transport = None
-        self.transport = None
-        self.remote_addr = None  # 儲存動態獲取的遠程地址
-        self.has_processed = False # 測試模式用 處理數據旗標 # debug
-
-    def connection_made(self, transport):
-        self.transport = transport
-        print("UDP transport ready. Waiting for serial data before sending...")
-
-    def set_serial_transport(self, serial_transport):
-        self.serial_transport = serial_transport
-
-    ## =====================================
-
-    # UDP 收到資料
-    def datagram_received(self, data, addr):
-        # 儲存對方的地址（這樣就能向同一個來源回傳數據）
-        # self.remote_addr = addr
-        # print(f"Received UDP data from {addr}, setting as remote address")
-
-        # 在 DEBUG 模式下，如果已經處理過數據，則直接返回
-        if DEBUG_MODE and self.has_processed:
-            return
-        
-        if self.serial_transport:
-            self.serial_transport.write_to_serial(data)
-
-        if DEBUG_MODE:  # 測試模式用
-            self.has_processed = True
-            print("[DEBUG] UDPHandler Mark")
-
-    def send_udp(self, data):
-        # 發送資料到 UDP
-        
-        # if self.transport:
-        #     # 如果有已知的回應地址，使用該地址
-        #     if self.remote_addr:
-        #         self.transport.sendto(data, self.remote_addr)
-        #         # print(f"Sending to dynamic address: {self.remote_addr}")
-        #     else:
-        #         # 否則使用預設地址
-        #         self.transport.sendto(data, (UDP_REMOTE_IP, UDP_REMOTE_PORT))
-        #         print(f"Sending first UDP packet to: {UDP_REMOTE_IP}:{UDP_REMOTE_PORT}")
-
-        if self.transport:
-            # 只有第一次或地址改變時才顯示
-            # if not hasattr(self, '_last_sent_addr') or self._last_sent_addr != (UDP_REMOTE_IP, UDP_REMOTE_PORT):
-            #     print(f"Sending UDP packet to: {UDP_REMOTE_IP}:{UDP_REMOTE_PORT}")
-            #     self._last_sent_addr = (UDP_REMOTE_IP, UDP_REMOTE_PORT)
-
-            # 在透過 UDP 發送數據之前進行解封裝
-            decoded_data = self.decapsulate_data(data)
-            self.transport.sendto(decoded_data, (UDP_REMOTE_IP, UDP_REMOTE_PORT))
-    
-    def decapsulate_data(self, data):
-        # 這裡可以根據需要進行數據解封裝
-
-        ## 方法一
-        try:
-            # 創建一個 API 幀處理器
-            api_frame = APIFrame(escaped=True)
-            
-            # 嘗試解析數據
-            api_frame.fill(data)
-            
-            # 如果數據不完整，直接返回原始數據
-            if not api_frame.is_complete():
-                return data
-                
-            # 解析幀內容
-            parsed_data = api_frame.parse()
-            
-            # 提取有用數據
-            if parsed_data:
-                frame_data = parsed_data.get('rf_data', None)
-                if frame_data:
-                    return frame_data
-            
-            return data
-
-        ## 方法二 - 手動解析
-        # try:
-        #     # XBee API 幀格式: 
-        #     # 起始分隔符(1字節) + 長度(2字節) + API標識符(1字節) + 數據 + 校驗和(1字節)
-            
-        #     # 檢查幀起始符 (0x7E)
-        #     if not data or len(data) < 5 or data[0] != 0x7E:
-        #         return data
-                
-        #     # 獲取數據長度 (不包括校驗和)
-        #     length = (data[1] << 8) + data[2]
-            
-        #     # 檢查幀完整性
-        #     if len(data) < length + 4:  # 起始符 + 長度(2字節) + 數據 + 校驗和
-        #         return data
-                
-        #     # 提取API標識符和數據
-        #     frame_type = data[3]
-        #     frame_data = data[4:4+length-1]  # 減1是因為API標識符已經算在長度中
-            
-        #     # 根據不同的幀類型進行處理
-        #     if frame_type == 0x90:  # 例如，這是"接收數據包"類型
-        #         # 提取實際有效載荷
-        #         # 對於接收數據包，格式通常是：
-        #         # API標識符(1) + 64位地址(8) + 16位地址(2) + 選項(1) + 數據
-        #         if len(frame_data) >= 12:  # 確保數據長度足夠
-        #             payload = frame_data[11:]  # 前11字節是地址和選項
-        #             return payload            
-        #     return data
-
-        # 如果無法提取 則回傳 None        
-        except Exception as e:
-            print(f"手動解析 XBee 數據錯誤: {e}")
-            return None  
-
-async def main():
-    # 先檢查串口是否可用
-    if not check_serial_port():
-        print("程式終止：串口檢查失敗")
-        return
-    
-    loop = asyncio.get_running_loop()
-
-    # 設置終止處理
-    for sig in (signal.SIGINT, signal.SIGTERM):
-        loop.add_signal_handler(
-            sig,
-            lambda: asyncio.create_task(shutdown(loop))
-        )
-
-    # 建立單一 UDP 端點處理收發
-    udp_handler = UDPHandler()
-    
-    # 建立 UDP 傳輸，不指定接收端口，讓系統自動分配
-    try:
-        udp_transport, protocol = await loop.create_datagram_endpoint(
-            lambda: udp_handler,
-            local_addr=('0.0.0.0', 0)  # 使用端口 0 讓系統自動分配可用端口
-        )
-    except Exception as e:
-        print(f"無法創建 UDP 端點：{str(e)}")
-        return
-    
-    # 獲取系統分配的本地端口
-    sock = udp_transport.get_extra_info('socket')
-    local_addr = sock.getsockname()
-    print(f"UDP listening on {local_addr[0]}:{local_addr[1]}")
-    
-    # 建立 Serial 傳輸，將 UDP 處理器傳給它
-    try:
-        serial_proto = SerialToUDP(udp_handler)
-        _, serial_transport = await serial_asyncio.create_serial_connection(
-            loop, lambda: serial_proto, SERIAL_PORT, baudrate=SERIAL_BAUDRATE
-        )
-    except Exception as e:
-        print(f"無法建立串口連接：{str(e)}")
-        udp_transport.close()
-        return
-    
-    print(f"Waiting for data from serial port to initiate UDP communication...")
-
-    # 保持運行
-    try:
-        await asyncio.Future()
-    except asyncio.CancelledError:
-        pass
-
-async def shutdown(loop):
-    """關閉程序"""
-    print("Shutting down...")
-    tasks = [t for t in asyncio.all_tasks() if t is not asyncio.current_task()]
-    
-    for task in tasks:
-        task.cancel()
-    
-    await asyncio.gather(*tasks, return_exceptions=True)
-    loop.stop()
-
-if __name__ == '__main__':
-    try:
-        asyncio.run(main())
-    except KeyboardInterrupt:
-        print("程式被使用者中斷")
-    except Exception as e:
-        print(f"程式執行錯誤：{str(e)}")

src/fc_network_adapter/fc_network_adapter/utils/acquireSerial.py

@@ -6,7 +6,7 @@ It uses glob pattern matching to find serial device files in /dev/.
 """
 
 import glob
-from typing import List
+from typing import List, Union
 
 
 def get_serial_ports() -> List[str]:
@@ -44,29 +44,44 @@ def get_serial_ports() -> List[str]:
     return serial_ports
 
 
-def get_serial_ports_with_filter(filter_pattern: str = None) -> List[str]:
+def get_serial_ports_with_filter(filter_patterns: Union[str, List[str]] = None) -> List[str]:
     """
     獲取串口設備列表，可選擇性地使用自訂篩選模式
     
     Args:
-        filter_pattern (str, optional): 自訂的 glob 模式，例如 '/dev/ttyUSB*'
+        filter_patterns (Union[str, List[str]], optional): 
+            單一或多個 glob 模式
+            - 字串: '/dev/ttyUSB*'
+            - 列表: ['/dev/ttyUSB*', '/dev/ttyACM*']
             如果為 None，則使用預設模式搜尋所有串口
     
     Returns:
         List[str]: 符合條件的串口設備路徑列表
         
     Example:
-        >>> # 只搜尋 USB 串口
+        >>> # 單一 pattern
-        >>> usb_ports = get_serial_ports_with_filter('/dev/ttyUSB*')
+        >>> ports = get_serial_ports_with_filter('/dev/ttyUSB*')
-        >>> print(usb_ports)
+        >>> print(ports)
         ['/dev/ttyUSB0', '/dev/ttyUSB1']
+        
+        >>> # 多個 patterns
+        >>> ports = get_serial_ports_with_filter(['/dev/ttyUSB*', '/dev/ttyACM*'])
+        >>> print(ports)
+        ['/dev/ttyACM0', '/dev/ttyUSB0', '/dev/ttyUSB1']
     """
-    if filter_pattern:
+    if filter_patterns is None:
-        serial_ports = glob.glob(filter_pattern)
+        return get_serial_ports()
+    
+    # 統一轉成 list 處理
+    if isinstance(filter_patterns, str):
+        filter_patterns = [filter_patterns]
+    
+    serial_ports = []
+    for pattern in filter_patterns:
+        serial_ports.extend(glob.glob(pattern))
+    
     serial_ports.sort()
     return serial_ports
-    else:
-        return get_serial_ports()
 
 
 if __name__ == "__main__":