Improvement

2025-03-10 03:10:22 +08:00
commit afd1a37c0c
36 changed files with 1599 additions and 0 deletions
--- a/comet/README.md
+++ b/comet/README.md
@@ -0,0 +1,4 @@
+# Comet - 飞行器侧载端
+Comet(彗星) 是 AiraPulsar 飞行控制系统的飞行器侧载端
+
+Comet(飞行器) 通过 Moon(中继服务器) 进行通讯, 接受来自 Pulsar(控制器) 的指令  
--- a/comet/agent_logs.log
+++ b/comet/agent_logs.log
@@ -0,0 +1,213 @@
+2025-03-07T08:56:35.501146+0800 - INFO - 初始化代理对象
+2025-03-07T08:56:35.501324+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T08:56:35.501414+0800 - INFO - 代理对象代号: comet
+2025-03-07T08:57:13.903527+0800 - INFO - 初始化代理对象
+2025-03-07T08:57:13.903678+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T08:57:13.903742+0800 - INFO - 代理对象代号: comet
+2025-03-07T08:58:55.379859+0800 - INFO - 初始化代理对象
+2025-03-07T08:58:55.380016+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T08:58:55.380084+0800 - INFO - 代理对象代号: comet
+2025-03-07T08:59:05.381232+0800 - INFO - 初始化代理对象
+2025-03-07T08:59:05.381387+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T08:59:05.381444+0800 - INFO - 代理对象代号: comet
+2025-03-07T08:59:52.906831+0800 - INFO - 初始化代理对象
+2025-03-07T08:59:52.906996+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T08:59:52.907060+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:00:41.008959+0800 - INFO - 初始化代理对象
+2025-03-07T09:00:41.008959+0800 - INFO - 初始化代理对象
+2025-03-07T09:00:41.009179+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:00:41.009179+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:00:41.009279+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:00:41.009279+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:00:44.632829+0800 - INFO - 初始化代理对象
+2025-03-07T09:00:44.632829+0800 - INFO - 初始化代理对象
+2025-03-07T09:00:44.633010+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:00:44.633010+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:00:44.633098+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:00:44.633098+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:01:31.329481+0800 - INFO - 初始化代理对象
+2025-03-07T09:01:31.329481+0800 - INFO - 初始化代理对象
+2025-03-07T09:01:31.329691+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:01:31.329691+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:01:31.329762+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:01:31.329762+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:02:18.294306+0800 - INFO - 初始化代理对象
+2025-03-07T09:02:18.294306+0800 - INFO - 初始化代理对象
+2025-03-07T09:02:18.294467+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:02:18.294467+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:02:18.294542+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:02:18.294542+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:02:49.424696+0800 - INFO - 初始化代理对象
+2025-03-07T09:02:49.424696+0800 - INFO - 初始化代理对象
+2025-03-07T09:02:49.424863+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:02:49.424863+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:02:49.424947+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:02:49.424947+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:03:12.117053+0800 - INFO - 初始化代理对象
+2025-03-07T09:03:12.117053+0800 - INFO - 初始化代理对象
+2025-03-07T09:03:12.117278+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:03:12.117278+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:03:12.117377+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:03:12.117377+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:03:43.470032+0800 - INFO - 初始化代理对象
+2025-03-07T09:03:43.470032+0800 - INFO - 初始化代理对象
+2025-03-07T09:03:43.470267+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:03:43.470267+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:03:43.470342+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:03:43.470342+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:11:06.876601+0800 - INFO - 初始化代理对象
+2025-03-07T09:11:06.876601+0800 - INFO - 初始化代理对象
+2025-03-07T09:11:06.876858+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:11:06.876858+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:11:06.876965+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:11:06.876965+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:12:16.848236+0800 - INFO - 初始化代理对象
+2025-03-07T09:12:16.848236+0800 - INFO - 初始化代理对象
+2025-03-07T09:12:16.848397+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:12:16.848397+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:12:16.848476+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:12:16.848476+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:19:10.751685+0800 - INFO - 初始化代理对象
+2025-03-07T09:19:10.751685+0800 - INFO - 初始化代理对象
+2025-03-07T09:19:10.751843+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:19:10.751843+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:19:10.751912+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:19:10.751912+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:19:20.013536+0800 - INFO - 初始化代理对象
+2025-03-07T09:19:20.013536+0800 - INFO - 初始化代理对象
+2025-03-07T09:19:20.013686+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:19:20.013686+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:19:20.013757+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:19:20.013757+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:19:39.079365+0800 - INFO - 初始化代理对象
+2025-03-07T09:19:39.079365+0800 - INFO - 初始化代理对象
+2025-03-07T09:19:39.079590+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:19:39.079590+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:19:39.079663+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:19:39.079663+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:20:13.855104+0800 - INFO - 初始化代理对象
+2025-03-07T09:20:13.855104+0800 - INFO - 初始化代理对象
+2025-03-07T09:20:13.855261+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:20:13.855261+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:20:13.855328+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:20:13.855328+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:20:22.574788+0800 - INFO - 初始化代理对象
+2025-03-07T09:20:22.574788+0800 - INFO - 初始化代理对象
+2025-03-07T09:20:22.574961+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:20:22.574961+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:20:22.575035+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:20:22.575035+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:26:57.804810+0800 - INFO - 初始化代理对象
+2025-03-07T09:26:57.804810+0800 - INFO - 初始化代理对象
+2025-03-07T09:26:57.804965+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:26:57.804965+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:26:57.805033+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:26:57.805033+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:28:26.670684+0800 - INFO - 初始化代理对象
+2025-03-07T09:28:26.670684+0800 - INFO - 初始化代理对象
+2025-03-07T09:28:26.670920+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:28:26.670920+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:28:26.671025+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:28:26.671025+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:28:26.674242+0800 - INFO - 成功建立连接
+2025-03-07T09:28:26.674242+0800 - INFO - 成功建立连接
+2025-03-07T09:28:35.156211+0800 - INFO - 初始化代理对象
+2025-03-07T09:28:35.156211+0800 - INFO - 初始化代理对象
+2025-03-07T09:28:35.156372+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:28:35.156372+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:28:35.156458+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:28:35.156458+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:28:35.159041+0800 - INFO - 成功建立连接
+2025-03-07T09:28:35.159041+0800 - INFO - 成功建立连接
+2025-03-07T09:29:25.100332+0800 - INFO - 初始化代理对象
+2025-03-07T09:29:25.100332+0800 - INFO - 初始化代理对象
+2025-03-07T09:29:25.100478+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:29:25.100478+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:29:25.100548+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:29:25.100548+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:29:25.102459+0800 - INFO - 成功建立连接
+2025-03-07T09:29:25.102459+0800 - INFO - 成功建立连接
+2025-03-07T09:30:13.965473+0800 - INFO - 初始化代理对象
+2025-03-07T09:30:13.965473+0800 - INFO - 初始化代理对象
+2025-03-07T09:30:13.965675+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:30:13.965675+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:30:13.965765+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:30:13.965765+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:30:13.967862+0800 - INFO - 成功建立连接
+2025-03-07T09:30:13.967862+0800 - INFO - 成功建立连接
+2025-03-07T09:31:20.560819+0800 - INFO - 初始化代理对象
+2025-03-07T09:31:20.560819+0800 - INFO - 初始化代理对象
+2025-03-07T09:31:20.561346+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:31:20.561346+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:31:20.561512+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:31:20.561512+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:31:20.564821+0800 - INFO - 成功建立连接
+2025-03-07T09:31:20.564821+0800 - INFO - 成功建立连接
+2025-03-07T09:31:41.871167+0800 - INFO - 初始化代理对象
+2025-03-07T09:31:41.871167+0800 - INFO - 初始化代理对象
+2025-03-07T09:31:41.871318+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:31:41.871318+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T09:31:41.871391+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:31:41.871391+0800 - INFO - 代理对象代号: comet
+2025-03-07T09:31:41.873516+0800 - INFO - 成功建立连接
+2025-03-07T09:31:41.873516+0800 - INFO - 成功建立连接
+2025-03-07T10:02:22.246919+0800 - INFO - 初始化代理对象
+2025-03-07T10:02:22.246919+0800 - INFO - 初始化代理对象
+2025-03-07T10:02:22.247153+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T10:02:22.247153+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T10:02:22.247261+0800 - INFO - 代理对象代号: comet
+2025-03-07T10:02:22.247261+0800 - INFO - 代理对象代号: comet
+2025-03-07T10:02:22.247736+0800 - INFO - 等待连接成功
+2025-03-07T10:02:22.247736+0800 - INFO - 等待连接成功
+2025-03-07T10:02:22.249670+0800 - INFO - 成功建立连接
+2025-03-07T10:02:22.249670+0800 - INFO - 成功建立连接
+2025-03-07T10:02:22.347928+0800 - INFO - 连接成功, 取消阻塞
+2025-03-07T10:02:22.347928+0800 - INFO - 连接成功, 取消阻塞
+2025-03-07T15:55:55.862879+0800 - INFO - 初始化代理对象
+2025-03-07T15:55:55.862879+0800 - INFO - 初始化代理对象
+2025-03-07T15:55:55.863020+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T15:55:55.863020+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T15:55:55.863103+0800 - INFO - 代理对象代号: comet
+2025-03-07T15:55:55.863103+0800 - INFO - 代理对象代号: comet
+2025-03-07T15:55:55.863455+0800 - INFO - 等待连接成功
+2025-03-07T15:55:55.863455+0800 - INFO - 等待连接成功
+2025-03-07T15:55:55.865329+0800 - INFO - 成功建立连接, 单向延迟 7.05718994140625e-05ms
+2025-03-07T15:55:55.865329+0800 - INFO - 成功建立连接, 单向延迟 7.05718994140625e-05ms
+2025-03-07T15:55:55.963668+0800 - INFO - 连接成功, 取消阻塞
+2025-03-07T15:55:55.963668+0800 - INFO - 连接成功, 取消阻塞
+2025-03-07T15:56:29.263974+0800 - INFO - 初始化代理对象
+2025-03-07T15:56:29.263974+0800 - INFO - 初始化代理对象
+2025-03-07T15:56:29.264145+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T15:56:29.264145+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T15:56:29.264238+0800 - INFO - 代理对象代号: comet
+2025-03-07T15:56:29.264238+0800 - INFO - 代理对象代号: comet
+2025-03-07T15:56:29.264733+0800 - INFO - 等待连接成功
+2025-03-07T15:56:29.264733+0800 - INFO - 等待连接成功
+2025-03-07T15:56:29.266574+0800 - INFO - 成功建立连接, 单向延迟 0ms
+2025-03-07T15:56:29.266574+0800 - INFO - 成功建立连接, 单向延迟 0ms
+2025-03-07T15:56:29.364981+0800 - INFO - 连接成功, 取消阻塞
+2025-03-07T15:56:29.364981+0800 - INFO - 连接成功, 取消阻塞
+2025-03-07T15:56:47.266556+0800 - INFO - 初始化代理对象
+2025-03-07T15:56:47.266556+0800 - INFO - 初始化代理对象
+2025-03-07T15:56:47.266726+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T15:56:47.266726+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T15:56:47.266820+0800 - INFO - 代理对象代号: comet
+2025-03-07T15:56:47.266820+0800 - INFO - 代理对象代号: comet
+2025-03-07T15:56:47.267230+0800 - INFO - 等待连接成功
+2025-03-07T15:56:47.267230+0800 - INFO - 等待连接成功
+2025-03-07T15:56:47.269156+0800 - INFO - 成功建立连接, 单向延迟 0.1ms
+2025-03-07T15:56:47.269156+0800 - INFO - 成功建立连接, 单向延迟 0.1ms
+2025-03-07T15:56:47.367454+0800 - INFO - 连接成功, 取消阻塞
+2025-03-07T15:56:47.367454+0800 - INFO - 连接成功, 取消阻塞
+2025-03-07T17:45:08.362971+0800 - INFO - 初始化代理对象
+2025-03-07T17:45:08.362971+0800 - INFO - 初始化代理对象
+2025-03-07T17:45:08.363174+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T17:45:08.363174+0800 - INFO - 卫星地址: ws://127.0.0.1:8765
+2025-03-07T17:45:08.363287+0800 - INFO - 代理对象代号: comet
+2025-03-07T17:45:08.363287+0800 - INFO - 代理对象代号: comet
+2025-03-07T17:45:08.363894+0800 - INFO - 等待连接成功
+2025-03-07T17:45:08.363894+0800 - INFO - 等待连接成功
+2025-03-07T17:45:08.365733+0800 - INFO - 成功建立连接, 单向延迟 0.1ms
+2025-03-07T17:45:08.365733+0800 - INFO - 成功建立连接, 单向延迟 0.1ms
+2025-03-07T17:45:08.464116+0800 - INFO - 连接成功, 取消阻塞
+2025-03-07T17:45:08.464116+0800 - INFO - 连接成功, 取消阻塞
--- a/comet/comet.py
+++ b/comet/comet.py
@@ -0,0 +1,19 @@
+from lib import agency
+import yaml
+import time
+moon_addr = None
+moon_port = None
+
+with open('comet_config.yaml', 'r') as config_file:
+    config = yaml.safe_load(config_file)
+    moon_addr = config.get("moon_addr", "127.0.0.1")
+    port = config.get("moon_port", 8765)
+
+agent = None
+
+def handler(data: dict):
+    pass
+
+if __name__ == "__main__":
+    agent = agency.Agent(name="comet", addr=moon_addr, handler=handler)
+    agent.runasthread()
--- a/comet/comet_config.yaml
+++ b/comet/comet_config.yaml
@@ -0,0 +1 @@
+moon_addr: "ws://127.0.0.1:8765"
--- a/comet/hal/bus/interface.py
+++ b/comet/hal/bus/interface.py
@@ -0,0 +1,33 @@
+class Motor(object):
+    angle = None
+    def __init__(self, id):
+        self.angle = 0 # mark
+        self.id = id
+    def get(self):
+        return self.angle
+    def turn(self, add_angle):
+        self.angle += add_angle
+        return self.angle
+class Engine(object):
+    speed = None
+    def __init__(self, id):
+        self.speed = 0 # Mark
+        self.id = id
+    def get(self):
+        return self.speed
+    def tune(self, new_speed):
+        self.speed = new_speed
+        return self.speed
+
+class Battery:
+    def get():
+        power_left = 0.9
+        return power_left
+    def stat():
+        status = "Unplugged"
+        return status
+    
+class Network:
+    def stat():
+        delay = 0.2 # ms
+        return delay # or -1 (unreachable)
--- a/comet/hal/tuner.py
+++ b/comet/hal/tuner.py
@@ -0,0 +1,202 @@
+"""
+filename: tuner.py
+"""
+from bus import interface
+import threading
+class Surface(object):
+    motor = None
+    name = None
+    curr_angle = None
+    id = None
+    type_ = "surface"
+    def __init__(self, name, id):
+        self.motor = interface.Motor(id)
+        self.curr_angle = self.motor.get()
+        self.name = name
+        self.id = id
+        print("初始化操纵面 {}, 硬件代号绑定为 {}".format(name, id))
+    def add_angle(self, angle):
+        self.motor.turn(angle)
+        self.curr_angle = self.motor.get();
+        #print("将 {} 的角度加成 {} 度".format(self.name, angle))
+    def set_angle(self, angle):
+        angle_turn = angle - self.motor.get()
+        self.motor.turn(angle_turn)
+        self.curr_angle = self.motor.get()
+        #print("将 {} 的角度设置为 {} 度".format(self.name, angle))
+    def get_angle(self):
+        self.curr_angle = self.motor.get()
+        #print("{} 当前角度为 {} 度".format(self.name, self.curr_angle))
+        return self.curr_angle
+    def status(self):
+        return {"type":"Surface", "name":self.name, "angle":self.curr_angle}
+    def selfchk(self):
+        print("开始自检操纵面 {}".format(self.name))
+        self.add_angle(30)
+        self.add_angle(-60)
+        self.set_angle(0)
+
+class Engine(object):
+    engine = None
+    curr_speed = None
+    id = None
+    name = None
+    type_ = "engine"
+    def __init__(self, name, id):
+        self.id = id
+        self.name = name
+        self.engine = interface.Engine(id)
+        self.curr_speed = self.engine.get()
+        print("初始化引擎 {}, 硬件代号绑定为 {}".format(name, id))
+    def set_speed(self, new_speed):
+        self.engine.tune(new_speed)
+        self.curr_speed = self.engine.get()
+        ##print("将 {} 的转速调谐为 {} RPM".format(self.name, new_speed))
+    def add_speed(self, add_speed):
+        self.engine.tune(self.curr_speed + add_speed)
+        self.curr_speed = self.engine.get()
+        ##print("将 {} 的转速加成 {} RPM".format(self.name, add_speed))
+    def get_speed(self):
+        ##print("{} 当前转速为 {} RPM".format(self.name, self.curr_speed))
+        self.curr_speed = self.engine.get()
+        return self.curr_speed
+    def status(self):
+        ##print(self.curr_speed)
+        return {"type":"Engine", "name":self.name, "speed":self.get_speed()}
+    def selfchk(self):
+        print("开始自检引擎 {}".format(self.name))
+        self.add_speed(3)
+        self.add_speed(-6)
+        self.set_speed(0)
+        self.curr_speed = self.engine.get()
+
+
+class Sensor:
+    data = dict()
+    data["speed"] = 0
+    data["battery"] = 0
+    data["xangle"] = 0
+    data["yangle"] = 0
+    data["zangle"] = 0
+    data["sign"] = 0
+    data["cpuload"] = 0
+    data["memload"] = 0
+    data["memsum"] = 0
+    data["torch"] = 0
+    data["acc"] = 0
+    is_torch_on = 0
+
+    @staticmethod
+    def speed():
+        Sensor.data["speed"] = 99
+        return Sensor.data["speed"]
+
+    @staticmethod
+    def battery():
+        Sensor.data["battery"] = 0.8
+        return Sensor.data["battery"]
+
+    @staticmethod
+    def xangle():
+        Sensor.data["xangle"] = 201
+        return Sensor.data["xangle"]
+
+    @staticmethod
+    def yangle():
+        Sensor.data["yangle"] = 108
+        return Sensor.data["yangle"]
+
+    @staticmethod
+    def zangle():
+        Sensor.data["zangle"] = 0
+        return Sensor.data["zangle"]
+
+    @staticmethod
+    def sign():
+        Sensor.data["sign"] = 322
+        return Sensor.data["sign"]
+
+    @staticmethod
+    def cpuload():
+        Sensor.data["cpuload"] = 0.12
+        return Sensor.data["cpuload"]
+
+    @staticmethod
+    def memload():
+        Sensor.data["memload"] = 0.88
+        return Sensor.data["memload"]
+
+    @staticmethod
+    def memsum():
+        Sensor.data["memsum"] = 2048
+        return Sensor.data["memsum"]
+
+    @staticmethod
+    def torch():
+        Sensor.data["torch"] = Sensor.is_torch_on
+        return Sensor.data["torch"]
+
+    @staticmethod
+    def torchon():
+        Sensor.is_torch_on = 1
+
+    @staticmethod
+    def acc():
+        Sensor.data["acc"] = 3
+        return Sensor.data["acc"]
+
+    @staticmethod
+    def net_delay():
+        Sensor.data["net_delay"] = 300
+        return Sensor.data["net_delay"]
+    
+    @staticmethod
+    def refresh():
+        Sensor.speed()
+        Sensor.battery()
+        Sensor.xangle()
+        Sensor.yangle()
+        Sensor.zangle()
+        Sensor.sign()
+        Sensor.cpuload()
+        Sensor.memload()
+        Sensor.memsum()
+        Sensor.torch()
+        Sensor.acc()
+        Sensor.net_delay()
+    
+    @staticmethod
+    def stat():
+        #Sensor.refresh()
+        return Sensor.data
+
+    def pseudo_gui():
+        import tkinter as tk
+        def update_label(key, value):
+            labels[key].config(text=f"{key}: {value}")
+        def update():
+            while 1:
+                for key in Sensor.data.keys():
+                    Sensor.data[key] = sliders[key].get()
+        root = tk.Tk()
+        root.title("DEBUGGING CONSOLE")
+
+        labels = {}
+        sliders = {}
+
+        # 自动布局
+        for key in Sensor.data.keys():
+            # 创建标签
+            label = tk.Label(root, text=f"{key}: {Sensor.data[key]}")
+            label.pack()
+            labels[key] = label
+
+            # 创建滑块
+            slider = tk.Scale(root, from_=0, to=100, orient=tk.HORIZONTAL, command=lambda value, k=key: update_label(k, value))
+            slider.pack()
+            sliders[key] = slider
+        
+        up = threading.Thread(target=update, name='Update')
+        up.start()
+        root.mainloop()
+        up.join()
--- a/comet/lib
+++ b/comet/lib
@@ -0,0 +1 @@
+../lib
--- a/comet/model_cfg/jf_17_pm/hardware.yaml
+++ b/comet/model_cfg/jf_17_pm/hardware.yaml
@@ -0,0 +1,36 @@
+surface:
+  - 
+    id: al
+    attr: "a"
+    side: "l"
+    desc: 左副翼
+  - 
+    id: ar
+    attr: "a"
+    side: "r"
+    desc: 右副翼
+  - 
+    id: fl
+    attr: "f"
+    side: "l"
+    desc: 左襟翼
+  - 
+    id: fr
+    attr: "f"
+    side: "r"
+    desc: 右襟翼
+  - 
+    id: r
+    attr: "h"
+    side: "n"
+    desc: 方向舵
+  - 
+    id: e
+    attr: "i"
+    side: "n"
+    desc: 升降舵
+engine:
+  -
+    id: eng_1
+    desc: "主引擎"
+    vector: False
--- a/comet/model_cfg/jf_17_pm/index.yaml
+++ b/comet/model_cfg/jf_17_pm/index.yaml
@@ -0,0 +1,3 @@
+name: "jf_17_pm"
+desc: "枭龙 单引擎单垂尾常规布局航模 螺旋桨驱动 尺寸修改型"
+view: ./src/view.png
--- a/comet/model_cfg/jf_17_pm/reference/3view.png
+++ b/comet/model_cfg/jf_17_pm/reference/3view.png
--- a/comet/model_cfg/jf_17_pm/reference/image.png
+++ b/comet/model_cfg/jf_17_pm/reference/image.png
--- a/comet/model_cfg/jf_17_pm/reference/logo.png
+++ b/comet/model_cfg/jf_17_pm/reference/logo.png
--- a/comet/model_cfg/jf_17_pm/src/view.bmp
+++ b/comet/model_cfg/jf_17_pm/src/view.bmp
--- a/comet/model_cfg/jf_17_pm/src/view.png
+++ b/comet/model_cfg/jf_17_pm/src/view.png