OpenIPC开源FPV之Adaptive-Link地面站代码解析

lida2003

已于 2024-12-17 07:44:36 修改

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分类专栏： DIY Drones Physics 文章标签：开源 adaptive link

于 2024-12-16 18:33:46 首次发布

本文链接：https://blog.csdn.net/lida2003/article/details/144515266

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OpenIPC开源FPV之Adaptive-Link地面站代码解析

1. 源由
2. 框架代码
3. 软件配置
4. 通信例程
- 4.1 TCP报文解析
- 4.2 UDP报文发送
5. 特殊指令
6. 总结
7. 参考资料

1. 源由

在《OpenIPC开源FPV之Adaptive-Link工程解析》中，已经有了整个工程的大体概念，接下来再对代码进行逐步分析。

在之前对天空端代码进行了研读，接下来对地面端的代码进行分析：alink_gs.py

2. 框架代码

配置：“/etc/adaptive_link.conf”
wfb-cli：127.0.0.1:8003
UDP: 10.5.0.10:9999

__main__
 ├──> load_config(args.config)  // --config "/etc/adaptive_link.conf"
 └──> connect_and_receive_msgpack()

注：connect_and_receive_msgpack 建立TCP和UDP通信管道。

3. 软件配置

3.1 默认配置

VERSION = "0.1.1"

# Global variables
results = []
link_health_score_rssi = 1000  # Default score before calculation for RSSI
link_health_score_snr = 1000  # Default score before calculation for SNR
recovered_packets = 0  # To store the number of recovered packets (FEC)
lost_packets = 0  # To store the number of lost packets
best_antennas_rssi = [-105, -105, -105, -105]  # Default values for best antennas RSSI if less than 4
best_antennas_snr = [-105, -105, -105, -105]  # Default values for best antennas SNR if less than 4
config = None  # Configuration file object
udp_socket = None  # To store the UDP socket globally
udp_ip = None  # To store the UDP IP globally
udp_port = None  # To store the UDP port globally
previous_link_health_score_rssi = None
previous_link_health_score_snr = None



# Default config values
DEFAULT_CONFIG = {
    'Settings': {
        'version': VERSION,  # Current version of the script
        'message_interval': '100',  # Time between sending messages (milliseconds)
        'use_best_rssi': 'True',  # Option to pick best available RSSI for link health score
        'min_rssi': '-85',  # Min RSSI range for link health
        'max_rssi': '-50',  # Max RSSI range for link health
        'min_snr': '12',  # Min SNR range for link health
        'max_snr': '28',  # Max SNR range for link health
        'host': '127.0.0.1',  # Host address to connect to
        'port': '8003',  # Port to connect to
        'udp_ip': '10.5.0.10',  # UDP IP to send link health data
        'udp_port': '9999',  # UDP port to send link health data
        'retry_interval': '1',  # Time in seconds to wait before retrying TCP connection on failure
    },
    'Descriptions': {
        'version': 'Version of the script',
        'message_interval': 'Time between sending UDP messages in milliseconds',
        'use_best_rssi': 'Use True to pick the best available RSSI for health score, or False for average RSSI',
        'min_rssi': 'Minimum RSSI value used for link health calculation',
        'max_rssi': 'Maximum RSSI value used for link health calculation',
        'min_snr': 'Minimum SNR value used for link health calculation',
        'max_snr': 'Maximum SNR value used for link health calculation',
        'host': 'Host address to connect to for the TCP connection',
        'port': 'Port to connect to for the TCP connection',
        'udp_ip': 'UDP IP to send the link health data',
        'udp_port': 'UDP port to send the link health data',
        'retry_interval': 'Time in seconds to wait before retrying TCP connection on failure'
    }
}

3.2 加载配置

配置通过"/etc/adaptive_link.conf"文件传入，若没有该文件，系统默认生成一份。

load_config(config_file='config.ini')
 ├──> Check if config file exists
 │     ├──> File does not exist
 │     │     ├──> Print "Config file not found, creating..."
 │     │     ├──> Load default values into config (DEFAULT_CONFIG)
 │     │     └──> Write default config to file
 │     └──> File exists
 │           └──> Read existing config file
 ├──> Check version mismatch
 │     ├──> Config version != VERSION
 │     │     ├──> Print "Updating version in config file..."
 │     │     ├──> Update config['Settings']['version'] to VERSION
 │     │     └──> Call update_version_history(config_file)
 │     └──> Config version == VERSION (do nothing)
 ├──> Ensure all default fields are present
 │     ├──> Iterate through DEFAULT_CONFIG sections and keys
 │     │     ├──> Section missing → Add section to config
 │     │     ├──> Key missing in section → Add key to config
 │     │     └──> Mark config as updated
 ├──> Save updated config (if needed)
 │     └──> Write updated config to file
 └──> Return (config is now fully loaded and updated)

3.3 更新配置

若无该配置文件，通过该命令直接生成一个默认配置文件。

注：配置文件升级更新，暂时无该功能。

def update_version_history(config_file):
    """
    Updates the version history in the configuration file.
    """
    if 'Version History' not in config:
        config['Version History'] = {}

    # Add the current version with a timestamp
    timestamp = time.strftime('%Y-%m-%d %H:%M:%S', time.gmtime())
    config['Version History'][VERSION] = f"Version {VERSION} updated on {timestamp}"

    # Write the updated config to file
    with open(config_file, 'w') as f:
        config.write(f)

4. 通信例程

UDP: 10.5.0.10:9999
TCP: 127.0.0.1:8003

connect_and_receive_msgpack()
 ├──> Initialize UDP socket and thread  // 10.5.0.10:9999
 │     ├──> Create global UDP socket (udp_socket)
 │     └──> Start generate_package() in a separate thread
 ├──> Infinite loop to handle TCP connection and data // 127.0.0.1:8003
 │     ├──> Try to connect to the server
 │     │     ├──> Create TCP socket (client_socket)
 │     │     ├──> Connect to (host, port)
 │     │     └──> Read data from server in a loop
 │     │           ├──> Read 4-byte length prefix
 │     │           ├──> Extract message length (msg_length)
 │     │           ├──> Read actual message data of length msg_length
 │     │           │     ├──> Append chunks of data until full message is received
 │     │           │     └──> Handle incomplete data or connection issues
 │     │           └──> Unpack and process MessagePack data
 │     │                 ├──> Append unpacked data to results array
 │     │                 ├──> Handle "video rx" message
 │     │                 │     └──> Update link health metrics (RSSI, SNR, etc.)
 │     │                 └──> Handle unpack errors
 │     └──> Handle connection issues
 │           └──> Print error and retry connection after retry_interval seconds
 └──> Return (loop runs indefinitely)

4.1 TCP报文解析

通过wfb-cli的TCP 8003端口获取本地RF信息数据。

calculate_link_health(video_rx)
├──> Global Variables Declaration
├──> Configuration Settings (Extract from `config`)
│   ├──> message_interval
│   ├──> use_best_rssi
│   ├──> min_rssi, max_rssi
│   └──> min_snr, max_snr
├──> Packets Data Retrieval (from `video_rx`)
│   ├──> fec_rec → recovered_packets
│   ├──> lost → lost_packets
│   └──> Special Messages Logic
│       ├──> request_keyframe()
│       └──> (Optional) drop_gop()
├──> Antenna Statistics Processing
│   ├──> Extract RSSI/SNR per antenna
│   └──> Fallback Logic (Default Values)
├──> Best Antennas Selection
│   ├──> Sort `rssi_values` and `snr_values`
│   └──> Pad with `-105` if fewer than 4 antennas
├──> Link Health Score Calculation
│   ├──> RSSI Health Score
│   │   ├──> rssi_to_use (Best vs Average)
│   │   └──> Interpolation Logic
│   ├──> SNR Health Score
│   │   ├──> avg_best_snr (Best vs Average)
│   │   └──> Interpolation Logic
│   └──> (Optional) Hysteresis Logic
├──> Rounding and Logging
└──> Return Scores (RSSI, SNR)

4.2 UDP报文发送

定期将本地最新全局变量组包

def generate_package():
    """
    Generate, at interval, string with all the variables
    """
    message_interval = int(config['Settings']['message_interval']) / 1000  # Convert to seconds
    
    while True:
        timestamp = int(time.time())  # Get epoch time in seconds since 1970
        # Include best antennas in the message
        message = f"{timestamp}:{link_health_score_rssi}:{link_health_score_snr}:{recovered_packets}:{lost_packets}:{best_antennas_rssi[0]}:{best_antennas_rssi[1]}:{best_antennas_rssi[2]}:{best_antennas_rssi[3]}"
                    
        # Pass the message to send_udp function
        send_udp(message)
                
        time.sleep(message_interval)  # Send at the specified interval

通过UDP tunnel管道发送到天空端

def send_udp(message):
    """
    Adds message length to the start and sends message on provided port
    """
    if verbose_mode:
        print("send_udp function has started")  # Debug statement to confirm function start
            
    # Prepend the size of the message as a 4-byte unsigned integer
    message_bytes = message.encode('utf-8')
    message_size = struct.pack('!I', len(message_bytes))  # Use network byte order (big-endian)

    # Full message with size prefix
    full_message = message_size + message_bytes
    
    if verbose_mode:
        print("Preparing UDP message to be sent")  # Debug statement
    
    # Send the message
    try:
        udp_socket.sendto(full_message, (udp_ip, udp_port))
        if verbose_mode:
            print(f"UDP Message Sent: {message} (size: {len(message_bytes)} bytes)")
    except Exception as e:
        if verbose_mode:
            print(f"Error sending UDP data: {e}")

5. 特殊指令

5.1 request_keyframe

def request_keyframe():
    """
    Send a special message to request a keyframe
    """
    special_message = "special:request_keyframe"
    num_attempts = 0  # Number of times to send the message

    for attempt in range(num_attempts):
        send_udp(special_message)  # Call send_udp to send the special message
        if verbose_mode:
            print(f"Sent special message: {special_message}, attempt {attempt + 1}/{num_attempts}")
        time.sleep(0.1)  # Wait before the next attempt

5.2 drop_gop

def drop_gop():
    """
    Send a special message to drop the gop
    """
    special_message = "special:drop_gop"
    num_attempts = 0  # Number of times to send the message

    for attempt in range(num_attempts):
        send_udp(special_message)  # Call send_udp to send the special message
        if verbose_mode:
            print(f"Sent special message: {special_message}, attempt {attempt + 1}/{num_attempts}")
        time.sleep(0.1)  # Wait before the next attempt