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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 {
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user-select: none;
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-webkit-user-select: none;
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-moz-user-select: none;
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-ms-user-select: none;
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}
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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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background-color: rgba(255, 255, 255, 0.95);
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padding: 10px;
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border-radius: 6px;
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box-shadow: 0 2px 8px rgba(0,0,0,0.3);
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display: flex;
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flex-direction: column;
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gap: 5px;
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min-width: 150px;
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}
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.map-controls-bottom {
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position: absolute;
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bottom: 10px;
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left: 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: 13px;
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font-weight: bold;
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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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.mission-info-panel {
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position: absolute;
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bottom: 10px;
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right: 10px;
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z-index: 1000;
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background-color: rgba(255, 255, 255, 0.95);
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padding: 12px;
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border-radius: 6px;
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box-shadow: 0 2px 8px rgba(0,0,0,0.3);
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min-width: 200px;
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}
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.mission-info-row {
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margin-bottom: 8px;
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font-size: 12px;
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color: #333;
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}
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.mission-info-label {
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font-weight: bold;
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color: #555;
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}
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.mission-info-value {
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color: #2196F3;
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font-family: monospace;
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}
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.mission-start-button {
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width: 100%;
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padding: 10px;
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background-color: #7FBA82;
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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: 13px;
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font-weight: bold;
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margin-top: 8px;
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}
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.mission-start-button:hover {
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background-color: #6FA872;
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}
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.mission-start-button:disabled {
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background-color: #ccc;
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cursor: not-allowed;
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}
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.selection-buttons {
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display: flex;
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flex-direction: column;
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gap: 5px;
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margin-bottom: 10px;
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padding-bottom: 10px;
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border-bottom: 1px solid #ddd;
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} .selection-button-blue {
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width: 100%;
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padding: 8px;
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background-color: #64B5F6;
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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: 13px;
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font-weight: bold;
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transition: background-color 0.2s;
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}
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.selection-button-blue:hover {
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background-color: #42A5F5;
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}
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.selection-button-blue.active {
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background-color: #1976D2;
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} .selection-button-blue {
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width: 100%;
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padding: 8px;
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background-color: #64B5F6;
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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: 13px;
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font-weight: bold;
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transition: background-color 0.2s;
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}
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.selection-button-blue:hover {
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background-color: #42A5F5;
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}
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.selection-button-blue.active {
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background-color: #1976D2;
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}
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.selection-button {
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width: 100%;
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padding: 8px;
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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: 13px;
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font-weight: bold;
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transition: background-color 0.2s;
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}
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.selection-button:hover {
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background-color: #D32F2F;
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}
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.selection-button.active {
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background-color: #C62828;
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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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<button class="selection-button" id="select-rect-btn" onclick="toggleRectSelection()">框選方形區域</button>
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<button class="selection-button" id="select-polygon-btn" onclick="togglePolygonSelection()">多點選擇區域</button>
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</div>
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<div class="mission-info-panel">
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<div class="selection-buttons">
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<button class="selection-button-blue" onclick="toggleSelectAllDrones()">全選無人機</button>
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<button class="selection-button-blue" id="select-drones-btn" onclick="toggleDroneSelection()">框選無人機</button>
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</div>
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<div class="mission-info-row">
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<span class="mission-info-label">中心點: </span>
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<span class="mission-info-value" id="center-position">未設定</span>
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</div>
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<div class="mission-info-row">
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<span class="mission-info-label">目標點: </span>
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<span class="mission-info-value" id="target-position">未設定</span>
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</div>
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<button class="mission-start-button" id="start-mission-btn" onclick="startMission()" disabled>開始任務</button>
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<button class="mission-start-button" id="pause-mission-btn" onclick="pauseMission()">暫停任務</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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// 創建不同的地圖圖層
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var streetLayer = 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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});
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var satelliteLayer = L.tileLayer('https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}', {
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maxZoom: 19,
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attribution: 'Tiles © Esri'
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});
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// 默認使用衛星圖
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var currentLayer = satelliteLayer;
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currentLayer.addTo(map);
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var isSatellite = true;
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// 地圖點擊事件
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map.on('click', function(e) {
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if (selectionMode === 'polygon') {
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// 多點選擇模式：添加點
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addPolygonPoint(e.latlng.lat, e.latlng.lng);
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} else if (!selectionMode) {
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// 正常模式：發送GPS信號
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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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});
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// 地圖拖曳事件（用於矩形選擇）
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map.on('mousedown', function(e) {
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mapDragStarted = false;
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clickStartPos = {x: e.originalEvent.clientX, y: e.originalEvent.clientY};
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if (selectionMode === 'rect' || selectionMode === 'drones') {
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isDrawing = true;
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drawStartPoint = e.latlng;
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L.DomEvent.preventDefault(e.originalEvent);
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L.DomEvent.stopPropagation(e);
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}
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});
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map.on('mousemove', function(e) {
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// 檢測地圖拖移
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if (clickStartPos && !selectionMode) {
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var dx = Math.abs(e.originalEvent.clientX - clickStartPos.x);
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var dy = Math.abs(e.originalEvent.clientY - clickStartPos.y);
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if (dx > 5 || dy > 5) {
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mapDragStarted = true;
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}
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}
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if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
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// 更新臨時矩形
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if (tempRectangle) {
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selectionLayer.removeLayer(tempRectangle);
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}
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var bounds = L.latLngBounds(drawStartPoint, e.latlng);
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tempRectangle = L.rectangle(bounds, {
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color: selectionMode === 'drones' ? '#9C27B0' : '#FF6B6B',
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weight: 2,
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fillOpacity: selectionMode === 'drones' ? 0 : 0.2,
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dashArray: selectionMode === 'drones' ? '5, 5' : null
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}).addTo(selectionLayer);
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}
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});
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map.on('mouseup', function(e) {
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if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
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isDrawing = false;
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var bounds = L.latLngBounds(drawStartPoint, e.latlng);
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finishRectSelection(bounds);
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drawStartPoint = null;
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}
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|
|
|
// 重置拖移狀態
|
|
|
|
|
|
clickStartPos = null;
|
|
|
|
|
|
setTimeout(function() {
|
|
|
|
|
|
mapDragStarted = false;
|
|
|
|
|
|
}, 100);
|
|
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
function createArrowIcon(color) {
|
|
|
|
|
|
return L.divIcon({
|
|
|
|
|
|
className: 'drone-arrow',
|
|
|
|
|
|
html: `
|
|
|
|
|
|
<div style="
|
|
|
|
|
|
width: 30px; height: 30px;
|
|
|
|
|
|
display: flex;
|
|
|
|
|
|
align-items: center;
|
|
|
|
|
|
justify-content: center;
|
|
|
|
|
|
">
|
|
|
|
|
|
<svg width="30" height="30" viewBox="0 0 30 30">
|
|
|
|
|
|
<polygon points="15,0 30,30 15,25 0,30" fill="${color || '#FF0000'}" />
|
|
|
|
|
|
</svg>
|
|
|
|
|
|
</div>
|
|
|
|
|
|
`,
|
|
|
|
|
|
iconSize: [30, 30],
|
|
|
|
|
|
iconAnchor: [15, 15] // ★ 箭頭往左上移，使 ID 顯示在右下
|
|
|
|
|
|
});
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function getColorBySocketId(id) {
|
|
|
|
|
|
if (id.startsWith("s0_")) return "#00BFFF"; // 天藍色
|
|
|
|
|
|
if (id.startsWith("s1_")) return "#FFD700"; // 金色
|
|
|
|
|
|
if (id.startsWith("s2_")) return "#FF6969"; // 淺紅色
|
|
|
|
|
|
if (id.startsWith("s3_")) return "#FF69B4"; // 熱粉紅
|
|
|
|
|
|
if (id.startsWith("s4_")) return "#00FA9A"; // 中春綠
|
|
|
|
|
|
if (id.startsWith("s5_")) return "#9370DB"; // 中紫色 (串口)
|
|
|
|
|
|
if (id.startsWith("s6_")) return "#FFA500"; // 橙色
|
|
|
|
|
|
if (id.startsWith("s7_")) return "#20B2AA"; // 淺海綠
|
|
|
|
|
|
if (id.startsWith("s8_")) return "#7CFC00"; // 草綠色
|
|
|
|
|
|
if (id.startsWith("s9_")) return "#FF8C00"; // 深橙色
|
|
|
|
|
|
return "#AAAAAA"; // 灰色 (預設)
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function createIdIcon(id) {
|
|
|
|
|
|
const sysid = id.split('_')[1];
|
|
|
|
|
|
return L.divIcon({
|
|
|
|
|
|
className: 'drone-id',
|
|
|
|
|
|
html: `<div style="
|
|
|
|
|
|
background-color: transparent;
|
|
|
|
|
|
color: black;
|
|
|
|
|
|
width: 16px;
|
|
|
|
|
|
height: 16px;
|
|
|
|
|
|
border-radius: 50%;
|
|
|
|
|
|
display: flex;
|
|
|
|
|
|
align-items: center;
|
|
|
|
|
|
justify-content: center;
|
|
|
|
|
|
font-weight: bold;
|
|
|
|
|
|
font-size: 12px;
|
|
|
|
|
|
text-shadow: 1px 1px 2px rgba(255,255,255,0.8), -1px -1px 2px rgba(255,255,255,0.8);
|
|
|
|
|
|
">${sysid}</div>`,
|
|
|
|
|
|
iconSize: [16, 16],
|
|
|
|
|
|
iconAnchor: [8, 6] // ★ icon 中心 = 經緯度點
|
|
|
|
|
|
});
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
var markers = {};
|
|
|
|
|
|
var idLabels = {};
|
|
|
|
|
|
var trajectories = {};
|
|
|
|
|
|
var trajectoryLines = {};
|
|
|
|
|
|
var focusedId = null;
|
|
|
|
|
|
var initialized = false;
|
|
|
|
|
|
var trajectoryGroup = L.layerGroup().addTo(map);
|
|
|
|
|
|
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
// 【新增】任務規劃視覺化變數
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
var missionPlanGroup = L.layerGroup().addTo(map); // 任務規劃圖層
|
|
|
|
|
|
var centerMarker = null; // 中心點標記
|
|
|
|
|
|
var targetMarker = null; // 目標點標記
|
|
|
|
|
|
var missionLine = null; // 中心點到目標點的虛線
|
|
|
|
|
|
var centerPosition = null; // 中心點經緯度
|
|
|
|
|
|
var targetPosition = null; // 目標點經緯度
|
|
|
|
|
|
|
|
|
|
|
|
// 選擇工具變量
|
|
|
|
|
|
var selectionMode = null; // 'drones', 'rect', 'polygon', null
|
|
|
|
|
|
var selectionLayer = L.layerGroup().addTo(map);
|
|
|
|
|
|
var polygonPoints = []; // 多點選擇的點
|
|
|
|
|
|
var polygonMarkers = []; // 多點選擇的標記
|
|
|
|
|
|
var tempRectangle = null; // 臨時矩形
|
|
|
|
|
|
var isDrawing = false; // 是否正在繪製
|
|
|
|
|
|
var drawStartPoint = null; // 繪製起點
|
|
|
|
|
|
var mapDragStarted = false; // 地圖是否正在拖移
|
|
|
|
|
|
var clickStartPos = null; // 記錄點擊開始位置
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
|
|
|
|
|
|
// 更新任務信息面板
|
|
|
|
|
|
function updateMissionInfo() {
|
|
|
|
|
|
const centerElem = document.getElementById('center-position');
|
|
|
|
|
|
const targetElem = document.getElementById('target-position');
|
|
|
|
|
|
const startBtn = document.getElementById('start-mission-btn');
|
|
|
|
|
|
|
|
|
|
|
|
if (centerPosition) {
|
|
|
|
|
|
centerElem.textContent = `${centerPosition.lat.toFixed(6)}°, ${centerPosition.lng.toFixed(6)}°`;
|
|
|
|
|
|
} else {
|
|
|
|
|
|
centerElem.textContent = '未設定';
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (targetPosition) {
|
|
|
|
|
|
targetElem.textContent = `${targetPosition.lat.toFixed(6)}°, ${targetPosition.lng.toFixed(6)}°`;
|
|
|
|
|
|
} else {
|
|
|
|
|
|
targetElem.textContent = '未設定';
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// 只有當中心點和目標點都設定時才啟用按鈕
|
|
|
|
|
|
if (centerPosition && targetPosition) {
|
|
|
|
|
|
startBtn.disabled = false;
|
|
|
|
|
|
} else {
|
|
|
|
|
|
startBtn.disabled = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
// 選擇工具函數
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
function toggleSelectAllDrones() {
|
|
|
|
|
|
// 切換全選/取消全選無人機
|
|
|
|
|
|
if (bridge) {
|
|
|
|
|
|
bridge.toggleSelectAllDrones();
|
|
|
|
|
|
console.log('切換全選無人機');
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function toggleDroneSelection() {
|
|
|
|
|
|
clearSelectionMode();
|
|
|
|
|
|
if (selectionMode === 'drones') {
|
|
|
|
|
|
selectionMode = null;
|
|
|
|
|
|
document.getElementById('select-drones-btn').classList.remove('active');
|
|
|
|
|
|
map.dragging.enable();
|
|
|
|
|
|
} else {
|
|
|
|
|
|
selectionMode = 'drones';
|
|
|
|
|
|
document.getElementById('select-drones-btn').classList.add('active');
|
|
|
|
|
|
map.dragging.disable();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function toggleRectSelection() {
|
|
|
|
|
|
clearSelectionMode();
|
|
|
|
|
|
if (selectionMode === 'rect') {
|
|
|
|
|
|
selectionMode = null;
|
|
|
|
|
|
document.getElementById('select-rect-btn').classList.remove('active');
|
|
|
|
|
|
map.dragging.enable();
|
|
|
|
|
|
} else {
|
|
|
|
|
|
selectionMode = 'rect';
|
|
|
|
|
|
document.getElementById('select-rect-btn').classList.add('active');
|
|
|
|
|
|
map.dragging.disable();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function togglePolygonSelection() {
|
|
|
|
|
|
if (selectionMode === 'polygon') {
|
|
|
|
|
|
// 第二次點擊：完成選擇
|
|
|
|
|
|
if (polygonPoints.length >= 3) {
|
|
|
|
|
|
finishPolygonSelection();
|
|
|
|
|
|
} else {
|
|
|
|
|
|
alert('至少需要3個點來形成區域');
|
|
|
|
|
|
// 清除並重置
|
|
|
|
|
|
clearSelectionMode();
|
|
|
|
|
|
clearPolygonPoints();
|
|
|
|
|
|
selectionMode = null;
|
|
|
|
|
|
document.getElementById('select-polygon-btn').classList.remove('active');
|
|
|
|
|
|
}
|
|
|
|
|
|
} else {
|
|
|
|
|
|
// 第一次點擊：清除上次的點位並啟動模式
|
|
|
|
|
|
clearSelectionMode();
|
|
|
|
|
|
clearPolygonPoints();
|
|
|
|
|
|
selectionMode = 'polygon';
|
|
|
|
|
|
document.getElementById('select-polygon-btn').classList.add('active');
|
|
|
|
|
|
map.dragging.disable();
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function clearSelectionMode() {
|
|
|
|
|
|
// 清除所有按鈕的激活狀態
|
|
|
|
|
|
document.getElementById('select-drones-btn').classList.remove('active');
|
|
|
|
|
|
document.getElementById('select-rect-btn').classList.remove('active');
|
|
|
|
|
|
document.getElementById('select-polygon-btn').classList.remove('active');
|
|
|
|
|
|
|
|
|
|
|
|
// 清除選擇圖層
|
|
|
|
|
|
selectionLayer.clearLayers();
|
|
|
|
|
|
tempRectangle = null;
|
|
|
|
|
|
|
|
|
|
|
|
// 重新啟用地圖拖曳
|
|
|
|
|
|
map.dragging.enable();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function addPolygonPoint(lat, lng) {
|
|
|
|
|
|
polygonPoints.push([lat, lng]);
|
|
|
|
|
|
|
|
|
|
|
|
// 添加邊界點標記
|
|
|
|
|
|
var marker = L.circleMarker([lat, lng], {
|
|
|
|
|
|
radius: 5,
|
|
|
|
|
|
color: '#FF6B6B',
|
|
|
|
|
|
fillColor: '#FF6B6B',
|
|
|
|
|
|
fillOpacity: 0.8
|
|
|
|
|
|
}).addTo(selectionLayer);
|
|
|
|
|
|
polygonMarkers.push(marker);
|
|
|
|
|
|
|
|
|
|
|
|
// 如果有多個點，繪製連線
|
|
|
|
|
|
if (polygonPoints.length > 1) {
|
|
|
|
|
|
L.polyline(polygonPoints, {
|
|
|
|
|
|
color: '#FF6B6B',
|
|
|
|
|
|
weight: 2,
|
|
|
|
|
|
dashArray: '5, 5'
|
|
|
|
|
|
}).addTo(selectionLayer);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
console.log('添加邊界點:', lat, lng, '總共:', polygonPoints.length);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function clearPolygonPoints() {
|
|
|
|
|
|
polygonPoints = [];
|
|
|
|
|
|
polygonMarkers.forEach(m => selectionLayer.removeLayer(m));
|
|
|
|
|
|
polygonMarkers = [];
|
|
|
|
|
|
selectionLayer.clearLayers();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function finishPolygonSelection() {
|
|
|
|
|
|
if (polygonPoints.length < 3) {
|
|
|
|
|
|
alert('至少需要3個點來形成區域');
|
|
|
|
|
|
return;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// 繪製最終多邊形
|
|
|
|
|
|
var polygon = L.polygon(polygonPoints, {
|
|
|
|
|
|
color: '#FF6B6B',
|
|
|
|
|
|
fillColor: '#FF6B6B',
|
|
|
|
|
|
fillOpacity: 0.2,
|
|
|
|
|
|
weight: 2
|
|
|
|
|
|
}).addTo(selectionLayer);
|
|
|
|
|
|
|
|
|
|
|
|
// 發送多邊形數據到Python
|
|
|
|
|
|
if (bridge) {
|
|
|
|
|
|
var pointsStr = JSON.stringify(polygonPoints);
|
|
|
|
|
|
bridge.polygonSelected(pointsStr);
|
|
|
|
|
|
console.log('多邊形選擇完成:', polygonPoints);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// 重置狀態
|
|
|
|
|
|
selectionMode = null;
|
|
|
|
|
|
document.getElementById('select-polygon-btn').classList.remove('active');
|
|
|
|
|
|
map.dragging.enable();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function finishRectSelection(bounds) {
|
|
|
|
|
|
var selectedDrones = [];
|
|
|
|
|
|
|
|
|
|
|
|
// 清除臨時矩形
|
|
|
|
|
|
if (tempRectangle) {
|
|
|
|
|
|
selectionLayer.removeLayer(tempRectangle);
|
|
|
|
|
|
tempRectangle = null;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (selectionMode === 'drones') {
|
|
|
|
|
|
// 框選無人機模式：先清除全選
|
|
|
|
|
|
if (bridge) {
|
|
|
|
|
|
bridge.clearAllDroneSelection();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
Object.keys(markers).forEach(droneId => {
|
|
|
|
|
|
var pos = markers[droneId].getLatLng();
|
|
|
|
|
|
if (bounds.contains(pos)) {
|
|
|
|
|
|
selectedDrones.push(droneId);
|
|
|
|
|
|
// 觸發無人機點擊信號
|
|
|
|
|
|
if (bridge) {
|
|
|
|
|
|
bridge.emitDroneClicked(droneId);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
});
|
|
|
|
|
|
console.log('框選無人機:', selectedDrones);
|
|
|
|
|
|
// 不保留選擇框，直接完成
|
|
|
|
|
|
|
|
|
|
|
|
} else if (selectionMode === 'rect') {
|
|
|
|
|
|
// 框選區域模式
|
|
|
|
|
|
var rectPoints = [
|
|
|
|
|
|
[bounds.getNorth(), bounds.getWest()],
|
|
|
|
|
|
[bounds.getNorth(), bounds.getEast()],
|
|
|
|
|
|
[bounds.getSouth(), bounds.getEast()],
|
|
|
|
|
|
[bounds.getSouth(), bounds.getWest()]
|
|
|
|
|
|
];
|
|
|
|
|
|
|
|
|
|
|
|
// 繪製最終矩形
|
|
|
|
|
|
L.rectangle(bounds, {
|
|
|
|
|
|
color: '#FF6B6B',
|
|
|
|
|
|
fillColor: '#FF6B6B',
|
|
|
|
|
|
fillOpacity: 0.2,
|
|
|
|
|
|
weight: 2
|
|
|
|
|
|
}).addTo(selectionLayer);
|
|
|
|
|
|
|
|
|
|
|
|
// 添加四個角的標記
|
|
|
|
|
|
rectPoints.forEach(point => {
|
|
|
|
|
|
L.circleMarker(point, {
|
|
|
|
|
|
radius: 5,
|
|
|
|
|
|
color: '#FF6B6B',
|
|
|
|
|
|
fillColor: '#FF6B6B',
|
|
|
|
|
|
fillOpacity: 0.8
|
|
|
|
|
|
}).addTo(selectionLayer);
|
|
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
// 發送矩形數據到Python
|
|
|
|
|
|
if (bridge) {
|
|
|
|
|
|
var pointsStr = JSON.stringify(rectPoints);
|
|
|
|
|
|
bridge.rectangleSelected(pointsStr);
|
|
|
|
|
|
console.log('矩形選擇完成:', rectPoints);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// 重置狀態
|
|
|
|
|
|
selectionMode = null;
|
|
|
|
|
|
document.getElementById('select-drones-btn').classList.remove('active');
|
|
|
|
|
|
document.getElementById('select-rect-btn').classList.remove('active');
|
|
|
|
|
|
map.dragging.enable();
|
|
|
|
|
|
}
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
|
|
|
|
|
|
// 開始任務
|
|
|
|
|
|
function startMission() {
|
|
|
|
|
|
if (!centerPosition || !targetPosition) {
|
|
|
|
|
|
alert('請先設定中心點和目標點');
|
|
|
|
|
|
return;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
if (bridge) {
|
|
|
|
|
|
bridge.startMissionSignal(
|
|
|
|
|
|
centerPosition.lat, centerPosition.lng,
|
|
|
|
|
|
targetPosition.lat, targetPosition.lng
|
|
|
|
|
|
);
|
|
|
|
|
|
console.log('開始任務:', centerPosition, targetPosition);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// 暫停任務
|
|
|
|
|
|
function pauseMission() {
|
|
|
|
|
|
if (bridge) {
|
|
|
|
|
|
bridge.pauseMissionSignal();
|
|
|
|
|
|
console.log('暫停任務');
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
|
|
|
|
|
|
function initTrajectory(id) {
|
|
|
|
|
|
if (!trajectories[id]) {
|
|
|
|
|
|
trajectories[id] = [];
|
|
|
|
|
|
const color = getColorBySocketId(id);
|
|
|
|
|
|
trajectoryLines[id] = L.polyline([], {
|
|
|
|
|
|
color: color,
|
|
|
|
|
|
weight: 3,
|
|
|
|
|
|
opacity: 0.7,
|
|
|
|
|
|
smoothFactor: 1
|
|
|
|
|
|
}).addTo(trajectoryGroup);
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function addTrajectoryPoint(id, lat, lon) {
|
|
|
|
|
|
initTrajectory(id);
|
|
|
|
|
|
const point = [lat, lon];
|
|
|
|
|
|
trajectories[id].push(point);
|
|
|
|
|
|
|
|
|
|
|
|
if (trajectories[id].length > 1000) {
|
|
|
|
|
|
trajectories[id].shift();
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
trajectoryLines[id].setLatLngs([...trajectories[id]]);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function focusOn(id) {
|
|
|
|
|
|
if (!markers[id]) return;
|
|
|
|
|
|
focusedId = id;
|
|
|
|
|
|
var latlng = markers[id].getLatLng();
|
|
|
|
|
|
map.flyTo(latlng, map.getZoom());
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
setInterval(() => {
|
|
|
|
|
|
if (focusedId && markers[focusedId]) {
|
|
|
|
|
|
var latlng = markers[focusedId].getLatLng();
|
|
|
|
|
|
map.panTo(latlng);
|
|
|
|
|
|
}
|
|
|
|
|
|
}, 1000);
|
|
|
|
|
|
|
|
|
|
|
|
function updateDrone(lat, lon, id, heading) {
|
|
|
|
|
|
if (markers[id]) {
|
|
|
|
|
|
const lastPos = markers[id].getLatLng();
|
|
|
|
|
|
const distance = lastPos.distanceTo([lat, lon]);
|
|
|
|
|
|
if (distance > 1) {
|
|
|
|
|
|
addTrajectoryPoint(id, lat, lon);
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
markers[id]
|
|
|
|
|
|
.setLatLng([lat, lon])
|
|
|
|
|
|
.setRotationAngle(heading);
|
|
|
|
|
|
idLabels[id].setLatLng([lat, lon]);
|
|
|
|
|
|
} else {
|
|
|
|
|
|
initTrajectory(id);
|
|
|
|
|
|
addTrajectoryPoint(id, lat, lon);
|
|
|
|
|
|
|
|
|
|
|
|
const color = getColorBySocketId(id);
|
|
|
|
|
|
markers[id] = L.marker([lat, lon], {
|
|
|
|
|
|
icon: createArrowIcon(color),
|
|
|
|
|
|
rotationAngle: heading,
|
|
|
|
|
|
rotationOrigin: 'center'
|
|
|
|
|
|
})
|
|
|
|
|
|
.on('click', function () {
|
|
|
|
|
|
if (mapDragStarted) {
|
|
|
|
|
|
return; // 如果是拖移地圖，不處理點擊
|
|
|
|
|
|
}
|
|
|
|
|
|
if (bridge) {
|
|
|
|
|
|
bridge.emitDroneClicked(id);
|
|
|
|
|
|
}
|
|
|
|
|
|
focusOn(id);
|
|
|
|
|
|
})
|
|
|
|
|
|
.addTo(map);
|
|
|
|
|
|
|
|
|
|
|
|
idLabels[id] = L.marker([lat, lon], {
|
|
|
|
|
|
icon: createIdIcon(id),
|
|
|
|
|
|
zIndexOffset: 1000
|
|
|
|
|
|
})
|
|
|
|
|
|
.on('click', function() {
|
|
|
|
|
|
if (mapDragStarted) {
|
|
|
|
|
|
return; // 如果是拖移地圖，不處理點擊
|
|
|
|
|
|
}
|
|
|
|
|
|
if (bridge) {
|
|
|
|
|
|
bridge.emitDroneClicked(id);
|
|
|
|
|
|
}
|
|
|
|
|
|
focusOn(id);
|
|
|
|
|
|
})
|
|
|
|
|
|
.addTo(map);
|
|
|
|
|
|
|
|
|
|
|
|
if (!initialized || id < focusedId) {
|
|
|
|
|
|
focusedId = id;
|
|
|
|
|
|
map.setView([lat, lon], 19); // 第一台無人機：重置並放大到最大
|
|
|
|
|
|
initialized = true;
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function clearAllTrajectories() {
|
|
|
|
|
|
trajectories = {};
|
|
|
|
|
|
Object.values(trajectoryLines).forEach(line => {
|
|
|
|
|
|
trajectoryGroup.removeLayer(line);
|
|
|
|
|
|
});
|
|
|
|
|
|
trajectoryLines = {};
|
|
|
|
|
|
console.log('所有軌跡已清除');
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
// 【新增】任務規劃視覺化函式
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
function drawMissionPlan(centerLat, centerLon, targetLat, targetLon) {
|
|
|
|
|
|
// 清除舊的任務規劃標記
|
|
|
|
|
|
clearMissionPlan();
|
|
|
|
|
|
|
|
|
|
|
|
// 保存中心點和目標點位置
|
|
|
|
|
|
centerPosition = {lat: centerLat, lng: centerLon};
|
|
|
|
|
|
targetPosition = {lat: targetLat, lng: targetLon};
|
|
|
|
|
|
updateMissionInfo();
|
|
|
|
|
|
|
|
|
|
|
|
// 繪製中心點標記 "C"（縮小到 20px）
|
|
|
|
|
|
var centerIcon = L.divIcon({
|
|
|
|
|
|
className: 'mission-center',
|
|
|
|
|
|
html: `<div style="
|
|
|
|
|
|
background-color: #FF4444;
|
|
|
|
|
|
color: white;
|
|
|
|
|
|
width: 20px;
|
|
|
|
|
|
height: 20px;
|
|
|
|
|
|
border-radius: 50%;
|
|
|
|
|
|
display: flex;
|
|
|
|
|
|
align-items: center;
|
|
|
|
|
|
justify-content: center;
|
|
|
|
|
|
font-weight: bold;
|
|
|
|
|
|
font-size: 12px;
|
|
|
|
|
|
border: 2px solid white;
|
|
|
|
|
|
box-shadow: 0 2px 5px rgba(0,0,0,0.3);
|
|
|
|
|
|
">C</div>`,
|
|
|
|
|
|
iconSize: [20, 20],
|
|
|
|
|
|
iconAnchor: [10, 10]
|
|
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
centerMarker = L.marker([centerLat, centerLon], {
|
|
|
|
|
|
icon: centerIcon,
|
|
|
|
|
|
zIndexOffset: 2000
|
|
|
|
|
|
}).addTo(missionPlanGroup);
|
|
|
|
|
|
|
|
|
|
|
|
// 繪製目標點標記 "★"（星星符號）
|
|
|
|
|
|
var targetIcon = L.divIcon({
|
|
|
|
|
|
className: 'mission-target',
|
|
|
|
|
|
html: `<div style="
|
|
|
|
|
|
background-color: #FFD700;
|
|
|
|
|
|
color: #FF4444;
|
|
|
|
|
|
width: 20px;
|
|
|
|
|
|
height: 20px;
|
|
|
|
|
|
border-radius: 50%;
|
|
|
|
|
|
display: flex;
|
|
|
|
|
|
align-items: center;
|
|
|
|
|
|
justify-content: center;
|
|
|
|
|
|
font-weight: bold;
|
|
|
|
|
|
font-size: 14px;
|
|
|
|
|
|
border: 2px solid white;
|
|
|
|
|
|
box-shadow: 0 2px 5px rgba(0,0,0,0.3);
|
|
|
|
|
|
">★</div>`,
|
|
|
|
|
|
iconSize: [20, 20],
|
|
|
|
|
|
iconAnchor: [10, 10]
|
|
|
|
|
|
});
|
|
|
|
|
|
|
|
|
|
|
|
targetMarker = L.marker([targetLat, targetLon], {
|
|
|
|
|
|
icon: targetIcon,
|
|
|
|
|
|
zIndexOffset: 2000
|
|
|
|
|
|
}).addTo(missionPlanGroup);
|
|
|
|
|
|
|
|
|
|
|
|
console.log('任務規劃已繪製: C(' + centerLat + ', ' + centerLon + ') -> T(' + targetLat + ', ' + targetLon + ')');
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
function clearMissionPlan() {
|
|
|
|
|
|
// 清除中心點標記
|
|
|
|
|
|
if (centerMarker) {
|
|
|
|
|
|
missionPlanGroup.removeLayer(centerMarker);
|
|
|
|
|
|
centerMarker = null;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// 清除目標點標記
|
|
|
|
|
|
if (targetMarker) {
|
|
|
|
|
|
missionPlanGroup.removeLayer(targetMarker);
|
|
|
|
|
|
targetMarker = null;
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
|
|
// 清除位置資訊
|
|
|
|
|
|
centerPosition = null;
|
|
|
|
|
|
targetPosition = null;
|
|
|
|
|
|
updateMissionInfo();
|
|
|
|
|
|
|
|
|
|
|
|
console.log('任務規劃已清除');
|
|
|
|
|
|
}
|
|
|
|
|
|
// ================================================================================
|
|
|
|
|
|
</script>
|
|
|
|
|
|
</body>
|
|
|
|
|
|
</html>
|
|
|
|
|
|
'''
|
|
|
|
|
|
|
|
|
|
|
|
self.map_view.setHtml(inline_html)
|
|
|
|
|
|
self.map_view.loadFinished.connect(self._on_map_loaded)
|
|
|
|
|
|
|
|
|
|
|
|
# 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();")
|
|
|
|
|
|
|
|
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def focus_on_drone(self, drone_id):
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"""聚焦到指定無人機"""
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if self.map_loaded:
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self.map_view.page().runJavaScript(f"focusOn('{drone_id}');")
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# ================================================================================
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# 【新增】任務規劃視覺化方法
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# ================================================================================
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def draw_mission_plan(self, center_lat, center_lon, target_lat, target_lon):
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"""
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在地圖上繪製任務規劃
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Args:
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center_lat: 中心點緯度
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center_lon: 中心點經度
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target_lat: 目標點緯度
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target_lon: 目標點經度
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"""
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if self.map_loaded:
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js_code = f"drawMissionPlan({center_lat:.6f}, {center_lon:.6f}, {target_lat:.6f}, {target_lon:.6f});"
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self.map_view.page().runJavaScript(js_code)
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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})")
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def clear_mission_plan(self):
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"""清除地圖上的任務規劃標記"""
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if self.map_loaded:
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self.map_view.page().runJavaScript("clearMissionPlan();")
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print("🗑️ 地圖已清除任務規劃")
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# ================================================================================
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def get_widget(self):
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"""獲取地圖 widget"""
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return self.map_view
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def get_gps_signal(self):
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"""獲取 GPS 信號"""
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return self.bridge.gps_signal
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def get_drone_clicked_signal(self):
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"""獲取無人機點擊信號"""
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return self.bridge.drone_clicked
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def get_clear_all_drone_selection_signal(self):
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"""獲取清除所有無人機選擇信號"""
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return self.bridge.clear_all_drone_selection
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def get_toggle_select_all_drones_signal(self):
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"""獲取切換全選所有無人機信號"""
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return self.bridge.select_all_drones
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def get_select_all_drones_signal(self):
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"""獲取全選所有無人機信號"""
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return self.bridge.select_all_drones
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def get_start_mission_signal(self):
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"""獲取開始任務信號"""
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return self.bridge.start_mission_signal
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def get_pause_mission_signal(self):
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"""獲取暫停任務信號"""
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return self.bridge.pause_mission_signal
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def get_rectangle_selected_signal(self):
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"""獲取矩形選擇信號"""
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return self.bridge.rectangle_selected
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def get_polygon_selected_signal(self):
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"""獲取多邊形選擇信號"""
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return self.bridge.polygon_selected
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class MapBridge(QObject):
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"""JavaScript 和 Python 之間的橋接類"""
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gps_signal = pyqtSignal(float, float) # lat, lon
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drone_clicked = pyqtSignal(str) # drone_id
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clear_all_drone_selection = pyqtSignal() # clear all drone selection
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select_all_drones = pyqtSignal() # select all drones
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start_mission_signal = pyqtSignal(float, float, float, float) # center_lat, center_lon, target_lat, target_lon
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pause_mission_signal = pyqtSignal() # pause mission
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rectangle_selected = pyqtSignal(str) # JSON string of rectangle points
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polygon_selected = pyqtSignal(str) # JSON string of polygon points
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def __init__(self):
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super().__init__()
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@pyqtSlot(float, float)
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def emitGpsSignal(self, lat, lon):
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"""供 JavaScript 調用的方法"""
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self.gps_signal.emit(lat, lon)
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@pyqtSlot(str)
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def emitDroneClicked(self, drone_id):
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"""供 JavaScript 調用的方法 - 當無人機被點擊時"""
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self.drone_clicked.emit(drone_id)
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@pyqtSlot()
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def clearAllDroneSelection(self):
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"""供 JavaScript 調用的方法 - 清除所有無人機選擇"""
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self.clear_all_drone_selection.emit()
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print("🗑️ 清除所有無人機選擇")
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@pyqtSlot()
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def toggleSelectAllDrones(self):
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"""供 JavaScript 調用的方法 - 切換全選/取消全選所有無人機"""
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self.select_all_drones.emit()
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print("🔄 切換全選無人機")
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@pyqtSlot(float, float, float, float)
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def startMissionSignal(self, center_lat, center_lon, target_lat, target_lon):
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"""供 JavaScript 調用的方法 - 開始任務"""
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self.start_mission_signal.emit(center_lat, center_lon, target_lat, target_lon)
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print(f"🚀 開始任務信號已發出: C({center_lat}, {center_lon}) -> T({target_lat}, {target_lon})")
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|
|
@pyqtSlot()
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def pauseMissionSignal(self):
|
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"""供 JavaScript 調用的方法 - 暫停任務"""
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self.pause_mission_signal.emit()
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print("⏸️ 暫停任務信號已發出")
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@pyqtSlot(str)
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|
def rectangleSelected(self, points_json):
|
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"""供 JavaScript 調用的方法 - 矩形選擇完成"""
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|
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|
self.rectangle_selected.emit(points_json)
|
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|
print(f"📦 矩形區域已選擇: {points_json}")
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@pyqtSlot(str)
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def polygonSelected(self, points_json):
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"""供 JavaScript 調用的方法 - 多邊形選擇完成"""
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self.polygon_selected.emit(points_json)
|
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print(f"🔷 多邊形區域已選擇: {points_json}")
|
