495 lines
17 KiB
Python
495 lines
17 KiB
Python
"""
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router_proxy.py — ZeroMQ 通信代理
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【职责】
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封装与 Router 的 REQ/SUB 通信，遵循 python_protocol.md 规范：
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- REQ (tcp://127.0.0.1:5555) — 发送 SETPOINT / COMMAND / QUERY / WAYPOINT，接收 ACK
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- SUB (tcp://127.0.0.1:5556) — 订阅 Router 推送的 STATE / ALERT / PX4_ACK
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【使用】
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proxy = RouterProxy()
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proxy.start()
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# 发送指令
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ok, ack = proxy.send_command("ARM")
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ok, ack = proxy.send_setpoint(vx=1.0, vy=0.0, vz=0.0, control_mode="VELOCITY")
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ok, ack = proxy.send_query("HOME_POSITION")
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# 读取最新状态（线程安全）
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state = proxy.get_latest_state()
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if proxy.is_state_fresh(state):
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...
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proxy.close()
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【设计要点】
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- REQ_RELAXED + REQ_CORRELATE 防止单次 recv 超时导致 socket 卡死
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- SUB 采用专用后台线程 + zmq.Poller 非阻塞接收
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- 所有公开接口线程安全
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- 状态缓存原子读写，外部获取为深拷贝，无共享引用风险
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【作者】根据 python_protocol.md 重构
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"""
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import zmq
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import json
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import time
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import threading
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import copy
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import logging
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logger = logging.getLogger(__name__)
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class RouterProxy:
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"""ZeroMQ 通信代理：封装与 Router 的 REQ/SUB 通信"""
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# ---- 协议常量 ----
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STALE_THRESHOLD_US = 500_000 # 500 ms，STATE 新鲜度阈值（协议 §3.8.1）
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STALE_THRESHOLD_WARN_US = 2_000_000 # 2 s，数据稍旧警告阈值
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def __init__(self, req_endpoint="tcp://127.0.0.1:5555",
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sub_endpoint="tcp://127.0.0.1:5556",
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recv_timeout_ms=500):
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"""
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初始化 ZMQ 代理
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Args:
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req_endpoint: REQ socket 地址（发给 Router）
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sub_endpoint: SUB socket 地址（收 Router 推送）
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recv_timeout_ms:REQ recv 超时毫秒数
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"""
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self.req_endpoint = req_endpoint
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self.sub_endpoint = sub_endpoint
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self.recv_timeout_ms = recv_timeout_ms
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# ---- ZMQ 上下文 ----
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self.ctx = zmq.Context()
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# ---- REQ socket: 发指令，收 ACK ----
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self.req = self.ctx.socket(zmq.REQ)
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self.req.setsockopt(zmq.RCVTIMEO, recv_timeout_ms)
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# REQ_RELAXED + REQ_CORRELATE: 即使某次 recv 超时，
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# 下次 send 仍能正常发送，旧响应会被自动丢弃
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self.req.setsockopt(zmq.REQ_RELAXED, 1)
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self.req.setsockopt(zmq.REQ_CORRELATE, 1)
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self.req.connect(req_endpoint)
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# ---- SUB socket: 收 Router 推送 ----
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self.sub = self.ctx.socket(zmq.SUB)
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self.sub.connect(sub_endpoint)
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self.sub.setsockopt_string(zmq.SUBSCRIBE, "") # 订阅所有消息
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# ---- 消息序号（线程安全） ----
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self._seq = 0
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self._seq_lock = threading.Lock()
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# ---- 消息ID （区分标识） ----
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self.id = 0
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self.id_lock = threading.Lock()
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# ---- 最新 STATE 缓存 ----
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self._latest_state = None
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self._state_lock = threading.Lock()
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# ---- 首次 STATE 标记 ----
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self._first_state_received = False
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# ---- SUB 监听线程 ----
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self._running = False
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self._sub_thread = None
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# ---- 外部回调钩子 ----
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self._state_callback = None
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self._alert_callback = None
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self._waypoints_callback = None
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self._last_logged_msg_type = None # 记录上次打印的消息类型
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self._last_logged_ack_type = None
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# ================================================================
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# 内部工具
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# ================================================================
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def _next_id(self) -> int:
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"""递增消息ID （区分标识）"""
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with self.id_lock:
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self.id += 1
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return self.id
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def _next_seq(self) -> int:
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"""递增消息序号（线程安全）"""
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with self._seq_lock:
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current_seq = self._seq
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self._seq += 1
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return current_seq
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def _build_send_summary(self, msg: dict) -> str:
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"""构建发送消息的内容概要，用于日志"""
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msg_type = msg.get("type", "?")
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if msg_type == "SETPOINT":
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sp = msg.get("setpoint", {})
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return ", ".join(f"{k}={v}" for k, v in sp.items())
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elif msg_type == "COMMAND":
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return f"command={msg.get('command')}"
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elif msg_type == "QUERY":
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return f"query={msg.get('query')}"
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elif msg_type == "WAYPOINT":
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wp = msg.get("waypoint", {})
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return ", ".join(f"{k}={v}" for k, v in wp.items())
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return str(msg)
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def _recover_req(self):
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"""
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REQ 超时/异常后重建 socket
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虽然设置了 REQ_RELAXED+CORRELATE，但连续超时或 ZMQ 内部状态异常时
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重建是最安全的恢复手段。
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"""
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try:
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self.req.close(linger=0)
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except Exception:
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pass
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self.req = self.ctx.socket(zmq.REQ)
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self.req.setsockopt(zmq.RCVTIMEO, self.recv_timeout_ms)
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self.req.setsockopt(zmq.REQ_RELAXED, 1)
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self.req.setsockopt(zmq.REQ_CORRELATE, 1)
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self.req.connect(self.req_endpoint)
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logger.warning("REQ socket 已重建")
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def set_waypoints_callback(self, callback):
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"""
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注册 QGC_WAYPOINT 回调 （在 SUB 线程调用，不应阻塞）
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callback 签名：callback(waypoint_data: dict)
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"""
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self._waypoints_callback = callback
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# ================================================================
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# 发送接口（线程安全）
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# ================================================================
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def send_setpoint(self, control_mode="VELOCITY", **kwargs):
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"""
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发送 SETPOINT 指令
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位置控制:
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proxy.send_setpoint(control_mode="POSITION",
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x=1.0, y=0.0, z=-0.5, yaw=0.0,
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frame="LOCAL_OFFSET_NED")
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速度控制:
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proxy.send_setpoint(control_mode="VELOCITY",
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vx=1.0, vy=0.0, vz=0.0, yaw_rate=0.0)
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Args:
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control_mode: "POSITION" | "VELOCITY"
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**kwargs: 按 control_mode 传入对应字段
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Returns:
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(成功: bool, ACK 字典: dict)
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"""
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msg_id = self._next_id()
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msg = {
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"type": "SETPOINT",
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"id": msg_id,
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"timestamp_us": int(time.time() * 1_000_000),
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"setpoint": {"control_mode": control_mode, **kwargs}
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}
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return self._send_req(msg)
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def send_command(self, command):
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"""
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发送 COMMAND 指令
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Args:
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command: "ARM" | "OFFBOARD" | "LAND" | "RTL" | "RESUME"
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"""
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msg_id = self._next_id()
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msg = {
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"type": "COMMAND",
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"id": msg_id,
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"timestamp_us": int(time.time() * 1_000_000),
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"command": command
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}
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return self._send_req(msg)
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def send_query(self, query="HOME_POSITION"):
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"""
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发送 QUERY 查询
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Args:
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query: "HOME_POSITION"（目前仅支持此查询）
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"""
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msg_id = self._next_id()
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msg = {
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"type": "QUERY",
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"id": msg_id,
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"timestamp_us": int(time.time() * 1_000_000),
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"query": query
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}
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return self._send_req(msg)
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def send_waypoint(self, **wp_kwargs):
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"""
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发送 WAYPOINT 航点
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Args:
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**wp_kwargs: 航点字段（action, alt, lat, lon, speed, ...）
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示例:
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proxy.send_waypoint(action="TAKEOFF", alt=15.0, alt_frame="RELATIVE")
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proxy.send_waypoint(action="HOVER", lat=22.55, lon=113.88,
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alt=100.0, hover_time=3.0)
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"""
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msg_id = self._next_id()
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current_seq = self._next_seq()
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msg = {
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"type": "WAYPOINT",
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"id": msg_id,
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"seq": current_seq,
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"timestamp_us": int(time.time() * 1_000_000),
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"waypoint": wp_kwargs
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}
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return self._send_req(msg)
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# ================================================================
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# 底层 REQ-REP 通信
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# ================================================================
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def _send_req(self, msg):
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msg_type = msg.get("type", "?")
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msg_id = msg.get("id", "?")
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summary = self._build_send_summary(msg)
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# ---- 发送日志：类型变化时才打印 ----
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if msg_type != self._last_logged_msg_type:
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self._last_logged_msg_type = msg_type
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logger.debug("Sending %s id=%s: %s", msg_type, msg_id, summary)
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logger.info("🚀 发送 %s (类型变化)", msg_type)
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# 否则静默，不打印任何东西
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try:
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self.req.send_string(json.dumps(msg))
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ack_str = self.req.recv_string()
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ack = json.loads(ack_str)
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ok = ack.get("status") == "OK"
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ack_type = ack.get("type", "ACK") # 通常是 "ACK"
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# ---- ACK 日志：类型变化时才打印 ----
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if ack_type != self._last_logged_ack_type:
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self._last_logged_ack_type = ack_type
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logger.info("ACK received for id=%s, status=%s",
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ack.get("ref_id"), ack.get("status"))
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# 否则 ACK 也静默
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if not ok:
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# 非 OK 状态无论如何都打印（这是异常）
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logger.warning("ACK 非 OK: type=%s id=%s ack=%s",
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msg_type, msg_id, ack)
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return ok, ack
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except zmq.Again:
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logger.error("REQ recv 超时 (type=%s id=%s)", msg_type, msg_id)
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self._recover_req()
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return False, {"status": "TIMEOUT", "message": "recv timeout"}
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except Exception as e:
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logger.error("REQ 异常 (type=%s id=%s): %s", msg_type, msg_id, e)
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self._recover_req()
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return False, {"status": "FAIL", "message": str(e)}
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# ================================================================
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# 状态获取
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# ================================================================
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def get_latest_state(self):
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"""
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获取最新缓存的 STATE（线程安全，深拷贝）
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Returns:
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state dict（格式见 python_protocol.md §3.8），
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未收到过 STATE 时返回 None
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"""
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with self._state_lock:
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return copy.deepcopy(self._latest_state)
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def is_state_fresh(self, state, stale_threshold_us=None):
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"""
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检查 STATE 数据是否新鲜（协议 §3.8.1）
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Args:
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state: get_latest_state() 的返回值
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stale_threshold_us: 新鲜度阈值（默认 500ms）
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Returns:
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True 数据新鲜，可正常使用
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False 数据过期，应保守飞行或触发保护
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"""
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if state is None:
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return False
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if stale_threshold_us is None:
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stale_threshold_us = self.STALE_THRESHOLD_US
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now_us = int(time.time() * 1_000_000)
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try:
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age_us = now_us - state["drone"]["last_update_us"]
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except (KeyError, TypeError):
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return False
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if age_us >= stale_threshold_us:
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if age_us >= self.STALE_THRESHOLD_WARN_US:
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logger.warning("STATE 严重过期: age=%.2fs（阈值=%.0fms）",
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age_us / 1e6, stale_threshold_us / 1000)
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else:
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logger.warning("STATE 过期: age=%.1fms（阈值=%.0fms）",
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age_us / 1000, stale_threshold_us / 1000)
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return age_us < stale_threshold_us
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def get_state_freshness(self, state):
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"""
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返回 STATE 新鲜度详细信息（用于日志/调试）
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Returns:
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(age_us: int, is_fresh: bool) 或 (None, False)
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"""
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if state is None:
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return None, False
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try:
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now_us = int(time.time() * 1_000_000)
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age_us = now_us - state["drone"]["last_update_us"]
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return age_us, age_us < self.STALE_THRESHOLD_US
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except (KeyError, TypeError):
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return None, False
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# ---- 回调注册 ----
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def set_state_callback(self, callback):
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"""
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注册 STATE 回调（在 SUB 线程中调用，不应阻塞）
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callback 签名: callback(state_dict)
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"""
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self._state_callback = callback
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def set_alert_callback(self, callback):
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"""
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注册 ALERT 回调（在 SUB 线程中调用，不应阻塞）
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callback 签名: callback(alert_dict)
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"""
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self._alert_callback = callback
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# ================================================================
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# 生命周期管理
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# ================================================================
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def start(self):
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"""启动 SUB 监听后台线程"""
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if self._running:
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return
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self._running = True
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self._sub_thread = threading.Thread(
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target=self._sub_worker,
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name="router-proxy-sub",
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daemon=True
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)
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self._sub_thread.start()
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logger.info("RouterProxy 已启动，SUB 监听线程已开启（REQ=%s SUB=%s）",
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self.req_endpoint, self.sub_endpoint)
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def _sub_worker(self):
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"""后台线程：通过 zmq.Poller 非阻塞接收 SUB 消息"""
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poller = zmq.Poller()
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poller.register(self.sub, zmq.POLLIN)
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while self._running:
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try:
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socks = dict(poller.poll(timeout=100)) # 100 ms 超时轮询
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if self.sub not in socks:
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continue
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msg_str = self.sub.recv_string()
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data = json.loads(msg_str)
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msg_type = data.get("type")
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# logger.info(f"📨 SUB 收到消息类型: {msg_type}")
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if msg_type == "STATE":
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with self._state_lock:
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self._latest_state = data
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if not self._first_state_received:
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self._first_state_received = True
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logger.info("首次收到 Router 状态推送")
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# DEBUG 输出关键字段 + 新鲜度
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try:
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drone = data.get("drone", {})
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now_us = int(time.time() * 1_000_000)
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last_up = drone.get("last_update_us", now_us)
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age_us = now_us - last_up
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logger.debug("STATE: mode=%s armed=%s "
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"alt_rel=%.1f batt=%.0f%% age=%.0fms",
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drone.get("mode"), drone.get("armed"),
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drone.get("alt_rel", 0),
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drone.get("battery", 0),
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age_us / 1000)
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except Exception:
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pass
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if self._state_callback:
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try:
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self._state_callback(data)
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except Exception as e:
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logger.error("STATE 回调异常: %s", e)
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elif msg_type == "ALERT":
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logger.warning("⚠️ ALERT: %s — %s",
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data.get("alert"), data.get("message"))
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if self._alert_callback:
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try:
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self._alert_callback(data)
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except Exception as e:
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logger.error("ALERT 回调异常: %s", e)
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elif msg_type == "PX4_ACK":
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logger.info("PX4_ACK: cmd=%s result=%s",
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data.get("ref_cmd"), data.get("result"))
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elif msg_type == "QGC_WAYPOINTS":
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logger.info("📥 收到 QGC_WAYPOINTS: count=%d", data.get("count", 0))
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if self._waypoints_callback:
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try:
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self._waypoints_callback(data)
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except Exception as e:
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logger.error("QGC_WAYPOINTS 回调异常: %s", e)
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elif msg_type == "QUERY_REPLY":
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# QUERY_REPLY 由 send_query 的同步 recv 处理，
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# SUB 通道上的 QUERY_REPLY 暂不处理
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pass
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else:
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logger.warning("收到未知消息类型: %s", msg_type)
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except zmq.Again:
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continue
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except json.JSONDecodeError as e:
|
||
logger.warning("SUB 收到非 JSON 消息: %s", e)
|
||
continue
|
||
except Exception as e:
|
||
logger.error("SUB 线程异常: %s", e)
|
||
time.sleep(0.1)
|
||
|
||
def close(self):
|
||
"""关闭代理，释放所有 ZMQ 资源"""
|
||
self._running = False
|
||
if self._sub_thread and self._sub_thread.is_alive():
|
||
self._sub_thread.join(timeout=2.0)
|
||
|
||
for name, sock in [("REQ", self.req), ("SUB", self.sub)]:
|
||
try:
|
||
sock.close(linger=0)
|
||
except Exception:
|
||
pass
|
||
|
||
try:
|
||
self.ctx.term()
|
||
except Exception:
|
||
pass
|
||
|
||
logger.info("RouterProxy 已关闭")
|