Improvement

2025-03-10 03:10:22 +08:00 · 2025-03-10 03:10:22 +08:00 · afd1a37c0c
commit afd1a37c0c
36 changed files with 1599 additions and 0 deletions
--- a/.gitigore
+++ b/.gitigore
@ -0,0 +1,58 @@
+# Python cache files
+__pycache__/
+*.py[cod]
+
+# Distribution / packaging
+.Python
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+*.egg-info/
+dist/
+build/
+
+# IDEs and editors
+.vscode/
+.idea/
+*.swp
+*.swo
+*.sublime-workspace
+*.sublime-project
+*pyc
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# Pytest
+.cache
+*.cover
+*.log
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+
+# MyPy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# C extensions
+*.so
+
+# Distribution files
+*.egg
+*.egg-info/
+MANIFEST
+
+# Other files
+*.DS_Store
+*.pdb
+*.pyo
+*.pyd
+*.db
+*.sqlite3
--- a/373
+++ b/373
@ -0,0 +1,373 @@
+Mozilla Public License Version 2.0
+==================================
+
+1. Definitions
+--------------
+
+1.1. "Contributor"
+    means each individual or legal entity that creates, contributes to
+    the creation of, or owns Covered Software.
+
+1.2. "Contributor Version"
+    means the combination of the Contributions of others (if any) used
+    by a Contributor and that particular Contributor's Contribution.
+
+1.3. "Contribution"
+    means Covered Software of a particular Contributor.
+
+1.4. "Covered Software"
+    means Source Code Form to which the initial Contributor has attached
+    the notice in Exhibit A, the Executable Form of such Source Code
+    Form, and Modifications of such Source Code Form, in each case
+    including portions thereof.
+
+1.5. "Incompatible With Secondary Licenses"
+    means
+
+    (a) that the initial Contributor has attached the notice described
+        in Exhibit B to the Covered Software; or
+
+    (b) that the Covered Software was made available under the terms of
+        version 1.1 or earlier of the License, but not also under the
+        terms of a Secondary License.
+
+1.6. "Executable Form"
+    means any form of the work other than Source Code Form.
+
+1.7. "Larger Work"
+    means a work that combines Covered Software with other material, in
+    a separate file or files, that is not Covered Software.
+
+1.8. "License"
+    means this document.
+
+1.9. "Licensable"
+    means having the right to grant, to the maximum extent possible,
+    whether at the time of the initial grant or subsequently, any and
+    all of the rights conveyed by this License.
+
+1.10. "Modifications"
+    means any of the following:
+
+    (a) any file in Source Code Form that results from an addition to,
+        deletion from, or modification of the contents of Covered
+        Software; or
+
+    (b) any new file in Source Code Form that contains any Covered
+        Software.
+
+1.11. "Patent Claims" of a Contributor
+    means any patent claim(s), including without limitation, method,
+    process, and apparatus claims, in any patent Licensable by such
+    Contributor that would be infringed, but for the grant of the
+    License, by the making, using, selling, offering for sale, having
+    made, import, or transfer of either its Contributions or its
+    Contributor Version.
+
+1.12. "Secondary License"
+    means either the GNU General Public License, Version 2.0, the GNU
+    Lesser General Public License, Version 2.1, the GNU Affero General
+    Public License, Version 3.0, or any later versions of those
+    licenses.
+
+1.13. "Source Code Form"
+    means the form of the work preferred for making modifications.
+
+1.14. "You" (or "Your")
+    means an individual or a legal entity exercising rights under this
+    License. For legal entities, "You" includes any entity that
+    controls, is controlled by, or is under common control with You. For
+    purposes of this definition, "control" means (a) the power, direct
+    or indirect, to cause the direction or management of such entity,
+    whether by contract or otherwise, or (b) ownership of more than
+    fifty percent (50%) of the outstanding shares or beneficial
+    ownership of such entity.
+
+2. License Grants and Conditions
+--------------------------------
+
+2.1. Grants
+
+Each Contributor hereby grants You a world-wide, royalty-free,
+non-exclusive license:
+
+(a) under intellectual property rights (other than patent or trademark)
+    Licensable by such Contributor to use, reproduce, make available,
+    modify, display, perform, distribute, and otherwise exploit its
+    Contributions, either on an unmodified basis, with Modifications, or
+    as part of a Larger Work; and
+
+(b) under Patent Claims of such Contributor to make, use, sell, offer
+    for sale, have made, import, and otherwise transfer either its
+    Contributions or its Contributor Version.
+
+2.2. Effective Date
+
+The licenses granted in Section 2.1 with respect to any Contribution
+become effective for each Contribution on the date the Contributor first
+distributes such Contribution.
+
+2.3. Limitations on Grant Scope
+
+The licenses granted in this Section 2 are the only rights granted under
+this License. No additional rights or licenses will be implied from the
+distribution or licensing of Covered Software under this License.
+Notwithstanding Section 2.1(b) above, no patent license is granted by a
+Contributor:
+
+(a) for any code that a Contributor has removed from Covered Software;
+    or
+
+(b) for infringements caused by: (i) Your and any other third party's
+    modifications of Covered Software, or (ii) the combination of its
+    Contributions with other software (except as part of its Contributor
+    Version); or
+
+(c) under Patent Claims infringed by Covered Software in the absence of
+    its Contributions.
+
+This License does not grant any rights in the trademarks, service marks,
+or logos of any Contributor (except as may be necessary to comply with
+the notice requirements in Section 3.4).
+
+2.4. Subsequent Licenses
+
+No Contributor makes additional grants as a result of Your choice to
+distribute the Covered Software under a subsequent version of this
+License (see Section 10.2) or under the terms of a Secondary License (if
+permitted under the terms of Section 3.3).
+
+2.5. Representation
+
+Each Contributor represents that the Contributor believes its
+Contributions are its original creation(s) or it has sufficient rights
+to grant the rights to its Contributions conveyed by this License.
+
+2.6. Fair Use
+
+This License is not intended to limit any rights You have under
+applicable copyright doctrines of fair use, fair dealing, or other
+equivalents.
+
+2.7. Conditions
+
+Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted
+in Section 2.1.
+
+3. Responsibilities
+-------------------
+
+3.1. Distribution of Source Form
+
+All distribution of Covered Software in Source Code Form, including any
+Modifications that You create or to which You contribute, must be under
+the terms of this License. You must inform recipients that the Source
+Code Form of the Covered Software is governed by the terms of this
+License, and how they can obtain a copy of this License. You may not
+attempt to alter or restrict the recipients' rights in the Source Code
+Form.
+
+3.2. Distribution of Executable Form
+
+If You distribute Covered Software in Executable Form then:
+
+(a) such Covered Software must also be made available in Source Code
+    Form, as described in Section 3.1, and You must inform recipients of
+    the Executable Form how they can obtain a copy of such Source Code
+    Form by reasonable means in a timely manner, at a charge no more
+    than the cost of distribution to the recipient; and
+
+(b) You may distribute such Executable Form under the terms of this
+    License, or sublicense it under different terms, provided that the
+    license for the Executable Form does not attempt to limit or alter
+    the recipients' rights in the Source Code Form under this License.
+
+3.3. Distribution of a Larger Work
+
+You may create and distribute a Larger Work under terms of Your choice,
+provided that You also comply with the requirements of this License for
+the Covered Software. If the Larger Work is a combination of Covered
+Software with a work governed by one or more Secondary Licenses, and the
+Covered Software is not Incompatible With Secondary Licenses, this
+License permits You to additionally distribute such Covered Software
+under the terms of such Secondary License(s), so that the recipient of
+the Larger Work may, at their option, further distribute the Covered
+Software under the terms of either this License or such Secondary
+License(s).
+
+3.4. Notices
+
+You may not remove or alter the substance of any license notices
+(including copyright notices, patent notices, disclaimers of warranty,
+or limitations of liability) contained within the Source Code Form of
+the Covered Software, except that You may alter any license notices to
+the extent required to remedy known factual inaccuracies.
+
+3.5. Application of Additional Terms
+
+You may choose to offer, and to charge a fee for, warranty, support,
+indemnity or liability obligations to one or more recipients of Covered
+Software. However, You may do so only on Your own behalf, and not on
+behalf of any Contributor. You must make it absolutely clear that any
+such warranty, support, indemnity, or liability obligation is offered by
+You alone, and You hereby agree to indemnify every Contributor for any
+liability incurred by such Contributor as a result of warranty, support,
+indemnity or liability terms You offer. You may include additional
+disclaimers of warranty and limitations of liability specific to any
+jurisdiction.
+
+4. Inability to Comply Due to Statute or Regulation
+---------------------------------------------------
+
+If it is impossible for You to comply with any of the terms of this
+License with respect to some or all of the Covered Software due to
+statute, judicial order, or regulation then You must: (a) comply with
+the terms of this License to the maximum extent possible; and (b)
+describe the limitations and the code they affect. Such description must
+be placed in a text file included with all distributions of the Covered
+Software under this License. Except to the extent prohibited by statute
+or regulation, such description must be sufficiently detailed for a
+recipient of ordinary skill to be able to understand it.
+
+5. Termination
+--------------
+
+5.1. The rights granted under this License will terminate automatically
+if You fail to comply with any of its terms. However, if You become
+compliant, then the rights granted under this License from a particular
+Contributor are reinstated (a) provisionally, unless and until such
+Contributor explicitly and finally terminates Your grants, and (b) on an
+ongoing basis, if such Contributor fails to notify You of the
+non-compliance by some reasonable means prior to 60 days after You have
+come back into compliance. Moreover, Your grants from a particular
+Contributor are reinstated on an ongoing basis if such Contributor
+notifies You of the non-compliance by some reasonable means, this is the
+first time You have received notice of non-compliance with this License
+from such Contributor, and You become compliant prior to 30 days after
+Your receipt of the notice.
+
+5.2. If You initiate litigation against any entity by asserting a patent
+infringement claim (excluding declaratory judgment actions,
+counter-claims, and cross-claims) alleging that a Contributor Version
+directly or indirectly infringes any patent, then the rights granted to
+You by any and all Contributors for the Covered Software under Section
+2.1 of this License shall terminate.
+
+5.3. In the event of termination under Sections 5.1 or 5.2 above, all
+end user license agreements (excluding distributors and resellers) which
+have been validly granted by You or Your distributors under this License
+prior to termination shall survive termination.
+
+************************************************************************
+*                                                                      *
+*  6. Disclaimer of Warranty                                           *
+*  -------------------------                                           *
+*                                                                      *
+*  Covered Software is provided under this License on an "as is"       *
+*  basis, without warranty of any kind, either expressed, implied, or  *
+*  statutory, including, without limitation, warranties that the       *
+*  Covered Software is free of defects, merchantable, fit for a        *
+*  particular purpose or non-infringing. The entire risk as to the     *
+*  quality and performance of the Covered Software is with You.        *
+*  Should any Covered Software prove defective in any respect, You     *
+*  (not any Contributor) assume the cost of any necessary servicing,   *
+*  repair, or correction. This disclaimer of warranty constitutes an   *
+*  essential part of this License. No use of any Covered Software is   *
+*  authorized under this License except under this disclaimer.         *
+*                                                                      *
+************************************************************************
+
+************************************************************************
+*                                                                      *
+*  7. Limitation of Liability                                          *
+*  --------------------------                                          *
+*                                                                      *
+*  Under no circumstances and under no legal theory, whether tort      *
+*  (including negligence), contract, or otherwise, shall any           *
+*  Contributor, or anyone who distributes Covered Software as          *
+*  permitted above, be liable to You for any direct, indirect,         *
+*  special, incidental, or consequential damages of any character      *
+*  including, without limitation, damages for lost profits, loss of    *
+*  goodwill, work stoppage, computer failure or malfunction, or any    *
+*  and all other commercial damages or losses, even if such party      *
+*  shall have been informed of the possibility of such damages. This   *
+*  limitation of liability shall not apply to liability for death or   *
+*  personal injury resulting from such party's negligence to the       *
+*  extent applicable law prohibits such limitation. Some               *
+*  jurisdictions do not allow the exclusion or limitation of           *
+*  incidental or consequential damages, so this exclusion and          *
+*  limitation may not apply to You.                                    *
+*                                                                      *
+************************************************************************
+
+8. Litigation
+-------------
+
+Any litigation relating to this License may be brought only in the
+courts of a jurisdiction where the defendant maintains its principal
+place of business and such litigation shall be governed by laws of that
+jurisdiction, without reference to its conflict-of-law provisions.
+Nothing in this Section shall prevent a party's ability to bring
+cross-claims or counter-claims.
+
+9. Miscellaneous
+----------------
+
+This License represents the complete agreement concerning the subject
+matter hereof. If any provision of this License is held to be
+unenforceable, such provision shall be reformed only to the extent
+necessary to make it enforceable. Any law or regulation which provides
+that the language of a contract shall be construed against the drafter
+shall not be used to construe this License against a Contributor.
+
+10. Versions of the License
+---------------------------
+
+10.1. New Versions
+
+Mozilla Foundation is the license steward. Except as provided in Section
+10.3, no one other than the license steward has the right to modify or
+publish new versions of this License. Each version will be given a
+distinguishing version number.
+
+10.2. Effect of New Versions
+
+You may distribute the Covered Software under the terms of the version
+of the License under which You originally received the Covered Software,
+or under the terms of any subsequent version published by the license
+steward.
+
+10.3. Modified Versions
+
+If you create software not governed by this License, and you want to
+create a new license for such software, you may create and use a
+modified version of this License if you rename the license and remove
+any references to the name of the license steward (except to note that
+such modified license differs from this License).
+
+10.4. Distributing Source Code Form that is Incompatible With Secondary
+Licenses
+
+If You choose to distribute Source Code Form that is Incompatible With
+Secondary Licenses under the terms of this version of the License, the
+notice described in Exhibit B of this License must be attached.
+
+Exhibit A - Source Code Form License Notice
+-------------------------------------------
+
+  This Source Code Form is subject to the terms of the Mozilla Public
+  License, v. 2.0. If a copy of the MPL was not distributed with this
+  file, You can obtain one at https://mozilla.org/MPL/2.0/.
+
+If it is not possible or desirable to put the notice in a particular
+file, then You may include the notice in a location (such as a LICENSE
+file in a relevant directory) where a recipient would be likely to look
+for such a notice.
+
+You may add additional accurate notices of copyright ownership.
+
+Exhibit B - "Incompatible With Secondary Licenses" Notice
+---------------------------------------------------------
+
+  This Source Code Form is "Incompatible With Secondary Licenses", as
+  defined by the Mozilla Public License, v. 2.0.
--- a/README.md
+++ b/README.md
@ -0,0 +1,2 @@
+# AiraPulsar 飞行控制系统
+AiraPulsar (空中脉冲星, 简称 APSR) 是一套基于 WebSocket 的三点架构的轻量级网络飞行控制系统
--- 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
--- a/lib/agency.py
+++ b/lib/agency.py
@ -0,0 +1,98 @@
+"""
+filename: agency.py
+description: WebSocket network agency for AiraPulsar components. 
+             This module serves as a universal client module for Moons, 
+             facilitating communication between Pulsar/Comet and Moons.
+"""
+import websocket
+import json
+from loguru import logger
+import threading
+import time
+
+# 配置日志
+logger.add("agent_logs.log", rotation="1 MB", level="INFO", format="{time} - {level} - {message}")
+
+class Agent(object):
+    """
+    handler: function which processes args
+    receiver: sendto
+    emitter: sendfrom
+    content: original string data
+    data: formatted json data -> dict
+    """
+    wsapp = None
+    is_connected = 0
+    def __init__(self, name, addr, handler):
+        logger.add("agent_logs.log", rotation="1 MB", level="INFO", format="{time} - {level} - {message}")
+        logger.info("初始化代理对象")
+        logger.info(f"卫星地址: {addr}")
+        logger.info(f"代理对象代号: {name}")
+        self.name = name
+        self.addr = addr
+        self.handler = handler
+        self.wsapp = websocket.WebSocketApp(
+            f"{addr}",
+            on_open=self.__on_open,
+            on_message=self.__on_message,
+            on_close=self.__on_close
+        )
+
+    def __dumper(self, receiver: str, content: dict):
+        msg = {
+            "id": self.name,
+            "receiver": receiver,
+            "content": content
+        }
+        return msg
+
+    def __loader(self, received_data: str):
+        try:
+            data = json.loads(received_data)
+            content = data["content"]
+            emitter = data["emitter"]
+            return {"content": content, "emitter": emitter}
+        except json.JSONDecodeError:
+            logger.error("接收到的消息不是有效的 JSON 格式")
+            return {"content": None, "emitter": None}
+
+    def __on_open(self, wsapp):
+        start_time = time.time()
+        self.send(receiver="auth", data="auth")
+        self.is_connected = True 
+        end_time = time.time()
+        delta = end_time - start_time
+        logger.info(f"成功建立连接, 单向延迟 {round(delta*10000)/10}ms")
+
+    def __on_message(self, wsapp, message):
+        loaded_data = self.__loader(message)
+        if loaded_data["emitter"] is not None and loaded_data["content"] is not None:
+            self.handler(emitter=loaded_data["emitter"],
+                         content=loaded_data["content"])
+
+    def __on_close(self, wsapp):
+        self.is_connected = False
+        logger.info("WebSocket 连接已关闭")
+
+    def send(self, receiver: str, data):
+        if isinstance(data, dict):    
+            self.wsapp.send(
+                json.dumps(self.__dumper(receiver, data))
+            )
+        elif isinstance(data, str):
+            self.wsapp.send(
+                json.dumps(self.__dumper(receiver, data))
+            )
+        else:
+            logger.warning("数据类型不支持")
+
+    def run(self):
+        self.wsapp.run_forever()
+
+    def runasthread(self):
+        thread = threading.Thread(target=self.wsapp.run_forever)
+        thread.start()
+        logger.info("等待连接成功")
+        while self.is_connected == 0:
+            time.sleep(0.1)
+        logger.info("连接成功, 取消阻塞")
--- a/moon/README.md
+++ b/moon/README.md
@ -0,0 +1,13 @@
+# Moon - 中继服务器
+Moon(卫星) 是 AiraPulsar 飞行控制系统的中继服务器
+
+Comet(飞行器) 与 Pulsar(控制器) 通过 Moon(中继服务器) 进行通讯  
+
+这样做的好处:  
+  - 无需设置第三方内网穿透  
+  - 轻松查阅连接日志  
+  - 可扩展至多端远程架构  
+  - 仅需一个地址即可完成通讯  
+  - 便于第三方介入
+
+建议将 Moon 部署至公网环境服务器中
--- a/moon/lib
+++ b/moon/lib
@ -0,0 +1 @@
+../lib
--- a/moon/logs.log
+++ b/moon/logs.log
@ -0,0 +1,119 @@
+2025-03-07T08:44:59.049714+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T08:54:33.168394+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T08:56:35.504311+0800 - INFO - 新客户端连接: 1
+2025-03-07T08:57:12.572151+0800 - INFO - 客户端断开连接: 1
+2025-03-07T08:57:13.906086+0800 - INFO - 新客户端连接: 2
+2025-03-07T08:57:18.478193+0800 - INFO - 客户端断开连接: 2
+2025-03-07T08:58:55.383088+0800 - INFO - 新客户端连接: 3
+2025-03-07T08:59:04.634280+0800 - INFO - 客户端断开连接: 3
+2025-03-07T08:59:05.383848+0800 - INFO - 新客户端连接: 4
+2025-03-07T08:59:51.560133+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T08:59:52.909275+0800 - INFO - 新客户端连接: 1
+2025-03-07T08:59:55.915998+0800 - INFO - 客户端断开连接: 1
+2025-03-07T09:00:43.283319+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:00:44.635715+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:01:29.896734+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:01:31.332525+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:02:17.026957+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:02:18.296634+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:02:48.143588+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:02:49.427049+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:03:10.834981+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:03:12.119704+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:03:12.119986+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:03:12.120071+0800 - INFO - 客户端断开连接: 1
+2025-03-07T09:03:42.168476+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:03:43.472305+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:03:43.472547+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:11:05.352860+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:11:06.882419+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:11:06.882773+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:12:14.693477+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:12:16.851004+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:12:16.851656+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:19:09.007145+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:19:10.754140+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:19:10.754434+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:19:18.493238+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:19:20.016578+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:19:20.016862+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:19:37.700993+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:19:39.081530+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:19:39.081796+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:19:43.080448+0800 - INFO - 处理信息: {"id": "comet", "receiver": "1", "content": "hi"}
+2025-03-07T09:19:43.080720+0800 - ERROR - 无法解码 JSON 消息
+2025-03-07T09:20:12.487057+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:20:13.857585+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:20:13.857880+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:20:14.799728+0800 - INFO - 客户端断开连接: 1
+2025-03-07T09:20:17.208026+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:20:22.577076+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:20:22.577489+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:20:23.575751+0800 - INFO - 处理信息: {"id": "comet", "receiver": "1", "content": "hi"}
+2025-03-07T09:20:23.576044+0800 - ERROR - 无法解码 JSON 消息
+2025-03-07T09:26:56.246176+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:26:57.807128+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:26:57.807419+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:26:58.805874+0800 - INFO - 处理信息: {"id": "comet", "receiver": "1", "content": "hi"}
+2025-03-07T09:26:58.806066+0800 - ERROR - 无法解码 JSON 消息
+2025-03-07T09:28:25.117434+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:28:26.673876+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:28:26.674262+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:28:27.671936+0800 - INFO - 处理信息: {"id": "comet", "receiver": "1", "content": "hi"}
+2025-03-07T09:28:27.672177+0800 - ERROR - 无法解码 JSON 消息
+2025-03-07T09:28:29.778081+0800 - INFO - 客户端断开连接: 1
+2025-03-07T09:28:33.464911+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:28:35.158721+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:28:35.159064+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:28:36.157310+0800 - INFO - 处理信息: {"id": "comet", "receiver": "1", "content": "hi"}
+2025-03-07T09:28:36.157514+0800 - ERROR - 无法解码 JSON 消息
+2025-03-07T09:29:18.205614+0800 - INFO - 客户端断开连接: 1
+2025-03-07T09:29:22.053522+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:29:25.102228+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:29:25.102476+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:29:26.101162+0800 - INFO - 处理信息: {"id": "comet", "receiver": "1", "content": "hi"}
+2025-03-07T09:29:26.101351+0800 - ERROR - 无法解码 JSON 消息
+2025-03-07T09:30:12.603632+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:30:13.967524+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:30:13.967874+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:30:14.966548+0800 - INFO - 处理信息: {"id": "comet", "receiver": "1", "content": {"hi": "hi"}}
+2025-03-07T09:30:14.966787+0800 - INFO - 客户端断开连接: 1
+2025-03-07T09:31:19.129916+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:31:20.564382+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:31:20.564841+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:31:21.562523+0800 - INFO - 处理信息: {"id": "comet", "receiver": "1", "content": {"hi": "hi"}}
+2025-03-07T09:31:21.562718+0800 - WARNING - 无法发送至端点
+2025-03-07T09:31:31.503846+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T09:31:41.873175+0800 - INFO - 新客户端连接: 1
+2025-03-07T09:31:41.873532+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T09:31:42.872072+0800 - INFO - 处理信息: {"id": "comet", "receiver": "*", "content": {"hi": "hi"}}
+2025-03-07T09:31:42.872284+0800 - WARNING - 无法发送至端点
+2025-03-07T09:31:42.872356+0800 - WARNING - 无法发送至端点
+2025-03-07T10:02:07.173456+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T10:02:22.249420+0800 - INFO - 新客户端连接: 1
+2025-03-07T10:02:22.249683+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T10:02:22.348277+0800 - INFO - 处理信息: {"id": "comet", "receiver": "*", "content": {"hi": "hi"}}
+2025-03-07T10:02:22.348428+0800 - WARNING - 无法发送至端点
+2025-03-07T10:02:22.348504+0800 - WARNING - 无法发送至端点
+2025-03-07T15:55:54.389580+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T15:55:55.865014+0800 - INFO - 新客户端连接: 1
+2025-03-07T15:55:55.865334+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T15:55:55.964049+0800 - INFO - 处理信息: {"id": "comet", "receiver": "*", "content": {"hi": "hi"}}
+2025-03-07T15:55:55.964208+0800 - WARNING - 无法发送至端点
+2025-03-07T15:55:55.964276+0800 - WARNING - 无法发送至端点
+2025-03-07T15:55:58.304575+0800 - INFO - 客户端断开连接: 1
+2025-03-07T15:56:27.769208+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T15:56:29.266347+0800 - INFO - 新客户端连接: 1
+2025-03-07T15:56:29.266586+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T15:56:29.365433+0800 - INFO - 处理信息: {"id": "comet", "receiver": "*", "content": {"hi": "hi"}}
+2025-03-07T15:56:29.365581+0800 - WARNING - 无法发送至端点
+2025-03-07T15:56:29.365643+0800 - WARNING - 无法发送至端点
+2025-03-07T15:56:45.972404+0800 - INFO - 启动"卫星"中继服务器: ws://0.0.0.0:8765
+2025-03-07T15:56:47.268864+0800 - INFO - 新客户端连接: 1
+2025-03-07T15:56:47.269164+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
+2025-03-07T15:56:47.367838+0800 - INFO - 处理信息: {"id": "comet", "receiver": "*", "content": {"hi": "hi"}}
+2025-03-07T15:56:47.367979+0800 - WARNING - 无法发送至端点
+2025-03-07T15:56:47.368041+0800 - WARNING - 无法发送至端点
+2025-03-07T17:45:07.183410+0800 - INFO - 客户端断开连接: 1
+2025-03-07T17:45:08.365484+0800 - INFO - 新客户端连接: 2
+2025-03-07T17:45:08.365737+0800 - INFO - 处理信息: {"id": "comet", "receiver": "auth", "content": "auth"}
--- a/moon/moon.py
+++ b/moon/moon.py
@ -0,0 +1,79 @@
+import json
+from loguru import logger
+import yaml
+from websocket_server import WebsocketServer
+import os
+
+# 设置当前工作目录
+os.chdir(os.path.dirname(os.path.abspath(__file__)))
+
+# 配置日志
+logger.add("logs.log", rotation="1 MB", level="INFO", format="{time} - {level} - {message}")
+
+moon_addr = None
+port = None
+
+with open('moon_config.yaml', 'r') as config_file:
+    config = yaml.safe_load(config_file)
+    moon_addr = config.get("addr", "127.0.0.1")
+    port = config.get("port", 8765)
+
+clients = dict()  # id -> name
+clients_rev = dict()  # name -> id
+clients_connection = dict()  # id -> client obj
+
+def new_client(client, server):
+    clients_connection[client["id"]] = client
+    logger.info(f"新客户端连接: {client['id']}")
+
+def client_left(client, server):
+    logger.info(f"客户端断开连接: {client['id']}")
+    # 连接关闭时从集合中移除
+    if client in clients.values():
+        clients.pop(clients_rev[client['id']])
+        clients_rev.pop(client['id'])
+
+def message_received(client, server, message):
+    logger.info(f"处理信息: {message}")
+    try:
+        msg = json.loads(message)
+        clients[msg["id"]] = client['id']
+        clients_rev[client['id']] = msg["id"]
+        
+        if msg["receiver"] == "auth":
+            return
+        
+        if msg["receiver"] == "*":
+            try:
+                for i in clients_rev.values():
+                    content = msg["content"]
+                    content["emitter"] = msg["id"]
+                    server.send_message(
+                        clients_connection[i], 
+                        json.dumps(content))
+            except KeyError:
+                logger.warning("无法发送至端点")
+        
+        try:
+            content = msg["content"]
+            content["emitter"] = msg["id"]
+            server.send_message(
+                clients_connection[clients[msg["receiver"]]], 
+                json.dumps(content))
+        except KeyError:
+            logger.warning("无法发送至端点")
+    except json.JSONDecodeError:
+        logger.error("无法解码 JSON 消息")
+
+def main():
+    global moon_addr
+    global port
+    server = WebsocketServer(host=moon_addr, port=port)
+    server.set_fn_new_client(new_client)
+    server.set_fn_client_left(client_left)
+    server.set_fn_message_received(message_received)
+    logger.info(f'启动"卫星"中继服务器: ws://{moon_addr}:{port}')
+    server.run_forever()
+
+if __name__ == "__main__":
+    main()
--- a/moon/moon_config.yaml
+++ b/moon/moon_config.yaml
@ -0,0 +1,2 @@
+addr: 0.0.0.0
+port: 8765
--- a/pulsar/1.py
+++ b/pulsar/1.py
@ -0,0 +1,59 @@
+import pygame
+import sys
+
+# 初始化 Pygame
+pygame.init()
+
+# 设置窗口大小
+width, height = 800, 600
+screen = pygame.display.set_mode((width, height))
+pygame.display.set_caption("Pygame Draw Example")
+
+# 定义颜色
+BLACK = (0, 0, 0)
+WHITE = (255, 255, 255)
+RED = (255, 0, 0)
+GREEN = (0, 255, 0)
+BLUE = (0, 0, 255)
+YELLOW = (255, 255, 0)
+
+# 主循环
+running = True
+while running:
+    for event in pygame.event.get():
+        if event.type == pygame.QUIT:
+            running = False
+
+    # 填充背景
+    screen.fill(WHITE)
+
+    # 绘制线条
+    pygame.draw.line(screen, RED, (50, 50), (200, 50), 5)
+    pygame.draw.aaline(screen, BLUE, (50, 100), (200, 100))
+
+    # 绘制矩形
+    pygame.draw.rect(screen, GREEN, (50, 150, 150, 100), 0)  # 填充矩形
+    pygame.draw.rect(screen, BLACK, (250, 150, 150, 100), 5)  # 边框矩形
+
+    # 绘制圆形
+    pygame.draw.circle(screen, YELLOW, (400, 200), 50, 0)  # 填充圆形
+    pygame.draw.circle(screen, BLACK, (500, 200), 50, 5)  # 边框圆形
+
+    # 绘制椭圆
+    pygame.draw.ellipse(screen, BLUE, (50, 300, 200, 100), 0)  # 填充椭圆
+    pygame.draw.ellipse(screen, BLACK, (300, 300, 200, 100), 5)  # 边框椭圆
+
+    # 绘制多边形
+    points = [(600, 400), (700, 300), (800, 400), (700, 500)]
+    pygame.draw.polygon(screen, GREEN, points, 0)  # 填充多边形
+    pygame.draw.polygon(screen, BLACK, points, 5)  # 边框多边形
+
+    # 绘制弧
+    pygame.draw.arc(screen, RED, (50, 450, 200, 100), 0, 3.14, 5)  # 弧
+
+    # 更新显示
+    pygame.display.flip()
+
+# 退出 Pygame
+pygame.quit()
+sys.exit()
--- a/pulsar/README.md
+++ b/pulsar/README.md
@ -0,0 +1,4 @@
+# Pulsar - 控制器侧载端
+Pulsar(脉冲星) 是 AiraPulsar 飞行控制系统的控制器侧载端, 项目亦由此而得名
+
+Pulsar(控制器) 通过 Moon(中继服务器) 进行通讯, 给 Comet(飞行器) 发送指令  
--- a/pulsar/graph.py
+++ b/pulsar/graph.py
@ -0,0 +1,43 @@
+import pygame
+
+class Graph:
+    def rect(frame, position: tuple = (0, 0), size: tuple = (1, 1), color: tuple = (255, 255, 255), width: int = 0):
+        pygame.draw.rect(frame.surface, color=color, rect=(position[0], position[1], size[0], size[1]), width=width)
+
+    def line(frame, start_pos: tuple, end_pos: tuple, color: tuple = (255, 255, 255)):
+        pygame.draw.aaline(frame.surface, color, start_pos, end_pos)
+
+    def circle(frame, center: tuple, radius: int, color: tuple = (255, 255, 255), width: int = 0):
+        pygame.draw.circle(frame.surface, color, center, radius, width)
+
+    def ellipse(frame, rect: tuple, color: tuple = (255, 255, 255), width: int = 0):
+        pygame.draw.ellipse(frame.surface, color, rect, width)
+
+    def polygon(frame, pointlist: list, color: tuple = (255, 255, 255), width: int = 0):
+        pygame.draw.polygon(frame.surface, color, pointlist, width)
+
+    def arc(frame, rect: tuple, color: tuple = (255, 255, 255), start_angle: float = 0, stop_angle: float = 3.14, width: int = 1):
+        pygame.draw.arc(frame.surface, color, rect, start_angle, stop_angle, width)
+
+    def points(frame, pos: tuple, color: tuple = (255, 255, 255)):
+        pygame.draw.point(frame.surface, color, pos)
+
+    def lines(frame, pointlist: list, color: tuple = (255, 255, 255), closed: bool = False):
+        pygame.draw.aalines(frame.surface, color, closed, pointlist)
+
+class Frame(object):
+    name = None
+    size = None
+    surface = None
+    is_hide = False
+    def __init__(self, name: str, size: tuple):
+        self.name = name
+        self.surface = pygame.Surface(size, flags=pygame.HWSURFACE)
+        print("初始化子模块")
+    def show(self, window, position: tuple):
+        if not self.is_hide:
+            window.blit(self.surface, position)
+    def set_visible(self, newstat=True):
+        self.is_hide = newstat
+    def set_position(self, newposition):
+        self.position = newposition
--- a/pulsar/lib
+++ b/pulsar/lib
@ -0,0 +1 @@
+../lib
--- a/testfield/README.md
+++ b/testfield/README.md
@ -0,0 +1,3 @@
+# 实验与参考用代码
+仅作技术分析验证与历史留存, 若要修改此项目代码, 不必处理此文件夹  
+若你要使用此软件, 可以克隆后直接将 testfield 文件夹删除
--- a/testfield/network/README.md
+++ b/testfield/network/README.md
@ -0,0 +1,2 @@
+# Sin 波形传输 [成功]
+基于 websocket 的通讯功能模型测试
--- a/testfield/network/sin_comet.py
+++ b/testfield/network/sin_comet.py
@ -0,0 +1,70 @@
+import pygame
+import sys
+import threading
+import math
+import websocket
+import json
+import time
+sin_remote = 0
+th1 = None
+th2 = None
+moon_addr = "127.0.0.1"
+def on_open(wsapp):
+    print("打开新连接")
+    print("准备待命")
+    message = {
+        "id": "comet",
+        "sendto": "auth",
+        "content": "none"
+    }
+    wsapp.send(json.dumps(message))
+
+def on_message(wsapp, message):
+    global sin_remote
+    print(f"接收到消息: {message}")
+    if message == "-3":
+        th1.start()
+    sin_remote = float(message)
+
+def on_close(wsapp):
+    print("on_close")
+
+def inet():
+    global sin_remote
+    wsapp = websocket.WebSocketApp(f"ws://{moon_addr}:8765",
+    on_open=on_open,
+    on_message=on_message,
+    on_close=on_close)
+    wsapp.run_forever()
+
+def grap():
+    pygame.init()
+    width, height = 628, 600
+    screen = pygame.display.set_mode((width, height))
+    pygame.display.set_caption("TEST")
+    LOCAL_COLOR = (255, 255, 255, 64)
+    REMOTE_COLOR = [(0, 0, 255, 128), (255, 0, 0, 128)]
+    frequency = 0.01  # 波动频率
+    amplitude = 100    # 波动幅度
+    x = round(time.time()*1000)
+    while True:
+        x = round(time.time()*1000)
+        x = x % 628
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                pygame.quit()
+                sys.exit()
+
+        #pygame.draw.rect(screen, (0, 0, 0), (x, 0, 5, height)) # 扫描线
+        y = height // 2 + amplitude * math.sin((x * frequency))
+        y_remote = height // 2 + amplitude * sin_remote
+        pygame.draw.rect(screen, (round(time.time()*1000+120)%256,round(time.time()*1000)%256,round(time.time()*1000+60)%256), (x, int(y_remote), 4, 4))  # 远程波形
+        pygame.draw.rect(screen, LOCAL_COLOR, (x, int(y), 2, 2)) # 本地波形
+        pygame.display.flip()
+        pygame.time.delay(10)
+
+if __name__ == "__main__":
+    th1 = threading.Thread(target=grap)
+    th2 = threading.Thread(target=inet)
+    # 启动线程
+    th2.start()
--- a/testfield/network/sin_moon.py
+++ b/testfield/network/sin_moon.py
@ -0,0 +1,44 @@
+import json
+from websocket_server import WebsocketServer
+moon_addr = "127.0.0.1"
+clients = dict() # id -> name
+clients_rev = dict() # name -> id
+clients_connection = dict() # id -> client obj
+
+def new_client(client, server):
+    clients_connection[client["id"]] = client
+    print(f"新客户端连接: {client['id']}")
+    
+def client_left(client, server):
+    print(f"客户端断开连接: {client['id']}")
+    # 连接关闭时从集合中移除
+    if client in clients.values():
+        clients.pop(clients_rev[client['id']])
+        clients_rev.pop(client['id'])
+
+def message_received(client, server, message):
+    print(f"处理信息: {message}")
+    try:
+        msg = json.loads(message)
+        clients[msg["id"]] = client['id']
+        clients_rev[client['id']] = msg["id"]
+        if msg["sendto"] == "auth":
+            return
+        try:
+            server.send_message(clients_connection[clients[msg["sendto"]]], msg["content"])
+        except KeyError:
+            print("无法发送至端点")
+    except json.JSONDecodeError:
+        print("无法解码 JSON 消息")
+
+def main():
+    server = WebsocketServer(host=f'{moon_addr}', port=8765)
+    server.set_fn_new_client(new_client)
+    server.set_fn_client_left(client_left)
+    server.set_fn_message_received(message_received)
+    
+    print(f'启动"卫星"中继服务器: ws://{moon_addr}:8765')
+    server.run_forever()
+
+if __name__ == "__main__":
+    main()
--- a/testfield/network/sin_pulsar.py
+++ b/testfield/network/sin_pulsar.py
@ -0,0 +1,34 @@
+import websocket
+import threading
+import math
+import json
+import time
+moon_addr = "127.0.0.1"
+def on_open(wsapp):
+    print("打开新的连接")
+    input("回车以启动同步: ")
+    message = {
+        "id": "pulsar",
+        "sendto": "comet",
+        "content": "-3"
+    }
+    wsapp.send(json.dumps(message))
+    x = round(time.time()*1000)
+    while 1:
+        x = round(time.time()*1000)
+        x = x % 628
+        message["content"] = str(math.sin(x*0.01))
+        wsapp.send(json.dumps(message))
+        time.sleep(0.01)
+
+def on_message(wsapp, message):
+    print("on_message:", message)
+
+def on_close(wsapp):
+    print("on_close")
+
+wsapp = websocket.WebSocketApp(f"ws://{moon_addr}:8765",
+on_open=on_open,
+on_message=on_message,
+on_close=on_close)
+wsapp.run_forever()
--- a/testfield/visual/README.md
+++ b/testfield/visual/README.md
@ -0,0 +1,2 @@
+# 总览测试 
+基于 bmp 的通讯功能模型测试
--- a/testfield/visual/main.py
+++ b/testfield/visual/main.py
@ -0,0 +1,63 @@
+from PIL import Image
+import pygame
+import sys
+import time
+
+colorzone = dict()
+
+def img():
+# 打开 BMP 文件
+    bmp_image = Image.open('view.bmp')
+
+    # 获取图像的基本信息
+    width, height = bmp_image.size
+    mode = bmp_image.mode
+
+    print(f"图像宽度: {width}, 高度: {height}, 模式: {mode}")
+
+    # 读取图像数据
+    pixel_data = bmp_image.load()  # 获取像素数据
+
+    # 遍历每个像素并打印其 RGB 值
+    minleft = 0x3f3f3f3f
+    mintop = 0x3f3f3f3f
+    for y in range(height):
+        for x in range(width):
+            minleft = min(minleft, x)
+            mintop = min(mintop, y)
+            r, g, b = pixel_data[x, y]  # 获取每个像素的 RGB 值
+            if r == 255 and b == 255 and g == 255:
+                pass
+            else:
+                if (r,g,b) in colorzone:
+                    colorzone[(r,g,b)].append(((x//8)*4,(y//8)*4))
+                else:
+                    colorzone[(r,g,b)] = list()
+                    colorzone[(r,g,b)].append((x//8*4,y//8*4))
+                #print(f"像素 ({x}, {y}): R={r}, G={g}, B={b}")
+
+    colorzone[(255,255,255)] = colorzone[(0,0,0)]
+    # 关闭图像
+    bmp_image.close()
+
+def grap():
+    pygame.init()
+    width, height = 800, 1000
+    screen = pygame.display.set_mode((width, height))
+    pygame.display.set_caption("TEST")
+    global colorzone
+    while True:
+        for i in colorzone.keys():    
+            for j in colorzone[i]:
+                if i != (255,255,255):
+                    pygame.draw.rect(screen, i, (j[0], j[1], 2, 2))  # 远程波形
+                else:
+                    pygame.draw.rect(screen, i, (j[0], j[1], 1, 1))  # 远程波形
+        pygame.display.flip()
+        pygame.time.delay(10)
+
+if __name__ == "__main__":
+    print("START")
+    img()
+    print("LOADED")
+    grap()
--- a/testfield/visual/view.bmp
+++ b/testfield/visual/view.bmp
--- a/testfield/visual/viewcfg.yaml
+++ b/testfield/visual/viewcfg.yaml
@ -0,0 +1,17 @@
+# 机体: Fuselage -> fuse
+# 副翼: Aileron -> aile
+# 襟翼: Flap -> flap
+# 发动机: Engine -> eng
+# 控制器: Controller -> ctrl
+# 方向舵: Rudder -> rud
+# 俯仰舵: Elevator -> elev
+marking:
+  
+color_config:
+  fuselage: (255,255,255)
+  aileron: ()
+  flap:
+  engine:
+  controller: (255,255,255)
+  rudder:
+  elevator: