AirTrapMine/src/GUI/communication.py

from rclpy.node import Node
from PyQt6.QtCore import QObject, pyqtSignal
import math
import re
import threading
from threading import Lock
from concurrent.futures import ThreadPoolExecutor
import asyncio
import websockets
import json
import socket
import sys
import os
import traceback
from pymavlink import mavutil
from geometry_msgs.msg import Point, Vector3, Vector3Stamped, PoseWithCovarianceStamped
from sensor_msgs.msg import BatteryState, NavSatFix, Imu
from std_msgs.msg import Float64, String
from mavros_msgs.msg import State, VfrHud
from nav_msgs.msg import Odometry
from mavros_msgs.srv import CommandBool, CommandTOL


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


# 確保 src 目錄在 Python 路徑中（用於 fc_network_apps 導入）
_src_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
if _src_path not in sys.path:
    sys.path.insert(0, _src_path)

# 導入 fc_network_apps 的 longCommand（統一的 MAV_CMD_* API）
try:
    from fc_network_apps.longCommand import CommandLongClient
except ImportError as e:
    import traceback
    _log("WARN", "無法導入 CommandLongClient")
    _log("ERROR", f"錯誤: {e}")
    _log("WARN", "這通常表示 ROS2 的 fc_interfaces 套件尚未編譯或安裝不完整")
    traceback.print_exc()
    CommandLongClient = None

# 導入 fc_network_apps 的 navigation（PositionTargetGlobalInt / Offboard goto）
try:
    from fc_network_apps.navigation import PositionTargetGlobalIntClient
except ImportError as e:
    import traceback
    _log("WARN", "無法導入 PositionTargetGlobalIntClient")
    _log("ERROR", f"錯誤: {e}")
    traceback.print_exc()
    PositionTargetGlobalIntClient = None

try:
    from fc_interfaces.msg import AttitudeRaw
except ImportError as e:
    _log("WARN", "無法導入 AttitudeRaw")
    _log("ERROR", f"錯誤: {e}")
    AttitudeRaw = None

class DroneSignals(QObject):
    update_signal = pyqtSignal(str, str, object)  # (msg_type, drone_id, data)

class UDPMavlinkReceiver(threading.Thread):
    """UDP MAVLink 接收器"""
    def __init__(self, ip, port, signals, connection_name, monitor=None):
        super().__init__(daemon=True)
        self.ip = ip
        self.port = port
        self.signals = signals
        self.connection_name = connection_name
        self.monitor = monitor  # 保存 monitor 引用
        self.socket_id = monitor.get_next_socket_id() if monitor else 0
        self.running = False
        self.sock = None
        
    def run(self):
        """執行 UDP 接收循環"""
        self.running = True
        try:
            print(f"UDP MAVLink receiver started on {self.ip}:{self.port}")
            
            # 創建 MAVLink 連接
            mav = mavutil.mavlink_connection(f'udpin:{self.ip}:{self.port}')
            while self.running:
                try:
                    msg = mav.recv_match(blocking=True, timeout=1.0)
                    if msg is None:
                        continue
                    
                    self.process_mavlink_message(msg)
                    
                except socket.timeout:
                    continue
                except Exception as e:
                    print(f"Error receiving MAVLink message: {e}")
                    
        except Exception as e:
            print(f"UDP receiver error: {e}")
        finally:
            if self.sock:
                self.sock.close()
                
    def process_mavlink_message(self, msg):
        """處理 MAVLink 訊息"""
        try:
            msg_type = msg.get_type()
            system_id = msg.get_srcSystem()
            drone_id = f"s{self.socket_id}_{system_id}"
            
            if msg_type == "HEARTBEAT":
                # 先發送連接類型資訊
                self.signals.update_signal.emit('connection_type', drone_id, {
                    'type': 'UDP'
                })
                mode = mavutil.mode_string_v10(msg)
                armed = bool(msg.base_mode & 128)
                self.signals.update_signal.emit('state', drone_id, {
                    'mode': mode,
                    'armed': armed
                })

            elif msg_type == "BATTERY_STATUS":
                voltage = msg.voltages[0] / 1000
                self.signals.update_signal.emit('battery', drone_id, {
                    'voltage': voltage
                })

            elif msg_type == "GLOBAL_POSITION_INT":
                latitude = msg.lat / 1e7
                longitude = msg.lon / 1e7
                self.signals.update_signal.emit('gps', drone_id, {
                    'lat': latitude,
                    'lon': longitude
                })

            elif msg_type == "GPS_RAW_INT":
                fix_type = msg.fix_type

            elif msg_type == "LOCAL_POSITION_NED":
                x = msg.y
                y = msg.x
                z = -msg.z
                self.signals.update_signal.emit('local_pose', drone_id, {
                    'x': x,
                    'y': y,
                    'z': z
                })
                self.signals.update_signal.emit('altitude', drone_id, {
                    'altitude': z
                })
                self.signals.update_signal.emit('velocity', drone_id, {
                    'vx': msg.vx,
                    'vy': msg.vy,
                    'vz': msg.vz
                })

            elif msg_type == "ATTITUDE":
                # 從 MAVLink 訊息中提取並轉為角度
                pitch = math.degrees(msg.pitch)
                roll = math.degrees(msg.roll)
                yaw = math.degrees(msg.yaw)
                self.signals.update_signal.emit('attitude', drone_id, {
                    'pitch': pitch,
                    'roll': roll,
                    'yaw': yaw,
                    'rates': (msg.rollspeed, msg.pitchspeed, msg.yawspeed)
                })

            elif msg_type == "VFR_HUD":
                self.signals.update_signal.emit('hud', drone_id, {
                    'airspeed': msg.airspeed,
                    'groundspeed': msg.groundspeed,
                    'heading': msg.heading,
                    'throttle': msg.throttle,
                    'alt': msg.alt,
                    'climb': msg.climb
                })
                
        except Exception as e:
            print(f"Error processing MAVLink message: {e}")
            
    def stop(self):
        """停止接收器"""
        self.running = False

class SerialMavlinkReceiver(threading.Thread):
    """串口 MAVLink 接收器"""
    def __init__(self, port, baudrate, signals, connection_name, monitor=None):
        super().__init__(daemon=True)
        self.port = port
        self.baudrate = baudrate
        self.signals = signals
        self.connection_name = connection_name
        self.monitor = monitor  # 保存 monitor 引用
        self.socket_id = monitor.get_next_socket_id() if monitor else 0
        self.running = False
        self.mav = None
        
    def run(self):
        """執行串口接收循環"""
        self.running = True
        try:
            print(f"Serial MAVLink receiver started on {self.port} at {self.baudrate} baud")
            
            # 創建 MAVLink 串口連接
            self.mav = mavutil.mavlink_connection(
                self.port,
                baud=self.baudrate,
                source_system=255
            )
            
            print(f"Waiting for heartbeat from {self.port}...")
            self.mav.wait_heartbeat()
            print(f"Heartbeat received from system {self.mav.target_system}, component {self.mav.target_component}")
            
            while self.running:
                try:
                    msg = self.mav.recv_match(blocking=True, timeout=1.0)
                    if msg is None:
                        continue
                    
                    self.process_mavlink_message(msg)
                    
                except Exception as e:
                    if self.running:
                        print(f"Error receiving MAVLink message from serial: {e}")
                    
        except Exception as e:
            print(f"Serial receiver error: {e}")
        finally:
            if self.mav:
                try:
                    self.mav.close()
                except:
                    pass
                
    def process_mavlink_message(self, msg):
        """處理 MAVLink 訊息"""
        try:
            msg_type = msg.get_type()
            system_id = msg.get_srcSystem()
            drone_id = f"s{self.socket_id}_{system_id}"
            
            if msg_type == "HEARTBEAT":
                # 先發送連接類型資訊
                self.signals.update_signal.emit('connection_type', drone_id, {
                    'type': 'Serial'
                })
                mode = mavutil.mode_string_v10(msg)
                armed = bool(msg.base_mode & 128)
                self.signals.update_signal.emit('state', drone_id, {
                    'mode': mode,
                    'armed': armed
                })

            elif msg_type == "BATTERY_STATUS":
                voltage = msg.voltages[0] / 1000
                self.signals.update_signal.emit('battery', drone_id, {
                    'voltage': voltage
                })

            elif msg_type == "GLOBAL_POSITION_INT":
                latitude = msg.lat / 1e7
                longitude = msg.lon / 1e7
                self.signals.update_signal.emit('gps', drone_id, {
                    'lat': latitude,
                    'lon': longitude
                })

            elif msg_type == "GPS_RAW_INT":
                fix_type = msg.fix_type

            elif msg_type == "LOCAL_POSITION_NED":
                x = msg.y
                y = msg.x
                z = -msg.z
                self.signals.update_signal.emit('local_pose', drone_id, {
                    'x': x,
                    'y': y,
                    'z': z
                })
                self.signals.update_signal.emit('altitude', drone_id, {
                    'altitude': z
                })
                self.signals.update_signal.emit('velocity', drone_id, {
                    'vx': msg.vx,
                    'vy': msg.vy,
                    'vz': msg.vz
                })

            elif msg_type == "ATTITUDE":
                # 從 MAVLink 訊息中提取並轉為角度
                pitch = math.degrees(msg.pitch)
                roll = math.degrees(msg.roll)
                yaw = math.degrees(msg.yaw)
                self.signals.update_signal.emit('attitude', drone_id, {
                    'pitch': pitch,
                    'roll': roll,
                    'yaw': yaw,
                    'rates': (msg.rollspeed, msg.pitchspeed, msg.yawspeed)
                })

            elif msg_type == "VFR_HUD":
                self.signals.update_signal.emit('hud', drone_id, {
                    'airspeed': msg.airspeed,
                    'groundspeed': msg.groundspeed,
                    'heading': msg.heading,
                    'throttle': msg.throttle,
                    'alt': msg.alt,
                    'climb': msg.climb
                })
                
        except Exception as e:
            print(f"Error processing MAVLink message from serial: {e}")
            
    def stop(self):
        """停止接收器"""
        self.running = False

class WebSocketMavlinkReceiver(threading.Thread):
    """WebSocket MAVLink 接收器"""
    def __init__(self, url, signals, connection_name, monitor=None):
        super().__init__(daemon=True)
        self.url = url
        self.signals = signals
        self.connection_name = connection_name
        self.monitor = monitor  # 保存 monitor 引用        self.socket_id = monitor.get_next_socket_id() if monitor else 0  # 一次性分配 socket_id        self.running = False
        self.max_retries = 5
        self.base_delay = 1.0
        
    def run(self):
        """執行 WebSocket 接收循環"""
        self.running = True
        asyncio.set_event_loop(asyncio.new_event_loop())
        asyncio.get_event_loop().run_until_complete(self.ws_client_loop())
    
    async def ws_client_loop(self):
        """WebSocket 連接的主循環"""
        retry_count = 0
        
        print(f"Starting WebSocket client for {self.connection_name} at {self.url}")
        
        while self.running and retry_count < self.max_retries:
            try:
                async with websockets.connect(self.url) as websocket:
                    print(f"WebSocket {self.connection_name} connected to {self.url}")
                    retry_count = 0  # 重置重試計數
                    
                    async for message in websocket:
                        if not self.running:
                            break
                            
                        try:
                            data = json.loads(message)
                            data['_connection_source'] = self.connection_name
                            self.process_websocket_message(data)
                        except json.JSONDecodeError as e:
                            print(f"WebSocket {self.connection_name} JSON decode error: {e}")
                        except Exception as e:
                            print(f"WebSocket {self.connection_name} message processing error: {e}")
                            
            except websockets.exceptions.ConnectionClosedError:
                print(f"WebSocket {self.connection_name} connection closed")
                if self.running:
                    retry_count += 1
                    if retry_count < self.max_retries:
                        delay = self.base_delay * (2 ** min(retry_count, 4))
                        print(f"Reconnecting in {delay}s...")
                        await asyncio.sleep(delay)
                else:
                    break
            except Exception as e:
                retry_count += 1
                if retry_count < self.max_retries and self.running:
                    delay = self.base_delay * (2 ** min(retry_count, 4))
                    print(f"WebSocket {self.connection_name} connection error: {e}, retrying in {delay}s (attempt {retry_count}/{self.max_retries})")
                    await asyncio.sleep(delay)
                else:
                    break
        
        print(f"WebSocket client {self.connection_name} stopped")
    
    def process_websocket_message(self, data):
        """處理 WebSocket 訊息"""
        try:
            system_id = data.get('system_id')
            if not system_id:
                return
            drone_id = f"s{self.socket_id}_{system_id}"

            # 模式
            if 'mode' in data:
                # 先發送連接類型資訊
                self.signals.update_signal.emit('connection_type', drone_id, {
                    'type': 'WS'
                })
                self.signals.update_signal.emit('state', drone_id, {
                    'mode': data['mode'],
                })

            # 電池
            if 'battery' in data:
                self.signals.update_signal.emit('battery', drone_id, {
                    'percentage': data['battery']  
                })

            # 位置
            if 'position' in data:
                pos = data['position']
                self.signals.update_signal.emit('gps', drone_id, {
                    'lat': pos.get('lat', 0),
                    'lon': pos.get('lon', 0)
                })

                # Local position - 設定 x, y 為 0.0
                self.signals.update_signal.emit('local_pose', drone_id, {
                    'x': 0.0,
                    'y': 0.0,
                    'z': 0.0
                })
                
                # Altitude - 設定為 0.0
                self.signals.update_signal.emit('altitude', drone_id, {
                    'altitude': 0.0
                })

            # 航向
            if 'heading' in data:
                self.signals.update_signal.emit('hud', drone_id, {
                    'heading': data['heading'],
                    'groundspeed': 0.0
                })
            
        except Exception as e:
            print(f"WebSocket message processing error: {e}")
            
    def stop(self):
        """停止接收器"""
        self.running = False

class DroneMonitor(Node):
    # Subscribe to drone ROS2 topics
    _instance = None  # Singleton pattern to prevent duplicate nodes
    
    def __init__(self):
        # Use a unique node name with timestamp to avoid conflicts on restart
        import time
        node_name = f'drone_monitor_{int(time.time() * 1000) % 100000}'
        super().__init__(node_name)
        self.signals = DroneSignals()
        self.drone_topics = {}
        self.lock = Lock()
        
        self.arm_clients = {}
        self.takeoff_clients = {}
        self.setpoint_pubs = {}
        self.selected_drones = set()
        self.latest_data = {}

        # 定義需要過濾的模式
        self.filtered_modes = ['Mode(0x000000c0)']

        # WebSocket 接收器列表
        self.ws_receivers = []
        
        # 串口接收器列表
        
        # ================================================================================
        # 【新增】儲存 GPS 資料的字典
        # ================================================================================
        self.drone_gps = {}  # {drone_id: {'lat': ..., 'lon': ..., 'alt': ...}}
        # ================================================================================
        
        # ================================================================================
        # 【新增】Socket ID 重新分配機制 (從 0 開始)
        # ================================================================================
        self.socket_id_mapping = {}  # {原始socket_id: 重新分配的socket_id}
        self.socket_id_counter = 0   # 當前分配到的最大socket_id
        self.socket_id_lock = Lock()  # 線程安全鎖
        # ================================================================================
        
        # ================================================================================
        # 【新增】儲存 sys_id 到 actual_drone_id 的映射 (從 summary 獲取)
        # ================================================================================
        self.sys_to_actual_id = {}  # {sys_id: actual_drone_id} e.g. {'sys11': 's0_11'}
        self.sys_to_socket_id = {}  # {sys_id: assigned_socket_id} e.g. {'sys11': 0}
        # ================================================================================
        self.serial_receivers = []
        
        # ================================================================================
        # 【新增】初始化 CommandLongClient 字典（為每個 drone 維護獨立的 client）
        # ================================================================================
        # 改為為每個 drone 創建獨立的 client，避免多機並行時的競態條件
        self.command_long_clients = {}  # {drone_id: CommandLongClient}
        self.client_lock = Lock()  # 保護 clients 字典的訪問
        self.client_counter = 0  # 用於生成唯一的 client 節點名稱
        self.executor = None  # 將在 gui.py 中設置，用於添加新的 clients
        # ================================================================================

        # ================================================================================
        # PositionTargetGlobalIntClient 字典（per-drone，用於 Offboard goto）
        # ================================================================================
        self.position_target_clients = {}  # {drone_id: PositionTargetGlobalIntClient}
        self.pos_client_counter = 0
        # ================================================================================
        
        # 主题检测定时器
        self.create_timer(1.0, self.scan_topics)
    
    def get_next_socket_id(self):
        """获取下一个可用的 socket_id（从 0 开始连续分配）"""
        with self.socket_id_lock:
            current_id = self.socket_id_counter
            self.socket_id_counter += 1
            return current_id
    
    def get_or_assign_socket_id(self, original_socket_id):
        """根據原始 socket_id 分配或獲取對應的 socket_id（從 0 開始連續分配）
        同一個原始 socket_id 會得到同一個分配的 ID
        """
        original_socket_id = str(original_socket_id)
        
        with self.socket_id_lock:
            if original_socket_id not in self.socket_id_mapping:
                # 分配新的 socket_id
                self.socket_id_mapping[original_socket_id] = self.socket_id_counter
                self.socket_id_counter += 1
            
            return self.socket_id_mapping[original_socket_id]
       
    def get_or_create_client(self, drone_id):
        """為每個 drone 獲取或創建獨立的 CommandLongClient，避免競態條件"""
        with self.client_lock:
            if drone_id not in self.command_long_clients:
                try:
                    # 生成唯一的 client 節點名稱
                    self.client_counter += 1
                    unique_name = f"cmd_long_client_{drone_id}_{self.client_counter}"
                    client = CommandLongClient(node_name=unique_name)
                    self.command_long_clients[drone_id] = client
                    _log("INFO", f"已為 {drone_id} 建立 CommandLongClient (node={unique_name})")
                    
                    # 將新 client 添加到主執行器（這樣它的回調才能被處理）
                    if self.executor:
                        self.executor.add_node(client)
                        _log("INFO", f"已將 {drone_id} 的 CommandLongClient 加入主執行器")
                    
                except TypeError:
                    # 舊版 CommandLongClient 不支持 node_name 參數，使用預設
                    client = CommandLongClient()
                    self.command_long_clients[drone_id] = client
                    _log("INFO", f"已為 {drone_id} 建立 CommandLongClient (使用預設名稱)")
                    
                    if self.executor:
                        self.executor.add_node(client)
                        _log("INFO", f"已將 {drone_id} 的 CommandLongClient 加入主執行器")
                        
                except Exception as e:
                    _log("WARN", f"無法為 {drone_id} 建立 CommandLongClient: {e}")
                    return None
            return self.command_long_clients[drone_id]

    def get_or_create_position_client(self, drone_id):
        """為每個 drone 獲取或創建獨立的 PositionTargetGlobalIntClient。"""
        if PositionTargetGlobalIntClient is None:
            return None
        with self.client_lock:
            if drone_id not in self.position_target_clients:
                try:
                    self.pos_client_counter += 1
                    unique_name = f"pos_target_client_{drone_id}_{self.pos_client_counter}"
                    client = PositionTargetGlobalIntClient(node_name=unique_name)
                    self.position_target_clients[drone_id] = client
                    _log("INFO", f"已為 {drone_id} 建立 PositionTargetGlobalIntClient (node={unique_name})")
                    if self.executor:
                        self.executor.add_node(client)
                        _log("INFO", f"已將 {drone_id} 的 PositionTargetGlobalIntClient 加入主執行器")
                except Exception as e:
                    _log("WARN", f"無法為 {drone_id} 建立 PositionTargetGlobalIntClient: {e}")
                    return None
            return self.position_target_clients[drone_id]

    def scan_topics(self):
        topics = self.get_topic_names_and_types()
        drone_pattern = re.compile(r'/fc_network/vehicle/(sys\d+)/(\w+)')
        
        found_drones = set()
        for topic_name, _ in topics:
            if match := drone_pattern.match(topic_name):
                sys_id, topic_type = match.groups()
                found_drones.add(sys_id)
                with self.lock:
                    self.drone_topics.setdefault(sys_id, set()).add(topic_type)
        
        for sys_id in found_drones:
            # 为每个 sys_id 分配 socket_id（如果还没有分配）
            # 注意：如果后续 summary 提供了 socket_id，会使用 summary 的映射覆盖
            if sys_id not in self.sys_to_socket_id:
                # 暂时所有 ROS2 topic 共享同一个 socket_id = 0
                self.sys_to_socket_id[sys_id] = 0
            
            subs_attr = f'drone_{sys_id}_subs'
            if not hasattr(self, subs_attr):
                self.setup_drone(sys_id)
            else:
                # 檢查既有訂閱是否包含 position_ned / attitude，如果不包含就添加（兼容舊訂閱）
                subs = getattr(self, subs_attr, {})
                if isinstance(subs, dict) and 'position_ned' not in subs:
                    base_topic = f'/fc_network/vehicle/{sys_id}'
                    try:
                        pos_ned_sub = self.create_subscription(
                            Odometry,
                            f'{base_topic}/position_ned',
                            lambda msg, sid=sys_id: self.position_ned_callback(sid, msg),
                            10
                        )
                        subs['position_ned'] = pos_ned_sub
                        setattr(self, subs_attr, subs)  # 明確保存更新後的字典
                    except Exception as e:
                        pass
                if isinstance(subs, dict) and 'attitude' not in subs and AttitudeRaw is not None:
                    base_topic = f'/fc_network/vehicle/{sys_id}'
                    try:
                        attitude_sub = self.create_subscription(
                            AttitudeRaw,
                            f'{base_topic}/attitude',
                            lambda msg, sid=sys_id: self.attitude_callback(sid, msg),
                            10
                        )
                        subs['attitude'] = attitude_sub
                        setattr(self, subs_attr, subs)
                    except Exception:
                        pass
    
    def setup_drone(self, sys_id):
        # sys_id 格式： sys11, sys12, ...
        base_topic = f'/fc_network/vehicle/{sys_id}'
        
        # Add service clients (保留但可能無法使用，因為新 topic 可能沒有這些服務)
        self.arm_clients[sys_id] = self.create_client(
            CommandBool,
            f'{base_topic}/cmd/arming'
        )
        self.takeoff_clients[sys_id] = self.create_client(
            CommandTOL,
            f'{base_topic}/cmd/takeoff'
        )

        # Add setpoint publisher
        self.setpoint_pubs[sys_id] = self.create_publisher(
            Point,
            f'{base_topic}/setpoint_position/local',
            10
        )

        subs = {
            'battery': self.create_subscription(
                BatteryState,
                f'{base_topic}/battery',
                lambda msg, sid=sys_id: self.battery_callback(sid, msg),
                10
            ),
            'position': self.create_subscription(
                NavSatFix,
                f'{base_topic}/position',
                lambda msg, sid=sys_id: self.gps_callback(sid, msg),
                10
            ),
            'summary': self.create_subscription(
                String,
                f'{base_topic}/summary',
                lambda msg, sid=sys_id: self.summary_callback(sid, msg),
                10
            ),
            'vfr_hud': self.create_subscription(
                VfrHud,
                f'{base_topic}/vfr_hud',
                lambda msg, sid=sys_id: self.hud_callback(sid, msg),
                10
            ),
            'position_ned': self.create_subscription(
                Odometry,
                f'{base_topic}/position_ned',
                lambda msg, sid=sys_id: self.position_ned_callback(sid, msg),
                10
            )
        }

        if AttitudeRaw is not None:
            subs['attitude'] = self.create_subscription(
                AttitudeRaw,
                f'{base_topic}/attitude',
                lambda msg, sid=sys_id: self.attitude_callback(sid, msg),
                10
            )
        
        setattr(self, f'drone_{sys_id}_subs', subs)

    # ================================================================================
    # 【新增】模式名稱到 custom_mode 值的映射（基於 Copter 模式）
    # ================================================================================
    MODE_MAPPING = {
        "STABILIZE": 0,
        "ACRO": 1,
        "ALT_HOLD": 2,
        "AUTO": 3,
        "GUIDED": 4,
        "LOITER": 5,
        "RTL": 6,
        "CIRCLE": 7,
        "POSITION": 8,
        "LAND": 9,
        "OF_LOITER": 10,
        "DRIFT": 11,
        "SPORT": 13,
        "FLIP": 14,
        "AUTOTUNE": 15,
        "POSHOLD": 16,
        "BRAKE": 17,
        "THROW": 18,
        "AVOID_ADSB": 19,
        "GUIDED_NOGPS": 20,
        "SMART_RTL": 21,
    }
    # ================================================================================

    async def set_mode(self, drone_id, mode_name):
        """使用 CommandLongClient 切換無人機飛行模式（使用非阻塞的 async 方法）"""
        try:
            # 解析 drone_id 提取 sysid
            parts = drone_id.split('_')
            if len(parts) < 2:
                _log("ERROR", f"[SET_MODE] 無效的 drone_id 格式: {drone_id}")
                return False
            sysid = int(parts[-1])
            
            # 獲取模式對應的 custom_mode 值
            custom_mode = self.MODE_MAPPING.get(mode_name)
            if custom_mode is None:
                _log("ERROR", f"[SET_MODE] 未知模式: {mode_name}")
                return False
            
            _log("INFO", f"[SET_MODE] {drone_id} -> {mode_name} (custom_mode={custom_mode})")
            
            # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
            client = self.get_or_create_client(drone_id)
            if not client:
                _log("ERROR", "[SET_MODE] CommandLongClient 無法初始化")
                return False
            
            # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
            result = await client.change_mode_async(
                target_sysid=sysid,
                custom_mode=float(custom_mode),
                target_compid=0,
                base_mode=1.0,
                timeout_sec=5.0,  # 增加超時時間以提高多機操作的可靠性
            )
            
            if result and result.success:
                _log("INFO", f"[SET_MODE] {drone_id} 模式切換成功")
                return True
            else:
                _log("ERROR", f"[SET_MODE] 模式切換失敗 (message={result.message if result else 'None'})")
                return False
        except Exception as e:
            _log("ERROR", f"[SET_MODE] 例外錯誤: {e}")
            traceback.print_exc()
            return False

    async def arm_drone(self, drone_id, arm):
        """使用 CommandLongClient 執行 ARM/DISARM（使用非阻塞的 async 方法）"""
        try:
            # 解析 drone_id 提取 sysid
            parts = drone_id.split('_')
            if len(parts) < 2:
                _log("ERROR", f"[ARM] 無效的 drone_id 格式: {drone_id}")
                return False
            sysid = int(parts[-1])
            
            action_name = "解鎖" if arm else "上鎖"
            _log("INFO", f"[ARM] {drone_id} -> {action_name}")
            
            # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
            client = self.get_or_create_client(drone_id)
            if not client:
                _log("ERROR", "[ARM] CommandLongClient 無法初始化")
                return False
            
            # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
            result = await client.arm_disarm_async(
                target_sysid=sysid,
                arm=arm,
                target_compid=0,
                timeout_sec=5.0,  # 增加超時時間以提高多機操作的可靠性
            )
            
            if result and result.success:
                _log("INFO", f"[ARM] {drone_id} {action_name}成功")
                return True
            else:
                _log("ERROR", f"[ARM] {drone_id} {action_name}失敗 (message={result.message if result else 'None'})")
                return False
        except Exception as e:
            _log("ERROR", f"[ARM] 例外錯誤: {e}")
            traceback.print_exc()
            return False

    async def takeoff_drone(self, drone_id, altitude):
        """使用 CommandLongClient 執行無人機起飛（使用非阻塞的 async 方法）"""
        try:
            # 解析 drone_id 提取 sysid
            parts = drone_id.split('_')
            if len(parts) < 2:
                _log("ERROR", f"[TAKEOFF] 無效的 drone_id 格式: {drone_id}")
                return False
            sysid = int(parts[-1])
            
            _log("INFO", f"[TAKEOFF] {drone_id} -> 起飛 (高度={altitude}m)")
            
            # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
            client = self.get_or_create_client(drone_id)
            if not client:
                _log("ERROR", "[TAKEOFF] CommandLongClient 無法初始化")
                return False
            
            # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
            result = await client.takeoff_async(
                target_sysid=sysid,
                altitude_m=float(altitude),
                target_compid=0,
                timeout_sec=5.0,  # 增加超時時間以提高多機操作的可靠性
            )
            
            if result and result.success:
                _log("INFO", f"[TAKEOFF] {drone_id} 起飛成功")
                return True
            else:
                _log("ERROR", f"[TAKEOFF] 起飛失敗 (message={result.message if result else 'None'})")
                return False
        except Exception as e:
            _log("ERROR", f"[TAKEOFF] 例外錯誤: {e}")
            traceback.print_exc()
            return False

    def send_setpoint(self, drone_id, x, y, z):
        """Send setpoint position command"""
        if drone_id not in self.setpoint_pubs:
            return False
            
        msg = Point()
        msg.x = float(x)
        msg.y = float(y)
        msg.z = float(z)
        
        self.setpoint_pubs[drone_id].publish(msg)
        return True
    
    def quaternion_to_euler(self, q):
        sinr_cosp = 2 * (q.w * q.x + q.y * q.z)
        cosr_cosp = 1 - 2 * (q.x**2 + q.y**2)
        roll = math.atan2(sinr_cosp, cosr_cosp)
        
        sinp = 2 * (q.w * q.y - q.z * q.x)
        pitch = math.asin(sinp) if abs(sinp) < 1 else math.copysign(math.pi/2, sinp)
        
        siny_cosp = 2 * (q.w * q.z + q.x * q.y)
        cosy_cosp = 1 - 2 * (q.y**2 + q.z**2)
        yaw = math.atan2(siny_cosp, cosy_cosp)
        
        return math.degrees(roll), math.degrees(pitch), math.degrees(yaw)

    # callbacks
    def attitude_callback(self, sys_id, msg):
        """處理姿態 topic，支援 AttitudeRaw 與 IMU 四元數格式。"""
        actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
        if actual_drone_id is None:
            return

        try:
            if hasattr(msg, 'roll') and hasattr(msg, 'pitch') and hasattr(msg, 'yaw'):
                data = {
                    'roll': math.degrees(msg.roll),
                    'pitch': math.degrees(msg.pitch),
                    'yaw': math.degrees(msg.yaw),
                    'rates': (
                        getattr(msg, 'rollspeed', 0.0),
                        getattr(msg, 'pitchspeed', 0.0),
                        getattr(msg, 'yawspeed', 0.0),
                    )
                }
            elif hasattr(msg, 'orientation'):
                roll, pitch, yaw = self.quaternion_to_euler(msg.orientation)
                data = {
                    'roll': roll,
                    'pitch': pitch,
                    'yaw': yaw,
                    'rates': (
                        msg.angular_velocity.x,
                        msg.angular_velocity.y,
                        msg.angular_velocity.z,
                    )
                }
            else:
                return

            self.latest_data[(actual_drone_id, 'attitude')] = data
        except Exception as e:
            print(f"Error parsing attitude msg for {sys_id}: {e}")

    def battery_callback(self, sys_id, msg):
        # 使用映射獲取實際的 drone_id
        actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
        # 如果還沒有從 summary 獲取到映射，則不處理
        if actual_drone_id is None:
            return
        
        self.latest_data[(actual_drone_id, 'battery')] = {
            'voltage': msg.voltage
        }

    def state_callback(self, drone_id, msg):
        mode = msg.mode
        if mode in self.filtered_modes:
            return
        self.latest_data[(drone_id, 'state')] = {
            'mode': msg.mode,
            'armed': msg.armed
        }

    def summary_callback(self, sys_id, msg):
        """處理 summary topic (JSON 格式)"""
        try:
            data = json.loads(msg.data)
            mode = data.get('mode_name', 'UNKNOWN')
            if mode in self.filtered_modes:
                return
            
            # 從 summary 獲取原始 socket_id，並映射到分配的 socket_id
            original_socket_id = data.get('socket_id')
            if original_socket_id is not None:
                # 使用原始 socket_id 獲取或分配統一的 socket_id
                assigned_socket_id = self.get_or_assign_socket_id(original_socket_id)
            else:
                # 如果沒有 socket_id，使用 sys_to_socket_id 映射
                assigned_socket_id = self.sys_to_socket_id.get(sys_id, 0)
            
            sysid = data.get('sysid')
            if sysid is not None:
                actual_drone_id = f's{assigned_socket_id}_{sysid}'
                
                # ================================================================================
                # 【關鍵】保存 sys_id 到 actual_drone_id 的映射
                # ================================================================================
                self.sys_to_actual_id[sys_id] = actual_drone_id
                # ================================================================================
            else:
                # 如果沒有 sysid，使用 sys_id 中的數字
                sys_num = sys_id.replace('sys', '')
                actual_drone_id = f's{assigned_socket_id}_{sys_num}'
                self.sys_to_actual_id[sys_id] = actual_drone_id
                _log("INFO", f"summary_callback 已建立映射 {sys_id} -> {actual_drone_id} (使用 sys_num)")
            
            # 先發送連接類型資訊
            self.signals.update_signal.emit('connection_type', actual_drone_id, {
                'type': 'ROS2'
            })
            
            self.latest_data[(actual_drone_id, 'state')] = {
                'mode': mode,
                'armed': data.get('armed', False),
                'socket_id': original_socket_id,
                'sysid': sysid,
                'vehicle_type': data.get('vehicle_type'),
                'autopilot': data.get('autopilot'),
                'gps_fix': data.get('gps_fix'),
                'gps_fix_type': data.get('gps_fix'),
                'connected': data.get('connected')
            }
        except json.JSONDecodeError as e:
            print(f"Error parsing summary JSON for {sys_id}: {e}")
        except Exception as e:
            print(f"Error in summary_callback for {sys_id}: {e}")

    def gps_callback(self, sys_id, msg):
        # 使用映射獲取實際的 drone_id
        actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
        # 如果還沒有從 summary 獲取到映射，則不處理
        if actual_drone_id is None:
            return
        
        self.latest_data[(actual_drone_id, 'gps')] = {
            'lat': msg.latitude,
            'lon': msg.longitude,
            'alt': msg.altitude
        }
        
        # ================================================================================
        # 【新增】儲存 GPS 資料到 drone_gps 字典
        # ================================================================================
        self.drone_gps[actual_drone_id] = {
            'lat': msg.latitude,
            'lon': msg.longitude,
            'alt': msg.altitude
        }
        # ================================================================================

    def local_vel_callback(self, drone_id, msg):
        self.latest_data[(drone_id, 'velocity')] = {
            'vx': msg.x,
            'vy': msg.y,
            'vz': msg.z
        }

    def altitude_callback(self, drone_id, msg):
        self.latest_data[(drone_id, 'altitude')] = {
            'altitude': msg.data
        }

    def local_pose_callback(self, drone_id, msg):
        self.latest_data[(drone_id, 'local_pose')] = {
            'x': msg.x,
            'y': msg.y,
            'z': msg.z
        }

    def hud_callback(self, sys_id, msg):
        # 使用映射獲取實際的 drone_id
        actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
        # 如果還沒有從 summary 獲取到映射，則不處理
        if actual_drone_id is None:
            return
        
        self.latest_data[(actual_drone_id, 'hud')] = {
            'airspeed': msg.airspeed,
            'groundspeed': msg.groundspeed,
            'heading': msg.heading,
            'throttle': msg.throttle,
            'alt': msg.altitude,
            'climb': msg.climb
        }

    def position_ned_callback(self, sys_id, msg):
        """處理 position_ned topic (nav_msgs/msg/Odometry)
        NED 座標系中的位置（在 msg.pose.pose.position）：
        - x: 北向位移 (m)
        - y: 東向位移 (m)
        - z: 向下位移 (m) - 負值表示向下，轉換為高度需要 * (-1)
        """
        try:
            # 使用映射獲取實際的 drone_id
            actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
            # 如果還沒有從 summary 獲取到映射，則不處理
            if actual_drone_id is None:
                return
            
            # 從 Odometry 消息中提取位置數據 (msg.pose.pose.position)
            # Odometry 結構：header, child_frame_id, pose(包含PoseWithCovariance), twist
            x = msg.pose.pose.position.y  # NED 座標系中交換 x/y（與 local_pose 對齐）
            y = msg.pose.pose.position.x
            z = -msg.pose.pose.position.z  # 將向下的 NED z 轉換為向上的高度（z 為負表示向下）
            vx = msg.twist.twist.linear.y
            vy = msg.twist.twist.linear.x
            vz = -msg.twist.twist.linear.z
            
            # 儲存高度信息
            self.latest_data[(actual_drone_id, 'altitude')] = {
                'altitude': z
            }
            
            # 儲存本地位置信息
            self.latest_data[(actual_drone_id, 'local_pose')] = {
                'x': x,
                'y': y,
                'z': z
            }

            # 儲存速度資訊，供總覽頁「XY速度」欄位顯示
            self.latest_data[(actual_drone_id, 'velocity')] = {
                'vx': vx,
                'vy': vy,
                'vz': vz
            }
            
            # 發送信號給 GUI 更新高度顯示
            self.signals.update_signal.emit('altitude', actual_drone_id, {
                'altitude': z
            })
        except Exception as e:
            pass

    def loss_rate_callback(self, drone_id, msg):
        self.latest_data[(drone_id, 'loss_rate')] = {
            'loss_rate': msg.data
        }

    def ping_callback(self, drone_id, msg):
        self.latest_data[(drone_id, 'ping')] = {
            'ping': msg.data
        }

    def start_serial_connection(self, port='/dev/ttyUSB0', baudrate=57600):
        """啟動串口 MAVLink 連接"""
        connection_name = f"Serial_{port.replace('/', '_')}"
        receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name, self)
        receiver.start()
        self.serial_receivers.append(receiver)
        _log("INFO", f"已啟動 Serial 連線: {port} @ {baudrate} baud")
        return receiver