AirTrapMine/src/GUI/mission_orchestrator.py

#!/usr/bin/env python3
"""
任務編排器 (MissionOrchestrator) —— ABC 對抗任務的階段狀態機。

角色：坐在既有 MissionExecutor 之上的「任務大腦」。偵察飛行由操作員用既有的
群組執行按鈕控制（A 組 GRID_SWEEP、B 組待機）；orchestrator 只做兩件事：
  1. 被動監看「A↔敵機」距離，達 R_detect 持續 dwell → latch，提示操作員。
  2. 操作員按「重編隊」→ 接管 A+B 四機，用「瞬時隊形」追移動敵機、足夠近時展開包圍。

追蹤採「瞬時隊形」而非路徑跟隨：每 tick 給每台一個目標點（此刻該站的隊形位置），
敵機移動就更新。避免了路徑跟隨在移動目標下 index 歸零/往後外推造成的往返振盪。

階段：IDLE → WATCH（監看偵測）→ DETECTED（latch，等確認）
      → PURSUE（4 機瞬時 leader-follow 朝敵，B 在後方 slot 自然追上會合）
      → ENCIRCLE（形心距敵 ≤ R_engage 展開包圍，圓心追敵；逃出 R_engage_exit 退回）

設計定案見 memory: design_mission_orchestrator。修改限定 src/GUI/（scope_gui_only）。
"""
import math
import time
from enum import Enum

from PyQt6.QtWidgets import (
    QWidget, QVBoxLayout, QHBoxLayout, QLabel, QComboBox, QFrame, QPushButton,
    QDoubleSpinBox
)
from PyQt6.QtCore import Qt, QObject, pyqtSignal


def _log(level, message):
    print(f"[{level}] {message}", flush=True)


def _haversine(lat1, lon1, lat2, lon2):
    """兩經緯度間的水平地面距離 (m)。"""
    R = 6371000.0
    p1 = math.radians(lat1)
    p2 = math.radians(lat2)
    dphi = math.radians(lat2 - lat1)
    dlam = math.radians(lon2 - lon1)
    a = (math.sin(dphi / 2) ** 2
         + math.cos(p1) * math.cos(p2) * math.sin(dlam / 2) ** 2)
    return 2 * R * math.asin(min(1.0, math.sqrt(a)))


def _ll_to_m(lat, lon, ref_lat, ref_lon):
    """經緯度 → 以 ref 為原點的本地平面公尺 (x=東, y=北)。等距近似，小範圍夠用。"""
    x = math.radians(lon - ref_lon) * 6371000.0 * math.cos(math.radians(ref_lat))
    y = math.radians(lat - ref_lat) * 6371000.0
    return x, y


def _m_to_ll(x, y, ref_lat, ref_lon):
    """本地平面公尺 → 經緯度。"""
    lat = ref_lat + math.degrees(y / 6371000.0)
    lon = ref_lon + math.degrees(x / (6371000.0 * math.cos(math.radians(ref_lat))))
    return lat, lon


# 預設參數
DEFAULT_R_DETECT = 40.0        # 偵測範圍 (m)
DEFAULT_DETECT_DWELL = 1.0     # 偵測 dwell (s)
DEFAULT_R_ENGAGE = 15.0        # 接戰半徑 (m)：形心↔敵 ≤ 此值 → 切包圍
DEFAULT_R_ENGAGE_EXIT = 20.0   # 包圍退出半徑 (m)：> 此值 → 退回前進（hysteresis）
DEFAULT_REPLAN_MOVE_M = 2.0    # 敵機位移 ≥ 此值即重算（moving target）
DEFAULT_REPLAN_CAP_SEC = 1.0   # 重算週期上限 (s)
DEFAULT_CIRCLE_RADIUS = 10.0   # 包圍半徑 (m)
DEFAULT_LON_SPACING = 5.0      # 隊形縱向間距 (m)
DEFAULT_LAT_OFFSET = 3.0       # 隊形橫向錯開 (m)
DEFAULT_FORMATION_ALT = 10.0   # 隊形基準高度 (m，相對 home)
DEFAULT_ALT_LAYER_GAP = 6.0    # A/B 上下層垂直間隔 (m)：A=基準+gap/2、B=基準-gap/2
DEFAULT_MIN_ALT_FLOOR = 5.0    # 相對 home 的最低安全高度 (m)：B 下層不得低於此值
DEFAULT_LEAD_TIME_CAP = 4.0    # 前置攔截 lead_time 上限 (s)
DEFAULT_FRIENDLY_SPEED = 5.0   # 友機假設水平速度 (m/s)：估 lead_time = gap/此值
DEFAULT_ENEMY_VEL_WINDOW = 1.0 # 敵速估計的 GPS 差分視窗 (s)

_NONE_LABEL = "（未選擇）"


class MissionPhase(Enum):
    IDLE = "idle"          # 未設定敵機/A 組
    WATCH = "watch"        # 監看偵測（偵察飛行由操作員的群組任務負責）
    DETECTED = "detected"  # 偵測 latch，等操作員確認重編隊
    PURSUE = "pursue"      # 4 機瞬時 leader-follow 朝敵機
    ENCIRCLE = "encircle"  # 4 機包圍敵機


class MissionOrchestrator(QObject):
    """
    階段狀態機。透過注入的 callback 與 GUI 解耦（便於 headless 測試）：
      make_executor()  -> MissionExecutor（complete_stops=False，hover-hold）
      gps_provider()   -> {drone_id: {'lat','lon','alt'}}
      stop_groups_fn() -> 停掉操作員的 A/B 群組任務（重編隊時避免雙重送點）
    """

    phase_changed = pyqtSignal(str)      # MissionPhase.value
    detection_prompt = pyqtSignal(str)   # 偵測提示（含最近友機/距離）
    status_message = pyqtSignal(str)

    def __init__(self, make_executor, gps_provider, stop_groups_fn=None,
                 r_detect=DEFAULT_R_DETECT,
                 detect_dwell_sec=DEFAULT_DETECT_DWELL,
                 r_engage=DEFAULT_R_ENGAGE,
                 r_engage_exit=DEFAULT_R_ENGAGE_EXIT,
                 replan_move_m=DEFAULT_REPLAN_MOVE_M,
                 replan_cap_sec=DEFAULT_REPLAN_CAP_SEC,
                 circle_radius=DEFAULT_CIRCLE_RADIUS,
                 lon_spacing=DEFAULT_LON_SPACING,
                 lat_offset=DEFAULT_LAT_OFFSET,
                 formation_alt=DEFAULT_FORMATION_ALT,
                 alt_layer_gap=DEFAULT_ALT_LAYER_GAP,
                 min_alt_floor=DEFAULT_MIN_ALT_FLOOR,
                 lead_time_cap_sec=DEFAULT_LEAD_TIME_CAP,
                 friendly_speed=DEFAULT_FRIENDLY_SPEED,
                 enemy_vel_window_sec=DEFAULT_ENEMY_VEL_WINDOW,
                 parent=None):
        super().__init__(parent)
        self._make_executor = make_executor
        self._gps_provider = gps_provider
        self._stop_groups_fn = stop_groups_fn
        self.r_detect = float(r_detect)
        self.detect_dwell_sec = float(detect_dwell_sec)
        self.r_engage = float(r_engage)
        self.r_engage_exit = float(r_engage_exit)
        self.replan_move_m = float(replan_move_m)
        self.replan_cap_sec = float(replan_cap_sec)
        self.circle_radius = float(circle_radius)
        self.lon_spacing = float(lon_spacing)
        self.lat_offset = float(lat_offset)
        self.formation_alt = float(formation_alt)
        self.alt_layer_gap = float(alt_layer_gap)
        self.min_alt_floor = float(min_alt_floor)
        self.lead_time_cap_sec = float(lead_time_cap_sec)
        self.friendly_speed = float(friendly_speed)
        self.enemy_vel_window_sec = float(enemy_vel_window_sec)

        self.phase = MissionPhase.IDLE
        self.a_drone_ids = []   # 偵察組
        self.b_drone_ids = []   # 待機組
        self.enemy_id = None

        self._detect_since = 0.0
        self._merged_ids = []           # PURSUE/ENCIRCLE 的 4 機（領隊優先，固定順序）
        self._merged_ex = None          # 合併 executor（hover-hold）
        self._last_replan_at = 0.0
        self._last_plan_enemy = None    # 上次重算用的敵機 (lat, lon)
        self._last_heading = (0.0, 1.0)  # 上次隊形朝向（敵機太近時沿用，避免抖動）
        self._enemy_hist = []           # [(t, lat, lon)] 敵機軌跡（估速用）
        self._enemy_vel = (0.0, 0.0)    # 估得的敵速 (east, north) m/s

    # ------------------------------------------------------------- 設定（可連續呼叫）
    def configure(self, a_drone_ids, b_drone_ids, enemy_id):
        """設定 A/B 組與敵機。監看/待機階段可隨時更新；進入 PURSUE 後鎖定不受影響。"""
        if self.phase in (MissionPhase.PURSUE, MissionPhase.ENCIRCLE):
            return False
        self.a_drone_ids = list(a_drone_ids)
        self.b_drone_ids = list(b_drone_ids)
        new_enemy = enemy_id or None
        if new_enemy != self.enemy_id:
            self._detect_since = 0.0  # 換敵機重置 dwell
        self.enemy_id = new_enemy
        return True

    def _configured(self):
        return bool(self.enemy_id) and bool(self.a_drone_ids) \
            and self.enemy_id not in set(self.a_drone_ids) | set(self.b_drone_ids) \
            and not (set(self.a_drone_ids) & set(self.b_drone_ids))

    # ------------------------------------------------------------- 重編隊 / 停止
    def confirm_detection(self):
        """DETECTED → PURSUE：操作員手動確認。停掉群組掃描，接管 4 機瞬時追蹤。"""
        if self.phase != MissionPhase.DETECTED:
            self.status_message.emit("目前不在待確認狀態")
            return
        gps = self._gps_provider()
        epos = gps.get(self.enemy_id)
        if not epos:
            self.status_message.emit("敵機定位遺失，無法重編隊")
            return
        merged = self._merged_ids_leader_first(gps, epos)
        if self._positions_for(merged, gps) is None:
            self.status_message.emit("有無人機尚未定位，無法重編隊")
            return

        # 先停掉操作員的 A/B 群組任務，避免與合併 executor 雙重送點塞爆 adapter
        if self._stop_groups_fn:
            try:
                self._stop_groups_fn()
            except Exception as e:
                _log("WARN", f"[orchestrator] 停止群組任務失敗: {e}")

        self._merged_ids = merged
        self._last_heading = (0.0, 1.0)
        self._enemy_hist = []
        self._enemy_vel = (0.0, 0.0)
        self._update_enemy_velocity(epos)
        slots = self._pursue_slots(gps, epos)
        self._merged_ex = self._make_executor()
        self._merged_ex.start(self._slots_to_plan(slots))
        self._mark_replanned(epos)
        self._set_phase(MissionPhase.PURSUE)
        self.status_message.emit("重編隊確認：4 機前進中（B 追上會合）")

    def stop(self):
        """全體停止，回 IDLE。"""
        if self._merged_ex is not None:
            try:
                self._merged_ex.stop()
            except Exception:
                pass
            self._merged_ex = None
        self._merged_ids = []
        self._detect_since = 0.0
        self._enemy_hist = []
        self._enemy_vel = (0.0, 0.0)
        self._set_phase(MissionPhase.IDLE)
        self.status_message.emit("任務已停止")

    # ------------------------------------------------------------- tick
    def tick(self):
        """GUI 週期呼叫。"""
        # 自動進出監看（偵察飛行由操作員群組任務負責，這裡只監看偵測）
        if self.phase == MissionPhase.IDLE and self._configured():
            self._set_phase(MissionPhase.WATCH)
        elif self.phase == MissionPhase.WATCH and not self._configured():
            self._detect_since = 0.0
            self._set_phase(MissionPhase.IDLE)

        if self.phase == MissionPhase.WATCH:
            self._tick_watch()
        elif self.phase == MissionPhase.PURSUE:
            self._tick_pursue()
        elif self.phase == MissionPhase.ENCIRCLE:
            self._tick_encircle()

    def _tick_watch(self):
        gps = self._gps_provider()
        epos = gps.get(self.enemy_id)
        if not epos:
            self._detect_since = 0.0
            return
        nearest_id, nearest_d = None, None
        for did in self.a_drone_ids:
            pos = gps.get(did)
            if not pos:
                continue
            d = _haversine(epos['lat'], epos['lon'], pos['lat'], pos['lon'])
            if nearest_d is None or d < nearest_d:
                nearest_id, nearest_d = did, d

        now = time.monotonic()
        if nearest_d is not None and nearest_d <= self.r_detect:
            if self._detect_since == 0.0:
                self._detect_since = now
            elif now - self._detect_since >= self.detect_dwell_sec:
                self._set_phase(MissionPhase.DETECTED)  # latch，等操作員手動確認
                self.detection_prompt.emit(
                    f"偵測到敵機（{nearest_id} 距 {nearest_d:.1f} m）— 請確認重編隊")
        else:
            self._detect_since = 0.0

    def _tick_pursue(self):
        gps = self._gps_provider()
        epos = gps.get(self.enemy_id)
        if not epos:
            return  # 敵機定位遺失（S4 加 stale-timeout hold）
        self._update_enemy_velocity(epos)
        d = self._centroid_dist(gps, epos)
        if d is None:
            return
        if d <= self.r_engage:
            self._apply_slots(self._circle_slots(gps, epos), epos)
            self._set_phase(MissionPhase.ENCIRCLE)
            self.status_message.emit("進入包圍")
            return
        if self._should_replan(time.monotonic(), epos):
            self._apply_slots(self._pursue_slots(gps, epos), epos)

    def _tick_encircle(self):
        gps = self._gps_provider()
        epos = gps.get(self.enemy_id)
        if not epos:
            return
        self._update_enemy_velocity(epos)
        d = self._centroid_dist(gps, epos)
        if d is None:
            return
        if d > self.r_engage_exit:
            self._apply_slots(self._pursue_slots(gps, epos), epos)
            self._set_phase(MissionPhase.PURSUE)
            self.status_message.emit("敵機逃離，退回前進")
            return
        if self._should_replan(time.monotonic(), epos):
            self._apply_slots(self._circle_slots(gps, epos), epos)

    # ------------------------------------------------------------- 高度分層
    def _alt_for(self, did):
        """S3 高度分層：A 組（含領隊）走上層、B 組走下層（不低於地面下限）。
        同高度繞圈/追擊會交叉撞機，分層後 A/B 垂直錯開自然避開。"""
        if did in set(self.b_drone_ids):
            return max(self.min_alt_floor,
                       self.formation_alt - self.alt_layer_gap / 2.0)
        return self.formation_alt + self.alt_layer_gap / 2.0

    # ------------------------------------------------------------- 前置攔截（估敵速）
    def _update_enemy_velocity(self, epos):
        """用敵機 GPS 差分估水平速度 (east, north) m/s，視窗 enemy_vel_window_sec。"""
        now = time.monotonic()
        self._enemy_hist.append((now, epos['lat'], epos['lon']))
        while (len(self._enemy_hist) >= 2
               and now - self._enemy_hist[0][0] > self.enemy_vel_window_sec):
            self._enemy_hist.pop(0)
        if len(self._enemy_hist) >= 2:
            t0, la0, lo0 = self._enemy_hist[0]
            t1, la1, lo1 = self._enemy_hist[-1]
            dt = t1 - t0
            if dt > 1e-3:
                dx, dy = _ll_to_m(la1, lo1, la0, lo0)  # sample0→sample1 位移 (m)
                self._enemy_vel = (dx / dt, dy / dt)

    def enemy_speed(self):
        """估得的敵機水平速率 (m/s)。"""
        return math.hypot(*self._enemy_vel)

    def _aim_point(self, gps, epos):
        """前置攔截點：敵位 + 敵速×lead_time。lead_time = gap/friendly_speed（封頂
        lead_time_cap_sec）。敵速尚未估到時退化為瞄當下位置（等同原純追尾）。"""
        evx, evy = self._enemy_vel
        lp = gps.get(self._merged_ids[0]) if self._merged_ids else None
        gap = (_haversine(lp['lat'], lp['lon'], epos['lat'], epos['lon'])
               if lp else 0.0)
        lead_t = min(self.lead_time_cap_sec, gap / max(self.friendly_speed, 0.1))
        return _m_to_ll(evx * lead_t, evy * lead_t, epos['lat'], epos['lon'])

    # ------------------------------------------------------------- 瞬時隊形
    def _pursue_slots(self, gps, epos):
        """朝『前置攔截點』的瞬時 leader-follow：領隊朝攔截點，僚機沿隊軸後方 rank×間距、左右錯開。"""
        ids = self._merged_ids
        tlat, tlon = self._aim_point(gps, epos)  # 前置攔截點取代敵機當下位置
        lp = gps.get(ids[0])
        if lp is None:
            return None
        lx, ly = _ll_to_m(lp['lat'], lp['lon'], tlat, tlon)  # 領隊相對攔截點
        hx, hy = -lx, -ly                                    # 領隊 → 攔截點
        n = math.hypot(hx, hy)
        if n < 1.0:
            h = self._last_heading  # 太近，沿用上次朝向避免抖動
        else:
            h = (hx / n, hy / n)
        self._last_heading = h
        px, py = -h[1], h[0]  # 左垂直
        slots = {}
        for rank, d in enumerate(ids):
            lat_sign = -1 if rank % 2 == 0 else 1
            # 領隊(rank0)目標≈攔截點；僚機沿 -h 後退 rank×間距，並左右錯開
            sx = -h[0] * (rank * self.lon_spacing) + px * (lat_sign * self.lat_offset)
            sy = -h[1] * (rank * self.lon_spacing) + py * (lat_sign * self.lat_offset)
            lat, lon = _m_to_ll(sx, sy, tlat, tlon)
            slots[d] = (lat, lon, self._alt_for(d))
        return slots

    def _circle_slots(self, gps, epos):
        """繞敵機的瞬時包圍：N 機均分在半徑 circle_radius 的圓周上。"""
        ids = self._merged_ids
        elat, elon = epos['lat'], epos['lon']
        n = len(ids)
        slots = {}
        for i, d in enumerate(ids):
            theta = 2.0 * math.pi * i / max(1, n)
            x = self.circle_radius * math.cos(theta)
            y = self.circle_radius * math.sin(theta)
            lat, lon = _m_to_ll(x, y, elat, elon)
            slots[d] = (lat, lon, self._alt_for(d))
        return slots

    def _apply_slots(self, slots, epos):
        """把瞬時 slot 熱替換給合併 executor 並更新重算基準。"""
        if slots is None or self._merged_ex is None:
            return
        self._merged_ex.update_plan(self._slots_to_plan(slots))
        self._mark_replanned(epos)

    def _slots_to_plan(self, slots):
        return {
            'drone_ids': list(self._merged_ids),
            'waypoints': [[slots[d]] for d in self._merged_ids],
            'rendezvous_indices': [],
        }

    # ------------------------------------------------------------- 內部
    def _centroid_dist(self, gps, epos):
        m_pos = self._positions_for(self._merged_ids, gps)
        if m_pos is None:
            return None
        cen_lat = sum(p[0] for p in m_pos) / len(m_pos)
        cen_lon = sum(p[1] for p in m_pos) / len(m_pos)
        return _haversine(cen_lat, cen_lon, epos['lat'], epos['lon'])

    def _positions_for(self, drone_ids, gps):
        out = []
        for did in drone_ids:
            p = gps.get(did)
            if not p:
                return None
            out.append((p['lat'], p['lon'], p.get('alt', 0.0)))
        return out

    def _merged_ids_leader_first(self, gps, epos):
        """A+B 合併；A 中離敵最近者當領隊(rank0)，其餘 A 維持原序，再接 B。"""
        def dist(did):
            p = gps.get(did)
            return float('inf') if not p else _haversine(
                epos['lat'], epos['lon'], p['lat'], p['lon'])
        if not self.a_drone_ids:
            return list(self.b_drone_ids)
        leader = min(self.a_drone_ids, key=dist)
        rest_a = [d for d in self.a_drone_ids if d != leader]
        return [leader] + rest_a + list(self.b_drone_ids)

    def _mark_replanned(self, epos):
        self._last_replan_at = time.monotonic()
        self._last_plan_enemy = (epos['lat'], epos['lon'])

    def _should_replan(self, now, epos):
        if self._last_plan_enemy is None:
            return True
        moved = _haversine(self._last_plan_enemy[0], self._last_plan_enemy[1],
                           epos['lat'], epos['lon'])
        return (moved >= self.replan_move_m
                or (now - self._last_replan_at) >= self.replan_cap_sec)

    def _set_phase(self, phase):
        if phase == self.phase:
            return
        self.phase = phase
        _log("INFO", f"[orchestrator] phase → {phase.value}")
        self.phase_changed.emit(phase.value)


class EngagementPanel(QWidget):
    """
    交戰控制面板。

    - 敵機下拉 + 即時「敵機↔最近友機」距離
    - A/B 組指派下拉
    - 階段顯示、重編隊 / 停止 按鈕

    偵察飛行用既有的群組執行按鈕控制，這裡不含「開始」。面板只發訊號，邏輯在 GUI/orchestrator。
    """

    enemy_changed = pyqtSignal(str)        # drone_id（未選擇=空字串）
    confirm_requested = pyqtSignal()       # 重編隊
    stop_requested = pyqtSignal()
    groups_changed = pyqtSignal(str, str)  # (a_group_id, b_group_id)
    apply_speed_requested = pyqtSignal(float, float)  # (friendly_speed, enemy_ratio)

    def __init__(self, parent=None, r_detect=DEFAULT_R_DETECT,
                 friendly_speed=DEFAULT_FRIENDLY_SPEED):
        super().__init__(parent)
        self.r_detect = float(r_detect)
        self._init_friendly_speed = float(friendly_speed)
        self._enemy_id = ""
        self._suppress_enemy = False
        self._suppress_group = False
        self._group_sig = None  # 目前下拉內容的簽章，變了才重建（避免 5Hz 狂刷）
        self._build_ui()

    # ------------------------------------------------------------------ UI
    def _build_ui(self):
        root = QVBoxLayout(self)
        root.setContentsMargins(12, 12, 12, 12)
        root.setSpacing(10)
        root.setAlignment(Qt.AlignmentFlag.AlignTop)

        title = QLabel("交戰設定")
        title.setStyleSheet(
            "color: #DDD; font-size: 14px; font-weight: bold; padding: 2px;")
        root.addWidget(title)

        combo_css = (
            "QComboBox { background-color: #333; color: #EEE; border: 1px solid #555;"
            " border-radius: 3px; padding: 3px 6px; font-size: 12px; min-width: 120px; }")

        enemy_row = QHBoxLayout()
        enemy_row.setSpacing(8)
        el = QLabel("敵機 sysid：")
        el.setStyleSheet("color: #CCC; font-size: 12px;")
        self.enemy_combo = QComboBox()
        self.enemy_combo.setStyleSheet(combo_css)
        self.enemy_combo.addItem(_NONE_LABEL)
        self.enemy_combo.currentTextChanged.connect(self._on_enemy_changed)
        enemy_row.addWidget(el)
        enemy_row.addWidget(self.enemy_combo)
        enemy_row.addStretch()
        root.addLayout(enemy_row)

        a_row = QHBoxLayout()
        a_row.setSpacing(8)
        al = QLabel("偵察組 A：")
        al.setStyleSheet("color: #CCC; font-size: 12px;")
        self.a_group_combo = QComboBox()
        self.a_group_combo.setStyleSheet(combo_css)
        self.a_group_combo.addItem(_NONE_LABEL, None)
        self.a_group_combo.currentTextChanged.connect(self._on_group_changed)
        a_row.addWidget(al)
        a_row.addWidget(self.a_group_combo)
        a_row.addStretch()
        root.addLayout(a_row)

        b_row = QHBoxLayout()
        b_row.setSpacing(8)
        bl = QLabel("待機組 B：")
        bl.setStyleSheet("color: #CCC; font-size: 12px;")
        self.b_group_combo = QComboBox()
        self.b_group_combo.setStyleSheet(combo_css)
        self.b_group_combo.addItem(_NONE_LABEL, None)
        self.b_group_combo.currentTextChanged.connect(self._on_group_changed)
        b_row.addWidget(bl)
        b_row.addWidget(self.b_group_combo)
        b_row.addStretch()
        root.addLayout(b_row)

        # 速度比例限速：友方 V、敵方 r×V，按鈕一次套用（DO_CHANGE_SPEED）
        spin_css = (
            "QDoubleSpinBox { background-color: #333; color: #EEE;"
            " border: 1px solid #555; border-radius: 3px; padding: 2px 4px;"
            " font-size: 12px; min-width: 70px; }")
        speed_row = QHBoxLayout()
        speed_row.setSpacing(8)
        sl = QLabel("友機速度：")
        sl.setStyleSheet("color: #CCC; font-size: 12px;")
        self.friendly_speed_spin = QDoubleSpinBox()
        self.friendly_speed_spin.setStyleSheet(spin_css)
        self.friendly_speed_spin.setRange(0.5, 20.0)
        self.friendly_speed_spin.setSingleStep(0.5)
        self.friendly_speed_spin.setDecimals(1)
        self.friendly_speed_spin.setSuffix(" m/s")
        self.friendly_speed_spin.setValue(self._init_friendly_speed)
        rl = QLabel("敵/友比例：")
        rl.setStyleSheet("color: #CCC; font-size: 12px;")
        self.enemy_ratio_spin = QDoubleSpinBox()
        self.enemy_ratio_spin.setStyleSheet(spin_css)
        self.enemy_ratio_spin.setRange(0.1, 1.0)
        self.enemy_ratio_spin.setSingleStep(0.05)
        self.enemy_ratio_spin.setDecimals(2)
        self.enemy_ratio_spin.setValue(0.6)
        speed_row.addWidget(sl)
        speed_row.addWidget(self.friendly_speed_spin)
        speed_row.addWidget(rl)
        speed_row.addWidget(self.enemy_ratio_spin)
        speed_row.addStretch()
        root.addLayout(speed_row)

        apply_speed_row = QHBoxLayout()
        self.apply_speed_btn = QPushButton("套用速度")
        self.apply_speed_btn.setStyleSheet(
            "QPushButton { background-color: #00796B; color: white; border: none;"
            " padding: 6px 14px; border-radius: 4px; font-weight: bold; }"
            " QPushButton:hover { background-color: #00897B; }")
        self.apply_speed_btn.clicked.connect(self._on_apply_speed)
        self.enemy_speed_hint = QLabel("")
        self.enemy_speed_hint.setStyleSheet("color: #777; font-size: 11px;")
        self._refresh_enemy_speed_hint()
        self.friendly_speed_spin.valueChanged.connect(self._refresh_enemy_speed_hint)
        self.enemy_ratio_spin.valueChanged.connect(self._refresh_enemy_speed_hint)
        apply_speed_row.addWidget(self.apply_speed_btn)
        apply_speed_row.addWidget(self.enemy_speed_hint)
        apply_speed_row.addStretch()
        root.addLayout(apply_speed_row)

        sep = QFrame()
        sep.setFrameShape(QFrame.Shape.HLine)
        sep.setStyleSheet("color: #444;")
        root.addWidget(sep)

        self.distance_label = QLabel("敵機 ↔ 最近友機：—")
        self.distance_label.setStyleSheet(
            "color: #AAA; font-size: 13px; padding: 4px 2px;")
        root.addWidget(self.distance_label)

        hint = QLabel(f"（偵測範圍 R_detect = {self.r_detect:.0f} m）")
        hint.setStyleSheet("color: #777; font-size: 11px;")
        root.addWidget(hint)

        self.phase_label = QLabel("階段：待機")
        self.phase_label.setStyleSheet(
            "color: #64B5F6; font-size: 13px; font-weight: bold; padding: 4px 2px;")
        root.addWidget(self.phase_label)

        btn_css = ("QPushButton {{ background-color: {bg}; color: {fg}; border: none;"
                   " padding: 8px 16px; border-radius: 4px; font-weight: bold; }}"
                   " QPushButton:hover {{ background-color: {hover}; }}"
                   " QPushButton:disabled {{ background-color: #444; color: #888; }}")
        btn_row = QHBoxLayout()
        btn_row.setSpacing(8)
        self.confirm_btn = QPushButton("重編隊")
        self.confirm_btn.setStyleSheet(btn_css.format(bg='#F57C00', fg='white', hover='#FB8C00'))
        self.confirm_btn.clicked.connect(lambda: self.confirm_requested.emit())
        self.confirm_btn.setEnabled(False)
        self.stop_btn = QPushButton("停止")
        self.stop_btn.setStyleSheet(btn_css.format(bg='#555', fg='#DDD', hover='#666'))
        self.stop_btn.clicked.connect(lambda: self.stop_requested.emit())
        btn_row.addWidget(self.confirm_btn)
        btn_row.addWidget(self.stop_btn)
        btn_row.addStretch()
        root.addLayout(btn_row)

    # -------------------------------------------------------------- 對外 API
    def current_enemy(self):
        return self._enemy_id or None

    def refresh_drone_list(self, drone_ids):
        items = [_NONE_LABEL] + sorted(drone_ids)
        current = self._enemy_id if self._enemy_id in drone_ids else ""
        self._suppress_enemy = True
        self.enemy_combo.clear()
        self.enemy_combo.addItems(items)
        idx = self.enemy_combo.findText(current) if current else 0
        self.enemy_combo.setCurrentIndex(idx if idx >= 0 else 0)
        self._suppress_enemy = False
        if current != self._enemy_id:
            self._enemy_id = current
            self.enemy_changed.emit(self._enemy_id)

    def refresh_group_list(self, group_labels):
        """group_labels: list[(group_id, display_text)]。只有內容變動才重建，避免 5Hz 狂刷。"""
        sig = tuple(group_labels)
        if sig == self._group_sig:
            return
        self._group_sig = sig
        self._suppress_group = True
        for combo in (self.a_group_combo, self.b_group_combo):
            prev = combo.currentData()
            combo.clear()
            combo.addItem(_NONE_LABEL, None)
            for gid, text in group_labels:
                combo.addItem(text, gid)
            if prev is not None:
                i = combo.findData(prev)
                combo.setCurrentIndex(i if i >= 0 else 0)
        self._suppress_group = False

    def selected_group_ids(self):
        return self.a_group_combo.currentData(), self.b_group_combo.currentData()

    def set_phase_text(self, text):
        self.phase_label.setText(f"階段：{text}")

    def set_confirm_enabled(self, enabled):
        self.confirm_btn.setEnabled(enabled)

    def tick(self, drone_positions):
        """{drone_id: (lat, lon)} 更新距離讀數。"""
        enemy = self._enemy_id
        base = "color: #AAA; font-size: 13px; padding: 4px 2px;"
        if not enemy:
            self.distance_label.setText("敵機 ↔ 最近友機：（尚未選擇敵機）")
            self.distance_label.setStyleSheet(base)
            return
        epos = drone_positions.get(enemy)
        if not epos:
            self.distance_label.setText(f"敵機 {enemy} ↔ 最近友機：（等待敵機定位）")
            self.distance_label.setStyleSheet(base)
            return
        nearest_id, nearest_d = None, None
        for did, pos in drone_positions.items():
            if did == enemy or not pos:
                continue
            d = _haversine(epos[0], epos[1], pos[0], pos[1])
            if nearest_d is None or d < nearest_d:
                nearest_id, nearest_d = did, d
        if nearest_id is None:
            self.distance_label.setText(f"敵機 {enemy} ↔ 最近友機：（無友機定位）")
            self.distance_label.setStyleSheet(base)
            return
        color = "#E57373" if nearest_d <= self.r_detect else "#81C784"
        self.distance_label.setText(
            f"敵機 {enemy} ↔ 最近友機 {nearest_id}：{nearest_d:.1f} m")
        self.distance_label.setStyleSheet(
            f"color: {color}; font-size: 13px; font-weight: bold; padding: 4px 2px;")

    # ----------------------------------------------------------------- 內部
    def _on_enemy_changed(self, text):
        if self._suppress_enemy:
            return
        self._enemy_id = "" if text == _NONE_LABEL else text
        _log("INFO", f"[交戰] 敵機選擇：{self._enemy_id or '（未選擇）'}")
        self.enemy_changed.emit(self._enemy_id)

    def _on_group_changed(self, _text):
        if self._suppress_group:
            return
        a_id, b_id = self.selected_group_ids()
        self.groups_changed.emit(a_id or "", b_id or "")

    def _refresh_enemy_speed_hint(self, *_):
        v = self.friendly_speed_spin.value()
        r = self.enemy_ratio_spin.value()
        self.enemy_speed_hint.setText(f"→ 友機 {v:.1f} m/s、敵機 {v * r:.1f} m/s")

    def _on_apply_speed(self):
        v = self.friendly_speed_spin.value()
        r = self.enemy_ratio_spin.value()
        _log("INFO", f"[交戰] 套用速度：友機 {v:.1f} m/s、敵機 {v * r:.1f} m/s (比例 {r:.2f})")
        self.apply_speed_requested.emit(v, r)