实现预定流程全链路: 任务状态机 + 编排器 + 地面站 + 真机/SITL入口
- utils/task_runner: 6态状态机(WAIT→ARM_TAKEOFF→GOTO(L2)→TRACK(L1)→APPROACH→RTL) + 编排器(快照采集/状态动作) + 双层日志(事件JSONL/遥测CSV) + 吊舱控制指令(0x07/0x0F/0x0E/0x08) - pod_bridge: ground_link 地面坐标UDP注入(超龄判无效,无激光替代表4); set_heading_servo_enabled() 运行时L1/L2切换(切换即reset清积分防输出跳变); pod_locked 提为公共门控; config 新增 ground_inject 段 - virtual_pod 模拟吊舱(无电机语义) + verify_px4 增量④仅飞控验证 + pod_sitl_test L1 SITL全流程(飞行编排不塞进 run_bridge, 保持纯offboard闭环入口) - 入口: task_runner_sitl(VirtualPod+虚拟目标, SITL端到端跑通约1m24s) / task_runner_real(真串口+UDP注入+吊舱控制) - 地面站 ground_station: 坐标注入 + 状态可视化(Flask) - S1标定回填(2026-10-09): beta_sign=+1 / alpha_sign=-1, 加标定回归测试守护 - 新增测试: task_runner x4 + ground_link/virtual_pod*/bridge/px4_gateway 增量; 全量 483 passed - 文档: 预定流程(需求) + 预定流程-操作指南(操作/待办) + L1方案补S1结论与实现状态
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keita
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#!/usr/bin/env python3
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"""task_runner_sitl.py —— 任务级状态机 SITL 全流程集成测试（预定流程.md 天空侧）。
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用状态机驱动完整流程：WAIT → ARM_TAKEOFF → GOTO(L2 坐标引导) → TRACK(L1 航向伺服)
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→ APPROACH(悬停) → RTL(返航落地)。相比 pod_sitl_test.py（固定场景、人工编排），
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本脚本把「飞行编排 + 控制律切换」交给 TaskRunner 状态机统一驱动。
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场景：
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* 起飞前注入虚拟目标坐标（模拟地面站给坐标）——目标 = home 北 30m / 东 15m；
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* VirtualPod 按无电机语义合成表2-2（框架角恒0、无激光、锁定=目标在视场内）；
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* 后台任务持续刷新注入坐标（模拟地面站持续上报），坐标始终新鲜；
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* GOTO→TRACK 由状态机按「距目标 < switch_radius 且吊舱锁定」守卫切换。
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运行前：启动 PX4 SITL（默认本机 14540）。用法：
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python task_runner_sitl.py
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python task_runner_sitl.py --conn udp://:14540 --config utils/config/pod_bridge.json
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"""
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import argparse
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import asyncio
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import logging
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import math
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import sys
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import time
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from pathlib import Path
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_ROOT = Path(__file__).resolve().parent
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_UTILS = _ROOT / "utils"
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for _p in (_UTILS, _ROOT):
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if str(_p) not in sys.path:
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sys.path.insert(0, str(_p))
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from mavsdk import System
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from pod_bridge.bridge import PodBridge
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from pod_bridge.config import load_from_json
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from pod_bridge.ground_link import GroundInjectConfig, GroundLink, GroundTarget
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from pod_bridge.guidance import haversine_distance_m
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from pod_bridge.px4_gateway import Px4Gateway
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from pod_bridge.virtual_pod import (CarrierView, VirtualPod, VirtualTarget,
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VirtualTargetConfig)
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from task_runner.log import TaskLogConfig, TaskLogger
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from task_runner.runner import TaskRunner
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from task_runner.state_machine import TaskStateConfig, TaskStateMachine
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from pod_sitl_test import (TelemetryHub, now_ms, print_flight_mode,
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set_telemetry_rates, wait_until_ready)
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logger = logging.getLogger("task_sitl")
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CONNECTION = "udpin://0.0.0.0:14540"
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CONFIG_PATH = _UTILS / "config" / "pod_bridge.json"
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# 虚拟目标：相对 home（NED 原点）北 30m / 东 15m / 与悬停同高度（不追垂直）
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TARGET_NORTH_M = 30.0
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TARGET_EAST_M = 15.0
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TARGET_DOWN_M = -5.0 # 与 5m 悬停高度持平 → 垂直通道无动作
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TASK_TIMEOUT_S = 180.0 # 全流程总超时
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INJECT_PERIOD_S = 0.5 # 注入坐标刷新周期（地面站上报快于 guidance.target_stale_ms）
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_DEG_LAT_M = 111320.0
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def ned_offset_to_latlon(lat0: float, lon0: float, north_m: float,
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east_m: float) -> tuple[float, float]:
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"""NED 偏移（米）转经纬度（局部平面近似，SITL 小范围够用）。"""
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lat = lat0 + north_m / _DEG_LAT_M
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lon = lon0 + east_m / (_DEG_LAT_M * math.cos(math.radians(lat0)))
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return lat, lon
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async def read_home_gps(drone) -> tuple[float, float]:
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"""起飞前读 home 经纬度（放虚拟目标 + 注入坐标）。"""
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try:
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async with asyncio.timeout(10.0):
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async for pos in drone.telemetry.position():
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return pos.latitude_deg, pos.longitude_deg
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except TimeoutError:
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raise RuntimeError("10 s 内未取得 home GPS") from None
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def build_sm_config() -> TaskStateConfig:
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"""SITL 状态机参数（占位值，仅用于仿真验证链路）。"""
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return TaskStateConfig(
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takeoff_altitude_m=5.0,
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switch_radius_m=25.0, # 目标在 30m，飞进 25m 内切 TRACK
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goto_timeout_s=60.0,
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track_timeout_s=60.0,
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center_hold_s=3.0,
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center_threshold_deg=3.0, # 脱靶量 < 3° 判居中
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approach_hover_s=5.0, # 悬停 5s 后 RTL
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loop_frequency_hz=20.0,
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)
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async def inject_loop(ground: GroundLink, lat: float, lon: float,
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stop: asyncio.Event) -> None:
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"""后台持续刷新注入坐标（模拟地面站持续上报，保坐标始终新鲜）。"""
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first = True
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while not stop.is_set():
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ground.inject(GroundTarget(latitude_deg=lat, longitude_deg=lon,
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abs_alt_m=0.0))
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if first:
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print(f"-- 首次注入坐标 time_ms={ground.latest().time_ms}")
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first = False
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await asyncio.sleep(INJECT_PERIOD_S)
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async def run(args) -> int:
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cfg = load_from_json(args.config)
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cfg.ground_inject.enabled = True # 启用地面注入（骨架期 JSON 默认关）
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cfg.guidance.target_stale_ms = 5000 # 注入坐标超时放宽（表4 默认 1000 对低频注入太紧）
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sm_cfg = build_sm_config()
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drone = System()
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await drone.connect(system_address=args.conn)
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try:
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await wait_until_ready(drone)
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except RuntimeError as e:
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print(f"! {e}")
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return 1
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await set_telemetry_rates(drone)
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home_lat, home_lon = await read_home_gps(drone)
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tgt_lat, tgt_lon = ned_offset_to_latlon(home_lat, home_lon,
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TARGET_NORTH_M, TARGET_EAST_M)
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print(f"-- home ({home_lat:.6f}, {home_lon:.6f})，"
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f"注入目标 ({tgt_lat:.6f}, {tgt_lon:.6f})（北 {TARGET_NORTH_M}m "
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f"东 {TARGET_EAST_M}m）")
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# 装配：真 SITL 飞控 + 模拟吊舱 + 注入坐标 + 状态机编排器
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hub = TelemetryHub()
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hub.start(drone)
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target = VirtualTarget(
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VirtualTargetConfig(ahead_m=TARGET_NORTH_M, right_m=TARGET_EAST_M,
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down_m=TARGET_DOWN_M, arc_radius_m=0.1,
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arc_speed_mps=0.0, arc_ccw=True),
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(0.0, 0.0, 0.0), 0.0) # anchor=home NED 原点，yaw=0 → 北30/东15
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pod = VirtualPod(target, hub.view,
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fov_h_deg=cfg.tracking.camera.fov_h_deg,
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fov_v_deg=cfg.tracking.camera.fov_v_deg)
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px4 = Px4Gateway(drone)
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ground = GroundLink(cfg.ground_inject, now_ms_fn=now_ms)
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bridge = PodBridge(cfg, px4, pod, now_ms_fn=now_ms,
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ground_target_fn=lambda: ground.latest())
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sm = TaskStateMachine(sm_cfg)
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task_log = TaskLogger(TaskLogConfig(), now_ms_fn=now_ms)
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runner = TaskRunner(cfg, sm_cfg, px4, bridge, sm, ground, drone,
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now_ms_fn=now_ms, logger=task_log)
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stop = asyncio.Event()
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if args.ground_station:
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# 地面站模式：UDP 接收地面站注入坐标（地面站页面 POST /api/inject → 14555）
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ground_task = asyncio.ensure_future(ground.run(stop))
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else:
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ground_task = asyncio.ensure_future(inject_loop(ground, tgt_lat, tgt_lon, stop))
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runner_task = asyncio.ensure_future(runner.run(stop))
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print("-- 启动任务状态机全流程（WAIT→…→RTL）")
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if args.ground_station:
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print(f" [地面站模式] 等待 UDP {cfg.ground_inject.port} 注入坐标…")
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print(f" 状态机: takeoff={sm_cfg.takeoff_altitude_m}m "
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f"switch_radius={sm_cfg.switch_radius_m}m "
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f"center={sm_cfg.center_threshold_deg}°/{sm_cfg.center_hold_s}s "
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f"hover={sm_cfg.approach_hover_s}s")
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# 状态打印 + 总超时保护
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started = time.monotonic()
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last_state = None
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diag_count = 0
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try:
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while not runner.rtl_done:
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await asyncio.sleep(1.0)
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if runner.state is not last_state:
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last_state = runner.state
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print(f"[任务] 进入状态: {runner.state.value}")
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if runner_task.done():
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exc = runner_task.exception()
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if exc is not None:
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print(f"! runner 异常退出: {type(exc).__name__}: {exc}")
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break
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if runner.state.value == "goto" and diag_count % 3 == 0:
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own = px4.own_state()
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g = ground.latest()
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dist = haversine_distance_m(own.latitude_deg, own.longitude_deg,
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g.latitude_deg, g.longitude_deg)
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try:
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async for m in drone.telemetry.flight_mode():
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mode = str(m)
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break
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except Exception:
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mode = "?"
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print(f"[诊断] pos_valid={own.position_valid} "
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f"pos_ms={own.position_time_ms} now={now_ms()} "
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f"mode={mode} yaw={own.yaw_rad:.2f} dist={dist:.1f}m "
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f"lat={own.latitude_deg:.5f} lon={own.longitude_deg:.5f}")
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diag_count += 1
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if time.monotonic() - started > TASK_TIMEOUT_S:
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print("! 全流程超时，强制返航")
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runner.request_rtl()
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if runner.rtl_done:
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print("-- 任务完成（RTL 落地）")
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except asyncio.CancelledError:
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raise
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finally:
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stop.set()
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ground_task.cancel()
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runner_task.cancel()
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try:
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await runner_task
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except asyncio.CancelledError:
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pass
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try:
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await ground_task
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except asyncio.CancelledError:
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pass
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await hub.stop()
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await print_flight_mode(drone)
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print("\n===== 任务状态机全流程完成 =====")
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return 0
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def main() -> int:
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ap = argparse.ArgumentParser(description="任务级状态机 SITL 全流程")
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ap.add_argument("--conn", default=CONNECTION, help="MAVSDK 连接串")
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ap.add_argument("--config", default=str(CONFIG_PATH), help="桥接配置 JSON 路径")
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ap.add_argument("--ground-station", action="store_true",
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help="地面站模式：UDP 接收地面站注入坐标（而非内置虚拟目标自动注入）")
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args = ap.parse_args()
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logging.basicConfig(level=logging.INFO,
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format="%(asctime)s.%(msecs)03d %(levelname)s %(message)s",
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datefmt="%H:%M:%S")
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return asyncio.run(run(args))
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if __name__ == "__main__":
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sys.exit(main())
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