feat: 增加日志模块

backend/monitoring/services.py

@@ -2,26 +2,32 @@ from __future__ import annotations
 
 import atexit
 
-from .control import ControlArbiter, NativeUdpControlIngress, OmniSocketControlSender
+from .control import ControlAckTracker, ControlArbiter, NativeUdpControlIngress, OmniSocketControlAckReceiver, OmniSocketControlSender
 from .telemetry import GpsDataService, HubTelemetryReceiver, NetworkTelemetryService
-from .video import OmniSocketVideoReceiver, VideoFrameService
+from .video import OmniSocketVideoReceiver, VideoDisplayProbeStore, VideoFrameService
 
 
 _video_receiver = OmniSocketVideoReceiver()
-_control_sender = OmniSocketControlSender()
+_control_ack_tracker = ControlAckTracker()
+_control_sender = OmniSocketControlSender(_control_ack_tracker)
+_control_ack_receiver = OmniSocketControlAckReceiver(_control_ack_tracker)
 _hub_telemetry_receiver = HubTelemetryReceiver()
+_video_display_probe_store = VideoDisplayProbeStore()
 
 control_arbiter = ControlArbiter(_control_sender)
 native_control_ingress = NativeUdpControlIngress(control_arbiter)
 
-video_service = VideoFrameService(_video_receiver)
+video_service = VideoFrameService(_video_receiver, _video_display_probe_store)
 gps_service = GpsDataService(_video_receiver)
 network_service = NetworkTelemetryService(
     _video_receiver,
     _control_sender,
+    _control_ack_tracker,
+    _control_ack_receiver,
     control_arbiter,
     native_control_ingress,
     _hub_telemetry_receiver,
+    _video_display_probe_store,
 )
 
 
@@ -30,7 +36,10 @@ def shutdown_monitoring_services() -> None:
         network_service.close,
         native_control_ingress.close,
         control_arbiter.close,
+        _control_ack_receiver.close,
+        _control_ack_tracker.close,
         _hub_telemetry_receiver.close,
+        _video_display_probe_store.close,
         _video_receiver.close,
         _control_sender.close,
     ):