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fix: drain pymavlink directement dans monitor_telemetry et dans status

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La tâche drain_pymavlink() séparée ne tournait jamais car input()
bloque l'event loop. Drain et lecture du HEARTBEAT directement dans
monitor_telemetry() et en fallback dans l'action status pour garantir
la lecture du custom_mode ArduCopter.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
nicoboy
2026-06-21 17:29:27 +02:00
parent 1b47ce124d
commit 822367ada8
1 changed files with 16 additions and 9 deletions
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25
wireclaw_core.py
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@ -82,13 +82,6 @@ async def monitor_armed(drone):
drone_armed = is_armed drone_armed = is_armed
await asyncio.sleep(0) # cède le contrôle après chaque mise à jour await asyncio.sleep(0) # cède le contrôle après chaque mise à jour
async def drain_pymavlink():
"""Draine pymavlink en boucle pour peupler mav.messages (dernier msg par type)."""
while True:
while mav.recv_match(blocking=False) is not None:
pass
await asyncio.sleep(0.05)
async def monitor_telemetry(drone): async def monitor_telemetry(drone):
"""Sonde batterie, mode et GPS par polling — pause 1s entre chaque cycle """Sonde batterie, mode et GPS par polling — pause 1s entre chaque cycle
pour ne pas saturer l'event loop asyncio avec des streams gRPC continus.""" pour ne pas saturer l'event loop asyncio avec des streams gRPC continus."""
@ -98,7 +91,13 @@ async def monitor_telemetry(drone):
raw = bat.remaining_percent raw = bat.remaining_percent
telemetry_cache["battery"] = abs(raw) * 100 if abs(raw) <= 1 else abs(raw) telemetry_cache["battery"] = abs(raw) * 100 if abs(raw) <= 1 else abs(raw)
break break
hb = mav.messages.get('HEARTBEAT') hb = None
while True:
msg = mav.recv_match(blocking=False)
if msg is None:
break
if msg.get_type() == 'HEARTBEAT':
hb = msg
if hb: if hb:
telemetry_cache["mode"] = ARDUCOPTER_MODES.get(hb.custom_mode, f"UNKNOWN({hb.custom_mode})") telemetry_cache["mode"] = ARDUCOPTER_MODES.get(hb.custom_mode, f"UNKNOWN({hb.custom_mode})")
async for gps in drone.telemetry.gps_info(): async for gps in drone.telemetry.gps_info():
@ -139,6 +138,15 @@ async def execute_command(drone, cmd):
elif action == "status": elif action == "status":
await refresh_position(drone) await refresh_position(drone)
hb = None
while True:
m = mav.recv_match(blocking=False)
if m is None:
break
if m.get_type() == 'HEARTBEAT':
hb = m
if hb:
telemetry_cache["mode"] = ARDUCOPTER_MODES.get(hb.custom_mode, f"UNKNOWN({hb.custom_mode})")
return (f"\nPosition : {current_pos['lat']:.6f}, {current_pos['lon']:.6f}\n" return (f"\nPosition : {current_pos['lat']:.6f}, {current_pos['lon']:.6f}\n"
f"Altitude : {current_pos['alt']:.1f}m (AGL)\n" f"Altitude : {current_pos['alt']:.1f}m (AGL)\n"
f"Abs alt : {current_pos['abs_alt']:.1f}m\n" f"Abs alt : {current_pos['abs_alt']:.1f}m\n"
@ -287,7 +295,6 @@ async def init():
drone_armed = is_armed drone_armed = is_armed
print(f"Etat initial : {'arme' if drone_armed else 'desarme'}") print(f"Etat initial : {'arme' if drone_armed else 'desarme'}")
break break
asyncio.create_task(drain_pymavlink())
asyncio.create_task(monitor_armed(drone)) asyncio.create_task(monitor_armed(drone))
asyncio.create_task(monitor_telemetry(drone)) asyncio.create_task(monitor_telemetry(drone))
break break