from rclpy.node import Node from PyQt6.QtCore import QObject, pyqtSignal import math import re import threading from threading import Lock import asyncio import websockets import json import socket from pymavlink import mavutil from geometry_msgs.msg import Point, Vector3 from sensor_msgs.msg import BatteryState, NavSatFix, Imu from std_msgs.msg import Float64, String from mavros_msgs.msg import State, VfrHud from mavros_msgs.srv import CommandBool, CommandTOL class DroneSignals(QObject): update_signal = pyqtSignal(str, str, object) # (msg_type, drone_id, data) class UDPMavlinkReceiver(threading.Thread): """UDP MAVLink 接收器""" 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 def run(self): """執行 UDP 接收循環""" self.running = True try: print(f"UDP MAVLink receiver started on {self.ip}:{self.port}") # 創建 MAVLink 連接 mav = mavutil.mavlink_connection(f'udpin:{self.ip}:{self.port}') while self.running: try: msg = mav.recv_match(blocking=True, timeout=1.0) if msg is None: continue self.process_mavlink_message(msg) except socket.timeout: continue except Exception as e: print(f"Error receiving MAVLink message: {e}") except Exception as e: print(f"UDP receiver error: {e}") finally: if self.sock: self.sock.close() def process_mavlink_message(self, msg): """處理 MAVLink 訊息""" try: msg_type = msg.get_type() system_id = msg.get_srcSystem() drone_id = f"s{self.socket_id}_{system_id}" if msg_type == "HEARTBEAT": mode = mavutil.mode_string_v10(msg) armed = bool(msg.base_mode & 128) self.signals.update_signal.emit('state', drone_id, { 'mode': mode, 'armed': armed }) elif msg_type == "BATTERY_STATUS": voltage = msg.voltages[0] / 1000 self.signals.update_signal.emit('battery', drone_id, { 'voltage': voltage }) elif msg_type == "GLOBAL_POSITION_INT": latitude = msg.lat / 1e7 longitude = msg.lon / 1e7 self.signals.update_signal.emit('gps', drone_id, { 'lat': latitude, 'lon': longitude }) elif msg_type == "GPS_RAW_INT": fix_type = msg.fix_type elif msg_type == "LOCAL_POSITION_NED": x = msg.y y = msg.x z = -msg.z self.signals.update_signal.emit('local_pose', drone_id, { 'x': x, 'y': y, 'z': z }) self.signals.update_signal.emit('altitude', drone_id, { 'altitude': z }) self.signals.update_signal.emit('velocity', drone_id, { 'vx': msg.vx, 'vy': msg.vy, 'vz': msg.vz }) elif msg_type == "ATTITUDE": pitch = math.degrees(msg.pitch) self.signals.update_signal.emit('attitude', drone_id, { 'pitch': pitch, 'roll': 0, 'yaw': 0, 'rates': (0, 0, 0) }) elif msg_type == "VFR_HUD": self.signals.update_signal.emit('hud', drone_id, { 'airspeed': msg.airspeed, 'groundspeed': msg.groundspeed, 'heading': msg.heading, 'throttle': msg.throttle, 'alt': msg.alt, 'climb': msg.climb }) except Exception as e: print(f"Error processing MAVLink message: {e}") def stop(self): """停止接收器""" self.running = False class SerialMavlinkReceiver(threading.Thread): """串口 MAVLink 接收器""" 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 def run(self): """執行串口接收循環""" self.running = True try: print(f"Serial MAVLink receiver started on {self.port} at {self.baudrate} baud") # 創建 MAVLink 串口連接 self.mav = mavutil.mavlink_connection( self.port, baud=self.baudrate, source_system=255 ) print(f"Waiting for heartbeat from {self.port}...") self.mav.wait_heartbeat() print(f"Heartbeat received from system {self.mav.target_system}, component {self.mav.target_component}") while self.running: try: msg = self.mav.recv_match(blocking=True, timeout=1.0) if msg is None: continue self.process_mavlink_message(msg) except Exception as e: if self.running: print(f"Error receiving MAVLink message from serial: {e}") except Exception as e: print(f"Serial receiver error: {e}") finally: if self.mav: try: self.mav.close() except: pass def process_mavlink_message(self, msg): """處理 MAVLink 訊息""" try: msg_type = msg.get_type() system_id = msg.get_srcSystem() drone_id = f"s{self.socket_id}_{system_id}" if msg_type == "HEARTBEAT": mode = mavutil.mode_string_v10(msg) armed = bool(msg.base_mode & 128) self.signals.update_signal.emit('state', drone_id, { 'mode': mode, 'armed': armed }) elif msg_type == "BATTERY_STATUS": voltage = msg.voltages[0] / 1000 self.signals.update_signal.emit('battery', drone_id, { 'voltage': voltage }) elif msg_type == "GLOBAL_POSITION_INT": latitude = msg.lat / 1e7 longitude = msg.lon / 1e7 self.signals.update_signal.emit('gps', drone_id, { 'lat': latitude, 'lon': longitude }) elif msg_type == "GPS_RAW_INT": fix_type = msg.fix_type elif msg_type == "LOCAL_POSITION_NED": x = msg.y y = msg.x z = -msg.z self.signals.update_signal.emit('local_pose', drone_id, { 'x': x, 'y': y, 'z': z }) self.signals.update_signal.emit('altitude', drone_id, { 'altitude': z }) self.signals.update_signal.emit('velocity', drone_id, { 'vx': msg.vx, 'vy': msg.vy, 'vz': msg.vz }) elif msg_type == "ATTITUDE": pitch = math.degrees(msg.pitch) self.signals.update_signal.emit('attitude', drone_id, { 'pitch': pitch, 'roll': 0, 'yaw': 0, 'rates': (0, 0, 0) }) elif msg_type == "VFR_HUD": self.signals.update_signal.emit('hud', drone_id, { 'airspeed': msg.airspeed, 'groundspeed': msg.groundspeed, 'heading': msg.heading, 'throttle': msg.throttle, 'alt': msg.alt, 'climb': msg.climb }) except Exception as e: print(f"Error processing MAVLink message from serial: {e}") def stop(self): """停止接收器""" self.running = False class WebSocketMavlinkReceiver(threading.Thread): """WebSocket MAVLink 接收器""" 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.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 def run(self): """執行 WebSocket 接收循環""" self.running = True asyncio.set_event_loop(asyncio.new_event_loop()) asyncio.get_event_loop().run_until_complete(self.ws_client_loop()) async def ws_client_loop(self): """WebSocket 連接的主循環""" retry_count = 0 print(f"Starting WebSocket client for {self.connection_name} at {self.url}") while self.running and retry_count < self.max_retries: try: async with websockets.connect(self.url) as websocket: print(f"WebSocket {self.connection_name} connected to {self.url}") retry_count = 0 # 重置重試計數 async for message in websocket: if not self.running: break try: data = json.loads(message) data['_connection_source'] = self.connection_name self.process_websocket_message(data) except json.JSONDecodeError as e: print(f"WebSocket {self.connection_name} JSON decode error: {e}") except Exception as e: print(f"WebSocket {self.connection_name} message processing error: {e}") except websockets.exceptions.ConnectionClosedError: print(f"WebSocket {self.connection_name} connection closed") if self.running: retry_count += 1 if retry_count < self.max_retries: delay = self.base_delay * (2 ** min(retry_count, 4)) print(f"Reconnecting in {delay}s...") await asyncio.sleep(delay) else: break except Exception as e: retry_count += 1 if retry_count < self.max_retries and self.running: delay = self.base_delay * (2 ** min(retry_count, 4)) print(f"WebSocket {self.connection_name} connection error: {e}, retrying in {delay}s (attempt {retry_count}/{self.max_retries})") await asyncio.sleep(delay) else: break print(f"WebSocket client {self.connection_name} stopped") def process_websocket_message(self, data): """處理 WebSocket 訊息""" try: 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: self.signals.update_signal.emit('state', drone_id, { 'mode': data['mode'], }) # 電池 if 'battery' in data: self.signals.update_signal.emit('battery', drone_id, { 'percentage': data['battery'] }) # 位置 if 'position' in data: pos = data['position'] self.signals.update_signal.emit('gps', drone_id, { 'lat': pos.get('lat', 0), 'lon': pos.get('lon', 0) }) # Local position - 設定 x, y 為 0.0 self.signals.update_signal.emit('local_pose', drone_id, { 'x': 0.0, 'y': 0.0, 'z': 0.0 }) # Altitude - 設定為 0.0 self.signals.update_signal.emit('altitude', drone_id, { 'altitude': 0.0 }) # 航向 if 'heading' in data: self.signals.update_signal.emit('hud', drone_id, { 'heading': data['heading'], 'groundspeed': 0.0 }) except Exception as e: print(f"WebSocket message processing error: {e}") def stop(self): """停止接收器""" self.running = False class DroneMonitor(Node): # Subscribe to drone ROS2 topics def __init__(self): super().__init__('drone_monitor') self.signals = DroneSignals() self.drone_topics = {} self.lock = Lock() self.arm_clients = {} self.takeoff_clients = {} self.setpoint_pubs = {} self.selected_drones = set() self.latest_data = {} # 定義需要過濾的模式 self.filtered_modes = ['Mode(0x000000c0)'] # WebSocket 接收器列表 self.ws_receivers = [] # 串口接收器列表 # ================================================================================ # 【新增】儲存 GPS 資料的字典 # ================================================================================ 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() drone_pattern = re.compile(r'/fc_network/vehicle/(sys\d+)/(\w+)') found_drones = set() for topic_name, _ in topics: if match := drone_pattern.match(topic_name): sys_id, topic_type = match.groups() found_drones.add(sys_id) with self.lock: self.drone_topics.setdefault(sys_id, set()).add(topic_type) 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, 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[sys_id] = self.create_client( CommandBool, f'{base_topic}/cmd/arming' ) self.takeoff_clients[sys_id] = self.create_client( CommandTOL, f'{base_topic}/cmd/takeoff' ) # Add setpoint publisher self.setpoint_pubs[sys_id] = self.create_publisher( Point, f'{base_topic}/setpoint_position/local', 10 ) subs = { 'battery': self.create_subscription( BatteryState, f'{base_topic}/battery', lambda msg, sid=sys_id: self.battery_callback(sid, msg), 10 ), 'position': self.create_subscription( NavSatFix, f'{base_topic}/position', lambda msg, sid=sys_id: self.gps_callback(sid, msg), 10 ), 'summary': self.create_subscription( String, f'{base_topic}/summary', lambda msg, sid=sys_id: self.summary_callback(sid, msg), 10 ), 'vfr_hud': self.create_subscription( VfrHud, f'{base_topic}/vfr_hud', lambda msg, sid=sys_id: self.hud_callback(sid, msg), 10 ) } setattr(self, f'drone_{sys_id}_subs', subs) async def arm_drone(self, drone_id, arm): if drone_id not in self.arm_clients: return False client = self.arm_clients[drone_id] if not client.wait_for_service(timeout_sec=1.0): return False request = CommandBool.Request() request.value = arm future = client.call_async(request) try: response = await future return response.success except Exception as e: self.get_logger().error(f'Arm service call failed: {e}') return False async def takeoff_drone(self, drone_id, altitude=10.0): if drone_id not in self.takeoff_clients: return False client = self.takeoff_clients[drone_id] if not client.wait_for_service(timeout_sec=1.0): return False request = CommandTOL.Request() request.altitude = altitude request.min_pitch = 0.0 request.yaw = 0.0 future = client.call_async(request) try: response = await future return response.success except Exception as e: self.get_logger().error(f'Takeoff service call failed: {e}') return False def send_setpoint(self, drone_id, x, y, z): """Send setpoint position command""" if drone_id not in self.setpoint_pubs: return False msg = Point() msg.x = float(x) msg.y = float(y) msg.z = float(z) self.setpoint_pubs[drone_id].publish(msg) return True def quaternion_to_euler(self, q): sinr_cosp = 2 * (q.w * q.x + q.y * q.z) cosr_cosp = 1 - 2 * (q.x**2 + q.y**2) roll = math.atan2(sinr_cosp, cosr_cosp) sinp = 2 * (q.w * q.y - q.z * q.x) pitch = math.asin(sinp) if abs(sinp) < 1 else math.copysign(math.pi/2, sinp) siny_cosp = 2 * (q.w * q.z + q.x * q.y) cosy_cosp = 1 - 2 * (q.y**2 + q.z**2) yaw = math.atan2(siny_cosp, cosy_cosp) return math.degrees(roll), math.degrees(pitch), math.degrees(yaw) # callbacks def attitude_callback(self, drone_id, msg): if hasattr(msg, 'orientation'): roll, pitch, yaw = self.quaternion_to_euler(msg.orientation) self.latest_data[(drone_id, 'attitude')] = { 'roll': roll, 'pitch': pitch, 'yaw': yaw, 'rates': (msg.angular_velocity.x, msg.angular_velocity.y, msg.angular_velocity.z) } 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(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 self.latest_data[(actual_drone_id, 'battery')] = { 'voltage': msg.voltage } def state_callback(self, drone_id, msg): mode = msg.mode if mode in self.filtered_modes: return self.latest_data[(drone_id, 'state')] = { 'mode': msg.mode, 'armed': msg.armed } def summary_callback(self, sys_id, msg): """處理 summary topic (JSON 格式)""" try: data = json.loads(msg.data) mode = data.get('mode_name', 'UNKNOWN') if mode in self.filtered_modes: return # 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 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 # ================================================================================ self.sys_to_actual_id[sys_id] = actual_drone_id # ================================================================================ else: # 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': original_socket_id, 'sysid': sysid, 'vehicle_type': data.get('vehicle_type'), 'autopilot': data.get('autopilot'), 'gps_fix': data.get('gps_fix'), 'gps_fix_type': data.get('gps_fix'), 'connected': data.get('connected') } except json.JSONDecodeError as e: print(f"Error parsing summary JSON for {sys_id}: {e}") except Exception as e: print(f"Error in summary_callback for {sys_id}: {e}") 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(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 self.latest_data[(actual_drone_id, 'gps')] = { 'lat': msg.latitude, 'lon': msg.longitude, 'alt': msg.altitude } # ================================================================================ # 【新增】儲存 GPS 資料到 drone_gps 字典 # ================================================================================ self.drone_gps[actual_drone_id] = { 'lat': msg.latitude, 'lon': msg.longitude, 'alt': msg.altitude } # ================================================================================ def local_vel_callback(self, drone_id, msg): self.latest_data[(drone_id, 'velocity')] = { 'vx': msg.x, 'vy': msg.y, 'vz': msg.z } def altitude_callback(self, drone_id, msg): self.latest_data[(drone_id, 'altitude')] = { 'altitude': msg.data } def local_pose_callback(self, drone_id, msg): self.latest_data[(drone_id, 'local_pose')] = { 'x': msg.x, 'y': msg.y, 'z': msg.z } 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(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 self.latest_data[(actual_drone_id, 'hud')] = { 'airspeed': msg.airspeed, 'groundspeed': msg.groundspeed, 'heading': msg.heading, 'throttle': msg.throttle, 'alt': msg.altitude, 'climb': msg.climb } def loss_rate_callback(self, drone_id, msg): self.latest_data[(drone_id, 'loss_rate')] = { 'loss_rate': msg.data } def ping_callback(self, drone_id, msg): self.latest_data[(drone_id, 'ping')] = { 'ping': msg.data } 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, self) receiver.start() self.serial_receivers.append(receiver) print(f"Started serial connection on {port} at {baudrate} baud") return receiver