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testfield/legacy/README.md

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+# Commodore 飞行控制系统 [存档]
+这是 AiraPulsar 的前身, commodore 飞行控制系统.  
+与 AiraPulsar 相比, 它只有 client 和 server 之间相互通讯, 导致 server 端需要内网穿透才能受控.  
+此外, commodore 使用原始的 socket 协议通讯, 粘包问题导致信息需要以 4KB/次 的速率恒定传输, 且 JSON 数据大小受到限制, 稳定性不足.  
+commodore 代码缺乏模块化, 难以维护  
+尽管它代码风格杂乱无序, 但它还是勉强完成了飞行控制同步的基本功能, 保留此文件夹仅作留存参考用, 并无实用价值  

testfield/legacy/client/client.py

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+from os import environ
+environ['PYGAME_HIDE_SUPPORT_PROMPT'] = '1'
+import pygame
+from pygame.locals import *
+import cv2
+import client_lib as lib
+import client_elements as elements
+import math
+import time
+import threading
+import logging
+
+uitest_enabled = 1
+global running
+elements = list()
+
+class Element:
+    def __init__(self, name, desc):
+        self.name = name
+        self.desc = desc
+        
+    def action(self):
+        print("default element action")
+        print(f"name: {self.name}")
+        print(f"desc: {self.desc}")
+
+        
+
+def data_proc():
+    global running
+    pass
+
+def input_proc():
+    global running
+    while running:
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                running = False
+            if event.type == pygame.MOUSEMOTION:
+                loggin.info("鼠标: ", event.pos[0] - mousepos[0], event.pos[1] - mousepos[1])
+                mousepos = event.pos
+    pass
+
+def main():
+    colors = {"main":"white", "remote":"green", "warn":"red"}
+    fonts = {"medium":pygame.font.Font('src/font.ttf', 20), "big":pygame.font.Font('src/font.ttf', 40), "huge":pygame.font.Font('src/font.ttf', 60), "small":pygame.font.Font('src/font.ttf', 16), "tiny":pygame.font.Font('src/font.ttf', 12)}
+    height = 1080
+    width = int(height / 9 * 16)
+    pygame.init()
+    pygame.display.set_caption(f"Commodore 远程终端")
+    screen = pygame.display.set_mode((width, height), RESIZABLE)
+    icon = pygame.image.load("src/icon.ico").convert_alpha()
+    pygame.display.set_icon(icon)
+    global running
+    running = True
+    pygame.mouse.set_visible(False)
+    pygame.mouse.set_pos([width / 2, height / 2])
+    mousepos = (width / 2, height / 2)
+    input_thr = threading.Thread(target=input_proc, name='InputProcess')
+    input_thr.start()
+    data_thr = threading.Thread(target=data_proc, name='DataProcess')
+    data_thr.start()
+    
+    
+    
+if __name__ == "__main__":
+    logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
+    if uitest_enabled == 0:
+        pass # load data

testfield/legacy/client/legacy/client_cli.py

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+import socket
+import json
+import logging
+
+logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
+
+def operate():
+    strs = input()
+    return strs
+
+dest = "127.0.0.1"
+port = 40808
+
+logging.info("启动 AZURE 客户端")
+logging.info("启动远程主机网络通讯")
+remote = socket.socket()
+remote.connect((dest, port))
+
+data: str = remote.recv(2048).decode("UTF-8")
+first = json.loads(data)
+devices = first["devices"]
+name = first["name"]
+logging.info(f"已链接至 {name}")
+
+while True:
+    msg = json.dumps(operate())  # 状态回传
+    size = len(msg.encode())
+    remote.send(msg.encode("UTF-8").ljust(2048 - size))  # encode将字符串编码为字节数组对象
+    logging.info("命令已回传")

testfield/legacy/client/legacy/client_gui_legacy copy 2.py

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+from os import environ
+environ['PYGAME_HIDE_SUPPORT_PROMPT'] = '1'
+import pygame
+from pygame.locals import *
+import cv2
+import client_lib as lib
+import math
+import time
+import threading
+import logging
+
+camera_enabled = 0
+
+def camera_refresh():
+    global frame_surface
+    if camera_enabled:
+        frame = camera.read()[1]
+        frame_rgb = cv2.resize(cv2.flip(cv2.rotate(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB), cv2.ROTATE_90_CLOCKWISE), 1), (height, width))
+        frame_surface = pygame.surfarray.make_surface(frame_rgb)
+    else:
+        frame_surface = pygame.Surface((width, height), pygame.SRCALPHA)
+        frame_surface.fill((0, 0, 0, 250))  # 将表面填充为完全透明
+
+def welcome():
+    for i in range(0, 120):
+        screen.fill("black")
+        text = fonts['huge'].render("Initialize Azure Network BVLOS Flighting Controlling System", True, colors['main'], None)
+        screen.blit(text, (width / 2 - text.get_width() / 2, height / 2 - 150))
+        text = fonts['big'].render(f"Remote connection: {remote.name}", True, colors['main'], None)
+        screen.blit(text, (width / 2 - text.get_width() / 2, height / 2))
+        pygame.display.flip()
+        clock.tick(60)
+def cmdgen():
+    global devices
+    cmd = ""
+    for i in devices.keys():
+        word = ""
+        if remote.jdata["devices"][i]['type'] == "Flank":
+            word = "angle"
+        if remote.jdata["devices"][i]['type'] == "Engine":
+            word = "speed"
+        cmd += f"hw['{i}'].set_{word}({devices[i]})\n"
+    # loggin.info(cmd)
+    return cmd
+def transmit(type, cmd):
+    msg = dict()
+    msg['type'] = type
+    msg['cmd'] = cmd
+    msg['time'] = time.asctime()
+    remote.jsend(msg)
+def update():
+    global remote_devices, sensors
+    remote.refresh()
+    types = {'Flank':'angle', 'Engine':'speed'}
+    for i in devices.keys():
+        remote_devices[i] = remote.jdata['devices'][i][types[remote.jdata['devices'][i]['type']]]
+    for i in sensors.keys():
+        sensors[i] = remote.jdata['sensors'][i]
+def calc_pair2angle(dyna):
+    tan = (dyna[0][1] - dyna[1][1]) / (dyna[0][0] - dyna[1][0])
+    return round(math.degrees(math.atan(tan)), 1)
+def calc_langle(posx):
+    if (width / 2 - 30 < mousepos[0] < width / 2 + 30) and (height / 2 - 30 < mousepos[1] < height / 2 + 30):
+        global f_shootmode
+        f_shootmode = 1
+        return 0
+    f_shootmode = 0
+    a = abs(posx - width / 2) / (width * 0.76) * lwidth # 底边
+    b = vdist
+    angle_a = math.atan(a / b)
+    angle_a = math.degrees(angle_a)
+    if posx < width / 2:
+        angle_a = -angle_a
+    return angle_a
+def calc_vangle(posy):
+    if (width / 2 - 30 < mousepos[0] < width / 2 + 30) and (height / 2 - 30 < mousepos[1] < height / 2 + 30):    
+        global f_shootmode
+        f_shootmode = 1
+        return 0
+    f_shootmode = 0
+    a = abs(posy - height / 2) / (height * 0.5) * vwidth # 底边
+    b = vdist
+    angle_a = math.atan(a / b)
+    angle_a = math.degrees(angle_a)
+    if posy < height / 2:
+        angle_a = -angle_a
+    return angle_a
+def calc_langle2(posx):
+    a = abs(posx - width / 2) / (width * 0.76) * lwidth # 底边
+    b = vdist
+    angle_a = math.atan(a / b)
+    angle_a = math.degrees(angle_a)
+    if posx < width / 2:
+        angle_a = -angle_a
+    return angle_a
+def calc_vangle2(posy):
+    a = abs(posy - height / 2) / (height * 0.5) * vwidth # 底边
+    b = vdist
+    angle_a = math.atan(a / b)
+    angle_a = math.degrees(angle_a)
+    if posy < height / 2:
+        angle_a = -angle_a
+    return angle_a
+def showtext(text, pos, color = 'main', fontid = "medium"):
+    db_text = fonts[fontid].render(text, 0 if fontid == "tiny" else 1, colors[color], None)
+    screen.blit(db_text, pos)
+def showline(pos1, pos2, width = 2, color = 'main'):
+    pygame.draw.line(screen, colors[color], pos1, pos2, width)
+def debug_ui():
+    global sensors
+    showtext(f"远程方位角(Z): {sensors['zangle']}", (32, 844), fontid = "tiny")
+    showtext(f"远程滚动角(Y): {sensors['yangle']}", (32, 858), fontid = "tiny")
+    showtext(f"远程倾斜角(X): {sensors['xangle']}", (32, 872), fontid = "tiny")
+    showtext(f"本地滚动角(Y): {langle}", (32, 886), fontid = "tiny")
+    showtext(f"本地倾斜角(X): {vangle}", (32, 900), fontid = "tiny")
+    showtext(f"远程主机时间戳: {remote.jdata['time']}", (32, 914), fontid = "tiny")
+    showtext(f"航行灯状态: {'打开' if sensors['torch'] else '关闭'}", (32, 928), fontid = "tiny")
+    showtext(f"瞬时加速度: {sensors['acc']}", (32, 942), fontid = "tiny")
+    showtext(f"远程信号强度: {sensors['sign']}", (32, 956), fontid = "tiny")
+    showtext(f"远程 CPU 负载: {sensors['cpuload'] * 100} %", (32, 970), fontid = "tiny")
+    showtext(f"远程内存占用: {sensors['memload'] * 100} %", (32, 984), fontid = "tiny")
+    showtext(f"武装: 无", (32, 998), fontid = "tiny")
+    showtext(f"挂载: 无", (32, 1012), fontid = "tiny")
+def warn_layer(text):
+    if 3 < flamenum % 15 < 12:
+        showtext(text, (width / 2 - fonts['huge'].render(text, True, colors['warn'], None).get_width() / 2, height / 2 - 150), color=colors['warn'], fontid="huge")
+def text_layer():
+    global sensors, remote_devices
+    showtext(f"远程主机: {remote.name}", (0, 0))
+    showtext(f"虚拟视距: {vdist}cm", (0, 24))
+    showtext(f"水平指示器宽度: {lwidth}cm", (0, 48))
+    showtext(f"竖直指示器宽度: {round(vwidth)}cm", (0, 72))
+    oriword = {0: "[N]", 90: "[E]", 180: "[S]", 270: "[W]"}
+    for i in range(0, 13):
+        showtext(f'{str(oriword[n] if (n := round(abs(calc_langle2(width * 0.12 + width * 0.76 * i / 12) + sensors["zangle"]))) in oriword.keys() else n).zfill(2)}', 
+                (width * 0.12 + width * 0.76 * i / 12 - 12, height * 0.1 + width * 0.01))
+
+    for i in range(0, 9):
+        showtext(f'{str(round(abs(calc_vangle2(height * 0.25 + height * 0.5 * i / 8) - sensors["yangle"]))).zfill(2)}', 
+                (width * 0.926, height * 0.25 + height * 0.49 * i / 8 - 3), fontid="small")
+        showtext(f'{str(round(abs(calc_vangle2(height * 0.25 + height * 0.5 * i / 8) - sensors["yangle"]))).zfill(2)}', 
+                (width * 0.064, height * 0.25 + height * 0.49 * i / 8 - 3), fontid="small")
+
+    showtext("右副翼 >", (width * 0.95, height * 0.81), fontid="tiny")
+    showtext(f"{devices['aile_right']}/{round(remote_devices['aile_right'], 1)}", (width * 0.955, height * 0.825), fontid="tiny")
+    showtext("右尾翼 >", (width * 0.95, height * 0.93), fontid="tiny")
+    showtext(f"{devices['tail_right']}/{round(remote_devices['tail_right'], 1)}", (width * 0.955, height * 0.915), fontid="tiny")
+    showtext("左副翼 >", (width * 0.92, height * 0.81), fontid="tiny")
+    showtext(f"{devices['aile_left']}/{round(remote_devices['aile_left'], 1)}", (width * 0.925, height * 0.825), fontid="tiny")
+    showtext("左尾翼 >", (width * 0.92, height * 0.93), fontid="tiny")
+    showtext(f"{devices['tail_left']}/{round(remote_devices['tail_left'], 1)}", (width * 0.925, height * 0.915), fontid="tiny")
+    showtext("转速", (width * 0.874, height * 0.923), fontid="tiny")
+    showtext(f"{str(devices['engine_main']).zfill(3)}", (width * 0.8745, height * 0.938), fontid="tiny")
+    showtext("空速", (width * 0.844, height * 0.923), fontid="tiny")
+    showtext(f"{str(sensors['speed']).zfill(3)}", (width * 0.8445, height * 0.938), fontid="tiny")
+    showtext("能量", (width * 0.814, height * 0.923), fontid="tiny")
+    showtext(f"{str(sensors['battery'] * 100).zfill(2)}%", (width * 0.8145, height * 0.938), fontid="tiny")
+def netproc():
+    while running:
+        update()
+        transmit("cmd", cmdgen())
+        time.sleep(0.05)
+
+if __name__ == "__main__":
+
+    vdist = 30 # 虚拟视距
+    lwidth = 60 # 水平指示器距离
+    vwidth = lwidth * 0.5 / 0.76 # 竖直指示器距离
+    # 网络初始化
+    remote = lib.Net(dest = "127.0.0.1", port = 40808)
+    # 数据初始化
+    devices = dict()
+    vangle = None
+    langle = None
+    for i in remote.jdata['devices'].keys():
+        devices[i] = 0
+    remote_devices = dict()
+    for i in remote.jdata['devices'].keys():
+        remote_devices[i] = 0
+    sensors = dict()
+    for i in remote.jdata['sensors'].keys():
+        sensors[i] = 0
+    name = remote.name
+    # 摄像头初始化
+    if camera_enabled:
+        camera = cv2.VideoCapture(1)
+    # 图形初始化
+    pygame.init()
+    pygame.display.set_caption(f"Azure 远程终端 - 连接到 {name}")
+    flamenum = 0
+    colors = {"main":"white", "remote":"green", "warn":"red"}
+    fonts = {"medium":pygame.font.Font('src/font.ttf', 20), "big":pygame.font.Font('src/font.ttf', 40), "huge":pygame.font.Font('src/font.ttf', 60), "small":pygame.font.Font('src/font.ttf', 16), "tiny":pygame.font.Font('src/font.ttf', 12)}
+
+    height = 1080
+    width = int(height / 9 * 16)
+    heightp = 1080
+    widthp = int(height / 9 * 16)
+
+    screen = pygame.display.set_mode((width, height), RESIZABLE)
+    icon = pygame.image.load("src/icon.ico").convert_alpha()
+    pygame.display.set_icon(icon)
+    clock = pygame.time.Clock()
+    running = True
+    pygame.mouse.set_visible(False)
+    pygame.mouse.set_pos([width / 2, height / 2])
+    f_shootmode = 0
+
+    #welcome()
+    isfullscreen = 0
+    camera_refresh()
+    mousepos = (width / 2, height / 2)
+    np = threading.Thread(target=netproc, name='NetworkProcessing')
+    np.start()
+    while running:
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                running = False
+            if event.type == pygame.MOUSEMOTION:
+                #loggin.info(mousepos)
+                #loggin.info("鼠标: ", event.pos[0] - mousepos[0], event.pos[1] - mousepos[1])
+                mousepos = event.pos
+            if event.type == pygame.VIDEORESIZE:
+                height = event.size[1]
+                width = event.size[0]
+                screen = pygame.display.set_mode((width, height), RESIZABLE)
+        flamenum += 1
+        if flamenum % 2 == 1:
+            camera_refresh()
+        screen.blit(frame_surface, (0, 0))
+        # 计算
+        vangle = calc_vangle(mousepos[1])
+        langle = calc_langle(mousepos[0])
+        # 常态指示器
+        showline((width * 0.08, height * 0.75), (width * 0.08, height * 0.25), 2) # 高度指示
+        showline((width * 0.92, height * 0.75), (width * 0.92, height * 0.25), 2) # 高度指示
+        showline((width * 0.97, height * 0.86), (width * 0.95, height * 0.86), 2) # 翼面指示 1
+        showline((width * 0.97, height * 0.90), (width * 0.95, height * 0.90), 2) # 翼面指示 2
+        showline((width * 0.94, height * 0.86), (width * 0.92, height * 0.86), 2) # 翼面指示 1
+        showline((width * 0.94, height * 0.90), (width * 0.92, height * 0.90), 2) # 翼面指示 2
+        showline((width * 0.88, height * 0.1), (width * 0.12, height * 0.1), 2) # 方向指示
+        showline((width / 2 - 20, height / 2), (width / 2 + 20, height / 2), 1 if not f_shootmode else 3, 'main' if not f_shootmode else 'warn') # 准星指示
+        showline((width / 2, height / 2 + 20), (width / 2, height / 2 - 20), 1 if not f_shootmode else 3, 'main' if not f_shootmode else 'warn') # 准星指示
+
+        for i in range(0, 9):
+            showline((width * 0.92, height * 0.25 + height * 0.5 * i / 8), (width * 0.91, height * 0.25 + height * 0.5 * i / 8), 2) # 高度指示
+            showline((width * 0.08, height * 0.25 + height * 0.5 * i / 8), (width * 0.09, height * 0.25 + height * 0.5 * i / 8), 2) # 高度指示
+
+        for i in range(0, 13):
+            showline((width * 0.12 + width * 0.76 * i / 12, height * 0.1), (width * 0.12 + width * 0.76 * i / 12, height * 0.1 + width * 0.01), 2) # 水平指示
+
+        # 鼠标复位
+        # pygame.mouse.set_pos([width / 2, height / 2])
+
+        # 指示器
+        dyna1 = ((width * 0.97, height * 0.86 - width * 0.01 * math.tan(math.radians(vangle)) + width * 0.01 * math.tan(math.radians(langle))), 
+                (width * 0.95, height * 0.86 + width * 0.01 * math.tan(math.radians(vangle)) - width * 0.01 * math.tan(math.radians(langle))))
+        dyna2 = ((width * 0.97, height * 0.90 - width * 0.01 * math.tan(math.radians(vangle)) + width * 0.01 * math.tan(math.radians(langle))), 
+                (width * 0.95, height * 0.90 + width * 0.01 * math.tan(math.radians(vangle)) - width * 0.01 * math.tan(math.radians(langle))))
+        dyna3 = ((width * 0.94, height * 0.86 - width * 0.01 * math.tan(math.radians(vangle)) - width * 0.01 * math.tan(math.radians(langle))), 
+                (width * 0.92, height * 0.86 + width * 0.01 * math.tan(math.radians(vangle)) + width * 0.01 * math.tan(math.radians(langle))))
+        dyna4 = ((width * 0.94, height * 0.90 - width * 0.01 * math.tan(math.radians(vangle)) - width * 0.01 * math.tan(math.radians(langle))), 
+                (width * 0.92, height * 0.90 + width * 0.01 * math.tan(math.radians(vangle)) + width * 0.01 * math.tan(math.radians(langle))))
+
+        
+        showline(dyna1[0], dyna1[1], 2) # 翼面指示 1
+        showline(dyna2[0], dyna2[1], 2) # 翼面指示 2
+        showline(dyna3[0], dyna3[1], 2) # 翼面指示 1
+        showline(dyna4[0], dyna4[1], 2) # 翼面指示 2
+
+        showline((width * 0.97, height * 0.86 + math.tan(math.radians(remote_devices['aile_left'])) * 0.01 * width), 
+                (width * 0.95, height * 0.86 - math.tan(math.radians(remote_devices['aile_left'])) * 0.01 * width), 2, color="remote") # 翼面指示 1
+        showline((width * 0.97, height * 0.90 + math.tan(math.radians(remote_devices['aile_right'])) * 0.01 * width), 
+                (width * 0.95, height * 0.90 - math.tan(math.radians(remote_devices['aile_right'])) * 0.01 * width), 2, color="remote") # 翼面指示 1
+        showline((width * 0.94, height * 0.86 + math.tan(math.radians(remote_devices['tail_left'])) * 0.01 * width), 
+                (width * 0.92, height * 0.86 - math.tan(math.radians(remote_devices['tail_left'])) * 0.01 * width), 2, color="remote") # 翼面指示 1
+        showline((width * 0.94, height * 0.90 + math.tan(math.radians(remote_devices['tail_right'])) * 0.01 * width), 
+                (width * 0.92, height * 0.90 - math.tan(math.radians(remote_devices['tail_right'])) * 0.01 * width), 2, color="remote") # 翼面指示 1
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - devices['engine_main']), 20, color="main") # 转速指示 1
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - remote_devices['engine_main']), 16, color="remote") # 转速指示 2
+        showline((width * 0.849, height * 0.92), (width * 0.849, height * 0.92 - sensors["speed"]), 20, color="remote") # 空速指示 1
+        showline((width * 0.82, height * 0.92), (width * 0.82, height * 0.92 - 100), 20, color="main") # 能量指示 2
+        showline((width * 0.82, height * 0.92), (width * 0.82, height * 0.92 - sensors["battery"] * 100), 16, color="remote") # 能量指示 1
+        
+        devices['aile_left'] = calc_pair2angle(dyna1)
+        devices['aile_right'] = calc_pair2angle(dyna2)
+        devices['tail_left'] = calc_pair2angle(dyna3)
+        devices['tail_right'] = calc_pair2angle(dyna4)
+        
+        text_layer()
+    # 键盘事件
+        keys = pygame.key.get_pressed()
+        if keys[pygame.K_ESCAPE]:
+            running = 0
+        if keys[pygame.K_r]:
+            pygame.mouse.set_pos([width / 2, height / 2])
+        if keys[pygame.K_w]:
+            pygame.mouse.set_pos([mousepos[0], mousepos[1] + 3])
+        if keys[pygame.K_s]:
+            pygame.mouse.set_pos([mousepos[0], mousepos[1] - 3])
+        if keys[pygame.K_a]:
+            pygame.mouse.set_pos([mousepos[0] - 3, mousepos[1]])
+        if keys[pygame.K_d]:
+            pygame.mouse.set_pos([mousepos[0] + 3, mousepos[1]])
+        if keys[pygame.K_LSHIFT]:
+            devices['engine_main'] += 1
+        if keys[pygame.K_LCTRL]:
+            devices['engine_main'] -= 1
+        if keys[pygame.K_1]:
+            warn_layer("失速警告")
+        if keys[pygame.K_2]:
+            warn_layer("失控")
+        if keys[pygame.K_3]:
+            warn_layer("通讯异常")
+        if keys[pygame.K_4]:
+            warn_layer("不明硬件损毁")
+        if keys[pygame.K_5]:
+            warn_layer("紧急重启")
+        if keys[pygame.K_6]:
+            warn_layer("紧急停机")
+        if keys[pygame.K_7]:
+            warn_layer("紧急关闭")
+        if keys[pygame.K_8]:
+            warn_layer("紧急过载")
+        if keys[pygame.K_9]:
+            warn_layer("操纵面失控")
+        if keys[pygame.K_0]:
+            warn_layer("引擎失控")
+        if keys[pygame.K_F11]:
+            if not isfullscreen:
+                isfullscreen = True
+                width = widthp
+                height = heightp
+                SIZE = width, height =  pygame.display.list_modes()[0]
+                screen = pygame.display.set_mode(SIZE, FULLSCREEN)
+            else:
+                isfullscreen = False 
+                screen = pygame.display.set_mode((width, height), RESIZABLE)
+        if keys[pygame.K_b]:
+            colors["main"] = "white"
+        if keys[pygame.K_n]:
+            colors["main"] = "blue"
+        if keys[pygame.K_m]:
+            colors["main"] = "green"
+        if keys[pygame.K_v]:
+            colors["main"] = "red"
+        # 文字显示
+        # debug
+        debug_ui()
+        pygame.draw.circle(screen, colors['main' if not f_shootmode else 'warn'], mousepos, 2)
+        pygame.draw.circle(screen, colors['main'], mousepos, 20, 3) if not f_shootmode else ''
+        # flip() the display to put your work on screen
+        pygame.display.flip()
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - devices['engine_main']), 20) # 转速指示 1
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - remote_devices['engine_main']), 16, color="remote") # 转速指示 2
+        showline((width * 0.849, height * 0.92), (width * 0.849, height * 0.92 - sensors['speed']), 20, color="remote") # 空速指示 2
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - devices['engine_main']), 20) # 转速指示 1
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - remote_devices['engine_main']), 16, color="remote") # 转速指示 2
+        showline((width * 0.849, height * 0.92), (width * 0.849, height * 0.92 - sensors['speed']), 20, color="remote") # 空速指示 2
+        
+        dt = clock.tick(60) / 1000
+
+    np.join()
+    pygame.quit()

testfield/legacy/client/legacy/client_gui_legacy copy.py

@@ -0,0 +1,191 @@
+from os import environ
+environ['pg_HIDE_SUPPORT_PROMPT'] = '1'
+import pygame as pg
+def st(text, pos, color = 'main', fontid = "medium"):
+    db_text = fonts[fontid].render(text, 0 if fontid == "tiny" else 1, colors[color], None)
+    screen.blit(db_text, pos)
+def sl(pos1, pos2, w = 2, color = 'main'):
+    pg.draw.line(screen, colors[color], pos1, pos2, w)
+def debug_ui():
+    global sensors
+    st(f"远程方位角(Z): {sensors['zangle']}", (32, 844), fontid = "tiny")
+    st(f"远程滚动角(Y): {sensors['yangle']}", (32, 858), fontid = "tiny")
+    st(f"远程倾斜角(X): {sensors['xangle']}", (32, 872), fontid = "tiny")
+    st(f"本地滚动角(Y): {langle}", (32, 886), fontid = "tiny")
+    st(f"本地倾斜角(X): {vangle}", (32, 900), fontid = "tiny")
+def warn_layer(text):
+    if 3 < flamenum % 15 < 12:
+        st(text, (w / 2 - fonts['huge'].render(text, True, colors['warn'], None).get_w() / 2, h / 2 - 150), color=colors['warn'], fontid="huge")
+def text_layer():
+    global sensors, rdev
+    st(f"远程主机: {remote.name}", (0, 0))
+    st(f"虚拟视距: {vdist}cm", (0, 24))
+    st(f"水平指示器宽度: {lw}cm", (0, 48))
+    st(f"竖直指示器宽度: {round(vw)}cm", (0, 72))
+    oriword = {0: "[N]", 90: "[E]", 180: "[S]", 270: "[W]"}
+    for i in range(0, 13):
+        st(f'{str(oriword[n] if (n := round(abs(calc_langle2(w * 0.12 + w * 0.76 * i / 12) + sensors["zangle"]))) in oriword.keys() else n).zfill(2)}', 
+                (w * 0.12 + w * 0.76 * i / 12 - 12, h * 0.1 + w * 0.01))
+
+    for i in range(0, 9):
+        st(f'{str(round(abs(calc_vangle2(h * 0.25 + h * 0.5 * i / 8) - sensors["yangle"]))).zfill(2)}', 
+                (w * 0.926, h * 0.25 + h * 0.49 * i / 8 - 3), fontid="small")
+        st(f'{str(round(abs(calc_vangle2(h * 0.25 + h * 0.5 * i / 8) - sensors["yangle"]))).zfill(2)}', 
+                (w * 0.064, h * 0.25 + h * 0.49 * i / 8 - 3), fontid="small")
+
+    st("右副翼 >", (w * 0.95, h * 0.81), fontid="tiny")
+    st(f"{dev['aile_right']}/{round(rdev['aile_right'], 1)}", (w * 0.955, h * 0.825), fontid="tiny")
+    st("右尾翼 >", (w * 0.95, h * 0.93), fontid="tiny")
+    st(f"{dev['tail_right']}/{round(rdev['tail_right'], 1)}", (w * 0.955, h * 0.915), fontid="tiny")
+    st("左副翼 >", (w * 0.92, h * 0.81), fontid="tiny")
+    st(f"{dev['aile_left']}/{round(rdev['aile_left'], 1)}", (w * 0.925, h * 0.825), fontid="tiny")
+    st("左尾翼 >", (w * 0.92, h * 0.93), fontid="tiny")
+    st(f"{dev['tail_left']}/{round(rdev['tail_left'], 1)}", (w * 0.925, h * 0.915), fontid="tiny")
+    st("转速", (w * 0.874, h * 0.923), fontid="tiny")
+    st(f"{str(dev['engine_main']).zfill(3)}", (w * 0.8745, h * 0.938), fontid="tiny")
+    st("空速", (w * 0.844, h * 0.923), fontid="tiny")
+    st(f"{str(sensors['speed']).zfill(3)}", (w * 0.8445, h * 0.938), fontid="tiny")
+    st("能量", (w * 0.814, h * 0.923), fontid="tiny")
+    st(f"{str(sensors['battery'] * 100).zfill(2)}%", (w * 0.8145, h * 0.938), fontid="tiny")
+def netproc():
+    while running:
+        update()
+        transmit("cmd", cmdgen())
+        time.sleep(0.05)
+
+if __name__ == "__main__":
+
+    vdist = 30 # 虚拟视距
+    lw = 60 # 水平指示器距离
+    vw = lw * 0.5 / 0.76 # 竖直指示器距离
+    pg.init()
+    pg.display.set_caption(f"Azure 远程终端 - 连接到 {name}")
+    flamenum = 0
+    colors = {"main":"white", "remote":"green", "warn":"red"}
+    fonts = {"medium":pg.font.Font('src/font.ttf', 20), "big":pg.font.Font('src/font.ttf', 40), "huge":pg.font.Font('src/font.ttf', 60), "small":pg.font.Font('src/font.ttf', 16), "tiny":pg.font.Font('src/font.ttf', 12)}
+
+    h = 1080
+    w = int(h / 9 * 16)
+    hp = 1080
+    wp = int(h / 9 * 16)
+
+    screen = pg.display.set_mode((w, h), RESIZABLE)
+    icon = pg.image.load("src/icon.ico").convert_alpha()
+    pg.display.set_icon(icon)
+    clock = pg.time.Clock()
+    running = True
+    pg.mouse.set_visible(False)
+    pg.mouse.set_pos([w / 2, h / 2])
+    f_shootmode = 0
+
+    #welcome()
+    isfullscreen = 0
+    mousepos = (w / 2, h / 2)
+    np = threading.Thread(target=netproc, name='NetworkProcessing')
+    np.start()
+    while running:
+        for event in pg.event.get():
+            if event.type == pg.QUIT:
+                running = False
+            if event.type == pg.MOUSEMOTION:
+                #loggin.info(mousepos)
+                #loggin.info("鼠标: ", event.pos[0] - mousepos[0], event.pos[1] - mousepos[1])
+                mousepos = event.pos
+            if event.type == pg.VIDEORESIZE:
+                h = event.size[1]
+                w = event.size[0]
+                screen = pg.display.set_mode((w, h), RESIZABLE)
+        flamenum += 1
+        if flamenum % 2 == 1:
+            camera_refresh()
+        screen.blit(frame_surface, (0, 0))
+        # 计算
+        vangle = calc_vangle(mousepos[1])
+        langle = calc_langle(mousepos[0])
+        # 常态指示器
+        sl((w * 0.08, h * 0.75), (w * 0.08, h * 0.25), 2) # 高度指示
+        sl((w * 0.92, h * 0.75), (w * 0.92, h * 0.25), 2) # 高度指示
+        sl((w * 0.97, h * 0.86), (w * 0.95, h * 0.86), 2) # 翼面指示 1
+        sl((w * 0.97, h * 0.90), (w * 0.95, h * 0.90), 2) # 翼面指示 2
+        sl((w * 0.94, h * 0.86), (w * 0.92, h * 0.86), 2) # 翼面指示 1
+        sl((w * 0.94, h * 0.90), (w * 0.92, h * 0.90), 2) # 翼面指示 2
+        sl((w * 0.88, h * 0.1), (w * 0.12, h * 0.1), 2) # 方向指示
+        sl((w / 2 - 20, h / 2), (w / 2 + 20, h / 2), 1 if not f_shootmode else 3, 'main' if not f_shootmode else 'warn') # 准星指示
+        sl((w / 2, h / 2 + 20), (w / 2, h / 2 - 20), 1 if not f_shootmode else 3, 'main' if not f_shootmode else 'warn') # 准星指示
+
+        for i in range(0, 9):
+            sl((w * 0.92, h * 0.25 + h * 0.5 * i / 8), (w * 0.91, h * 0.25 + h * 0.5 * i / 8), 2) # 高度指示
+            sl((w * 0.08, h * 0.25 + h * 0.5 * i / 8), (w * 0.09, h * 0.25 + h * 0.5 * i / 8), 2) # 高度指示
+
+        for i in range(0, 13):
+            sl((w * 0.12 + w * 0.76 * i / 12, h * 0.1), (w * 0.12 + w * 0.76 * i / 12, h * 0.1 + w * 0.01), 2) # 水平指示
+
+        # 鼠标复位
+        # pg.mouse.set_pos([w / 2, h / 2])
+
+        # 指示器
+        dya1 = ((w * 0.97, h * 0.86 - w * 0.01 * tan(rad(vangle)) + w * 0.01 * tan(rad(langle))), 
+                (w * 0.95, h * 0.86 + w * 0.01 * tan(rad(vangle)) - w * 0.01 * tan(rad(langle))))
+        dya2 = ((w * 0.97, h * 0.90 - w * 0.01 * tan(rad(vangle)) + w * 0.01 * tan(rad(langle))), 
+                (w * 0.95, h * 0.90 + w * 0.01 * tan(rad(vangle)) - w * 0.01 * tan(rad(langle))))
+
+        
+        sl(dya1[0], dya1[1], 2) # 翼面指示 1
+        sl(dya2[0], dya2[1], 2) # 翼面指示 2
+        sl(dya3[0], dya3[1], 2) # 翼面指示 1
+        sl(dya4[0], dya4[1], 2) # 翼面指示 2
+
+        sl((w * 0.97, h * 0.86 + tan(rad(rdev['aile_left'])) * 0.01 * w), 
+                (w * 0.92, h * 0.90 - tan(rad(rdev['tail_right'])) * 0.01 * w), 2, color="remote") # 翼面指示 1
+        sl((w * 0.88, h * 0.92), (w * 0.88, h * 0.92 - dev['engine_main']), 20, color="main") # 转速指示 1
+        sl((w * 0.82, h * 0.92), (w * 0.82, h * 0.92 - sensors["battery"] * 100), 16, color="remote") # 能量指示 1
+        
+        dev['aile_left'] = calc_pair2angle(dya1)
+        dev['aile_right'] = calc_pair2angle(dya2)
+        dev['tail_left'] = calc_pair2angle(dya3)
+        dev['tail_right'] = calc_pair2angle(dya4)
+        
+        text_layer()
+    # 键盘事件
+        keys = pg.key.get_pressed()
+        if keys[pg.K_ESCAPE]:
+            running = 0
+        if keys[pg.K_r]:
+            pg.mouse.set_pos([w / 2, h / 2])
+        if keys[pg.K_w]:
+            pg.mouse.set_pos([mousepos[0], mousepos[1] + 3])
+        if keys[pg.K_s]:
+            pg.mouse.set_pos([mousepos[0], mousepos[1] - 3])
+        if keys[pg.K_a]:
+            pg.mouse.set_pos([mousepos[0] - 3, mousepos[1]])
+        if keys[pg.K_d]:
+            pg.mouse.set_pos([mousepos[0] + 3, mousepos[1]])
+        if keys[pg.K_LSHIFT]:
+            dev['engine_main'] += 1
+        if keys[pg.K_LCTRL]:
+            dev['engine_main'] -= 1
+        if keys[pg.K_1]:
+            warn_layer("失速警告")
+        if keys[pg.K_F11]:
+            if not isfullscreen:
+                isfullscreen = True
+                w = wp
+                h = hp
+                SIZE = w, h =  pg.display.list_modes()[0]
+                screen = pg.display.set_mode(SIZE, FULLSCREEN)
+            else:
+                isfullscreen = False 
+                screen = pg.display.set_mode((w, h), RESIZABLE)
+        # 文字显示
+        # debug
+        debug_ui()
+        pg.draw.circle(screen, colors['main' if not f_shootmode else 'warn'], mousepos, 2)
+        pg.draw.circle(screen, colors['main'], mousepos, 20, 3) if not f_shootmode else ''
+        # flip() the display to put your work on screen
+        pg.display.flip()
+        sl((w * 0.88, h * 0.92), (w * 0.88, h * 0.92 - dev['engine_main']), 20) # 转速指示 1
+        
+        dt = clock.tick(60) / 1000
+
+    np.join()
+    pg.quit()

testfield/legacy/client/legacy/client_gui_legacy.py

@@ -0,0 +1,363 @@
+from os import environ
+environ['PYGAME_HIDE_SUPPORT_PROMPT'] = '1'
+import pygame
+from pygame.locals import *
+import cv2
+import client_lib as lib
+import math
+import time
+import threading
+import logging
+
+camera_enabled = 0
+
+def camera_refresh():
+    global frame_surface
+    if camera_enabled:
+        frame = camera.read()[1]
+        frame_rgb = cv2.resize(cv2.flip(cv2.rotate(cv2.cvtColor(frame, cv2.COLOR_BGR2RGB), cv2.ROTATE_90_CLOCKWISE), 1), (height, width))
+        frame_surface = pygame.surfarray.make_surface(frame_rgb)
+    else:
+        frame_surface = pygame.Surface((width, height), pygame.SRCALPHA)
+        frame_surface.fill((0, 0, 0, 250))  # 将表面填充为完全透明
+
+def welcome():
+    for i in range(0, 120):
+        screen.fill("black")
+        text = fonts['huge'].render("Initialize Azure Network BVLOS Flighting Controlling System", True, colors['main'], None)
+        screen.blit(text, (width / 2 - text.get_width() / 2, height / 2 - 150))
+        text = fonts['big'].render(f"Remote connection: {remote.name}", True, colors['main'], None)
+        screen.blit(text, (width / 2 - text.get_width() / 2, height / 2))
+        pygame.display.flip()
+        clock.tick(60)
+def cmdgen():
+    global devices
+    cmd = ""
+    for i in devices.keys():
+        word = ""
+        if remote.jdata["devices"][i]['type'] == "Flank":
+            word = "angle"
+        if remote.jdata["devices"][i]['type'] == "Engine":
+            word = "speed"
+        cmd += f"hw['{i}'].set_{word}({devices[i]})\n"
+    # loggin.info(cmd)
+    return cmd
+def transmit(type, cmd):
+    msg = dict()
+    msg['type'] = type
+    msg['cmd'] = cmd
+    msg['time'] = time.asctime()
+    remote.jsend(msg)
+def update():
+    global remote_devices, sensors
+    remote.refresh()
+    types = {'Flank':'angle', 'Engine':'speed'}
+    for i in devices.keys():
+        remote_devices[i] = remote.jdata['devices'][i][types[remote.jdata['devices'][i]['type']]]
+    for i in sensors.keys():
+        sensors[i] = remote.jdata['sensors'][i]
+def calc_pair2angle(dyna):
+    tan = (dyna[0][1] - dyna[1][1]) / (dyna[0][0] - dyna[1][0])
+    return round(math.degrees(math.atan(tan)), 1)
+def calc_langle(posx):
+    if (width / 2 - 30 < mousepos[0] < width / 2 + 30) and (height / 2 - 30 < mousepos[1] < height / 2 + 30):
+        global f_shootmode
+        f_shootmode = 1
+        return 0
+    f_shootmode = 0
+    a = abs(posx - width / 2) / (width * 0.76) * lwidth # 底边
+    b = vdist
+    angle_a = math.atan(a / b)
+    angle_a = math.degrees(angle_a)
+    if posx < width / 2:
+        angle_a = -angle_a
+    return angle_a
+def calc_vangle(posy):
+    if (width / 2 - 30 < mousepos[0] < width / 2 + 30) and (height / 2 - 30 < mousepos[1] < height / 2 + 30):    
+        global f_shootmode
+        f_shootmode = 1
+        return 0
+    f_shootmode = 0
+    a = abs(posy - height / 2) / (height * 0.5) * vwidth # 底边
+    b = vdist
+    angle_a = math.atan(a / b)
+    angle_a = math.degrees(angle_a)
+    if posy < height / 2:
+        angle_a = -angle_a
+    return angle_a
+def calc_langle2(posx):
+    a = abs(posx - width / 2) / (width * 0.76) * lwidth # 底边
+    b = vdist
+    angle_a = math.atan(a / b)
+    angle_a = math.degrees(angle_a)
+    if posx < width / 2:
+        angle_a = -angle_a
+    return angle_a
+def calc_vangle2(posy):
+    a = abs(posy - height / 2) / (height * 0.5) * vwidth # 底边
+    b = vdist
+    angle_a = math.atan(a / b)
+    angle_a = math.degrees(angle_a)
+    if posy < height / 2:
+        angle_a = -angle_a
+    return angle_a
+def showtext(text, pos, color = 'main', fontid = "medium"):
+    db_text = fonts[fontid].render(text, 0 if fontid == "tiny" else 1, colors[color], None)
+    screen.blit(db_text, pos)
+def showline(pos1, pos2, width = 2, color = 'main'):
+    pygame.draw.line(screen, colors[color], pos1, pos2, width)
+def debug_ui():
+    global sensors
+    showtext(f"远程方位角(Z): {sensors['zangle']}", (32, 844), fontid = "tiny")
+    showtext(f"远程滚动角(Y): {sensors['yangle']}", (32, 858), fontid = "tiny")
+    showtext(f"远程倾斜角(X): {sensors['xangle']}", (32, 872), fontid = "tiny")
+    showtext(f"本地滚动角(Y): {langle}", (32, 886), fontid = "tiny")
+    showtext(f"本地倾斜角(X): {vangle}", (32, 900), fontid = "tiny")
+    showtext(f"远程主机时间戳: {remote.jdata['time']}", (32, 914), fontid = "tiny")
+    showtext(f"航行灯状态: {'打开' if sensors['torch'] else '关闭'}", (32, 928), fontid = "tiny")
+    showtext(f"瞬时加速度: {sensors['acc']}", (32, 942), fontid = "tiny")
+    showtext(f"远程信号强度: {sensors['sign']}", (32, 956), fontid = "tiny")
+    showtext(f"远程 CPU 负载: {sensors['cpuload'] * 100} %", (32, 970), fontid = "tiny")
+    showtext(f"远程内存占用: {sensors['memload'] * 100} %", (32, 984), fontid = "tiny")
+    showtext(f"武装: 无", (32, 998), fontid = "tiny")
+    showtext(f"挂载: 无", (32, 1012), fontid = "tiny")
+def warn_layer(text):
+    if 3 < flamenum % 15 < 12:
+        showtext(text, (width / 2 - fonts['huge'].render(text, True, colors['warn'], None).get_width() / 2, height / 2 - 150), color=colors['warn'], fontid="huge")
+def text_layer():
+    global sensors, remote_devices
+    showtext(f"远程主机: {remote.name}", (0, 0))
+    showtext(f"虚拟视距: {vdist}cm", (0, 24))
+    showtext(f"水平指示器宽度: {lwidth}cm", (0, 48))
+    showtext(f"竖直指示器宽度: {round(vwidth)}cm", (0, 72))
+    oriword = {0: "[N]", 90: "[E]", 180: "[S]", 270: "[W]"}
+    for i in range(0, 13):
+        showtext(f'{str(oriword[n] if (n := round(abs(calc_langle2(width * 0.12 + width * 0.76 * i / 12) + sensors["zangle"]))) in oriword.keys() else n).zfill(2)}', 
+                (width * 0.12 + width * 0.76 * i / 12 - 12, height * 0.1 + width * 0.01))
+
+    for i in range(0, 9):
+        showtext(f'{str(round(abs(calc_vangle2(height * 0.25 + height * 0.5 * i / 8) - sensors["yangle"]))).zfill(2)}', 
+                (width * 0.926, height * 0.25 + height * 0.49 * i / 8 - 3), fontid="small")
+        showtext(f'{str(round(abs(calc_vangle2(height * 0.25 + height * 0.5 * i / 8) - sensors["yangle"]))).zfill(2)}', 
+                (width * 0.064, height * 0.25 + height * 0.49 * i / 8 - 3), fontid="small")
+
+    showtext("右副翼 >", (width * 0.95, height * 0.81), fontid="tiny")
+    showtext(f"{devices['aile_right']}/{round(remote_devices['aile_right'], 1)}", (width * 0.955, height * 0.825), fontid="tiny")
+    showtext("右尾翼 >", (width * 0.95, height * 0.93), fontid="tiny")
+    showtext(f"{devices['tail_right']}/{round(remote_devices['tail_right'], 1)}", (width * 0.955, height * 0.915), fontid="tiny")
+    showtext("左副翼 >", (width * 0.92, height * 0.81), fontid="tiny")
+    showtext(f"{devices['aile_left']}/{round(remote_devices['aile_left'], 1)}", (width * 0.925, height * 0.825), fontid="tiny")
+    showtext("左尾翼 >", (width * 0.92, height * 0.93), fontid="tiny")
+    showtext(f"{devices['tail_left']}/{round(remote_devices['tail_left'], 1)}", (width * 0.925, height * 0.915), fontid="tiny")
+    showtext("转速", (width * 0.874, height * 0.923), fontid="tiny")
+    showtext(f"{str(devices['engine_main']).zfill(3)}", (width * 0.8745, height * 0.938), fontid="tiny")
+    showtext("空速", (width * 0.844, height * 0.923), fontid="tiny")
+    showtext(f"{str(sensors['speed']).zfill(3)}", (width * 0.8445, height * 0.938), fontid="tiny")
+    showtext("能量", (width * 0.814, height * 0.923), fontid="tiny")
+    showtext(f"{str(sensors['battery'] * 100).zfill(2)}%", (width * 0.8145, height * 0.938), fontid="tiny")
+def netproc():
+    while running:
+        update()
+        transmit("cmd", cmdgen())
+        time.sleep(0.05)
+
+if __name__ == "__main__":
+
+    vdist = 30 # 虚拟视距
+    lwidth = 60 # 水平指示器距离
+    vwidth = lwidth * 0.5 / 0.76 # 竖直指示器距离
+    # 网络初始化
+    remote = lib.Net(dest = "127.0.0.1", port = 40808)
+    # 数据初始化
+    devices = dict()
+    vangle = None
+    langle = None
+    for i in remote.jdata['devices'].keys():
+        devices[i] = 0
+    remote_devices = dict()
+    for i in remote.jdata['devices'].keys():
+        remote_devices[i] = 0
+    sensors = dict()
+    for i in remote.jdata['sensors'].keys():
+        sensors[i] = 0
+    name = remote.name
+    # 摄像头初始化
+    if camera_enabled:
+        camera = cv2.VideoCapture(1)
+    # 图形初始化
+    pygame.init()
+    pygame.display.set_caption(f"Azure 远程终端 - 连接到 {name}")
+    flamenum = 0
+    colors = {"main":"white", "remote":"green", "warn":"red"}
+    fonts = {"medium":pygame.font.Font('src/font.ttf', 20), "big":pygame.font.Font('src/font.ttf', 40), "huge":pygame.font.Font('src/font.ttf', 60), "small":pygame.font.Font('src/font.ttf', 16), "tiny":pygame.font.Font('src/font.ttf', 12)}
+
+    height = 1080
+    width = int(height / 9 * 16)
+    heightp = 1080
+    widthp = int(height / 9 * 16)
+
+    screen = pygame.display.set_mode((width, height), RESIZABLE)
+    icon = pygame.image.load("src/icon.ico").convert_alpha()
+    pygame.display.set_icon(icon)
+    clock = pygame.time.Clock()
+    running = True
+    pygame.mouse.set_visible(False)
+    pygame.mouse.set_pos([width / 2, height / 2])
+    f_shootmode = 0
+
+    #welcome()
+    isfullscreen = 0
+    camera_refresh()
+    mousepos = (width / 2, height / 2)
+    np = threading.Thread(target=netproc, name='NetworkProcessing')
+    np.start()
+    while running:
+        for event in pygame.event.get():
+            if event.type == pygame.QUIT:
+                running = False
+            if event.type == pygame.MOUSEMOTION:
+                #loggin.info(mousepos)
+                #loggin.info("鼠标: ", event.pos[0] - mousepos[0], event.pos[1] - mousepos[1])
+                mousepos = event.pos
+            if event.type == pygame.VIDEORESIZE:
+                height = event.size[1]
+                width = event.size[0]
+                screen = pygame.display.set_mode((width, height), RESIZABLE)
+        flamenum += 1
+        if flamenum % 2 == 1:
+            camera_refresh()
+        screen.blit(frame_surface, (0, 0))
+        # 计算
+        vangle = calc_vangle(mousepos[1])
+        langle = calc_langle(mousepos[0])
+        # 常态指示器
+        showline((width * 0.08, height * 0.75), (width * 0.08, height * 0.25), 2) # 高度指示
+        showline((width * 0.92, height * 0.75), (width * 0.92, height * 0.25), 2) # 高度指示
+        showline((width * 0.97, height * 0.86), (width * 0.95, height * 0.86), 2) # 翼面指示 1
+        showline((width * 0.97, height * 0.90), (width * 0.95, height * 0.90), 2) # 翼面指示 2
+        showline((width * 0.94, height * 0.86), (width * 0.92, height * 0.86), 2) # 翼面指示 1
+        showline((width * 0.94, height * 0.90), (width * 0.92, height * 0.90), 2) # 翼面指示 2
+        showline((width * 0.88, height * 0.1), (width * 0.12, height * 0.1), 2) # 方向指示
+        showline((width / 2 - 20, height / 2), (width / 2 + 20, height / 2), 1 if not f_shootmode else 3, 'main' if not f_shootmode else 'warn') # 准星指示
+        showline((width / 2, height / 2 + 20), (width / 2, height / 2 - 20), 1 if not f_shootmode else 3, 'main' if not f_shootmode else 'warn') # 准星指示
+
+        for i in range(0, 9):
+            showline((width * 0.92, height * 0.25 + height * 0.5 * i / 8), (width * 0.91, height * 0.25 + height * 0.5 * i / 8), 2) # 高度指示
+            showline((width * 0.08, height * 0.25 + height * 0.5 * i / 8), (width * 0.09, height * 0.25 + height * 0.5 * i / 8), 2) # 高度指示
+
+        for i in range(0, 13):
+            showline((width * 0.12 + width * 0.76 * i / 12, height * 0.1), (width * 0.12 + width * 0.76 * i / 12, height * 0.1 + width * 0.01), 2) # 水平指示
+
+        # 鼠标复位
+        # pygame.mouse.set_pos([width / 2, height / 2])
+
+        # 指示器
+        dyna1 = ((width * 0.97, height * 0.86 - width * 0.01 * math.tan(math.radians(vangle)) + width * 0.01 * math.tan(math.radians(langle))), 
+                (width * 0.95, height * 0.86 + width * 0.01 * math.tan(math.radians(vangle)) - width * 0.01 * math.tan(math.radians(langle))))
+        dyna2 = ((width * 0.97, height * 0.90 - width * 0.01 * math.tan(math.radians(vangle)) + width * 0.01 * math.tan(math.radians(langle))), 
+                (width * 0.95, height * 0.90 + width * 0.01 * math.tan(math.radians(vangle)) - width * 0.01 * math.tan(math.radians(langle))))
+        dyna3 = ((width * 0.94, height * 0.86 - width * 0.01 * math.tan(math.radians(vangle)) - width * 0.01 * math.tan(math.radians(langle))), 
+                (width * 0.92, height * 0.86 + width * 0.01 * math.tan(math.radians(vangle)) + width * 0.01 * math.tan(math.radians(langle))))
+        dyna4 = ((width * 0.94, height * 0.90 - width * 0.01 * math.tan(math.radians(vangle)) - width * 0.01 * math.tan(math.radians(langle))), 
+                (width * 0.92, height * 0.90 + width * 0.01 * math.tan(math.radians(vangle)) + width * 0.01 * math.tan(math.radians(langle))))
+
+        
+        showline(dyna1[0], dyna1[1], 2) # 翼面指示 1
+        showline(dyna2[0], dyna2[1], 2) # 翼面指示 2
+        showline(dyna3[0], dyna3[1], 2) # 翼面指示 1
+        showline(dyna4[0], dyna4[1], 2) # 翼面指示 2
+
+        showline((width * 0.97, height * 0.86 + math.tan(math.radians(remote_devices['aile_left'])) * 0.01 * width), 
+                (width * 0.95, height * 0.86 - math.tan(math.radians(remote_devices['aile_left'])) * 0.01 * width), 2, color="remote") # 翼面指示 1
+        showline((width * 0.97, height * 0.90 + math.tan(math.radians(remote_devices['aile_right'])) * 0.01 * width), 
+                (width * 0.95, height * 0.90 - math.tan(math.radians(remote_devices['aile_right'])) * 0.01 * width), 2, color="remote") # 翼面指示 1
+        showline((width * 0.94, height * 0.86 + math.tan(math.radians(remote_devices['tail_left'])) * 0.01 * width), 
+                (width * 0.92, height * 0.86 - math.tan(math.radians(remote_devices['tail_left'])) * 0.01 * width), 2, color="remote") # 翼面指示 1
+        showline((width * 0.94, height * 0.90 + math.tan(math.radians(remote_devices['tail_right'])) * 0.01 * width), 
+                (width * 0.92, height * 0.90 - math.tan(math.radians(remote_devices['tail_right'])) * 0.01 * width), 2, color="remote") # 翼面指示 1
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - devices['engine_main']), 20, color="main") # 转速指示 1
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - remote_devices['engine_main']), 16, color="remote") # 转速指示 2
+        showline((width * 0.849, height * 0.92), (width * 0.849, height * 0.92 - sensors["speed"]), 20, color="remote") # 空速指示 1
+        showline((width * 0.82, height * 0.92), (width * 0.82, height * 0.92 - 100), 20, color="main") # 能量指示 2
+        showline((width * 0.82, height * 0.92), (width * 0.82, height * 0.92 - sensors["battery"] * 100), 16, color="remote") # 能量指示 1
+        
+        devices['aile_left'] = calc_pair2angle(dyna1)
+        devices['aile_right'] = calc_pair2angle(dyna2)
+        devices['tail_left'] = calc_pair2angle(dyna3)
+        devices['tail_right'] = calc_pair2angle(dyna4)
+        
+        text_layer()
+    # 键盘事件
+        keys = pygame.key.get_pressed()
+        if keys[pygame.K_ESCAPE]:
+            running = 0
+        if keys[pygame.K_r]:
+            pygame.mouse.set_pos([width / 2, height / 2])
+        if keys[pygame.K_w]:
+            pygame.mouse.set_pos([mousepos[0], mousepos[1] + 3])
+        if keys[pygame.K_s]:
+            pygame.mouse.set_pos([mousepos[0], mousepos[1] - 3])
+        if keys[pygame.K_a]:
+            pygame.mouse.set_pos([mousepos[0] - 3, mousepos[1]])
+        if keys[pygame.K_d]:
+            pygame.mouse.set_pos([mousepos[0] + 3, mousepos[1]])
+        if keys[pygame.K_LSHIFT]:
+            devices['engine_main'] += 1
+        if keys[pygame.K_LCTRL]:
+            devices['engine_main'] -= 1
+        if keys[pygame.K_1]:
+            warn_layer("失速警告")
+        if keys[pygame.K_2]:
+            warn_layer("失控")
+        if keys[pygame.K_3]:
+            warn_layer("通讯异常")
+        if keys[pygame.K_4]:
+            warn_layer("不明硬件损毁")
+        if keys[pygame.K_5]:
+            warn_layer("紧急重启")
+        if keys[pygame.K_6]:
+            warn_layer("紧急停机")
+        if keys[pygame.K_7]:
+            warn_layer("紧急关闭")
+        if keys[pygame.K_8]:
+            warn_layer("紧急过载")
+        if keys[pygame.K_9]:
+            warn_layer("操纵面失控")
+        if keys[pygame.K_0]:
+            warn_layer("引擎失控")
+        if keys[pygame.K_F11]:
+            if not isfullscreen:
+                isfullscreen = True
+                width = widthp
+                height = heightp
+                SIZE = width, height =  pygame.display.list_modes()[0]
+                screen = pygame.display.set_mode(SIZE, FULLSCREEN)
+            else:
+                isfullscreen = False 
+                screen = pygame.display.set_mode((width, height), RESIZABLE)
+        if keys[pygame.K_b]:
+            colors["main"] = "white"
+        if keys[pygame.K_n]:
+            colors["main"] = "blue"
+        if keys[pygame.K_m]:
+            colors["main"] = "green"
+        if keys[pygame.K_v]:
+            colors["main"] = "red"
+        # 文字显示
+        # debug
+        debug_ui()
+        pygame.draw.circle(screen, colors['main' if not f_shootmode else 'warn'], mousepos, 2)
+        pygame.draw.circle(screen, colors['main'], mousepos, 20, 3) if not f_shootmode else ''
+        # flip() the display to put your work on screen
+        pygame.display.flip()
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - devices['engine_main']), 20) # 转速指示 1
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - remote_devices['engine_main']), 16, color="remote") # 转速指示 2
+        showline((width * 0.849, height * 0.92), (width * 0.849, height * 0.92 - sensors['speed']), 20, color="remote") # 空速指示 2
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - devices['engine_main']), 20) # 转速指示 1
+        showline((width * 0.88, height * 0.92), (width * 0.88, height * 0.92 - remote_devices['engine_main']), 16, color="remote") # 转速指示 2
+        showline((width * 0.849, height * 0.92), (width * 0.849, height * 0.92 - sensors['speed']), 20, color="remote") # 空速指示 2
+        
+        dt = clock.tick(60) / 1000
+
+    np.join()
+    pygame.quit()

testfield/legacy/client/legacy/client_lib.py

@@ -0,0 +1,49 @@
+import socket
+import json
+import logging
+
+logging.basicConfig(level=logging.INFO, format='%(asctime)s - %(levelname)s - %(message)s')
+
+class Net(object):
+    data = None
+    jdata = None
+    name = None
+    isfirst = 0
+
+    def __init__(self, dest="127.0.0.1", port=40808):
+        logging.info("Start remote host communcation")
+        self.dest = dest
+        self.port = port
+        self.remote = socket.socket()
+        self.remote.connect((dest, port))
+        self.data: str = self.remote.recv(2048).decode("UTF-8")
+        self.jdata = json.loads(self.data)
+        first = json.loads(self.data)
+        self.name = first["name"]
+        logging.info(f"Connected to {self.name}")
+        self.isfirst = 1
+
+    def send(self, msg):
+        size = len(msg.encode())
+        self.remote.send(msg.encode("UTF-8").ljust(2048 - size))
+        self.jdata = json.loads(self.data)
+
+    def recv(self):
+        self.data: str = self.remote.recv(2048).decode("UTF-8")
+        self.jdata = json.loads(self.data)
+        return self.data
+
+    def jsend(self, msg):
+        msg = json.dumps(msg)  # 状态回传
+        size = len(msg.encode())
+        self.remote.send(msg.encode("UTF-8").ljust(2048 - size))
+        self.jdata = json.loads(self.data)
+        print("发送",msg)
+
+    def refresh(self):
+        if self.isfirst == 1:
+            self.isfirst = 0
+            return self.jdata
+        self.data: str = self.remote.recv(2048).decode("UTF-8")
+        self.jdata = json.loads(self.data.encode("UTF-8"))
+        return

testfield/legacy/client/lib/graph.py

@@ -0,0 +1,81 @@
+import pygame
+import math
+
+class Line:
+    def __init__(self, screen, method, pos, size, maincolor, bgcolor):
+        self.screen = screen
+        self.method = method
+        self.start_pos = pos
+        self.length = size
+        self.color = maincolor
+        self.bgcolor = bgcolor
+        self.angle = 0  # Angle in degrees
+        self.end_pos = self.calculate_end_pos()
+
+    def calculate_end_pos(self):
+        """Calculate the end position of the line based on the angle and length."""
+        x_offset = self.length * math.cos(math.radians(self.angle))
+        y_offset = self.length * math.sin(math.radians(self.angle))
+        return (self.start_pos[0] + x_offset, self.start_pos[1] + y_offset)
+
+    def rotate(self, degree):
+        """Rotate the line around its start position."""
+        self.angle = (self.angle + degree) % 360
+        self.end_pos = self.calculate_end_pos()
+
+    def resize(self, new_length):
+        """Change the length of the line."""
+        self.length = new_length
+        self.end_pos = self.calculate_end_pos()
+
+    def recolor(self, color):
+        """Change the color permanently."""
+        self.color = color
+
+    def recolor_tmp(self, color, time_):
+        """Change the color temporarily."""
+        original_color = self.color
+        self.color = color
+        pygame.time.set_timer(pygame.USEREVENT, time_ * 1000)  # Set a timer for the specified time
+
+        # Event handling for reverting color
+        def revert_color(event):
+            if event.type == pygame.USEREVENT:
+                self.color = original_color
+                pygame.time.set_timer(pygame.USEREVENT, 0)  # Stop the timer
+
+        return revert_color
+
+    def move(self, degree, length):
+        """Move the line by a certain degree and length."""
+        self.start_pos = (self.start_pos[0] + length * math.cos(math.radians(degree)),
+                          self.start_pos[1] + length * math.sin(math.radians(degree)))
+        self.end_pos = self.calculate_end_pos()
+
+    def show(self):
+        """Draw the line on the screen."""
+        pygame.draw.line(self.screen, self.color, self.start_pos, self.end_pos, 2)
+
+    def hide(self):
+        """Clear the line from the screen by drawing over it with the background color."""
+        pygame.draw.line(self.screen, self.bgcolor, self.start_pos, self.end_pos, 2)
+
+# Example usage:
+pygame.init()
+screen = pygame.display.set_mode((800, 600))
+line = Line(screen, 'method', (400, 300), 100, (255, 0, 0), (0, 0, 0))
+
+running = True
+while running:
+    for event in pygame.event.get():
+        if event.type == pygame.QUIT:
+            running = False
+        elif event.type == pygame.USEREVENT:
+            # Handle color revert event
+            line.recolor_tmp((0, 255, 0), 2)  # Example of temporary recoloring
+
+    screen.fill((0, 0, 0))  # Clear the screen
+    line.show()  # Draw the line
+    pygame.display.flip()  # Update the display
+
+pygame.quit()

testfield/legacy/client/mininf.json

@@ -0,0 +1,9 @@
+{
+    "vel":0,
+    "acc":0,
+    "xangle":0,
+    "yangle":0,
+    "zangle":0
+    "time":0
+
+}

testfield/legacy/client/modules/builtin/hud.py

@@ -0,0 +1,14 @@
+from os import environ
+import time
+environ['PYGAME_HIDE_SUPPORT_PROMPT'] = '1'
+import pygame as sdl
+
+name = "Basic HUD Framework"
+
+def action():
+    
+
+if __name__ == "__main__":
+    sdl.init()
+    sdl.display.set_caption(f"Commodore UI Element Test Window")
+    screen = sdl.display.set_mode((1024, 768), sdl.RESIZABLE)

testfield/legacy/docs/example.json

@@ -0,0 +1,58 @@
+{
+    "devices": {
+        "aile_left": {
+            "type": "Flank",
+            "name": "左副翼",
+            "angle": 0
+        },
+        "aile_right": {
+            "type": "Flank",
+            "name": "右副翼",
+            "angle": 0
+        },
+        "flap_left": {
+            "type": "Flank",
+            "name": "左襟翼",
+            "angle": 0
+        },
+        "flap_right": {
+            "type": "Flank",
+            "name": "右襟翼",
+            "angle": 0
+        },
+        "tail_vert": {
+            "type": "Flank",
+            "name": "垂直尾翼",
+            "angle": 0
+        },
+        "tail_left": {
+            "type": "Flank",
+            "name": "左尾翼",
+            "angle": 0
+        },
+        "tail_right": {
+            "type": "Flank",
+            "name": "右尾翼",
+            "angle": 0
+        },
+        "engine_main": {
+            "type": "Engine",
+            "name": "主引擎",
+            "speed": 0
+        }
+    },
+    "name": "零号侧卫",
+    "sensors": {
+        "speed": 99,
+        "battery": 0.8,
+        "xangle": 201,
+        "yangle": 108,
+        "zangle": 0,
+        "sign": 322,
+        "cpuload": 0.12,
+        "memload": 0.88,
+        "memsum": 2048,
+        "torch": 0,
+        "acc": 3
+    }
+}

testfield/legacy/hal/arduino/subbot.ino

@@ -0,0 +1,112 @@
+#include <Servo.h>
+#include <Arduino_JSON.h>
+#include <Arduino_AVRSTL.h>
+#include <assert.h>
+#include <map>
+#include <String>
+
+constexpr short svo_num = 2;
+constexpr short svo_dig_pin[svo_num] = {9, 10};
+Servo svo[svo_num]; // al, ar, tl, tr
+short svo_angle[svo_num];
+std::map<String, short> svo_name2idx = {{"al", 0}, {"ar", 1}};
+
+constexpr short eng_num = 1;
+constexpr short eng_dig_pin[eng_num] = {11};
+Servo eng[eng_num]; // al, ar, tl, tr
+short eng_speed[eng_num];
+std::map<String, short> eng_name2idx = {{"e1", 0}};
+JSONVar data;
+
+void svo_set(short idx, short angle){
+    svo[idx].write(angle);
+    svo_angle[idx] = angle;
+    delay(15);
+}
+
+short svo_get(short idx){
+    return svo_angle[idx];
+}
+
+void svo_pnt_by_name(String name){
+    Serial.print("{\"" + name + "\":");
+    Serial.print(svo_angle[svo_name2idx[name]]);
+    Serial.print("}\r\n");
+}
+
+void svo_set_by_name(String name, short num){
+    svo_set(svo_name2idx[name], num);
+}
+
+void eng_set(short idx, short speed){
+    eng[idx].writeMicroseconds(speed);
+    eng_speed[idx] = speed;
+    delay(15);
+}
+
+short eng_get(short idx){
+    return eng_speed[idx];
+}
+
+void eng_pnt_by_name(String name){
+    Serial.print("{\"" + name + "\":");
+    Serial.print(eng_speed[eng_name2idx[name]]);
+    Serial.print("}\r\n");
+}
+
+void eng_set_by_name(String name, short num){
+    eng_set(eng_name2idx[name], num);
+}
+
+void setup() {
+    for(short i = 0; i < svo_num; ++i){
+        svo[i].attach(svo_dig_pin[i]);
+    }
+    for(short i = 0; i < svo_num; ++i){
+        svo_set(i, 0);
+    }
+    for(short i = 0; i < eng_num; ++i){
+        eng[i].attach(eng_dig_pin[i]);
+    }
+    for(short i = 0; i < eng_num; ++i){
+        eng_set(i, 0);
+    }
+    Serial.begin(9600);
+    //Serial.println("\r\n");
+}
+void handle(String type, String device, String option, short num){
+    if(type == "svo"){
+        if(option == "q"){
+            svo_pnt_by_name(device);
+        }
+        if(option == "s"){
+            svo_set_by_name(device, num);
+        }
+    }
+    if(type == "eng"){
+        if(option == "q"){
+            eng_pnt_by_name(device);
+        }
+        if(option == "s"){
+            eng_set_by_name(device, num);
+        }
+    }
+}
+
+void loop() {
+    //Serial.print("hihihi\r\n");
+    //Serial.print("\r\n");
+    while(Serial.available() == 0);
+    data = JSON.parse(Serial.readString());
+    if(JSON.typeof(data) == "undefined") {
+        Serial.print("json_failed\r\n");
+        return;
+    }
+    handle(data["type"], data["device"], data["option"], data["num"]);
+    /*
+        data["t(ype)"]: svo/eng
+        data["d(evice)"]: al, ar, tl, tr
+        data["o(ption)"]: s(et)/q(uery)
+        data["n(um)"]: SHORT
+    */
+}

testfield/legacy/server/arduino_api/arduino_api.py

@@ -0,0 +1,91 @@
+import json
+import serial
+import serial.tools.list_ports
+import time
+
+data_table = dict()
+
+class Motor(object):
+    angle = None
+    def __init__(self, code):
+        self.angle = 0
+        self.code = code
+        data_table[code] = self.angle
+    def get(self):
+        self.angle = data_table[self.code]
+        return self.angle
+    def set(self, angle):
+        self.angle = angle
+        commander("svo", self.code, "s", angle)
+        return self.angle
+
+class Engine(object):
+    speed = None
+    def __init__(self, code):
+        self.speed = 0
+        self.code = code
+        data_table[code] = self.speed
+    def get(self):
+        self.speed = data_table[self.code]
+        return self.speed
+    def tune(self, new_speed):
+        self.speed = new_speed
+        commander("eng", self.code, "s", new_speed)
+        return self.speed
+
+class Battery:
+    def get():
+        power_left = 0.9
+        return power_left
+    def stat():
+        status = "Unplugged"
+        return status
+
+class Serial:
+    ino = serial.Serial("COM7", 9600, timeout=2)
+    if ino.is_open:
+        print("串口初始化成功")
+    def close():
+        Serial.ino.close()
+    def write(data):
+        n = Serial.ino.write(data.encode())
+        print(f"写入 {n} 字节", data.encode())
+    def readln():
+        data = Serial.ino.readline()
+        print(f"读入: {data.decode('utf-8', 'ignore')}\n")
+        return data.decode('utf-8', 'ignore')
+
+def commander(type, device, option, num = -1):
+    d = f""""type":"{type}", "device":"{device}", "option":"{option}", "num":{num}"""
+    d = "{" + d + "}"
+    Serial.write(d)
+    if option == "q":
+        b = Serial.readln()
+        if b.strip() != "":
+            print("BIS", b)
+            b = json.loads(b)
+            for i in b.keys():
+                data_table[i] = b[i]
+
+def debug():
+    ports_list = list(serial.tools.list_ports.comports())
+    if len(ports_list) <= 0:
+        print("无串口设备。")
+    else:
+        print("可用的串口设备如下：")
+        for comport in ports_list:
+            print(list(comport)[0], list(comport)[1])
+    #Serial.init()
+    #time.sleep(1)
+    #print("hi",a)
+    #Serial.readln()
+    Serial.close()
+    """/*
+        data["t(ype)"]: svo/eng
+        data["d(evice)"]: al, ar, tl, tr
+        data["o(ption)"]: s(et)/q(uery)
+        data["n(um)"]: SHORT
+    */"""
+
+if __name__ == "__main__":
+    debug()

testfield/legacy/server/config.yaml

@@ -0,0 +1,14 @@
+# Host Config
+model: "SU27" # J-11/J-16
+name: "零号侧卫"
+hardware: # 硬件
+  surfaces: # 控制面
+    - al: "左副翼"
+    - ar: "右副翼"
+    - tv: "垂直尾翼"
+    - tl: "左尾翼"
+    - tr: "右尾翼"
+  engines: # 引擎
+    - e1: "一号引擎"
+  bools: # 布尔式硬件
+    - l1: "航行灯"

testfield/legacy/server/dummy_all/dummy_api.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)

testfield/legacy/server/dummy_all/dummy_lib.py

@@ -0,0 +1,201 @@
+import dummy_api as ctrl
+import time
+import os
+import threading
+class Surface(object):
+    motor = None
+    name = None
+    curr_angle = None
+    id = None
+    type_ = "surface"
+    def __init__(self, name, id):
+        self.motor = ctrl.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 = ctrl.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()

testfield/legacy/server/host.py

@@ -0,0 +1,163 @@
+import yaml
+
+__dummy_mode__ = 1
+cfg = None
+if not __dummy_mode__:
+    import sys, os
+    sys.path.append("arduino_api")
+    sys.path.append("termux_lib")
+    import termux_lib as lib
+    import socket
+    import json
+    import os
+    import time
+    import threading
+else:
+    import sys
+    sys.path.append("dummy_all")
+    import dummy_lib as lib
+    import socket
+    import json
+    import os
+    import time
+    import threading
+
+    def hwinit():
+        global hw
+        hw = dict()
+        hw["aile_left"] = lib.Flank("左副翼", "al")
+        hw["aile_right"] = lib.Flank("右副翼", "ar")
+        #hw["tail_vert"] = lib.Flank("垂直尾翼", "tv")
+        hw["tail_left"] = lib.Flank("左尾翼", "tl")
+        hw["tail_right"] = lib.Flank("右尾翼", "tr")
+        hw["engine_main"] = lib.Engine("一号引擎", "e1")
+        
+
+    def check():
+        for i in hw.values():
+            i.selfchk()
+        print("操纵面与引擎自检完成, 等待远程指令")
+
+    def proc(data):
+        global hw
+        #print(data)
+        inf = json.loads(data.replace('\n', ';'))
+        print("DT"+data + "DT")
+        if inf["type"] == "cmd":
+            #print(f"执行命令")
+            exec(inf["cmd"])
+        elif inf["type"] == "syscmd":
+            #print(f"执行系统级命令")
+            os.system(inf["cmd"])
+        elif inf["type"] == "reset":
+            pass
+            #print(f"系统重置")
+        elif inf["type"] == "stop":
+            #print(f"退出系统")
+            return 1
+        else:
+            pass
+            #print(f"未知命令")
+        return 0
+    global isx
+    isx = 0
+    def stat():
+        global isx
+        status = dict()
+        status["devices"] = dict()
+        for i in hw.items():
+            status["devices"][i[0]] = i[1].status()
+        status["name"] = name
+        status["sensors"] = lib.Sensor.stat()
+        status["time"] = time.asctime()
+        isx+=1
+        return status
+    def debug_shell():
+        lib.Sensor.pseudo_gui()
+
+def init_hardware():
+    global hwobj
+    hwobj = dict()
+    print("注册传感器")
+    for i in hw["surfaces"]:
+        hwobj[i.key] = lib.Surface(i.value, i.key)
+    print("注册操纵面")
+    for i in hw["surfaces"]:
+        hwobj[i.key] = lib.Surface(i.value, i.key)
+    print("注册引擎")
+    for i in hw["engines"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册机炮")
+    for i in hw["cannons"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册供能系统")
+    for i in hw["powersys"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册机轮制动")
+    for i in hw["powersys"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册雷达")
+    for i in hw["powersys"]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册挂架")
+    for i in hw[""]:
+        hwobj[i.key] = lib.Engine(i.value, i.key)
+    print("注册布尔元件")
+    for i in hw["bools"]:
+        hwobj[i.key] = lib.Surface(i.value, i.key)
+def selfchk():
+    print("开始自检")
+    for i in hw:
+        print(f"{i}")
+    for i in hw["engines"]:
+            print(f"{j} ", end="")
+
+
+if __name__ == "__main__":
+    name = "零号侧卫"
+    global hw
+    hw = dict()
+    port = 40808
+    print(f"Commdore 飞行控制系统 服务端")
+    print("正在加载配置文件")
+    with open("config.yaml") as cfg_file:
+        cfg = yaml.safe_load(cfg_file)
+    name = cfg["name"]
+    model = cfg["model"]
+    hw = cfg["hardware"]
+    print(f"型号: {model}")
+    print(f"名称: {name}")
+    print("正在初始化硬件")
+    print("启动 socket 网络通信")
+    print("启动备用 socket 网络通信")
+    dummy = socket.socket()
+    dummy.bind(("localhost", port)) # 端口监听
+    dummy.listen(1)
+    print(f"监听端口 " + str(port))
+    conn, address = dummy.accept()
+    print(f"来自 {address} 的连接已接收")
+    msg = json.dumps(stat()) # 状态回传
+    size = len(msg.encode())
+    conn.send(msg.encode("UTF-8").ljust(2048))
+    np = threading.Thread(target=debug_shell, name='Debugging')
+    np.start()
+    while True:
+        # 接收消息
+        print(lib.Sensor.data)
+        data: str = conn.recv(2048).decode("UTF-8")
+        if data == "" or data == None:
+            continue
+        print(f"命令接收: {data}")
+        ret = proc(data)
+        if ret == 1:
+            break
+        msg = json.dumps(stat()) # 状态回传
+        size = len(msg.encode())
+        conn.send(msg.encode("UTF-8").ljust(2048 - size))  # encode将字符串编码为字节数组对象
+        #print(msg.encode("UTF-8").decode('unicode_escape'))
+        #print(f"当前状态已回传")
+
+    # 关闭连接
+    conn.close()
+    dummy.close()
+    np.join()

testfield/legacy/server/termux_lib/termux_lib.py

@@ -0,0 +1,232 @@
+import sys
+import os
+sys.path.append("../arduino_api")
+import arduino_api as ctrl
+import time
+import os
+import threading
+import json
+import subprocess
+import psutil
+import threading
+
+class Flank(object):
+    motor = None
+    name = None
+    curr_angle = None
+    code = None
+    type = "flank"
+    def __init__(self, name, code):
+        self.motor = ctrl.Motor(code)
+        self.curr_angle = self.motor.get()
+        self.name = name
+        self.code = code
+        print("初始化操纵面 {}, 硬件代号绑定为 {}".format(name, code))
+    def set_angle(self, angle):
+        self.motor.set(angle)
+        self.curr_angle = self.motor.get()
+        #print("将 {} 的角度设置为 {} 度".format(self.name, angle))
+    def add_angle(self, add_angle):
+        self.motor.set(self.curr_angle + add_angle)
+        self.curr_angle = self.motor.get()
+    def status(self):
+        return {"type":"Flank", "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
+    code = None
+    name = None
+    type = "engine"
+    def __init__(self, name, code):
+        self.code = code
+        self.name = name
+        self.engine = ctrl.Engine(code)
+        self.curr_speed = self.engine.get()
+        print("初始化引擎 {}, 硬件代号绑定为 {}".format(name, code))
+    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()
+
+
+"""
+@liteon-proximity: 光学接近传感器,用于检测物体的接近
+!yas537-mag: 磁力计传感器,用于测量磁场强度和方向
+@liteon-light: 光传感器,用于测量环境光强度
+@MPU6050-gyro: 陀螺仪传感器,用于测量角速度
+@MPU6050-accel: 加速度计传感器,用于测量线性加速度
+!liteon-pocket: 可能是特定用途的传感器,具体功能需参考设备文档
+*yas537-orientation: 方向传感器,结合磁力计和加速度计数据来确定设备的方向
+@Game Rotation Vector Sensor: 用于测量设备的旋转向量,常用于游戏和增强现实应用
+@GeoMag Rotation Vector Sensor: 结合地磁和加速度数据来测量设备的旋转向量
+@Gravity Sensor: 测量重力加速度,用于确定设备的姿态
+*Linear Acceleration Sensor: 测量去除重力影响后的线性加速度
+@Rotation Vector Sensor: 综合陀螺仪和加速度计数据来测量设备的旋转向量
+"""
+
+class Sensor:
+    data = {
+        "speed": 0,
+        "battery": 0,
+        "xangle": 0,
+        "yangle": 0,
+        "zangle": 0,
+        "sign": 0,
+        "cpuload": 0,
+        "memload": 0,
+        "memsum": 0,
+        "torch": 0,
+        "acc": 0
+    }
+    is_torch_on = 0
+    @staticmethod
+    def speed(): #TODO
+        Sensor.data["speed"] = -1
+        return Sensor.data["speed"]
+
+    @staticmethod
+    def battery(): # 电池剩余
+        return Sensor.data["sysbattery"]
+    
+    def battery(): # TODO: 电机电池剩余
+        return Sensor.data["battery"]
+
+    @staticmethod
+    def xangle(): # X迎角
+        return Sensor.data["xangle"]
+
+    @staticmethod
+    def yangle():
+        return Sensor.data["yangle"]
+
+    @staticmethod
+    def zangle():
+        return Sensor.data["zangle"]
+
+    @staticmethod
+    def sign(): # 信号强度
+        Sensor.data["sign"] = -1
+        return Sensor.data["sign"]
+
+    @staticmethod
+    def cpuload(): # CPU占用(百分比)
+        Sensor.data["cpuload"] = psutil.cpu_percent(interval=1) / 100
+        return Sensor.data["cpuload"]
+
+    @staticmethod
+    def memload(): # 内存占用(百分比)
+        Sensor.data["memload"] = psutil.virtual_memory().percent / 100
+        return Sensor.data["memload"]
+
+    @staticmethod
+    def memsum(): # 内存总量(MB)
+        return Sensor.data["memsum"]
+
+    @staticmethod
+    def torch():
+        return Sensor.data["torch"]
+
+    @staticmethod
+    def torchon(): # 打开电筒
+        Sensor.is_torch_on = not Sensor.is_torch_on
+        to = {0:"off", 1:"on"}
+        os.system(f"torch {to[Sensor.is_torch_on]} &")
+
+    @staticmethod
+    def refresh():
+        Sensor.speed()
+        Sensor.battery()
+        Sensor.xangle()
+        Sensor.yangle()
+        Sensor.zangle()
+        Sensor.sign()
+        Sensor.cpuload()
+        Sensor.memload()
+        Sensor.memsum()
+        Sensor.torch()
+    
+    @staticmethod
+    def stat():
+        #Sensor.refresh()
+        return Sensor.data
+
+    def update_battery():
+        while True:
+            result = subprocess.run(['termux-battery-status'], capture_output=True, text=True)
+            data = json.loads(result.stdout)
+            Sensor.data["sysbattery"] = data["percentage"]
+
+    def update_orientation():
+        while True:
+            # TODO: 优化
+            result = subprocess.run(['termux-sensor', '-s', 'yas537-orientation', '-n', '1'], capture_output=True, text=True)
+            data = json.loads(result.stdout)
+            Sensor.data["xangle"] = data["yas537-orientation"]["values"][0]
+            Sensor.data["yangle"] = data["yas537-orientation"]["values"][1]
+            Sensor.data["zangle"] = data["yas537-orientation"]["values"][2]
+
+    def update_acceleration():
+        while True:
+            result = subprocess.run(['termux-sensor', '-s', 'Linear Acceleration Sensor', '-n', '1'], capture_output=True, text=True)
+            data = json.loads(result.stdout)
+            Sensor.data["acc"] = data["Linear Acceleration Sensor"]["values"]
+    
+    def update_func(cmd):
+        while True:
+            exec(cmd)
+            time.sleep(0.1)
+    def init():
+        Sensor.data = {
+            "speed": 0,
+            "battery": 0,
+            "xangle": 0,
+            "yangle": 0,
+            "zangle": 0,
+            "sign": 0,
+            "cpuload": 0,
+            "memload": 0,
+            "memsum": 0,
+            "torch": 0,
+            "acc": 0
+        }
+        os.system("termux-torch off &")
+        Sensor.is_torch_on = 0
+        Sensor.data["memsum"] = psutil.virtual_memory().total / (1024 * 1024)
+
+    def deamon():
+        # 启动线程
+        Sensor.battery_thread = threading.Thread(target=Sensor.update_battery)
+        Sensor.orientation_thread = threading.Thread(target=Sensor.update_orientation)
+        Sensor.acceleration_thread = threading.Thread(target=Sensor.update_acceleration)
+        Sensor.other_thread = threading.Thread(target=Sensor.update_func, args=("""Sensor.sign()\nSensor.cpuload()\nSensor.memload()\nSensor.torch()"""))
+        Sensor.battery_thread.start()
+        Sensor.orientation_thread.start()
+        Sensor.acceleration_thread.start()
+    def stop():
+        Sensor.orientation_thread.join()
+        Sensor.battery_thread.join()
+        Sensor.acceleration_thread.join()
+        Sensor.other_thread.join()