Upload files to 'src/unitdev01/unitdev01'
This commit is contained in:
@@ -0,0 +1,398 @@
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#!/usr/bin/env python3
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from PyQt6.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel,
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QPushButton, QLineEdit)
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from PyQt6.QtCore import pyqtSignal
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class CommPanel(QWidget):
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"""通讯设置面板类"""
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# 定义信号
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udp_connection_added = pyqtSignal(str, int) # ip, port
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udp_connection_toggled = pyqtSignal(dict, QPushButton, QLabel) # conn, btn, status_label
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udp_connection_removed = pyqtSignal(dict, QWidget) # conn, panel
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ws_connection_added = pyqtSignal(str) # url
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ws_connection_toggled = pyqtSignal(dict, QPushButton, QLabel) # conn, btn, status_label
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ws_connection_removed = pyqtSignal(dict, QWidget) # conn, panel
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status_message = pyqtSignal(str, int) # message, timeout
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def __init__(self, parent=None):
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super().__init__(parent)
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self.udp_connections = []
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self.ws_connections = []
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self._init_ui()
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def _init_ui(self):
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"""初始化UI"""
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layout = QVBoxLayout(self)
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layout.setContentsMargins(10, 10, 10, 10)
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layout.setSpacing(10)
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# ========== UDP MAVLink 區域 ==========
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udp_title = QLabel("UDP")
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udp_title.setStyleSheet("""
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color: #DDD;
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font-size: 14px;
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font-weight: bold;
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padding: 5px;
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background-color: #333;
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border-radius: 4px;
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""")
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layout.addWidget(udp_title)
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# UDP 連接列表容器
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self.udp_list_widget = QWidget()
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self.udp_list_layout = QVBoxLayout(self.udp_list_widget)
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self.udp_list_layout.setContentsMargins(0, 0, 0, 0)
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self.udp_list_layout.setSpacing(5)
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layout.addWidget(self.udp_list_widget)
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# UDP 添加新連接區域
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add_udp_widget = QWidget()
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add_udp_layout = QHBoxLayout(add_udp_widget)
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add_udp_layout.setContentsMargins(0, 0, 0, 0)
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self.udp_ip_input = QLineEdit()
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self.udp_ip_input.setText("127.0.0.1")
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self.udp_ip_input.setPlaceholderText("IP")
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self.udp_ip_input.setStyleSheet("""
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QLineEdit {
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background-color: #333;
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color: #DDD;
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border: 1px solid #555;
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border-radius: 4px;
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padding: 5px;
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}
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""")
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self.udp_port_input = QLineEdit()
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self.udp_port_input.setText("14540")
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self.udp_port_input.setPlaceholderText("Port")
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self.udp_port_input.setFixedWidth(80)
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self.udp_port_input.setStyleSheet("""
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QLineEdit {
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background-color: #333;
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color: #DDD;
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border: 1px solid #555;
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border-radius: 4px;
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padding: 5px;
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}
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""")
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add_udp_btn = QPushButton("添加")
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add_udp_btn.clicked.connect(self._handle_add_udp)
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add_udp_btn.setStyleSheet("""
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QPushButton {
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background-color: #4CAF50;
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color: white;
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border: none;
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padding: 6px 12px;
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border-radius: 4px;
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min-width: 30px;
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}
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QPushButton:hover { background-color: #45a049; }
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""")
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add_udp_layout.addWidget(QLabel("IP:", styleSheet="color: #DDD;"))
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add_udp_layout.addWidget(self.udp_ip_input)
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add_udp_layout.addWidget(QLabel("Port:", styleSheet="color: #DDD;"))
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add_udp_layout.addWidget(self.udp_port_input)
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add_udp_layout.addWidget(add_udp_btn)
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layout.addWidget(add_udp_widget)
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# 分隔線
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separator = QWidget()
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separator.setFixedHeight(20)
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layout.addWidget(separator)
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# ========== WebSocket 區域 ==========
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ws_title = QLabel("WebSocket")
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ws_title.setStyleSheet("""
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color: #DDD;
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font-size: 14px;
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font-weight: bold;
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padding: 5px;
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background-color: #333;
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border-radius: 4px;
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""")
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layout.addWidget(ws_title)
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# WebSocket 連接列表容器
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self.ws_list_widget = QWidget()
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self.ws_list_layout = QVBoxLayout(self.ws_list_widget)
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self.ws_list_layout.setContentsMargins(0, 0, 0, 0)
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self.ws_list_layout.setSpacing(5)
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layout.addWidget(self.ws_list_widget)
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# WebSocket 添加新連接區域
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add_ws_widget = QWidget()
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add_ws_layout = QHBoxLayout(add_ws_widget)
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add_ws_layout.setContentsMargins(0, 0, 0, 0)
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self.ws_url_input = QLineEdit()
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self.ws_url_input.setPlaceholderText("host")
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self.ws_url_input.setStyleSheet("""
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QLineEdit {
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background-color: #333;
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color: #DDD;
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border: 1px solid #555;
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border-radius: 4px;
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padding: 5px;
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}
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""")
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add_ws_btn = QPushButton("添加")
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add_ws_btn.clicked.connect(self._handle_add_ws)
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add_ws_btn.setStyleSheet("""
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QPushButton {
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background-color: #4CAF50;
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color: white;
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border: none;
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padding: 6px 12px;
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border-radius: 4px;
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min-width: 30px;
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}
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QPushButton:hover { background-color: #45a049; }
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""")
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add_ws_layout.addWidget(QLabel("URL:", styleSheet="color: #DDD;"))
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add_ws_layout.addWidget(self.ws_url_input)
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add_ws_layout.addWidget(add_ws_btn)
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layout.addWidget(add_ws_widget)
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layout.addStretch()
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def _handle_add_udp(self):
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"""處理添加 UDP 連接"""
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ip = self.udp_ip_input.text().strip()
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port_text = self.udp_port_input.text().strip()
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if not ip or not port_text:
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self.status_message.emit("請輸入 IP 和 Port", 3000)
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return
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try:
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port = int(port_text)
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if port < 1 or port > 65535:
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raise ValueError("Port 超出範圍")
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except ValueError:
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self.status_message.emit("Port 必須是 1-65535 的數字", 3000)
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return
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# 檢查是否已存在相同連接
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for conn in self.udp_connections:
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if conn['ip'] == ip and conn['port'] == port:
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self.status_message.emit("連接已存在", 3000)
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return
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# 發送信號通知主窗口
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self.udp_connection_added.emit(ip, port)
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# 清空輸入框
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self.udp_ip_input.clear()
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self.udp_port_input.clear()
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def _handle_add_ws(self):
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"""處理添加 WebSocket 連接"""
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input_url = self.ws_url_input.text().strip()
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if not input_url:
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self.status_message.emit("請輸入 WebSocket URL", 3000)
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return
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# 自動添加 ws:// 前綴
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if not input_url.startswith('ws://') and not input_url.startswith('wss://'):
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url = f'ws://{input_url}'
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else:
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url = input_url
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# 基本 URL 格式驗證
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try:
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if '://' in url:
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parts = url.split('://', 1)
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if len(parts) == 2 and ':' not in parts[1]:
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self.status_message.emit("URL 格式錯誤，需要包含端口號 (例如: 127.0.0.1:8756)", 3000)
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return
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except:
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self.status_message.emit("URL 格式錯誤", 3000)
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return
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# 檢查是否已存在相同連接
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for conn in self.ws_connections:
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if conn['url'] == url:
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self.status_message.emit("連接已存在", 3000)
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return
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# 發送信號通知主窗口
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self.ws_connection_added.emit(url)
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# 清空輸入框
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self.ws_url_input.clear()
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def create_udp_connection_panel(self, conn):
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"""創建 UDP 連接面板"""
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panel = QWidget()
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panel.setStyleSheet("""
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QWidget {
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background-color: #2A2A2A;
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border-radius: 6px;
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padding: 8px;
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border: 1px solid #444;
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}
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""")
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layout = QHBoxLayout(panel)
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layout.setContentsMargins(8, 8, 8, 8)
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# 連接資訊
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info_label = QLabel(f"{conn['name']} - {conn['ip']}:{conn['port']}")
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info_label.setStyleSheet("color: #DDD; font-size: 12px;")
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# 狀態指示器
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status_label = QLabel("●")
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if conn.get('enabled', False):
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status_label.setStyleSheet("color: #4CAF50; font-size: 16px;")
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status_label.setToolTip("運行中")
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else:
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status_label.setStyleSheet("color: #888; font-size: 16px;")
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status_label.setToolTip("已停止")
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# 控制按鈕
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toggle_btn = QPushButton("停止" if conn.get('enabled', False) else "啟動")
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toggle_btn.setFixedWidth(60)
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toggle_btn.clicked.connect(lambda: self.udp_connection_toggled.emit(conn, toggle_btn, status_label))
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toggle_btn.setStyleSheet("""
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QPushButton {
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background-color: #444;
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color: #DDD;
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border: none;
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padding: 4px 8px;
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border-radius: 3px;
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font-size: 11px;
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}
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QPushButton:hover { background-color: #555; }
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""")
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remove_btn = QPushButton("移除")
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remove_btn.setFixedWidth(60)
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remove_btn.clicked.connect(lambda: self.udp_connection_removed.emit(conn, panel))
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remove_btn.setStyleSheet("""
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QPushButton {
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background-color: #d32f2f;
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color: white;
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border: none;
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padding: 4px 8px;
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border-radius: 3px;
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font-size: 11px;
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}
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QPushButton:hover { background-color: #b71c1c; }
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""")
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layout.addWidget(status_label)
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layout.addWidget(info_label)
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layout.addStretch()
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layout.addWidget(toggle_btn)
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layout.addWidget(remove_btn)
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# 儲存引用
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panel.connection = conn
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panel.toggle_btn = toggle_btn
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panel.status_label = status_label
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return panel
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def create_ws_connection_panel(self, conn):
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"""創建 WebSocket 連接面板"""
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panel = QWidget()
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panel.setStyleSheet("""
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QWidget {
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background-color: #2A2A2A;
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border-radius: 6px;
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padding: 8px;
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border: 1px solid #444;
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}
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""")
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layout = QHBoxLayout(panel)
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layout.setContentsMargins(8, 8, 8, 8)
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# 連接資訊
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info_label = QLabel(f"{conn['name']} - {conn['url']}")
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info_label.setStyleSheet("color: #DDD; font-size: 12px;")
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# 狀態指示器
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status_label = QLabel("●")
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if conn.get('enabled', False):
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status_label.setStyleSheet("color: #4CAF50; font-size: 16px;")
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status_label.setToolTip("運行中")
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else:
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status_label.setStyleSheet("color: #888; font-size: 16px;")
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status_label.setToolTip("已停止")
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# 控制按鈕
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toggle_btn = QPushButton("停止" if conn.get('enabled', False) else "啟動")
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toggle_btn.setFixedWidth(60)
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toggle_btn.clicked.connect(lambda: self.ws_connection_toggled.emit(conn, toggle_btn, status_label))
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toggle_btn.setStyleSheet("""
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QPushButton {
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background-color: #444;
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color: #DDD;
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border: none;
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padding: 4px 8px;
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border-radius: 3px;
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font-size: 11px;
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}
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QPushButton:hover { background-color: #555; }
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""")
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remove_btn = QPushButton("移除")
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remove_btn.setFixedWidth(60)
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remove_btn.clicked.connect(lambda: self.ws_connection_removed.emit(conn, panel))
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remove_btn.setStyleSheet("""
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QPushButton {
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background-color: #d32f2f;
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color: white;
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border: none;
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padding: 4px 8px;
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border-radius: 3px;
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font-size: 11px;
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}
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QPushButton:hover { background-color: #b71c1c; }
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""")
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layout.addWidget(status_label)
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layout.addWidget(info_label)
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layout.addStretch()
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layout.addWidget(toggle_btn)
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layout.addWidget(remove_btn)
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# 儲存引用
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panel.connection = conn
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panel.toggle_btn = toggle_btn
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panel.status_label = status_label
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return panel
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def add_udp_panel(self, conn):
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"""添加 UDP 連接面板到列表"""
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panel = self.create_udp_connection_panel(conn)
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self.udp_list_layout.addWidget(panel)
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self.udp_connections.append(conn)
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return panel
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def add_ws_panel(self, conn):
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"""添加 WebSocket 連接面板到列表"""
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panel = self.create_ws_connection_panel(conn)
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self.ws_list_layout.addWidget(panel)
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self.ws_connections.append(conn)
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return panel
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def remove_udp_connection_from_list(self, conn):
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"""從列表中移除 UDP 連接"""
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if conn in self.udp_connections:
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self.udp_connections.remove(conn)
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def remove_ws_connection_from_list(self, conn):
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"""從列表中移除 WebSocket 連接"""
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if conn in self.ws_connections:
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self.ws_connections.remove(conn)
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@@ -130,6 +130,129 @@ class UDPMavlinkReceiver(threading.Thread):
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"""停止接收器"""
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self.running = False
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class SerialMavlinkReceiver(threading.Thread):
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"""串口 MAVLink 接收器"""
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def __init__(self, port, baudrate, signals, connection_name):
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super().__init__(daemon=True)
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self.port = port
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self.baudrate = baudrate
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self.signals = signals
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self.connection_name = connection_name
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self.running = False
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self.mav = None
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def run(self):
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"""執行串口接收循環"""
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self.running = True
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try:
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print(f"Serial MAVLink receiver started on {self.port} at {self.baudrate} baud")
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# 創建 MAVLink 串口連接
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self.mav = mavutil.mavlink_connection(
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self.port,
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baud=self.baudrate,
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source_system=255
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)
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print(f"Waiting for heartbeat from {self.port}...")
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self.mav.wait_heartbeat()
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print(f"Heartbeat received from system {self.mav.target_system}, component {self.mav.target_component}")
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while self.running:
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try:
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msg = self.mav.recv_match(blocking=True, timeout=1.0)
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if msg is None:
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continue
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self.process_mavlink_message(msg)
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except Exception as e:
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if self.running:
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print(f"Error receiving MAVLink message from serial: {e}")
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except Exception as e:
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print(f"Serial receiver error: {e}")
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finally:
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if self.mav:
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try:
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self.mav.close()
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except:
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pass
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||||
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||||
def process_mavlink_message(self, msg):
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"""處理 MAVLink 訊息"""
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try:
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msg_type = msg.get_type()
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system_id = msg.get_srcSystem()
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||||
drone_id = f"s5_{system_id}" # 使用 serial_ 前綴表示串口來源
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||||
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||||
if msg_type == "HEARTBEAT":
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mode = mavutil.mode_string_v10(msg)
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||||
armed = bool(msg.base_mode & 128)
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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":
|
||||
pitch = math.degrees(msg.pitch)
|
||||
self.signals.update_signal.emit('attitude', drone_id, {
|
||||
'pitch': pitch,
|
||||
'roll': 0,
|
||||
'yaw': 0,
|
||||
'rates': (0, 0, 0)
|
||||
})
|
||||
|
||||
elif msg_type == "VFR_HUD":
|
||||
groundspeed = msg.groundspeed
|
||||
heading = msg.heading
|
||||
self.signals.update_signal.emit('hud', drone_id, {
|
||||
'heading': heading,
|
||||
'groundspeed': groundspeed
|
||||
})
|
||||
|
||||
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):
|
||||
@@ -266,6 +389,9 @@ class DroneMonitor(Node):
|
||||
# WebSocket 接收器列表
|
||||
self.ws_receivers = []
|
||||
|
||||
# 串口接收器列表
|
||||
self.serial_receivers = []
|
||||
|
||||
# 主题检测定时器
|
||||
self.create_timer(1.0, self.scan_topics)
|
||||
|
||||
@@ -509,3 +635,12 @@ class DroneMonitor(Node):
|
||||
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)
|
||||
receiver.start()
|
||||
self.serial_receivers.append(receiver)
|
||||
print(f"Started serial connection on {port} at {baudrate} baud")
|
||||
return receiver
|
||||
@@ -0,0 +1,378 @@
|
||||
#!/usr/bin/env python3
|
||||
from PyQt6.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel,
|
||||
QPushButton, QSizePolicy, QCheckBox)
|
||||
from PyQt6.QtCore import pyqtSignal
|
||||
|
||||
class DronePanel(QWidget):
|
||||
"""單個無人機面板類別"""
|
||||
|
||||
# 定義信號
|
||||
mode_change_requested = pyqtSignal(str) # drone_id
|
||||
arm_requested = pyqtSignal(str) # drone_id
|
||||
takeoff_requested = pyqtSignal(str) # drone_id
|
||||
setpoint_requested = pyqtSignal(str) # drone_id
|
||||
selection_changed = pyqtSignal(str, int) # drone_id, state
|
||||
|
||||
def __init__(self, drone_id, parent=None):
|
||||
super().__init__(parent)
|
||||
self.drone_id = drone_id
|
||||
self.display_id = 's' + drone_id.split('_')[1]
|
||||
self._init_ui()
|
||||
|
||||
def _init_ui(self):
|
||||
"""初始化UI"""
|
||||
self.setObjectName(f"panel_{self.drone_id}")
|
||||
self.setFixedHeight(140)
|
||||
self.setStyleSheet("""
|
||||
background-color: #2A2A2A;
|
||||
border-radius: 8px;
|
||||
""")
|
||||
|
||||
# 主佈局
|
||||
main_layout = QHBoxLayout(self)
|
||||
main_layout.setContentsMargins(8, 8, 8, 8)
|
||||
main_layout.setSpacing(0)
|
||||
|
||||
# 創建內容容器（包含 info 和 control）
|
||||
content_widget = QWidget()
|
||||
content_widget.setStyleSheet("background-color: #333; border-radius: 6px;")
|
||||
content_layout = QHBoxLayout(content_widget)
|
||||
content_layout.setContentsMargins(8, 8, 8, 8)
|
||||
content_layout.setSpacing(8)
|
||||
|
||||
# 左側資訊區域
|
||||
info_widget = self._create_info_section()
|
||||
|
||||
# 右側控制按鈕區域
|
||||
control_widget = self._create_control_section()
|
||||
|
||||
# 將 info 和 control 加入內容容器
|
||||
content_layout.addWidget(info_widget)
|
||||
content_layout.addWidget(control_widget)
|
||||
|
||||
# 將內容容器加入主佈局
|
||||
main_layout.addWidget(content_widget)
|
||||
|
||||
def _create_info_section(self):
|
||||
"""創建資訊顯示區域"""
|
||||
info_widget = QWidget()
|
||||
info_layout = QVBoxLayout(info_widget)
|
||||
info_layout.setContentsMargins(0, 0, 0, 0)
|
||||
info_layout.setSpacing(4)
|
||||
|
||||
# 頂部標題欄
|
||||
header = QWidget()
|
||||
header_layout = QHBoxLayout(header)
|
||||
header_layout.setContentsMargins(0, 0, 0, 0)
|
||||
|
||||
# 勾選框
|
||||
self.checkbox = QCheckBox()
|
||||
self.checkbox.setObjectName(f"{self.drone_id}_checkbox")
|
||||
self.checkbox.setStyleSheet("QCheckBox { color: #DDD; }")
|
||||
self.checkbox.stateChanged.connect(
|
||||
lambda state: self.selection_changed.emit(self.drone_id, state)
|
||||
)
|
||||
|
||||
# ID 顯示
|
||||
id_label = QLabel(self.display_id)
|
||||
id_label.setStyleSheet("""
|
||||
font-weight: bold;
|
||||
font-size: 14px;
|
||||
color: #7FFFD4;
|
||||
min-width: 80px;
|
||||
""")
|
||||
|
||||
header_layout.addWidget(self.checkbox)
|
||||
header_layout.addWidget(id_label)
|
||||
header_layout.addStretch()
|
||||
|
||||
info_layout.addWidget(header)
|
||||
|
||||
# 第一行：狀態 (模式 + ARM狀態)
|
||||
status_row = self._create_status_row()
|
||||
info_layout.addWidget(status_row)
|
||||
|
||||
# 第二行：電池
|
||||
battery_row = self._create_battery_row()
|
||||
info_layout.addWidget(battery_row)
|
||||
|
||||
# 第三行：位置 + 高度
|
||||
position_row = self._create_position_row()
|
||||
info_layout.addWidget(position_row)
|
||||
|
||||
# 第四行：航向 + 速度
|
||||
nav_row = self._create_nav_row()
|
||||
info_layout.addWidget(nav_row)
|
||||
|
||||
return info_widget
|
||||
|
||||
def _create_status_row(self):
|
||||
"""創建狀態行"""
|
||||
status_row = QWidget()
|
||||
status_layout = QHBoxLayout(status_row)
|
||||
status_layout.setContentsMargins(0, 0, 0, 0)
|
||||
|
||||
status_title = QLabel("狀態：")
|
||||
status_title.setStyleSheet("color: #888; min-width: 50px;")
|
||||
|
||||
self.mode_label = QLabel("--")
|
||||
self.mode_label.setObjectName(f"{self.drone_id}_mode")
|
||||
self.mode_label.setStyleSheet("color: #DDD;")
|
||||
|
||||
self.armed_label = QLabel("--")
|
||||
self.armed_label.setObjectName(f"{self.drone_id}_armed")
|
||||
self.armed_label.setStyleSheet("color: #DDD;")
|
||||
|
||||
status_layout.addWidget(status_title)
|
||||
status_layout.addWidget(self.mode_label)
|
||||
status_layout.addWidget(self.armed_label)
|
||||
status_layout.addStretch()
|
||||
|
||||
return status_row
|
||||
|
||||
def _create_battery_row(self):
|
||||
"""創建電池行"""
|
||||
battery_row = QWidget()
|
||||
battery_layout = QHBoxLayout(battery_row)
|
||||
battery_layout.setContentsMargins(0, 0, 0, 0)
|
||||
|
||||
battery_title = QLabel("電池：")
|
||||
battery_title.setStyleSheet("color: #888; min-width: 50px;")
|
||||
|
||||
self.battery_label = QLabel("--")
|
||||
self.battery_label.setObjectName(f"{self.drone_id}_battery")
|
||||
self.battery_label.setStyleSheet("color: #DDD;")
|
||||
|
||||
battery_layout.addWidget(battery_title)
|
||||
battery_layout.addWidget(self.battery_label)
|
||||
battery_layout.addStretch()
|
||||
|
||||
return battery_row
|
||||
|
||||
def _create_position_row(self):
|
||||
"""創建位置行"""
|
||||
position_row = QWidget()
|
||||
position_layout = QHBoxLayout(position_row)
|
||||
position_layout.setContentsMargins(0, 0, 0, 0)
|
||||
|
||||
position_title = QLabel("位置：")
|
||||
position_title.setStyleSheet("color: #888; min-width: 50px;")
|
||||
|
||||
self.local_label = QLabel("--")
|
||||
self.local_label.setObjectName(f"{self.drone_id}_local")
|
||||
self.local_label.setStyleSheet("color: #DDD;")
|
||||
|
||||
altitude_title = QLabel("高度：")
|
||||
altitude_title.setStyleSheet("color: #888; margin-left: 10px;")
|
||||
|
||||
self.altitude_label = QLabel("--")
|
||||
self.altitude_label.setObjectName(f"{self.drone_id}_altitude")
|
||||
self.altitude_label.setStyleSheet("color: #DDD;")
|
||||
|
||||
position_layout.addWidget(position_title)
|
||||
position_layout.addWidget(self.local_label)
|
||||
position_layout.addWidget(altitude_title)
|
||||
position_layout.addWidget(self.altitude_label)
|
||||
position_layout.addStretch()
|
||||
|
||||
return position_row
|
||||
|
||||
def _create_nav_row(self):
|
||||
"""創建導航行"""
|
||||
nav_row = QWidget()
|
||||
nav_layout = QHBoxLayout(nav_row)
|
||||
nav_layout.setContentsMargins(0, 0, 0, 0)
|
||||
|
||||
heading_title = QLabel("航向：")
|
||||
heading_title.setStyleSheet("color: #888; min-width: 50px;")
|
||||
|
||||
self.heading_label = QLabel("--")
|
||||
self.heading_label.setObjectName(f"{self.drone_id}_heading")
|
||||
self.heading_label.setStyleSheet("color: #DDD;")
|
||||
|
||||
speed_title = QLabel("速度：")
|
||||
speed_title.setStyleSheet("color: #888; margin-left: 10px;")
|
||||
|
||||
self.groundspeed_label = QLabel("--")
|
||||
self.groundspeed_label.setObjectName(f"{self.drone_id}_groundspeed")
|
||||
self.groundspeed_label.setStyleSheet("color: #DDD;")
|
||||
|
||||
nav_layout.addWidget(heading_title)
|
||||
nav_layout.addWidget(self.heading_label)
|
||||
nav_layout.addWidget(speed_title)
|
||||
nav_layout.addWidget(self.groundspeed_label)
|
||||
nav_layout.addStretch()
|
||||
|
||||
return nav_row
|
||||
|
||||
def _create_control_section(self):
|
||||
"""創建控制按鈕區域"""
|
||||
control_widget = QWidget()
|
||||
control_layout = QVBoxLayout(control_widget)
|
||||
control_layout.setContentsMargins(0, 0, 0, 0)
|
||||
control_layout.setSpacing(6)
|
||||
|
||||
control_widget.setFixedWidth(80)
|
||||
|
||||
btn_style = """
|
||||
QPushButton {
|
||||
background-color: #444;
|
||||
color: #DDD;
|
||||
border: none;
|
||||
border-radius: 4px;
|
||||
font-size: 11px;
|
||||
}
|
||||
QPushButton:hover {
|
||||
background-color: #555;
|
||||
}
|
||||
"""
|
||||
# 模式切換按鈕
|
||||
mode_btn = QPushButton("切換模式")
|
||||
mode_btn.setStyleSheet(btn_style)
|
||||
mode_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
|
||||
mode_btn.clicked.connect(lambda: self.mode_change_requested.emit(self.drone_id))
|
||||
|
||||
# 解鎖按鈕
|
||||
arm_btn = QPushButton("解鎖")
|
||||
arm_btn.setStyleSheet(btn_style)
|
||||
arm_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
|
||||
arm_btn.clicked.connect(lambda: self.arm_requested.emit(self.drone_id))
|
||||
|
||||
# 起飛按鈕
|
||||
takeoff_btn = QPushButton("起飛")
|
||||
takeoff_btn.setStyleSheet(btn_style)
|
||||
takeoff_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
|
||||
takeoff_btn.clicked.connect(lambda: self.takeoff_requested.emit(self.drone_id))
|
||||
|
||||
# Setpoint 按鈕
|
||||
setpoint_btn = QPushButton("Setpoint")
|
||||
setpoint_btn.setStyleSheet(btn_style)
|
||||
setpoint_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
|
||||
setpoint_btn.clicked.connect(lambda: self.setpoint_requested.emit(self.drone_id))
|
||||
|
||||
control_layout.addWidget(mode_btn)
|
||||
control_layout.addWidget(arm_btn)
|
||||
control_layout.addWidget(takeoff_btn)
|
||||
control_layout.addWidget(setpoint_btn)
|
||||
|
||||
return control_widget
|
||||
|
||||
def update_field(self, field, text, color=None):
|
||||
"""更新指定欄位的值"""
|
||||
label = self.findChild(QLabel, f"{self.drone_id}_{field}")
|
||||
if label and label.text() != text:
|
||||
label.setText(text)
|
||||
if color:
|
||||
label.setStyleSheet(f"color: {color};")
|
||||
|
||||
def get_checkbox(self):
|
||||
"""獲取勾選框"""
|
||||
return self.checkbox
|
||||
|
||||
def set_checked(self, checked):
|
||||
"""設置勾選狀態"""
|
||||
self.checkbox.setChecked(checked)
|
||||
|
||||
def is_checked(self):
|
||||
"""獲取勾選狀態"""
|
||||
return self.checkbox.isChecked()
|
||||
|
||||
class SocketGroupPanel(QWidget):
|
||||
# 定義信號
|
||||
group_selection_changed = pyqtSignal(str, int) # socket_id, state
|
||||
|
||||
def __init__(self, socket_id, color='#AAAAAA', parent=None):
|
||||
super().__init__(parent)
|
||||
self.socket_id = socket_id
|
||||
self.color = color
|
||||
self._init_ui()
|
||||
|
||||
def _init_ui(self):
|
||||
"""初始化UI"""
|
||||
self.setObjectName(f"socket_group_{self.socket_id}")
|
||||
self.setStyleSheet("""
|
||||
background-color: #1E1E1E;
|
||||
border-radius: 12px;
|
||||
""")
|
||||
|
||||
layout = QVBoxLayout(self)
|
||||
layout.setContentsMargins(10, 10, 10, 10)
|
||||
layout.setSpacing(6)
|
||||
|
||||
# Socket 分組標題行 - 包含勾選框
|
||||
title_row = QWidget()
|
||||
title_layout = QHBoxLayout(title_row)
|
||||
title_layout.setContentsMargins(0, 0, 0, 0)
|
||||
|
||||
# 分組勾選框
|
||||
self.group_checkbox = QCheckBox()
|
||||
self.group_checkbox.setObjectName(f"socket_{self.socket_id}_checkbox")
|
||||
self.group_checkbox.setStyleSheet(f"""
|
||||
QCheckBox {{ color: #DDD; }}
|
||||
QCheckBox::indicator {{
|
||||
width: 14px;
|
||||
height: 14px;
|
||||
border: 2px solid #888888;
|
||||
border-radius: 3px;
|
||||
background: transparent;
|
||||
}}
|
||||
QCheckBox::indicator:checked {{
|
||||
background-color: {self.color};
|
||||
border: 2px solid #888888;
|
||||
}}
|
||||
QCheckBox::indicator:indeterminate {{
|
||||
background-color: #666;
|
||||
border: 2px solid #888888;
|
||||
}}
|
||||
""")
|
||||
self.group_checkbox.stateChanged.connect(
|
||||
lambda state: self.group_selection_changed.emit(self.socket_id, state)
|
||||
)
|
||||
|
||||
# Socket 分組標題
|
||||
title_label = QLabel(f"Socket {self.socket_id}")
|
||||
title_label.setStyleSheet(f"""
|
||||
font-weight: bold;
|
||||
font-size: 16px;
|
||||
color: {self.color};
|
||||
margin-bottom: 8px;
|
||||
padding: 4px 8px;
|
||||
border-radius: 6px;
|
||||
""")
|
||||
|
||||
title_layout.addWidget(self.group_checkbox)
|
||||
title_layout.addWidget(title_label)
|
||||
title_layout.addStretch()
|
||||
|
||||
layout.addWidget(title_row)
|
||||
|
||||
# 創建子容器用於放置該 socket 下的所有無人機面板
|
||||
self.drones_container = QWidget()
|
||||
self.drones_layout = QVBoxLayout(self.drones_container)
|
||||
self.drones_layout.setContentsMargins(0, 0, 0, 0)
|
||||
self.drones_layout.setSpacing(4)
|
||||
|
||||
layout.addWidget(self.drones_container)
|
||||
|
||||
def add_drone_panel(self, panel):
|
||||
"""添加無人機面板到分組"""
|
||||
self.drones_layout.addWidget(panel)
|
||||
|
||||
def clear_drones(self):
|
||||
"""清空所有無人機面板"""
|
||||
while self.drones_layout.count():
|
||||
item = self.drones_layout.takeAt(0)
|
||||
if item.widget():
|
||||
item.widget().setParent(None)
|
||||
|
||||
def get_checkbox(self):
|
||||
"""獲取分組勾選框"""
|
||||
return self.group_checkbox
|
||||
|
||||
def set_checked(self, checked):
|
||||
"""設置分組勾選狀態"""
|
||||
self.group_checkbox.setChecked(checked)
|
||||
|
||||
def set_check_state(self, state):
|
||||
"""設置分組勾選狀態（支持半選）"""
|
||||
self.group_checkbox.setCheckState(state)
|
||||
+96
-941
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,292 @@
|
||||
#!/usr/bin/env python3
|
||||
from PyQt6.QtWebEngineWidgets import QWebEngineView
|
||||
from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
|
||||
from PyQt6.QtWebChannel import QWebChannel
|
||||
|
||||
class DroneMap:
|
||||
"""無人機地圖類別 - 負責管理 Leaflet 地圖顯示"""
|
||||
|
||||
def __init__(self):
|
||||
"""初始化地圖"""
|
||||
self.map_view = QWebEngineView()
|
||||
self.map_loaded = False
|
||||
self.pending_map_updates = {}
|
||||
|
||||
# 創建橋接對象
|
||||
self.bridge = MapBridge()
|
||||
|
||||
# 設置 QWebChannel
|
||||
self.channel = QWebChannel()
|
||||
self.channel.registerObject('bridge', self.bridge)
|
||||
self.map_view.page().setWebChannel(self.channel)
|
||||
|
||||
# 設置地圖 HTML
|
||||
inline_html = '''
|
||||
<!DOCTYPE html>
|
||||
<html>
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<link rel="stylesheet" href="https://unpkg.com/leaflet/dist/leaflet.css" />
|
||||
<script src="https://unpkg.com/leaflet/dist/leaflet.js"></script>
|
||||
<script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
|
||||
<script src="qrc:///qtwebchannel/qwebchannel.js"></script>
|
||||
<style>
|
||||
html, body, #map { height: 100%; margin: 0; }
|
||||
.map-controls {
|
||||
position: absolute;
|
||||
top: 10px;
|
||||
right: 10px;
|
||||
z-index: 1000;
|
||||
}
|
||||
.control-button {
|
||||
padding: 8px 12px;
|
||||
background-color: #f44336;
|
||||
color: white;
|
||||
border: none;
|
||||
border-radius: 4px;
|
||||
cursor: pointer;
|
||||
font-size: 12px;
|
||||
box-shadow: 0 2px 5px rgba(0,0,0,0.2);
|
||||
}
|
||||
.control-button:hover {
|
||||
background-color: #d32f2f;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
<body>
|
||||
<div id="map"></div>
|
||||
<div class="map-controls">
|
||||
<button class="control-button" onclick="clearAllTrajectories()">清除軌跡</button>
|
||||
</div>
|
||||
|
||||
<script>
|
||||
var bridge;
|
||||
new QWebChannel(qt.webChannelTransport, function(channel) {
|
||||
bridge = channel.objects.bridge;
|
||||
});
|
||||
|
||||
var map = L.map('map').setView([0, 0], 19);
|
||||
L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
|
||||
maxZoom: 19,
|
||||
attribution: '© OpenStreetMap contributors'
|
||||
}).addTo(map);
|
||||
|
||||
// 地圖點擊事件
|
||||
map.on('click', function(e) {
|
||||
if (bridge) {
|
||||
bridge.emitGpsSignal(e.latlng.lat, e.latlng.lng);
|
||||
console.log('點擊位置:', e.latlng.lat, e.latlng.lng);
|
||||
}
|
||||
});
|
||||
|
||||
var arrowIcon = L.icon({
|
||||
iconUrl: 'https://cdn-icons-png.flaticon.com/512/399/399308.png',
|
||||
iconSize: [40, 40],
|
||||
iconAnchor: [20, 20]
|
||||
});
|
||||
|
||||
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 color = getColorBySocketId(id);
|
||||
const sysid = id.split('_')[1];
|
||||
return L.divIcon({
|
||||
className: 'drone-id',
|
||||
html: `<div style="
|
||||
position: relative;
|
||||
left: 2px;
|
||||
background-color: ${color};
|
||||
color: black;
|
||||
width: 16px;
|
||||
height: 16px;
|
||||
border-radius: 50%;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
font-weight: bold;
|
||||
font-size: 10px;
|
||||
">${sysid}</div>`,
|
||||
iconSize: [20, 20],
|
||||
iconAnchor: [10, 10]
|
||||
});
|
||||
}
|
||||
|
||||
var markers = {};
|
||||
var idLabels = {};
|
||||
var trajectories = {};
|
||||
var trajectoryLines = {};
|
||||
var focusedId = null;
|
||||
var initialized = false;
|
||||
var trajectoryGroup = L.layerGroup().addTo(map);
|
||||
|
||||
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);
|
||||
|
||||
markers[id] = L.marker([lat, lon], {
|
||||
icon: arrowIcon,
|
||||
rotationAngle: heading,
|
||||
rotationOrigin: 'center'
|
||||
})
|
||||
.on('click', function () {
|
||||
focusOn(id);
|
||||
})
|
||||
.addTo(map);
|
||||
|
||||
idLabels[id] = L.marker([lat, lon], {
|
||||
icon: createIdIcon(id),
|
||||
zIndexOffset: 1000
|
||||
})
|
||||
.on('click', function() {
|
||||
focusOn(id);
|
||||
})
|
||||
.addTo(map);
|
||||
|
||||
if (!initialized || id < focusedId) {
|
||||
focusOn(id);
|
||||
initialized = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
function clearAllTrajectories() {
|
||||
trajectories = {};
|
||||
Object.values(trajectoryLines).forEach(line => {
|
||||
trajectoryGroup.removeLayer(line);
|
||||
});
|
||||
trajectoryLines = {};
|
||||
console.log('所有軌跡已清除');
|
||||
}
|
||||
</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();")
|
||||
|
||||
def focus_on_drone(self, drone_id):
|
||||
"""聚焦到指定無人機"""
|
||||
if self.map_loaded:
|
||||
self.map_view.page().runJavaScript(f"focusOn('{drone_id}');")
|
||||
|
||||
def get_widget(self):
|
||||
"""獲取地圖 widget"""
|
||||
return self.map_view
|
||||
|
||||
def get_gps_signal(self):
|
||||
"""獲取 GPS 信號"""
|
||||
return self.bridge.gps_signal
|
||||
|
||||
class MapBridge(QObject):
|
||||
"""JavaScript 和 Python 之間的橋接類"""
|
||||
gps_signal = pyqtSignal(float, float) # lat, lon
|
||||
|
||||
def __init__(self):
|
||||
super().__init__()
|
||||
|
||||
@pyqtSlot(float, float)
|
||||
def emitGpsSignal(self, lat, lon):
|
||||
"""供 JavaScript 調用的方法"""
|
||||
self.gps_signal.emit(lat, lon)
|
||||
Reference in New Issue
Block a user