188 lines
7.6 KiB
Python
188 lines
7.6 KiB
Python
# -*- coding: utf-8 -*-
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"""
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协议适配器抽象基类
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─────────────────────────────────────────────────────────────────
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BaseProtocolAdapter 所有协议适配器的统一抽象基类
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职责：
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- 屏蔽底层协议差异（MAVLink / ROS / 自定义 SDK）
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- 将上层 Command 翻译为协议原生消息并发送
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- 将协议原生遥测数据解析为统一 BaseTelemetry
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- 管理连接生命周期（connect / disconnect / reconnect）
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新增协议只需继承 BaseProtocolAdapter，实现抽象方法即可。
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─────────────────────────────────────────────────────────────────
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"""
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from __future__ import annotations
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import logging
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import time
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from abc import abstractmethod
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from enum import Enum
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from typing import Any, Dict, List, Optional
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from PyQt5.QtCore import QObject, pyqtSignal
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from uas.uas_control.command import Command, CommandResult, CommandType
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from uas.uas_control.telemetry import BaseTelemetry
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# ─────────────────────────────────────────────────────────────────
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# 协议类型枚举
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# ─────────────────────────────────────────────────────────────────
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class ProtocolType(Enum):
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MAVLINK = "mavlink" # MAVLink v1/v2（ArduPilot / PX4）
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ROS = "ros" # ROS1 / ROS2
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CUSTOM = "custom" # 厂商私有 SDK
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SIMULATION= "simulation" # 仿真协议（内部测试）
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# ─────────────────────────────────────────────────────────────────
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# 协议适配器抽象基类
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# ─────────────────────────────────────────────────────────────────
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class BaseProtocolAdapter(QObject):
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"""
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协议适配器抽象基类
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── 子类必须实现 ──────────────────────────────────────────────
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connect() 建立协议连接
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disconnect() 断开连接
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send_command(cmd) 发送指令（翻译 + 下发）
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get_telemetry() 拉取最新遥测数据
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supported_commands() 返回本协议支持的指令类型列表
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── 子类可选覆盖 ──────────────────────────────────────────────
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reconnect() 重连策略
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on_raw_message(msg) 处理底层原始消息（用于调试）
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"""
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# ── PyQt5 信号 ────────────────────────────────────────────────
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connected = pyqtSignal(str) # device_id
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disconnected = pyqtSignal(str) # device_id
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telemetry_ready = pyqtSignal(object) # BaseTelemetry
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command_ack = pyqtSignal(object) # CommandResult
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error_occurred = pyqtSignal(str) # 错误消息
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raw_message = pyqtSignal(object) # 原始协议消息（调试）
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def __init__(
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self,
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device_id: str,
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protocol: ProtocolType = ProtocolType.SIMULATION,
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config: Dict[str, Any] = None,
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parent: QObject = None,
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):
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super().__init__(parent)
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self.device_id = device_id
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self.protocol = protocol
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self.config: Dict[str, Any] = config or {}
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self._connected: bool = False
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self._telemetry: Optional[BaseTelemetry] = None
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self._connect_time: float = 0.0
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self._msg_count: int = 0
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self.logger = logging.getLogger(
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f"{self.__class__.__name__}[{device_id}]"
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)
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# ── 连接状态属性 ──────────────────────────────────────────────
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@property
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def is_connected(self) -> bool:
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return self._connected
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@property
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def uptime_s(self) -> float:
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return time.time() - self._connect_time if self._connected else 0.0
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@property
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def message_count(self) -> int:
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return self._msg_count
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# ── 抽象接口（子类必须实现）──────────────────────────────────
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@abstractmethod
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def connect(self) -> bool:
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"""
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建立协议连接
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:return: True=连接成功
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"""
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...
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@abstractmethod
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def disconnect(self) -> bool:
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"""
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断开协议连接
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:return: True=断开成功
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"""
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...
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@abstractmethod
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def send_command(self, cmd: Command) -> CommandResult:
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"""
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发送控制指令
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将上层 Command 翻译为协议原生格式并发送，
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返回执行结果。
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"""
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...
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@abstractmethod
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def get_telemetry(self) -> Optional[BaseTelemetry]:
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"""
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拉取最新遥测数据
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将协议原生遥测解析为统一 BaseTelemetry 子类并返回。
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"""
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...
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@abstractmethod
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def supported_commands(self) -> List[CommandType]:
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"""返回本协议适配器支持的指令类型列表"""
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...
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@abstractmethod
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def get_connection(self) -> object:
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...
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# ── 可选覆盖 ──────────────────────────────────────────────────
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def reconnect(self) -> bool:
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"""重连（默认：先断开再连接）"""
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self.logger.info(f"尝试重连: {self.device_id}")
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self.disconnect()
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time.sleep(0.5)
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return self.connect()
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def on_raw_message(self, msg: Any) -> None:
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"""处理底层原始消息（调试用，子类可覆盖）"""
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self._msg_count += 1
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self.raw_message.emit(msg)
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# ── 内部工具 ──────────────────────────────────────────────────
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def _set_connected(self, state: bool) -> None:
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self._connected = state
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if state:
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self._connect_time = time.time()
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self.connected.emit(self.device_id)
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self.logger.info(f"已连接: {self.device_id} [{self.protocol.value}]")
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else:
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self.disconnected.emit(self.device_id)
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self.logger.info(f"已断开: {self.device_id}")
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def _check_command_supported(self, cmd: Command) -> Optional[CommandResult]:
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"""检查指令是否被支持，不支持则返回失败结果"""
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if cmd.command_type not in self.supported_commands():
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return CommandResult.fail(
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cmd,
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f"协议 {self.protocol.value} 不支持指令: "
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f"{cmd.command_type.value}"
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)
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return None
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def __repr__(self) -> str:
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state = "已连接" if self._connected else "未连接"
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return (f"{self.__class__.__name__}("
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f"id={self.device_id}, "
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f"protocol={self.protocol.value}, "
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f"{state})") |