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#!/usr/bin/env python3
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from PyQt6.QtWebEngineWidgets import QWebEngineView
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from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
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from PyQt6.QtWebChannel import QWebChannel
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class DroneMap:
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"""無人機地圖類別 - 負責管理 Leaflet 地圖顯示"""
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def __init__(self):
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"""初始化地圖"""
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self.map_view = QWebEngineView()
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self.map_loaded = False
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self.pending_map_updates = {}
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# 創建橋接對象
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self.bridge = MapBridge()
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# 設置 QWebChannel
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self.channel = QWebChannel()
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self.channel.registerObject('bridge', self.bridge)
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self.map_view.page().setWebChannel(self.channel)
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# 設置地圖 HTML
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inline_html = '''
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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8" />
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<link rel="stylesheet" href="https://unpkg.com/leaflet/dist/leaflet.css" />
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<script src="https://unpkg.com/leaflet/dist/leaflet.js"></script>
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<script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
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<script src="qrc:///qtwebchannel/qwebchannel.js"></script>
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<style>
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html, body, #map { height: 100%; margin: 0; }
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.map-controls {
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position: absolute;
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top: 10px;
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right: 10px;
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z-index: 1000;
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}
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.control-button {
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padding: 8px 12px;
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background-color: #f44336;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 12px;
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box-shadow: 0 2px 5px rgba(0,0,0,0.2);
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}
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.control-button:hover {
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background-color: #d32f2f;
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}
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</style>
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</head>
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<body>
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<div id="map"></div>
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<div class="map-controls">
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<button class="control-button" onclick="clearAllTrajectories()">清除軌跡</button>
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</div>
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<script>
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var bridge;
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new QWebChannel(qt.webChannelTransport, function(channel) {
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bridge = channel.objects.bridge;
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});
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var map = L.map('map').setView([0, 0], 19);
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L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
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maxZoom: 19,
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attribution: '© OpenStreetMap contributors'
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}).addTo(map);
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// 地圖點擊事件
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map.on('click', function(e) {
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if (bridge) {
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bridge.emitGpsSignal(e.latlng.lat, e.latlng.lng);
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console.log('點擊位置:', e.latlng.lat, e.latlng.lng);
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}
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});
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function createArrowIcon(color) {
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return L.divIcon({
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className: 'drone-arrow',
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html: `
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<div style="
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width: 30px; height: 30px;
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display: flex;
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align-items: center;
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justify-content: center;
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">
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<svg width="30" height="30" viewBox="0 0 30 30">
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<polygon points="15,0 30,30 15,25 0,30" fill="${color || '#FF0000'}" />
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</svg>
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</div>
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`,
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iconSize: [30, 30],
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iconAnchor: [15, 15] // ★ 箭頭往左上移，使 ID 顯示在右下
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});
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}
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function getColorBySocketId(id) {
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if (id.startsWith("s0_")) return "#00BFFF"; // 天藍色
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if (id.startsWith("s1_")) return "#FFD700"; // 金色
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if (id.startsWith("s2_")) return "#FF6969"; // 淺紅色
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if (id.startsWith("s3_")) return "#FF69B4"; // 熱粉紅
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if (id.startsWith("s4_")) return "#00FA9A"; // 中春綠
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if (id.startsWith("s5_")) return "#9370DB"; // 中紫色 (串口)
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if (id.startsWith("s6_")) return "#FFA500"; // 橙色
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if (id.startsWith("s7_")) return "#20B2AA"; // 淺海綠
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if (id.startsWith("s8_")) return "#7CFC00"; // 草綠色
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if (id.startsWith("s9_")) return "#FF8C00"; // 深橙色
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return "#AAAAAA"; // 灰色 (預設)
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}
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function createIdIcon(id) {
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const sysid = id.split('_')[1];
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return L.divIcon({
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className: 'drone-id',
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html: `<div style="
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background-color: transparent;
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color: black;
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width: 16px;
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height: 16px;
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border-radius: 50%;
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display: flex;
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align-items: center;
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justify-content: center;
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font-weight: bold;
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font-size: 12px;
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text-shadow: 1px 1px 2px rgba(255,255,255,0.8), -1px -1px 2px rgba(255,255,255,0.8);
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">${sysid}</div>`,
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iconSize: [16, 16],
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iconAnchor: [8, 6] // ★ icon 中心 = 經緯度點
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});
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}
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var markers = {};
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var idLabels = {};
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var trajectories = {};
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var trajectoryLines = {};
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var focusedId = null;
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var initialized = false;
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var trajectoryGroup = L.layerGroup().addTo(map);
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// ================================================================================
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// 【新增】任務規劃視覺化變數
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// ================================================================================
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var missionPlanGroup = L.layerGroup().addTo(map); // 任務規劃圖層
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var centerMarker = null; // 中心點標記
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var targetMarker = null; // 目標點標記
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var missionLine = null; // 中心點到目標點的虛線
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// ================================================================================
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function initTrajectory(id) {
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if (!trajectories[id]) {
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trajectories[id] = [];
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const color = getColorBySocketId(id);
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trajectoryLines[id] = L.polyline([], {
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color: color,
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weight: 3,
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opacity: 0.7,
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smoothFactor: 1
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}).addTo(trajectoryGroup);
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}
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}
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function addTrajectoryPoint(id, lat, lon) {
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initTrajectory(id);
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const point = [lat, lon];
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trajectories[id].push(point);
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if (trajectories[id].length > 1000) {
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trajectories[id].shift();
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}
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trajectoryLines[id].setLatLngs([...trajectories[id]]);
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}
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function focusOn(id) {
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if (!markers[id]) return;
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focusedId = id;
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var latlng = markers[id].getLatLng();
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map.flyTo(latlng, map.getZoom());
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}
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setInterval(() => {
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if (focusedId && markers[focusedId]) {
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var latlng = markers[focusedId].getLatLng();
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map.panTo(latlng);
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}
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}, 1000);
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function updateDrone(lat, lon, id, heading) {
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if (markers[id]) {
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const lastPos = markers[id].getLatLng();
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const distance = lastPos.distanceTo([lat, lon]);
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if (distance > 1) {
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addTrajectoryPoint(id, lat, lon);
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}
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markers[id]
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.setLatLng([lat, lon])
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.setRotationAngle(heading);
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idLabels[id].setLatLng([lat, lon]);
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} else {
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initTrajectory(id);
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addTrajectoryPoint(id, lat, lon);
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const color = getColorBySocketId(id);
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markers[id] = L.marker([lat, lon], {
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icon: createArrowIcon(color),
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rotationAngle: heading,
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rotationOrigin: 'center'
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})
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.on('click', function () {
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focusOn(id);
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})
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.addTo(map);
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idLabels[id] = L.marker([lat, lon], {
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icon: createIdIcon(id),
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zIndexOffset: 1000
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})
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.on('click', function() {
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focusOn(id);
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})
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.addTo(map);
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if (!initialized || id < focusedId) {
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focusOn(id);
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initialized = true;
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}
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}
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}
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function clearAllTrajectories() {
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trajectories = {};
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Object.values(trajectoryLines).forEach(line => {
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trajectoryGroup.removeLayer(line);
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});
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trajectoryLines = {};
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console.log('所有軌跡已清除');
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}
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// ================================================================================
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// 【新增】任務規劃視覺化函式
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// ================================================================================
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function drawMissionPlan(centerLat, centerLon, targetLat, targetLon) {
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// 清除舊的任務規劃標記
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clearMissionPlan();
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// 繪製中心點標記 "C"（縮小到 20px）
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var centerIcon = L.divIcon({
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className: 'mission-center',
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html: `<div style="
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background-color: #FF4444;
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color: white;
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width: 20px;
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height: 20px;
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border-radius: 50%;
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display: flex;
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align-items: center;
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justify-content: center;
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font-weight: bold;
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font-size: 12px;
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border: 2px solid white;
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box-shadow: 0 2px 5px rgba(0,0,0,0.3);
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">C</div>`,
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iconSize: [20, 20],
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iconAnchor: [10, 10]
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});
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centerMarker = L.marker([centerLat, centerLon], {
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icon: centerIcon,
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zIndexOffset: 2000
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}).addTo(missionPlanGroup);
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// 繪製目標點標記 "★"（星星符號）
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var targetIcon = L.divIcon({
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className: 'mission-target',
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html: `<div style="
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background-color: #FFD700;
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color: #FF4444;
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width: 20px;
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height: 20px;
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border-radius: 50%;
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display: flex;
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align-items: center;
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justify-content: center;
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font-weight: bold;
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font-size: 14px;
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border: 2px solid white;
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box-shadow: 0 2px 5px rgba(0,0,0,0.3);
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">★</div>`,
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iconSize: [20, 20],
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iconAnchor: [10, 10]
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});
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targetMarker = L.marker([targetLat, targetLon], {
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icon: targetIcon,
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zIndexOffset: 2000
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}).addTo(missionPlanGroup);
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// 繪製中心點到目標點的虛線
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missionLine = L.polyline(
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[[centerLat, centerLon], [targetLat, targetLon]],
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{
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color: '#FF4444',
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weight: 3,
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opacity: 0.8,
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dashArray: '10, 10', // 虛線樣式
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smoothFactor: 1
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}
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).addTo(missionPlanGroup);
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console.log('任務規劃已繪製: C(' + centerLat + ', ' + centerLon + ') -> T(' + targetLat + ', ' + targetLon + ')');
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}
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function clearMissionPlan() {
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// 清除中心點標記
|
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|
|
|
|
if (centerMarker) {
|
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|
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missionPlanGroup.removeLayer(centerMarker);
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|
|
centerMarker = null;
|
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|
}
|
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|
|
// 清除目標點標記
|
|
|
|
|
|
if (targetMarker) {
|
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|
|
missionPlanGroup.removeLayer(targetMarker);
|
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|
|
targetMarker = null;
|
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|
|
}
|
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|
|
// 清除任務線
|
|
|
|
|
|
if (missionLine) {
|
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|
|
missionPlanGroup.removeLayer(missionLine);
|
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|
|
missionLine = null;
|
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|
|
|
}
|
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|
|
|
console.log('任務規劃已清除');
|
|
|
|
|
|
}
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
</script>
|
|
|
|
|
|
</body>
|
|
|
|
|
|
</html>
|
|
|
|
|
|
'''
|
|
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|
|
|
|
|
|
|
|
|
self.map_view.setHtml(inline_html)
|
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|
|
|
|
self.map_view.loadFinished.connect(self._on_map_loaded)
|
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|
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|
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|
|
# 設置地圖更新計時器
|
|
|
|
|
|
self.map_update_timer = QTimer()
|
|
|
|
|
|
self.map_update_timer.timeout.connect(self.update_map_positions)
|
|
|
|
|
|
self.map_update_timer.start(200) # 每 200ms 更新一次
|
|
|
|
|
|
|
|
|
|
|
|
def _on_map_loaded(self, ok: bool):
|
|
|
|
|
|
"""地圖加載完成回調"""
|
|
|
|
|
|
if ok:
|
|
|
|
|
|
self.map_loaded = True
|
|
|
|
|
|
else:
|
|
|
|
|
|
print("⚠️ 地圖加載失敗")
|
|
|
|
|
|
|
|
|
|
|
|
def update_drone_position(self, drone_id, lat, lon, heading):
|
|
|
|
|
|
"""更新無人機位置（加入待處理隊列）"""
|
|
|
|
|
|
self.pending_map_updates[drone_id] = (lat, lon, heading)
|
|
|
|
|
|
|
|
|
|
|
|
def update_map_positions(self):
|
|
|
|
|
|
"""批量更新地圖上的無人機位置"""
|
|
|
|
|
|
if not self.map_loaded or not self.pending_map_updates:
|
|
|
|
|
|
return
|
|
|
|
|
|
|
|
|
|
|
|
# 批量執行所有待更新的位置
|
|
|
|
|
|
js_commands = []
|
|
|
|
|
|
for drone_id, (lat, lon, heading) in self.pending_map_updates.items():
|
|
|
|
|
|
js_commands.append(f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});")
|
|
|
|
|
|
|
|
|
|
|
|
if js_commands:
|
|
|
|
|
|
combined_js = "\n".join(js_commands)
|
|
|
|
|
|
self.map_view.page().runJavaScript(combined_js)
|
|
|
|
|
|
|
|
|
|
|
|
# 清空待更新緩存
|
|
|
|
|
|
self.pending_map_updates.clear()
|
|
|
|
|
|
|
|
|
|
|
|
def clear_trajectories(self):
|
|
|
|
|
|
"""清除所有軌跡"""
|
|
|
|
|
|
if self.map_loaded:
|
|
|
|
|
|
self.map_view.page().runJavaScript("clearAllTrajectories();")
|
|
|
|
|
|
|
|
|
|
|
|
def focus_on_drone(self, drone_id):
|
|
|
|
|
|
"""聚焦到指定無人機"""
|
|
|
|
|
|
if self.map_loaded:
|
|
|
|
|
|
self.map_view.page().runJavaScript(f"focusOn('{drone_id}');")
|
|
|
|
|
|
|
|
|
|
|
|
# ================================================================================
|
|
|
|
|
|
# 【新增】任務規劃視覺化方法
|
|
|
|
|
|
# ================================================================================
|
|
|
|
|
|
def draw_mission_plan(self, center_lat, center_lon, target_lat, target_lon):
|
|
|
|
|
|
"""
|
|
|
|
|
|
在地圖上繪製任務規劃
|
|
|
|
|
|
|
|
|
|
|
|
Args:
|
|
|
|
|
|
center_lat: 中心點緯度
|
|
|
|
|
|
center_lon: 中心點經度
|
|
|
|
|
|
target_lat: 目標點緯度
|
|
|
|
|
|
target_lon: 目標點經度
|
|
|
|
|
|
"""
|
|
|
|
|
|
if self.map_loaded:
|
|
|
|
|
|
js_code = f"drawMissionPlan({center_lat:.6f}, {center_lon:.6f}, {target_lat:.6f}, {target_lon:.6f});"
|
|
|
|
|
|
self.map_view.page().runJavaScript(js_code)
|
|
|
|
|
|
print(f"📍 地圖已繪製任務規劃: C({center_lat:.6f}, {center_lon:.6f}) -> T({target_lat:.6f}, {target_lon:.6f})")
|
|
|
|
|
|
|
|
|
|
|
|
def clear_mission_plan(self):
|
|
|
|
|
|
"""清除地圖上的任務規劃標記"""
|
|
|
|
|
|
if self.map_loaded:
|
|
|
|
|
|
self.map_view.page().runJavaScript("clearMissionPlan();")
|
|
|
|
|
|
print("🗑️ 地圖已清除任務規劃")
|
|
|
|
|
|
# ================================================================================
|
|
|
|
|
|
|
|
|
|
|
|
def get_widget(self):
|
|
|
|
|
|
"""獲取地圖 widget"""
|
|
|
|
|
|
return self.map_view
|
|
|
|
|
|
|
|
|
|
|
|
def get_gps_signal(self):
|
|
|
|
|
|
"""獲取 GPS 信號"""
|
|
|
|
|
|
return self.bridge.gps_signal
|
|
|
|
|
|
|
|
|
|
|
|
class MapBridge(QObject):
|
|
|
|
|
|
"""JavaScript 和 Python 之間的橋接類"""
|
|
|
|
|
|
gps_signal = pyqtSignal(float, float) # lat, lon
|
|
|
|
|
|
|
|
|
|
|
|
def __init__(self):
|
|
|
|
|
|
super().__init__()
|
|
|
|
|
|
|
|
|
|
|
|
@pyqtSlot(float, float)
|
|
|
|
|
|
def emitGpsSignal(self, lat, lon):
|
|
|
|
|
|
"""供 JavaScript 調用的方法"""
|
|
|
|
|
|
self.gps_signal.emit(lat, lon)
|
