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
339 lines
16 KiB
Python
339 lines
16 KiB
Python
"""bridge.py —— 吊舱 ↔ PX4 桥接主循环（asyncio 胶水层）。
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闭环（每控制周期，guidance.frequency_hz）：
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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）
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② 按 link.attitude_downlink_hz 节流，读 PX4 遥测 → 打包 表3 载机姿态下发吊舱
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（吊舱据此解算目标经纬度，文档要求 1~60Hz）
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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，
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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
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吊舱不解算、表4 自然中断，由 guidance.target_stale_ms 兜底）
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④ 自身状态 + 最新目标 → GuidanceInput → GuidanceLaw.update → ControlOutput
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⑤ 按模式分发：VELOCITY_HEADING → offboard 速度；BRAKE_HOVER → 零速刹车
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（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）
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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
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保 offboard 心跳，任务不终止。
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时钟一致性：Px4Gateway 与 PodBridge 必须共用同一单调毫秒时钟（OwnState.time_ms
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与 step(now_ms) 同源），否则 position/target 超龄判定失效。connect() 工厂已统一。
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"""
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import asyncio
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import logging
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import math
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import time
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from datetime import datetime, timezone
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from typing import Optional
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from visual_track_control.staleness_checker import is_stale
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from visual_track_control.tracking_control_law import TrackingControlLaw
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from visual_track_control.types import (ControlMode, ControlSnapshot,
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TrackState)
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from .config import BridgeConfig
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from .ground_link import GroundTarget
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from .guidance import GuidanceInput, GuidanceLaw
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from .pod_serial import PodLink, PodSerial
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from .protocol import (CarrierAttitude, ControlCommand, TargetGeo, Telemetry,
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encode_attitude, encode_control)
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from .px4_gateway import Px4Gateway
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logger = logging.getLogger(__name__)
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def _monotonic_ms() -> int:
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return int(time.monotonic() * 1000)
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class PodBridge:
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"""px4：Px4Gateway（或等价 mock）；pod：PodLink（PodSerial 或内存 FakePod）。"""
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def __init__(self, cfg: BridgeConfig, px4: Px4Gateway, pod: PodLink,
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now_ms_fn=_monotonic_ms, vision_target_fn=None,
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ground_target_fn=None) -> None:
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self._cfg = cfg
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self._px4 = px4
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self._pod = pod
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self._now_ms = now_ms_fn
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self._vision_target_fn = vision_target_fn # §2.3 第二判据（可选，S3+ 接入我方视觉）
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self._ground_target_fn = ground_target_fn # 地面注入坐标访问器（A2，无激光替代表4）
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self._use_heading_servo = cfg.heading_servo.enabled # 运行时控制律选择（A3 状态机切换）
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self._guidance = GuidanceLaw(cfg.guidance)
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self._tracking = TrackingControlLaw(cfg.tracking) # L1 航向伺服（方案 §0）
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self._attitude_period_ms = max(
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1, int(round(1000.0 / cfg.link.attitude_downlink_hz)))
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self._last_attitude_ms: Optional[int] = None
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self._latest_target = None # (TargetGeo, time_ms)
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self._latest_telemetry = None # (Telemetry, time_ms)
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self._step_failures = 0 # run() 连续异常计数（告警节流用）
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# --- 生命周期 -----------------------------------------------------------
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async def start(self) -> bool:
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"""启动 PX4 遥测订阅与 offboard；offboard 失败返回 False（不应继续闭环）。"""
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await self._px4.start_telemetry()
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if not await self._px4.start_offboard():
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logger.error("[Bridge] offboard 启动失败，桥接未运行")
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return False
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logger.info("[Bridge] 启动：引导 %.1fHz，姿态下发 %.1fHz",
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self._cfg.guidance.frequency_hz,
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self._cfg.link.attitude_downlink_hz)
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return True
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async def stop(self) -> None:
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"""安全停机：先零速刹车，再停 offboard / 遥测 / 串口。"""
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try:
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await self._px4.send_brake_hover(self._now_ms())
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finally:
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await self._px4.stop_offboard()
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await self._px4.stop_telemetry()
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self._pod.close()
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self._guidance.reset()
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self._tracking.reset()
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logger.info("[Bridge] 已停止")
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# --- 主循环 -------------------------------------------------------------
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async def run(self, stop_event: asyncio.Event) -> None:
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"""按引导频率循环 step()，直到 stop_event 置位。
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异常护栏：单周期抛错（典型：吊舱串口拔线 SerialException/OSError）不终止
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任务，按「第 1 次 + 每满 100 次」节奏告警（对齐 WarnThrottle 语义），并补发
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零速刹车保住 offboard 心跳——否则 PX4 数秒内触发 offboard 失联保护。
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CancelledError 继承 BaseException，不在此拦截。
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"""
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period_s = 1.0 / self._active_frequency_hz()
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while not stop_event.is_set():
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try:
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await self.step(self._now_ms())
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self._step_failures = 0
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except Exception as exc:
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self._step_failures += 1
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if self._step_failures == 1 or self._step_failures % 100 == 0:
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logger.warning("[Bridge] 控制周期异常(第 %d 次): %s",
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self._step_failures, exc)
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try:
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await self._px4.send_brake_hover(self._now_ms())
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except Exception:
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pass # 补发失败不掩盖原异常，下周期重试
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await asyncio.sleep(period_s)
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def _active_frequency_hz(self) -> float:
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"""当前生效控制律的循环频率：L1 用 tracking.control，L2 用 guidance。"""
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if self._use_heading_servo:
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return self._cfg.tracking.control.frequency_hz
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return self._cfg.guidance.frequency_hz
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def set_heading_servo_enabled(self, enabled: bool) -> None:
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"""运行时切换控制律（任务状态机 GOTO(L2) ↔ TRACK(L1) 切换，A3）。
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切换时 reset 即将启用的律（清积分/限幅器历史），使指令从零渐变，
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避免切换瞬间输出跳变。L1 用吊舱角度直入，L2 用地理引导（注入坐标/表4）。
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"""
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if enabled == self._use_heading_servo:
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return
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self._use_heading_servo = enabled
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if enabled:
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self._tracking.reset()
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else:
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self._guidance.reset()
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async def step(self, now_ms: int):
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"""单控制周期（显式传入时钟，便于确定性单测）。返回 ControlOutput。
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按运行时选择的控制律在 L1（TrackingControlLaw，吊舱角度直入）与
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L2（GuidanceLaw，表4/注入坐标地理引导）间切换（方案 §7）。
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"""
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self._ingest_pod_frames(now_ms)
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own = self._px4.own_state()
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self._downlink_attitude(own, now_ms)
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if self._use_heading_servo:
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out = self._tracking.update(self._build_snapshot(own, now_ms), now_ms)
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else:
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out = self._guidance.update(
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self._build_guidance_input(own, now_ms), now_ms)
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await self._dispatch(out, now_ms)
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return out
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# --- 吊舱侧 -------------------------------------------------------------
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def _ingest_pod_frames(self, now_ms: int) -> None:
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for frame in self._pod.poll():
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if isinstance(frame, TargetGeo):
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self._latest_target = (frame, now_ms)
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elif isinstance(frame, Telemetry):
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self._latest_telemetry = (frame, now_ms)
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def _downlink_attitude(self, own, now_ms: int) -> None:
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if (self._last_attitude_ms is not None
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and now_ms - self._last_attitude_ms < self._attitude_period_ms):
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return
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self._pod.send(encode_attitude(self._build_attitude(own)))
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self._last_attitude_ms = now_ms
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def _build_attitude(self, own) -> CarrierAttitude:
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t = datetime.now(timezone.utc)
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return CarrierAttitude(
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roll_deg=math.degrees(own.roll_rad),
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pitch_deg=math.degrees(own.pitch_rad),
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yaw_deg=math.degrees(own.yaw_rad),
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latitude_deg=own.latitude_deg,
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longitude_deg=own.longitude_deg,
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abs_alt_m=own.absolute_altitude_m,
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rel_alt_m=own.relative_altitude_m,
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year=t.year, month=t.month, day=t.day,
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hour=t.hour, minute=t.minute, second=t.second,
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centisecond=t.microsecond // 10000,
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airspeed_mps=0.0, # 无空速管，置 0（文档允许）
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ground_speed_mps=own.ground_speed_mps,
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)
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def send_control(self, cmd: ControlCommand) -> None:
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"""触发式下发 表2-1 控制指令（如开目标识别 / 框选跟踪）。"""
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self._pod.send(encode_control(cmd))
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# --- 飞控侧 -------------------------------------------------------------
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def _build_guidance_input(self, own, now_ms: int) -> GuidanceInput:
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injected = self._injected_target(now_ms)
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if injected is not None:
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# 地面注入坐标优先（本吊舱无激光 → 表4 永不出，目标坐标改走地面站）
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return GuidanceInput(
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own_lat_deg=own.latitude_deg,
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own_lon_deg=own.longitude_deg,
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own_yaw_deg=math.degrees(own.yaw_rad),
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own_position_valid=own.position_valid,
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own_position_time_ms=own.position_time_ms, # position 流专用时间戳
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target_lat_deg=injected.latitude_deg,
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target_lon_deg=injected.longitude_deg,
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target_valid=True, # 注入坐标已验证新鲜
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target_time_ms=injected.time_ms,
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)
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# 回退表4（有激光吊舱 / 未接入地面站）
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tgt = self._latest_target
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locked = self._pod_locked(now_ms)
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return GuidanceInput(
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own_lat_deg=own.latitude_deg,
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own_lon_deg=own.longitude_deg,
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own_yaw_deg=math.degrees(own.yaw_rad),
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own_position_valid=own.position_valid,
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own_position_time_ms=own.position_time_ms, # position 流专用时间戳
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target_lat_deg=tgt[0].latitude_deg if tgt else 0.0,
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target_lon_deg=tgt[0].longitude_deg if tgt else 0.0,
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target_valid=tgt is not None and locked, # 未锁定=目标无效
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target_time_ms=tgt[1] if tgt else 0,
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)
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def _injected_target(self, now_ms: int) -> Optional[GroundTarget]:
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"""地面注入坐标（新鲜有效则返回，否则 None → 回退表4 / 无目标）。
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本吊舱无激光 → 表4 永不出，目标坐标改由地面站注入（预定流程「地面给坐标」）。
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未启用 / 未注入 / 超龄 → None（下游按无目标刹车）。"""
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if not self._cfg.ground_inject.enabled:
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return None
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if self._ground_target_fn is None:
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return None
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target = self._ground_target_fn()
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if target is None or target.time_ms <= 0:
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return None
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if is_stale(target.time_ms, now_ms, self._cfg.ground_inject.timeout_ms):
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return None
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return target
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def pod_locked(self, now_ms: int) -> bool:
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"""吊舱目标门控（公共接口，供编排层/状态机复用，A3）。"""
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return self._pod_locked(now_ms)
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def _pod_locked(self, now_ms: int) -> bool:
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"""吊舱目标门控：表2-2 遥测在 link.telemetry_timeout_ms 内、状态字节1
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bit2=锁定、且（若 link.require_laser_valid）激光测距有效，才算目标有效。
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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，
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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，
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故此兜底。无激光或激光恒无效的吊舱把 require_laser_valid 置 False。
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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）。"""
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tel = self._latest_telemetry
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if tel is None:
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return False
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frame, t_ms = tel
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if is_stale(t_ms, now_ms, self._cfg.link.telemetry_timeout_ms):
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return False
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if not frame.is_target_locked:
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return False
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if self._cfg.link.require_laser_valid and frame.laser_range_m is None:
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return False
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return True
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def _build_snapshot(self, own, now_ms: int) -> ControlSnapshot:
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"""L1：PX4 姿态 + 吊舱表2-2 角度 → ControlSnapshot（角度直入，方案 §2.1/§2.3）。
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姿态（yaw / attitude_present / attitude_time_ms）来自 PX4；视线角 β/α 来自
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吊舱脱靶量与框架角，信源与符号由 heading_servo 配置合成：
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β = beta_sign·(beta_from_frame·frame_yaw + beta_from_off_target·off_target_x)
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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。
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L1 无距离：distance_valid=False，控制律按 no_distance_action 降级（只修正方向）。
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"""
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hs = self._cfg.heading_servo
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tel = self._latest_telemetry
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frame, t_ms = tel if tel is not None else (None, 0)
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beta_deg = 0.0
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alpha_deg = 0.0
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if frame is not None:
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if hs.beta_from_frame:
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beta_deg += frame.frame_yaw_deg
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if hs.beta_from_off_target:
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beta_deg += frame.off_target_x_deg
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if hs.alpha_from_frame:
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alpha_deg += frame.frame_pitch_deg
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if hs.alpha_from_off_target:
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alpha_deg += frame.off_target_y_deg
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beta_deg *= hs.beta_sign
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alpha_deg *= hs.alpha_sign
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if not hs.vertical_enabled:
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alpha_deg = 0.0
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tracked = self._pod_locked(now_ms)
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# §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
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# 时 fail-safe 为 False（无法确认 → 宁可刹车）。
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if tracked and hs.require_vision:
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tracked = self._vision_target_fn() if self._vision_target_fn else False
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return ControlSnapshot(
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track=TrackState(tracked=tracked),
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track_time_ms=t_ms, # 无遥测(t_ms=0) → 控制律判视觉超龄 → 降级
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los_beta_deg=beta_deg,
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los_alpha_deg=alpha_deg,
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distance_valid=False, # L1 无距离（L2 换 stereo_ranger.forward_distance_m）
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attitude_present=own.has_attitude,
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attitude_time_ms=own.time_ms,
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yaw_rad=own.yaw_rad,
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)
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async def _dispatch(self, out, now_ms: int) -> None:
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if out.mode is ControlMode.VELOCITY_HEADING and out.valid:
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await self._px4.send_velocity_heading(out, now_ms)
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elif out.mode is ControlMode.BRAKE_HOVER and out.valid:
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await self._px4.send_brake_hover(now_ms)
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elif out.mode is ControlMode.DEGRADED_HOLD:
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# L1 控制律超龄/退出会降级（valid=False）：仍补发零速刹车，
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# 保住 offboard 心跳（否则 PX4 数秒内触发失联保护）。
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await self._px4.send_brake_hover(now_ms)
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# --- 诊断访问 -----------------------------------------------------------
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@property
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def latest_target(self):
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return self._latest_target
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@property
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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)
|