keita
5a944af4f5
- visual_track_control: ControlSnapshot 加可选 los_beta_deg/los_alpha_deg, 第④步角度直入优先否则回退像素路径(向后兼容); config 拆出 load_from_dict 供内嵌复用 - pod_bridge: BridgeConfig 内嵌 TrackingConfig + 新 HeadingServoConfig; bridge._build_snapshot 合成 β/α(姿态来自PX4/角度来自吊舱,信号双路适配无电机), step 按 heading_servo.enabled 切 L1/L2, DEGRADED_HOLD 补发刹车保 offboard 心跳; run() 循环频率按生效律取(修 L1 频率错配) - run_bridge.py: 闭环 CLI 入口, --dry-run(S2 只接吊舱不发offboard) 与实飞优雅停机 - 配置落 L1 首飞值(slow_approach/0.2mps、垂直压低、无电机仅用脱靶量) - 新增测试 29 条(vtc5+config9+bridgeL1 10+runner5); 全量 401 passed
286 lines
13 KiB
Python
286 lines
13 KiB
Python
"""bridge.py —— 吊舱 ↔ PX4 桥接主循环（asyncio 胶水层）。
|
||
|
||
闭环（每控制周期，guidance.frequency_hz）：
|
||
① poll 吊舱串口 → 缓存最新 表4 目标经纬度 / 表2-2 遥测（带单调时间戳）
|
||
② 按 link.attitude_downlink_hz 节流，读 PX4 遥测 → 打包 表3 载机姿态下发吊舱
|
||
（吊舱据此解算目标经纬度，文档要求 1~60Hz）
|
||
③ 目标门控：表2-2 状态字节1 bit2=锁定 且遥测在 link.telemetry_timeout_ms 内，
|
||
表4 坐标才视为有效（规格：表4 周期发送，搜索状态下坐标无意义；激光无效时
|
||
吊舱不解算、表4 自然中断，由 guidance.target_stale_ms 兜底）
|
||
④ 自身状态 + 最新目标 → GuidanceInput → GuidanceLaw.update → ControlOutput
|
||
⑤ 按模式分发：VELOCITY_HEADING → offboard 速度；BRAKE_HOVER → 零速刹车
|
||
（引导律对一切不安全情形输出 BRAKE_HOVER，故 offboard 始终有心跳，无失联悬停）
|
||
|
||
run() 主循环带异常护栏：单周期异常（如串口拔线）按节流节奏告警并补发零速刹车
|
||
保 offboard 心跳，任务不终止。
|
||
|
||
时钟一致性：Px4Gateway 与 PodBridge 必须共用同一单调毫秒时钟（OwnState.time_ms
|
||
与 step(now_ms) 同源），否则 position/target 超龄判定失效。connect() 工厂已统一。
|
||
"""
|
||
|
||
import asyncio
|
||
import logging
|
||
import math
|
||
import time
|
||
from datetime import datetime, timezone
|
||
from typing import Optional
|
||
|
||
from visual_track_control.staleness_checker import is_stale
|
||
from visual_track_control.tracking_control_law import TrackingControlLaw
|
||
from visual_track_control.types import (ControlMode, ControlSnapshot,
|
||
TrackState)
|
||
|
||
from .config import BridgeConfig
|
||
from .guidance import GuidanceInput, GuidanceLaw
|
||
from .pod_serial import PodLink, PodSerial
|
||
from .protocol import (CarrierAttitude, ControlCommand, TargetGeo, Telemetry,
|
||
encode_attitude, encode_control)
|
||
from .px4_gateway import Px4Gateway
|
||
|
||
logger = logging.getLogger(__name__)
|
||
|
||
|
||
def _monotonic_ms() -> int:
|
||
return int(time.monotonic() * 1000)
|
||
|
||
|
||
class PodBridge:
|
||
"""px4：Px4Gateway（或等价 mock）；pod：PodLink（PodSerial 或内存 FakePod）。"""
|
||
|
||
def __init__(self, cfg: BridgeConfig, px4: Px4Gateway, pod: PodLink,
|
||
now_ms_fn=_monotonic_ms, vision_target_fn=None) -> None:
|
||
self._cfg = cfg
|
||
self._px4 = px4
|
||
self._pod = pod
|
||
self._now_ms = now_ms_fn
|
||
self._vision_target_fn = vision_target_fn # §2.3 第二判据（可选，S3+ 接入我方视觉）
|
||
self._guidance = GuidanceLaw(cfg.guidance)
|
||
self._tracking = TrackingControlLaw(cfg.tracking) # L1 航向伺服（方案 §0）
|
||
self._attitude_period_ms = max(
|
||
1, int(round(1000.0 / cfg.link.attitude_downlink_hz)))
|
||
self._last_attitude_ms: Optional[int] = None
|
||
self._latest_target = None # (TargetGeo, time_ms)
|
||
self._latest_telemetry = None # (Telemetry, time_ms)
|
||
self._step_failures = 0 # run() 连续异常计数（告警节流用）
|
||
|
||
# --- 生命周期 -----------------------------------------------------------
|
||
async def start(self) -> bool:
|
||
"""启动 PX4 遥测订阅与 offboard；offboard 失败返回 False（不应继续闭环）。"""
|
||
await self._px4.start_telemetry()
|
||
if not await self._px4.start_offboard():
|
||
logger.error("[Bridge] offboard 启动失败，桥接未运行")
|
||
return False
|
||
logger.info("[Bridge] 启动：引导 %.1fHz，姿态下发 %.1fHz",
|
||
self._cfg.guidance.frequency_hz,
|
||
self._cfg.link.attitude_downlink_hz)
|
||
return True
|
||
|
||
async def stop(self) -> None:
|
||
"""安全停机：先零速刹车，再停 offboard / 遥测 / 串口。"""
|
||
try:
|
||
await self._px4.send_brake_hover(self._now_ms())
|
||
finally:
|
||
await self._px4.stop_offboard()
|
||
await self._px4.stop_telemetry()
|
||
self._pod.close()
|
||
self._guidance.reset()
|
||
self._tracking.reset()
|
||
logger.info("[Bridge] 已停止")
|
||
|
||
# --- 主循环 -------------------------------------------------------------
|
||
async def run(self, stop_event: asyncio.Event) -> None:
|
||
"""按引导频率循环 step()，直到 stop_event 置位。
|
||
|
||
异常护栏：单周期抛错（典型：吊舱串口拔线 SerialException/OSError）不终止
|
||
任务，按「第 1 次 + 每满 100 次」节奏告警（对齐 WarnThrottle 语义），并补发
|
||
零速刹车保住 offboard 心跳——否则 PX4 数秒内触发 offboard 失联保护。
|
||
CancelledError 继承 BaseException，不在此拦截。
|
||
"""
|
||
period_s = 1.0 / self._active_frequency_hz()
|
||
while not stop_event.is_set():
|
||
try:
|
||
await self.step(self._now_ms())
|
||
self._step_failures = 0
|
||
except Exception as exc:
|
||
self._step_failures += 1
|
||
if self._step_failures == 1 or self._step_failures % 100 == 0:
|
||
logger.warning("[Bridge] 控制周期异常(第 %d 次): %s",
|
||
self._step_failures, exc)
|
||
try:
|
||
await self._px4.send_brake_hover(self._now_ms())
|
||
except Exception:
|
||
pass # 补发失败不掩盖原异常，下周期重试
|
||
await asyncio.sleep(period_s)
|
||
|
||
def _active_frequency_hz(self) -> float:
|
||
"""当前生效控制律的循环频率：L1 用 tracking.control，L2 用 guidance。"""
|
||
if self._cfg.heading_servo.enabled:
|
||
return self._cfg.tracking.control.frequency_hz
|
||
return self._cfg.guidance.frequency_hz
|
||
|
||
async def step(self, now_ms: int):
|
||
"""单控制周期（显式传入时钟，便于确定性单测）。返回 ControlOutput。
|
||
|
||
按 heading_servo.enabled 在 L1（TrackingControlLaw，吊舱角度直入）与
|
||
L2（GuidanceLaw，表4 地理引导）间切换（方案 §7）。
|
||
"""
|
||
self._ingest_pod_frames(now_ms)
|
||
|
||
own = self._px4.own_state()
|
||
self._downlink_attitude(own, now_ms)
|
||
|
||
if self._cfg.heading_servo.enabled:
|
||
out = self._tracking.update(self._build_snapshot(own, now_ms), now_ms)
|
||
else:
|
||
out = self._guidance.update(
|
||
self._build_guidance_input(own, now_ms), now_ms)
|
||
await self._dispatch(out, now_ms)
|
||
return out
|
||
|
||
# --- 吊舱侧 -------------------------------------------------------------
|
||
def _ingest_pod_frames(self, now_ms: int) -> None:
|
||
for frame in self._pod.poll():
|
||
if isinstance(frame, TargetGeo):
|
||
self._latest_target = (frame, now_ms)
|
||
elif isinstance(frame, Telemetry):
|
||
self._latest_telemetry = (frame, now_ms)
|
||
|
||
def _downlink_attitude(self, own, now_ms: int) -> None:
|
||
if (self._last_attitude_ms is not None
|
||
and now_ms - self._last_attitude_ms < self._attitude_period_ms):
|
||
return
|
||
self._pod.send(encode_attitude(self._build_attitude(own)))
|
||
self._last_attitude_ms = now_ms
|
||
|
||
def _build_attitude(self, own) -> CarrierAttitude:
|
||
t = datetime.now(timezone.utc)
|
||
return CarrierAttitude(
|
||
roll_deg=math.degrees(own.roll_rad),
|
||
pitch_deg=math.degrees(own.pitch_rad),
|
||
yaw_deg=math.degrees(own.yaw_rad),
|
||
latitude_deg=own.latitude_deg,
|
||
longitude_deg=own.longitude_deg,
|
||
abs_alt_m=own.absolute_altitude_m,
|
||
rel_alt_m=own.relative_altitude_m,
|
||
year=t.year, month=t.month, day=t.day,
|
||
hour=t.hour, minute=t.minute, second=t.second,
|
||
centisecond=t.microsecond // 10000,
|
||
airspeed_mps=0.0, # 无空速管，置 0（文档允许）
|
||
ground_speed_mps=own.ground_speed_mps,
|
||
)
|
||
|
||
def send_control(self, cmd: ControlCommand) -> None:
|
||
"""触发式下发 表2-1 控制指令（如开目标识别 / 框选跟踪）。"""
|
||
self._pod.send(encode_control(cmd))
|
||
|
||
# --- 飞控侧 -------------------------------------------------------------
|
||
def _build_guidance_input(self, own, now_ms: int) -> GuidanceInput:
|
||
tgt = self._latest_target
|
||
locked = self._pod_locked(now_ms)
|
||
return GuidanceInput(
|
||
own_lat_deg=own.latitude_deg,
|
||
own_lon_deg=own.longitude_deg,
|
||
own_yaw_deg=math.degrees(own.yaw_rad),
|
||
own_position_valid=own.position_valid,
|
||
own_position_time_ms=own.position_time_ms, # position 流专用时间戳
|
||
target_lat_deg=tgt[0].latitude_deg if tgt else 0.0,
|
||
target_lon_deg=tgt[0].longitude_deg if tgt else 0.0,
|
||
target_valid=tgt is not None and locked, # 未锁定=目标无效
|
||
target_time_ms=tgt[1] if tgt else 0,
|
||
)
|
||
|
||
def _pod_locked(self, now_ms: int) -> bool:
|
||
"""吊舱目标门控：表2-2 遥测在 link.telemetry_timeout_ms 内、状态字节1
|
||
bit2=锁定、且（若 link.require_laser_valid）激光测距有效，才算目标有效。
|
||
|
||
实测依据：部分吊舱目标丢失后**锁定位置位不复位**（脱靶量也没有无效标志位，
|
||
恒为 0），仅凭 bit2 会朝过期坐标继续飞；激光无效时吊舱不解算目标经纬度，
|
||
故此兜底。无激光或激光恒无效的吊舱把 require_laser_valid 置 False。
|
||
|
||
从未收到遥测 / 遥测超龄 / 搜索状态 / 激光无效 一律视为目标无效（宁可刹车）。"""
|
||
tel = self._latest_telemetry
|
||
if tel is None:
|
||
return False
|
||
frame, t_ms = tel
|
||
if is_stale(t_ms, now_ms, self._cfg.link.telemetry_timeout_ms):
|
||
return False
|
||
if not frame.is_target_locked:
|
||
return False
|
||
if self._cfg.link.require_laser_valid and frame.laser_range_m is None:
|
||
return False
|
||
return True
|
||
|
||
def _build_snapshot(self, own, now_ms: int) -> ControlSnapshot:
|
||
"""L1：PX4 姿态 + 吊舱表2-2 角度 → ControlSnapshot（角度直入，方案 §2.1/§2.3）。
|
||
|
||
姿态（yaw / attitude_present / attitude_time_ms）来自 PX4；视线角 β/α 来自
|
||
吊舱脱靶量与框架角，信源与符号由 heading_servo 配置合成：
|
||
β = beta_sign·(beta_from_frame·frame_yaw + beta_from_off_target·off_target_x)
|
||
无电机吊舱 frame_yaw 恒 0（框架角无用），仅脱靶量生效；装电机后开启框架角项。
|
||
L1 无距离：distance_valid=False，控制律按 no_distance_action 降级（只修正方向）。
|
||
"""
|
||
hs = self._cfg.heading_servo
|
||
tel = self._latest_telemetry
|
||
frame, t_ms = tel if tel is not None else (None, 0)
|
||
|
||
beta_deg = 0.0
|
||
alpha_deg = 0.0
|
||
if frame is not None:
|
||
if hs.beta_from_frame:
|
||
beta_deg += frame.frame_yaw_deg
|
||
if hs.beta_from_off_target:
|
||
beta_deg += frame.off_target_x_deg
|
||
if hs.alpha_from_frame:
|
||
alpha_deg += frame.frame_pitch_deg
|
||
if hs.alpha_from_off_target:
|
||
alpha_deg += frame.off_target_y_deg
|
||
beta_deg *= hs.beta_sign
|
||
alpha_deg *= hs.alpha_sign
|
||
if not hs.vertical_enabled:
|
||
alpha_deg = 0.0
|
||
|
||
tracked = self._pod_locked(now_ms)
|
||
# §2.3：require_vision 时需我方视觉作第二判据（bit2 粘滞兜底）。未接入视觉源
|
||
# 时 fail-safe 为 False（无法确认 → 宁可刹车）。
|
||
if tracked and hs.require_vision:
|
||
tracked = self._vision_target_fn() if self._vision_target_fn else False
|
||
|
||
return ControlSnapshot(
|
||
track=TrackState(tracked=tracked),
|
||
track_time_ms=t_ms, # 无遥测(t_ms=0) → 控制律判视觉超龄 → 降级
|
||
los_beta_deg=beta_deg,
|
||
los_alpha_deg=alpha_deg,
|
||
distance_valid=False, # L1 无距离（L2 换 stereo_ranger.forward_distance_m）
|
||
attitude_present=own.has_attitude,
|
||
attitude_time_ms=own.time_ms,
|
||
yaw_rad=own.yaw_rad,
|
||
)
|
||
|
||
async def _dispatch(self, out, now_ms: int) -> None:
|
||
if out.mode is ControlMode.VELOCITY_HEADING and out.valid:
|
||
await self._px4.send_velocity_heading(out, now_ms)
|
||
elif out.mode is ControlMode.BRAKE_HOVER and out.valid:
|
||
await self._px4.send_brake_hover(now_ms)
|
||
elif out.mode is ControlMode.DEGRADED_HOLD:
|
||
# L1 控制律超龄/退出会降级（valid=False）：仍补发零速刹车，
|
||
# 保住 offboard 心跳（否则 PX4 数秒内触发失联保护）。
|
||
await self._px4.send_brake_hover(now_ms)
|
||
|
||
# --- 诊断访问 -----------------------------------------------------------
|
||
@property
|
||
def latest_target(self):
|
||
return self._latest_target
|
||
|
||
@property
|
||
def latest_telemetry(self):
|
||
return self._latest_telemetry
|
||
|
||
# --- 实机工厂 -----------------------------------------------------------
|
||
@classmethod
|
||
async def connect(cls, cfg: BridgeConfig) -> "PodBridge":
|
||
"""按配置连接 PX4(MAVSDK) 与吊舱(串口)，共用单一单调时钟。"""
|
||
px4 = await Px4Gateway.connect(cfg.px4.connection_string,
|
||
now_ms_fn=_monotonic_ms)
|
||
pod = PodSerial(cfg.pod_serial.port, cfg.pod_serial.baudrate)
|
||
return cls(cfg, px4, pod, now_ms_fn=_monotonic_ms)
|