From 0b41ea0a1e526497c164d0148609e8256076f06a Mon Sep 17 00:00:00 2001
From: ken910606 <ken910606@gmail.com>
Date: Tue, 19 May 2026 11:05:15 +0800
Subject: [PATCH] Update GUI 2.3.1

---
 src/GUI/communication.py | 64 +++++++++++++++++++++++++++++++---------
 src/GUI/gui.py           |  2 +-
 2 files changed, 51 insertions(+), 15 deletions(-)

diff --git a/src/GUI/communication.py b/src/GUI/communication.py
index 0ef573d..a4f4102 100644
--- a/src/GUI/communication.py
+++ b/src/GUI/communication.py
@@ -62,6 +62,13 @@ except ImportError as e:
     _log("ERROR", f"錯誤: {e}")
     AttitudeRaw = None
 
+try:
+    from fc_interfaces.msg import GnssRaw
+except ImportError as e:
+    _log("WARN", "無法導入 GnssRaw")
+    _log("ERROR", f"錯誤: {e}")
+    GnssRaw = None
+
 class DroneSignals(QObject):
     update_signal = pyqtSignal(str, str, object)  # (msg_type, drone_id, data)
 
@@ -792,8 +799,21 @@ class DroneMonitor(Node):
             if not hasattr(self, subs_attr):
                 self.setup_drone(sys_id)
             else:
-                # 檢查既有訂閱是否包含 position_ned / attitude，如果不包含就添加（兼容舊訂閱）
+                # 檢查既有訂閱是否包含 position_gnss / position_ned / attitude，如果不包含就添加（兼容舊訂閱）
                 subs = getattr(self, subs_attr, {})
+                if isinstance(subs, dict) and 'position_gnss' not in subs and GnssRaw is not None:
+                    base_topic = f'/fc_network/vehicle/{sys_id}'
+                    try:
+                        position_gnss_sub = self.create_subscription(
+                            GnssRaw,
+                            f'{base_topic}/position_gnss',
+                            lambda msg, sid=sys_id: self.gps_callback(sid, msg),
+                            10
+                        )
+                        subs['position_gnss'] = position_gnss_sub
+                        setattr(self, subs_attr, subs)
+                    except Exception:
+                        pass
                 if isinstance(subs, dict) and 'position_ned' not in subs:
                     base_topic = f'/fc_network/vehicle/{sys_id}'
                     try:
@@ -849,12 +869,6 @@ class DroneMonitor(Node):
                 lambda msg, sid=sys_id: self.battery_callback(sid, msg),
                 10
             ),
-            'position': self.create_subscription(
-                NavSatFix,
-                f'{base_topic}/position',
-                lambda msg, sid=sys_id: self.gps_callback(sid, msg),
-                10
-            ),
             'summary': self.create_subscription(
                 String,
                 f'{base_topic}/summary',
@@ -875,6 +889,21 @@ class DroneMonitor(Node):
             )
         }
 
+        if GnssRaw is not None:
+            subs['position_gnss'] = self.create_subscription(
+                GnssRaw,
+                f'{base_topic}/position_gnss',
+                lambda msg, sid=sys_id: self.gps_callback(sid, msg),
+                10
+            )
+        else:
+            subs['position'] = self.create_subscription(
+                NavSatFix,
+                f'{base_topic}/position',
+                lambda msg, sid=sys_id: self.gps_callback(sid, msg),
+                10
+            )
+
         if AttitudeRaw is not None:
             subs['attitude'] = self.create_subscription(
                 AttitudeRaw,
@@ -1177,21 +1206,28 @@ class DroneMonitor(Node):
         # 如果還沒有從 summary 獲取到映射，則不處理
         if actual_drone_id is None:
             return
-        
-        self.latest_data[(actual_drone_id, 'gps')] = {
+
+        gps_data = {
             'lat': msg.latitude,
             'lon': msg.longitude,
             'alt': msg.altitude
         }
+
+        if hasattr(msg, 'fix_type'):
+            gps_data['fix_type'] = msg.fix_type
+        if hasattr(msg, 'satellites_visible'):
+            gps_data['satellites_visible'] = msg.satellites_visible
+        if hasattr(msg, 'eph'):
+            gps_data['eph'] = msg.eph
+        if hasattr(msg, 'epv'):
+            gps_data['epv'] = msg.epv
+        
+        self.latest_data[(actual_drone_id, 'gps')] = gps_data
         
         # ================================================================================
         # 【新增】儲存 GPS 資料到 drone_gps 字典
         # ================================================================================
-        self.drone_gps[actual_drone_id] = {
-            'lat': msg.latitude,
-            'lon': msg.longitude,
-            'alt': msg.altitude
-        }
+        self.drone_gps[actual_drone_id] = gps_data.copy()
         # ================================================================================
 
     def local_vel_callback(self, drone_id, msg):
diff --git a/src/GUI/gui.py b/src/GUI/gui.py
index cafe7d5..56c78a3 100644
--- a/src/GUI/gui.py
+++ b/src/GUI/gui.py
@@ -147,7 +147,7 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.3.0'
+    VERSION = '2.3.1'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100