keita
ded17d7995
- 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
338 lines
14 KiB
Python
338 lines
14 KiB
Python
"""config.py —— 吊舱桥接配置（BridgeConfig + load_from_json）。
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集中管理：吊舱串口、PX4(MAVSDK) 连接串、链路频率/超时、引导律参数
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（复用 guidance.GuidanceConfig）。风格对齐 visual_track_control/config.py：
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启动期一次性解析，错误携带完整字段名（如 "guidance.max_speed_mps"）抛 ValueError，
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解析结果与 JSON 脱钩，热路径不热更新。
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与 visual_track_control/config.py 的差异：本配置多处取值仍待定（串口设备号、
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PX4 连接串等），故采用「缺字段回退 dataclass 默认值」而非全字段强制；为保证
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安全，仍对出现的字段做类型/范围校验，并**拒绝各分组内的未知键**（防拼写错误
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导致的静默回退）。
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"""
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import dataclasses
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import json
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from dataclasses import dataclass, field
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from typing import Any
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from visual_track_control.config import TrackingConfig
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from visual_track_control.config import load_from_dict as _load_tracking_dict
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from .guidance import GuidanceConfig
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from .ground_link import GroundInjectConfig
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@dataclass
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class PodSerialConfig:
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"""吊舱侧串口（文档：115200、无校验、8N1）。port 待定，留空为占位。"""
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port: str = ""
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baudrate: int = 115200
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@dataclass
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class Px4Config:
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"""飞控侧 MAVSDK 连接串。TELEM 串口形如 serial:///dev/ttyS1:57600；
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SITL/仿真可用 udp://:14540。"""
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connection_string: str = "udp://:14540"
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@dataclass
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class LinkConfig:
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"""链路频率与超时。"""
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attitude_downlink_hz: float = 20.0 # 表3 载机姿态下发频率（文档：1~60Hz）
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telemetry_timeout_ms: int = 500 # 吊舱遥测超龄判定（链路级）
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require_laser_valid: bool = True # 目标有效是否要求激光测距有效
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# （吊舱锁定位置位在目标丢失后可能不复位，
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# 激光无效即不解算，以此兜底；无激光的吊舱置 False）
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@dataclass
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class HeadingServoConfig:
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"""L1 航向伺服（方案 §2/§4）：把吊舱表2-2 角度喂进 TrackingControlLaw。
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信号合成（§2.1）：β = beta_sign·(beta_from_frame·frame_yaw + beta_from_off_target·off_target_x)，
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α 同理。无电机吊舱 frame_yaw 恒 0（"框架角无用"）→ 仅用脱靶量；装电机后两者叠加。
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符号（±1）台架 S1 标定后填，配置化而非硬编码，防接反反向转。
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"""
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enabled: bool = False # True = bridge 走 L1(TrackingControlLaw)，False = L2(GuidanceLaw)
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beta_sign: int = 1 # 水平合成符号（台架标定 ±1）
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alpha_sign: int = 1 # 垂直合成符号
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beta_from_frame: bool = False # β 是否叠加框架角 frame_yaw_deg（装电机后开）
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beta_from_off_target: bool = True # β 是否叠加脱靶量 off_target_x_deg
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alpha_from_frame: bool = False # α 是否叠加框架角 frame_pitch_deg
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alpha_from_off_target: bool = True # α 是否叠加脱靶量 off_target_y_deg
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vertical_enabled: bool = True # 无人机 L1 开垂直（决策3）；false → α 强制 0
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require_vision: bool = False # true = 需我方视觉作第二判据（S3 起，§2.3）
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@dataclass
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class BridgeConfig:
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pod_serial: PodSerialConfig = field(default_factory=PodSerialConfig)
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px4: Px4Config = field(default_factory=Px4Config)
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link: LinkConfig = field(default_factory=LinkConfig)
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guidance: GuidanceConfig = field(default_factory=GuidanceConfig)
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heading_servo: HeadingServoConfig = field(default_factory=HeadingServoConfig)
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tracking: TrackingConfig = field(default_factory=TrackingConfig)
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ground_inject: GroundInjectConfig = field(default_factory=GroundInjectConfig)
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# ---------------------------------------------------------------------------
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# 校验原语（错误消息携带完整字段名）
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# ---------------------------------------------------------------------------
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def _is_number(value: Any) -> bool:
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return isinstance(value, (int, float)) and not isinstance(value, bool)
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def _is_integer(value: Any) -> bool:
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return isinstance(value, int) and not isinstance(value, bool)
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def _require_section(root: dict, section: str) -> dict:
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value = root.get(section)
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if value is None:
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return {} # 缺省分组：全部回退默认值
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if not isinstance(value, dict):
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raise ValueError(f"配置缺失分组或类型错误: {section}")
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return value
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def _reject_unknown(section: dict, allowed: set, section_name: str) -> None:
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unknown = set(section.keys()) - allowed
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if unknown:
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names = ", ".join(f"{section_name}.{k}" for k in sorted(unknown))
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raise ValueError(f"配置存在未知字段: {names}")
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def _get_number(section: dict, section_name: str, key: str, default: float) -> float:
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if key not in section:
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return float(default)
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value = section[key]
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if not _is_number(value):
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raise ValueError(f"配置字段类型错误(需数值): {section_name}.{key}")
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return float(value)
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def _get_integer(section: dict, section_name: str, key: str, default: int) -> int:
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if key not in section:
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return int(default)
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value = section[key]
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if not _is_integer(value):
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raise ValueError(f"配置字段类型错误(需整数): {section_name}.{key}")
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return int(value)
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def _get_string(section: dict, section_name: str, key: str, default: str) -> str:
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if key not in section:
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return str(default)
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value = section[key]
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if not isinstance(value, str):
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raise ValueError(f"配置字段类型错误(需字符串): {section_name}.{key}")
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return value
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def _get_bool(section: dict, section_name: str, key: str, default: bool) -> bool:
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if key not in section:
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return bool(default)
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value = section[key]
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if not isinstance(value, bool):
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raise ValueError(f"配置字段类型错误(需布尔): {section_name}.{key}")
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return value
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def _positive(value: float, field_name: str) -> float:
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if not (value > 0.0):
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raise ValueError(f"配置非法(必须为正): {field_name}")
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return value
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def _non_negative(value: float, field_name: str) -> float:
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if value < 0.0:
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raise ValueError(f"配置非法(不得为负): {field_name}")
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return value
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def _in_range(value: float, lo: float, hi: float, field_name: str,
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half_open: bool = False) -> float:
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"""范围校验：默认闭区间 [lo, hi]；half_open=True 为左闭右开 [lo, hi)。"""
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ok = (lo <= value < hi) if half_open else (lo <= value <= hi)
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if not ok:
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raise ValueError(f"配置非法(超出范围): {field_name}")
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return value
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# ---------------------------------------------------------------------------
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# 各分组加载
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# ---------------------------------------------------------------------------
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def _load_pod_serial(root: dict) -> PodSerialConfig:
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s = _require_section(root, "pod_serial")
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_reject_unknown(s, {"port", "baudrate"}, "pod_serial")
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c = PodSerialConfig()
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c.port = _get_string(s, "pod_serial", "port", c.port)
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c.baudrate = int(_positive(
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_get_integer(s, "pod_serial", "baudrate", c.baudrate), "pod_serial.baudrate"))
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return c
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def _load_px4(root: dict) -> Px4Config:
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s = _require_section(root, "px4")
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_reject_unknown(s, {"connection_string"}, "px4")
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c = Px4Config()
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c.connection_string = _get_string(
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s, "px4", "connection_string", c.connection_string)
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if not c.connection_string:
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raise ValueError("配置非法(不得为空): px4.connection_string")
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return c
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def _load_link(root: dict) -> LinkConfig:
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s = _require_section(root, "link")
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_reject_unknown(s, {"attitude_downlink_hz", "telemetry_timeout_ms",
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"require_laser_valid"}, "link")
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c = LinkConfig()
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c.attitude_downlink_hz = _in_range(
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_positive(_get_number(s, "link", "attitude_downlink_hz",
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c.attitude_downlink_hz), "link.attitude_downlink_hz"),
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1.0, 60.0, "link.attitude_downlink_hz")
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c.telemetry_timeout_ms = int(_positive(
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_get_integer(s, "link", "telemetry_timeout_ms", c.telemetry_timeout_ms),
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"link.telemetry_timeout_ms"))
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c.require_laser_valid = _get_bool(
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s, "link", "require_laser_valid", c.require_laser_valid)
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return c
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def _load_guidance(root: dict) -> GuidanceConfig:
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s = _require_section(root, "guidance")
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allowed = {f.name for f in dataclasses.fields(GuidanceConfig)}
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_reject_unknown(s, allowed, "guidance")
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d = GuidanceConfig()
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g = GuidanceConfig()
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g.frequency_hz = _positive(
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_get_number(s, "guidance", "frequency_hz", d.frequency_hz),
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"guidance.frequency_hz")
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g.target_stale_ms = int(_positive(
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_get_integer(s, "guidance", "target_stale_ms", d.target_stale_ms),
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"guidance.target_stale_ms"))
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g.position_stale_ms = int(_positive(
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_get_integer(s, "guidance", "position_stale_ms", d.position_stale_ms),
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"guidance.position_stale_ms"))
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g.stop_radius_m = _non_negative(
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_get_number(s, "guidance", "stop_radius_m", d.stop_radius_m),
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"guidance.stop_radius_m")
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g.max_speed_mps = _positive(
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_get_number(s, "guidance", "max_speed_mps", d.max_speed_mps),
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"guidance.max_speed_mps")
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g.speed_kp = _non_negative(
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_get_number(s, "guidance", "speed_kp", d.speed_kp), "guidance.speed_kp")
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g.speed_ki = _non_negative(
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_get_number(s, "guidance", "speed_ki", d.speed_ki), "guidance.speed_ki")
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g.speed_kd = _non_negative(
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_get_number(s, "guidance", "speed_kd", d.speed_kd), "guidance.speed_kd")
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g.speed_integral_limit = _non_negative(
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_get_number(s, "guidance", "speed_integral_limit", d.speed_integral_limit),
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"guidance.speed_integral_limit")
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g.speed_derivative_filter_coef = _in_range(
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_get_number(s, "guidance", "speed_derivative_filter_coef",
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d.speed_derivative_filter_coef),
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0.0, 1.0, "guidance.speed_derivative_filter_coef", half_open=True)
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g.speed_slew_mps2 = _positive(
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_get_number(s, "guidance", "speed_slew_mps2", d.speed_slew_mps2),
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"guidance.speed_slew_mps2")
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g.max_yaw_rate_dps = _positive(
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_get_number(s, "guidance", "max_yaw_rate_dps", d.max_yaw_rate_dps),
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"guidance.max_yaw_rate_dps")
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g.yaw_kp = _non_negative(
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_get_number(s, "guidance", "yaw_kp", d.yaw_kp), "guidance.yaw_kp")
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g.yaw_slew_dps2 = _positive(
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_get_number(s, "guidance", "yaw_slew_dps2", d.yaw_slew_dps2),
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"guidance.yaw_slew_dps2")
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return g
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def _get_sign(section: dict, section_name: str, key: str, default: int) -> int:
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"""符号位：仅允许 -1 / +1（配置化防接反，方案 §2.1/§6）。"""
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if key not in section:
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return int(default)
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value = section[key]
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if not _is_integer(value) or value not in (-1, 1):
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raise ValueError(f"配置非法(仅允许 -1 或 1): {section_name}.{key}")
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return int(value)
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def _load_heading_servo(root: dict) -> HeadingServoConfig:
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s = _require_section(root, "heading_servo")
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allowed = {f.name for f in dataclasses.fields(HeadingServoConfig)}
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_reject_unknown(s, allowed, "heading_servo")
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c = HeadingServoConfig()
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c.enabled = _get_bool(s, "heading_servo", "enabled", c.enabled)
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c.beta_sign = _get_sign(s, "heading_servo", "beta_sign", c.beta_sign)
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c.alpha_sign = _get_sign(s, "heading_servo", "alpha_sign", c.alpha_sign)
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c.beta_from_frame = _get_bool(
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s, "heading_servo", "beta_from_frame", c.beta_from_frame)
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c.beta_from_off_target = _get_bool(
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s, "heading_servo", "beta_from_off_target", c.beta_from_off_target)
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c.alpha_from_frame = _get_bool(
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s, "heading_servo", "alpha_from_frame", c.alpha_from_frame)
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c.alpha_from_off_target = _get_bool(
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s, "heading_servo", "alpha_from_off_target", c.alpha_from_off_target)
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c.vertical_enabled = _get_bool(
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s, "heading_servo", "vertical_enabled", c.vertical_enabled)
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c.require_vision = _get_bool(
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s, "heading_servo", "require_vision", c.require_vision)
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return c
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def _load_tracking(root: dict) -> TrackingConfig:
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"""L1 控制律配置：缺省 → TrackingConfig() 默认；提供 → 按 vtc 严格解析（各分组齐全）。"""
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s = _require_section(root, "tracking")
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if not s:
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return TrackingConfig()
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return _load_tracking_dict(s)
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def _load_ground_inject(root: dict) -> GroundInjectConfig:
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"""地面坐标注入配置（预定流程「地面给坐标」，A2）。"""
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s = _require_section(root, "ground_inject")
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allowed = {f.name for f in dataclasses.fields(GroundInjectConfig)}
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_reject_unknown(s, allowed, "ground_inject")
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c = GroundInjectConfig()
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c.enabled = _get_bool(s, "ground_inject", "enabled", c.enabled)
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c.host = _get_string(s, "ground_inject", "host", c.host)
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c.port = int(_in_range(
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_get_integer(s, "ground_inject", "port", c.port),
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1, 65535, "ground_inject.port"))
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c.timeout_ms = int(_positive(
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_get_integer(s, "ground_inject", "timeout_ms", c.timeout_ms),
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"ground_inject.timeout_ms"))
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return c
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def load_from_json(path: str) -> BridgeConfig:
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"""从 JSON 文件一次性加载桥接配置（启动期调用，调参重启生效）。"""
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try:
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with open(path, "r", encoding="utf-8") as fp:
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root = json.load(fp)
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except OSError:
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raise ValueError(f"配置文件打开失败: {path}") from None
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except json.JSONDecodeError as exc:
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raise ValueError(f"配置文件解析失败: {path} ({exc})") from None
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if not isinstance(root, dict):
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raise ValueError(f"配置文件解析失败: {path} (根节点必须为对象)")
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cfg = BridgeConfig()
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cfg.pod_serial = _load_pod_serial(root)
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cfg.px4 = _load_px4(root)
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cfg.link = _load_link(root)
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cfg.guidance = _load_guidance(root)
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cfg.heading_servo = _load_heading_servo(root)
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cfg.tracking = _load_tracking(root)
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cfg.ground_inject = _load_ground_inject(root)
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return cfg
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