diff --git a/src/GUI/communication.py b/src/GUI/communication.py index c95e74e..b97828b 100644 --- a/src/GUI/communication.py +++ b/src/GUI/communication.py @@ -20,12 +20,15 @@ class DroneSignals(QObject): class UDPMavlinkReceiver(threading.Thread): """UDP MAVLink 接收器""" - def __init__(self, ip, port, signals, connection_name): + def __init__(self, ip, port, signals, connection_name, monitor=None): super().__init__(daemon=True) self.ip = ip self.port = port self.signals = signals self.connection_name = connection_name + self.monitor = monitor # 保存 monitor 引用 + # UDP 使用原始 socket_id = 8 + self.socket_id = monitor.get_or_assign_socket_id('8') if monitor else 0 self.running = False self.sock = None @@ -61,7 +64,7 @@ class UDPMavlinkReceiver(threading.Thread): try: msg_type = msg.get_type() system_id = msg.get_srcSystem() - drone_id = f"s8_{system_id}" # 使用 s8_ 前綴表示 UDP 來源 + drone_id = f"s{self.socket_id}_{system_id}" if msg_type == "HEARTBEAT": mode = mavutil.mode_string_v10(msg) @@ -116,11 +119,13 @@ class UDPMavlinkReceiver(threading.Thread): }) elif msg_type == "VFR_HUD": - groundspeed = msg.groundspeed - heading = msg.heading self.signals.update_signal.emit('hud', drone_id, { - 'heading': heading, - 'groundspeed': groundspeed + 'airspeed': msg.airspeed, + 'groundspeed': msg.groundspeed, + 'heading': msg.heading, + 'throttle': msg.throttle, + 'alt': msg.alt, + 'climb': msg.climb }) except Exception as e: @@ -132,12 +137,15 @@ class UDPMavlinkReceiver(threading.Thread): class SerialMavlinkReceiver(threading.Thread): """串口 MAVLink 接收器""" - def __init__(self, port, baudrate, signals, connection_name): + def __init__(self, port, baudrate, signals, connection_name, monitor=None): super().__init__(daemon=True) self.port = port self.baudrate = baudrate self.signals = signals self.connection_name = connection_name + self.monitor = monitor # 保存 monitor 引用 + # Serial 使用原始 socket_id = 5 + self.socket_id = monitor.get_or_assign_socket_id('5') if monitor else 0 self.running = False self.mav = None @@ -184,7 +192,7 @@ class SerialMavlinkReceiver(threading.Thread): try: msg_type = msg.get_type() system_id = msg.get_srcSystem() - drone_id = f"s5_{system_id}" # 使用 serial_ 前綴表示串口來源 + drone_id = f"s{self.socket_id}_{system_id}" if msg_type == "HEARTBEAT": mode = mavutil.mode_string_v10(msg) @@ -239,11 +247,13 @@ class SerialMavlinkReceiver(threading.Thread): }) elif msg_type == "VFR_HUD": - groundspeed = msg.groundspeed - heading = msg.heading self.signals.update_signal.emit('hud', drone_id, { - 'heading': heading, - 'groundspeed': groundspeed + 'airspeed': msg.airspeed, + 'groundspeed': msg.groundspeed, + 'heading': msg.heading, + 'throttle': msg.throttle, + 'alt': msg.alt, + 'climb': msg.climb }) except Exception as e: @@ -255,12 +265,12 @@ class SerialMavlinkReceiver(threading.Thread): class WebSocketMavlinkReceiver(threading.Thread): """WebSocket MAVLink 接收器""" - def __init__(self, url, signals, connection_name): + def __init__(self, url, signals, connection_name, monitor=None): super().__init__(daemon=True) self.url = url self.signals = signals self.connection_name = connection_name - self.running = False + self.monitor = monitor # 保存 monitor 引用 self.socket_id = monitor.get_next_socket_id() if monitor else 0 # 一次性分配 socket_id self.running = False self.max_retries = 5 self.base_delay = 1.0 @@ -319,10 +329,10 @@ class WebSocketMavlinkReceiver(threading.Thread): def process_websocket_message(self, data): """處理 WebSocket 訊息""" try: - drone_id = data.get('system_id') - drone_id = f"s9_{drone_id}" if drone_id else None - if not drone_id: + system_id = data.get('system_id') + if not system_id: return + drone_id = f"s{self.socket_id}_{system_id}" # 模式 if 'mode' in data: @@ -398,15 +408,39 @@ class DroneMonitor(Node): self.drone_gps = {} # {drone_id: {'lat': ..., 'lon': ..., 'alt': ...}} # ================================================================================ + # ================================================================================ + # 【新增】Socket ID 重新分配機制 (從 0 開始) + # ================================================================================ + self.socket_id_mapping = {} # {原始socket_id: 重新分配的socket_id} + self.socket_id_counter = 0 # 當前分配到的最大socket_id + self.socket_id_lock = Lock() # 線程安全鎖 + # ================================================================================ + # ================================================================================ # 【新增】儲存 sys_id 到 actual_drone_id 的映射 (從 summary 獲取) # ================================================================================ self.sys_to_actual_id = {} # {sys_id: actual_drone_id} e.g. {'sys11': 's0_11'} + self.sys_to_socket_id = {} # {sys_id: assigned_socket_id} e.g. {'sys11': 0} # ================================================================================ self.serial_receivers = [] # 主题检测定时器 self.create_timer(1.0, self.scan_topics) + + def get_or_assign_socket_id(self, original_socket_id): + """根據原始 socket_id 分配或獲取對應的 socket_id（從 0 開始連續分配） + 同一個原始 socket_id 會得到同一個分配的 ID + """ + original_socket_id = str(original_socket_id) + + with self.socket_id_lock: + if original_socket_id not in self.socket_id_mapping: + # 分配新的 socket_id + self.socket_id_mapping[original_socket_id] = self.socket_id_counter + print(f"🆕 Socket ID 映射: 原始 {original_socket_id} -> 分配 {self.socket_id_counter}") + self.socket_id_counter += 1 + + return self.socket_id_mapping[original_socket_id] def scan_topics(self): topics = self.get_topic_names_and_types() @@ -416,34 +450,36 @@ class DroneMonitor(Node): for topic_name, _ in topics: if match := drone_pattern.match(topic_name): sys_id, topic_type = match.groups() - # 將 sys11 轉換為 s0_11 格式以保持兼容性 - drone_num = sys_id.replace('sys', '') - drone_id = f's0_{drone_num}' - found_drones.add(drone_id) + found_drones.add(sys_id) with self.lock: - self.drone_topics.setdefault(drone_id, set()).add(topic_type) + self.drone_topics.setdefault(sys_id, set()).add(topic_type) - for drone_id in found_drones: - if not hasattr(self, f'drone_{drone_id}_subs'): - self.setup_drone(drone_id) + for sys_id in found_drones: + # 為每個 sys_id 分配 socket_id（如果還沒有分配） + # 注意：如果後續 summary 提供了 socket_id，會使用 summary 的映射覆蓋 + if sys_id not in self.sys_to_socket_id: + # 暫時所有 ROS2 topic 共享同一個原始 socket_id，等 summary 提供實際的 socket_id + self.sys_to_socket_id[sys_id] = self.get_or_assign_socket_id('0') + + if not hasattr(self, f'drone_{sys_id}_subs'): + self.setup_drone(sys_id) - def setup_drone(self, drone_id): - # 從 s0_11 轉換回 sys11 格式 - sys_id = drone_id.replace('s0_', 'sys') + def setup_drone(self, sys_id): + # sys_id 格式： sys11, sys12, ... base_topic = f'/fc_network/vehicle/{sys_id}' # Add service clients (保留但可能無法使用，因為新 topic 可能沒有這些服務) - self.arm_clients[drone_id] = self.create_client( + self.arm_clients[sys_id] = self.create_client( CommandBool, f'{base_topic}/cmd/arming' ) - self.takeoff_clients[drone_id] = self.create_client( + self.takeoff_clients[sys_id] = self.create_client( CommandTOL, f'{base_topic}/cmd/takeoff' ) # Add setpoint publisher - self.setpoint_pubs[drone_id] = self.create_publisher( + self.setpoint_pubs[sys_id] = self.create_publisher( Point, f'{base_topic}/setpoint_position/local', 10 @@ -453,30 +489,30 @@ class DroneMonitor(Node): 'battery': self.create_subscription( BatteryState, f'{base_topic}/battery', - lambda msg, did=drone_id: self.battery_callback(did, msg), + lambda msg, sid=sys_id: self.battery_callback(sid, msg), 10 ), 'position': self.create_subscription( NavSatFix, f'{base_topic}/position', - lambda msg, did=drone_id: self.gps_callback(did, msg), + lambda msg, sid=sys_id: self.gps_callback(sid, msg), 10 ), 'summary': self.create_subscription( String, f'{base_topic}/summary', - lambda msg, did=drone_id: self.summary_callback(did, msg), + lambda msg, sid=sys_id: self.summary_callback(sid, msg), 10 ), 'vfr_hud': self.create_subscription( VfrHud, f'{base_topic}/vfr_hud', - lambda msg, did=drone_id: self.hud_callback(did, msg), + lambda msg, sid=sys_id: self.hud_callback(sid, msg), 10 ) } - setattr(self, f'drone_{drone_id}_subs', subs) + setattr(self, f'drone_{sys_id}_subs', subs) async def arm_drone(self, drone_id, arm): if drone_id not in self.arm_clients: @@ -558,9 +594,9 @@ class DroneMonitor(Node): msg.angular_velocity.z) } - def battery_callback(self, drone_id, msg): + def battery_callback(self, sys_id, msg): # 使用映射獲取實際的 drone_id - actual_drone_id = self.sys_to_actual_id.get(drone_id, None) + actual_drone_id = self.sys_to_actual_id.get(sys_id, None) # 如果還沒有從 summary 獲取到映射，則不處理 if actual_drone_id is None: return @@ -578,7 +614,7 @@ class DroneMonitor(Node): 'armed': msg.armed } - def summary_callback(self, drone_id, msg): + def summary_callback(self, sys_id, msg): """處理 summary topic (JSON 格式)""" try: data = json.loads(msg.data) @@ -586,28 +622,34 @@ class DroneMonitor(Node): if mode in self.filtered_modes: return - # 根據 socket_id 更新 drone_id - socket_id = data.get('socket_id') + # 從 summary 獲取原始 socket_id，並映射到分配的 socket_id + original_socket_id = data.get('socket_id') + if original_socket_id is not None: + # 使用原始 socket_id 獲取或分配統一的 socket_id + assigned_socket_id = self.get_or_assign_socket_id(original_socket_id) + else: + # 如果沒有 socket_id，使用 sys_to_socket_id 映射 + assigned_socket_id = self.sys_to_socket_id.get(sys_id, 0) + sysid = data.get('sysid') - if socket_id is not None and sysid is not None: - # 使用 socket_id 作為前綴 - actual_drone_id = f's{socket_id}_{sysid}' + if sysid is not None: + actual_drone_id = f's{assigned_socket_id}_{sysid}' # ================================================================================ # 【關鍵】保存 sys_id 到 actual_drone_id 的映射 # ================================================================================ - sys_key = f'sys{sysid}' - self.sys_to_actual_id[sys_key] = actual_drone_id - # 也保存原始的 s0_ 格式到實際 ID 的映射 - self.sys_to_actual_id[drone_id] = actual_drone_id + self.sys_to_actual_id[sys_id] = actual_drone_id # ================================================================================ else: - actual_drone_id = drone_id + # 如果沒有 sysid，使用 sys_id 中的數字 + sys_num = sys_id.replace('sys', '') + actual_drone_id = f's{assigned_socket_id}_{sys_num}' + self.sys_to_actual_id[sys_id] = actual_drone_id self.latest_data[(actual_drone_id, 'state')] = { 'mode': mode, 'armed': data.get('armed', False), - 'socket_id': socket_id, + 'socket_id': original_socket_id, 'sysid': sysid, 'vehicle_type': data.get('vehicle_type'), 'autopilot': data.get('autopilot'), @@ -616,13 +658,13 @@ class DroneMonitor(Node): 'connected': data.get('connected') } except json.JSONDecodeError as e: - print(f"Error parsing summary JSON for {drone_id}: {e}") + print(f"Error parsing summary JSON for {sys_id}: {e}") except Exception as e: - print(f"Error in summary_callback for {drone_id}: {e}") + print(f"Error in summary_callback for {sys_id}: {e}") - def gps_callback(self, drone_id, msg): + def gps_callback(self, sys_id, msg): # 使用映射獲取實際的 drone_id - actual_drone_id = self.sys_to_actual_id.get(drone_id, None) + actual_drone_id = self.sys_to_actual_id.get(sys_id, None) # 如果還沒有從 summary 獲取到映射，則不處理 if actual_drone_id is None: return @@ -662,9 +704,9 @@ class DroneMonitor(Node): 'z': msg.z } - def hud_callback(self, drone_id, msg): + def hud_callback(self, sys_id, msg): # 使用映射獲取實際的 drone_id - actual_drone_id = self.sys_to_actual_id.get(drone_id, None) + actual_drone_id = self.sys_to_actual_id.get(sys_id, None) # 如果還沒有從 summary 獲取到映射，則不處理 if actual_drone_id is None: return @@ -691,7 +733,7 @@ class DroneMonitor(Node): def start_serial_connection(self, port='/dev/ttyUSB0', baudrate=57600): """啟動串口 MAVLink 連接""" connection_name = f"Serial_{port.replace('/', '_')}" - receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name) + receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name, self) receiver.start() self.serial_receivers.append(receiver) print(f"Started serial connection on {port} at {baudrate} baud") diff --git a/src/GUI/gui.py b/src/GUI/gui.py index f110256..d73b08d 100644 --- a/src/GUI/gui.py +++ b/src/GUI/gui.py @@ -276,7 +276,7 @@ class ControlStationUI(QMainWindow): } # 启动接收器 - receiver = UDPMavlinkReceiver(ip, port, self.monitor.signals, new_conn['name']) + receiver = UDPMavlinkReceiver(ip, port, self.monitor.signals, new_conn['name'], self.monitor) receiver.start() self.udp_receivers.append(receiver) new_conn['receiver'] = receiver @@ -299,7 +299,7 @@ class ControlStationUI(QMainWindow): } # 启动接收器 - receiver = WebSocketMavlinkReceiver(url, self.monitor.signals, new_conn['name']) + receiver = WebSocketMavlinkReceiver(url, self.monitor.signals, new_conn['name'], self.monitor) receiver.start() self.monitor.ws_receivers.append(receiver) new_conn['receiver'] = receiver @@ -845,10 +845,13 @@ class ControlStationUI(QMainWindow): self.overview_table.update_table(drone_id, field, value) def get_socket_id(self, drone_id): - """從 drone_id 提取 socket_id (例如 's9_1' -> '9')""" + """從 drone_id 提取 socket_id (例如 's0_1' -> '0')""" import re - match = re.match(r's(\d+)_\d+', drone_id) - return match.group(1) if match else 'unknown' + match = re.match(r's(\d+)_(\d+)', drone_id) + if not match: + return 'unknown' + + return match.group(1) def add_drone(self, drone_id): if drone_id in self.drones: diff --git a/src/GUI/map_layout.py b/src/GUI/map_layout.py index 5b1f6ef..e0a8951 100644 --- a/src/GUI/map_layout.py +++ b/src/GUI/map_layout.py @@ -32,15 +32,27 @@ class DroneMap: @@ -58,6 +151,25 @@ class DroneMap:
+
+ +
+
+
+ + + +
+
+ 中心點: + 未設定 +
+
+ 目標點: + 未設定 +
+ +