2.8.2 grid mission

src/GUI/gui.py

@@ -147,11 +147,11 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.8.0'
+    VERSION = '2.8.2'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
-    
+
     def __init__(self):
         super().__init__()
         self.setWindowTitle(f'GCS v{self.VERSION}')
@@ -1596,6 +1596,8 @@ class ControlStationUI(QMainWindow):
         group.planned_waypoints = None
         group.mission_target = None
         self.drone_map.clear_mission_plan_for_group(group_id)
+        self.drone_map.clear_grid_sweep_area_for_group(
+            group_id, restart_selection=(group.mission_type == 'GRID_SWEEP'))
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
@@ -1876,6 +1878,7 @@ class ControlStationUI(QMainWindow):
         if group.executor:
             group.executor.stop()
         self.drone_map.clear_mission_plan_for_group(group_id)
+        self.drone_map.clear_grid_sweep_area_for_group(group_id)
 
         # 只有當操作目標組是 active 組時，才更新 UI
         if group_id == self.active_group_id:
@@ -1910,6 +1913,7 @@ class ControlStationUI(QMainWindow):
         
         # 移除地圖上的任務計畫
         self.drone_map.clear_mission_plan_for_group(group_id)
+        self.drone_map.clear_grid_sweep_area_for_group(group_id)
         
         # 移除 tab
         for i in range(self.group_tab_widget.count()):
@@ -2256,10 +2260,14 @@ class ControlStationUI(QMainWindow):
         center_lat, center_lon, _ = center_origin
         target_lat, target_lon = context['draw_target']
         group.mission_target = (float(target_lat), float(target_lon))
-        self.drone_map.draw_mission_plan_for_group(
-            group_id, group.color,
-            center_lat, center_lon, target_lat, target_lon
-        )
+        if expected_mission_type == 'GRID_SWEEP':
+            # Grid Sweep 的範圍已由矩形圖層表示，不另外顯示中心／目標點。
+            self.drone_map.clear_mission_plan_for_group(group_id)
+        else:
+            self.drone_map.draw_mission_plan_for_group(
+                group_id, group.color,
+                center_lat, center_lon, target_lat, target_lon
+            )
 
         self._launch_verification(
             context['verification_type'], drone_gps_positions, selected_drones,
@@ -2351,6 +2359,10 @@ class ControlStationUI(QMainWindow):
             self.statusBar().showMessage("矩形座標解析失敗", 3000)
             return
 
+        # 將確認後的框選範圍存入群組專屬圖層，供停止任務時精準清除。
+        self.drone_map.draw_grid_sweep_area_for_group(
+            group.group_id, group.color, rect_corners)
+
         panel = self.group_panels.get(group.group_id)
         params = panel.get_mission_params() if panel else {}
         base_alt = params.get('altitude', 10.0)

src/GUI/map_layout.py

@@ -368,6 +368,8 @@ class DroneMap:
 
                 // 多群組任務規劃 — 每個 group 各自的 layer group
                 var groupMissionLayers = {};  // group_id → L.layerGroup
+                // Grid Sweep 框選範圍也依群組保存，停止時可單獨清除。
+                var gridSweepAreaLayers = {};  // group_id → L.layerGroup
                 
                 // 選擇工具變量
                 var selectionMode = null;  // 'drones', 'rect', 'polygon', 'route', null
@@ -581,23 +583,6 @@ class DroneMap:
                             [bounds.getSouth(), bounds.getEast()],
                             [bounds.getSouth(), bounds.getWest()]
                         ];
-                        
-                        L.rectangle(bounds, {
-                            color: '#FF6B6B',
-                            fillColor: '#FF6B6B',
-                            fillOpacity: 0.2,
-                            weight: 2
-                        }).addTo(selectionLayer);
-                        
-                        rectPoints.forEach(point => {
-                            L.circleMarker(point, {
-                                radius: 5,
-                                color: '#FF6B6B',
-                                fillColor: '#FF6B6B',
-                                fillOpacity: 0.8
-                            }).addTo(selectionLayer);
-                        });
-                        
                         if (bridge) {
                             var pointsStr = JSON.stringify(rectPoints);
                             bridge.rectangleSelected(pointsStr);
@@ -974,6 +959,41 @@ class DroneMap:
                     }
                 }
 
+                function drawGridSweepAreaForGroup(groupId, color, rectPoints) {
+                    clearGridSweepAreaForGroup(groupId);
+                    var layerGroup = L.layerGroup().addTo(map);
+                    gridSweepAreaLayers[groupId] = layerGroup;
+                    var bounds = L.latLngBounds(rectPoints);
+
+                    L.rectangle(bounds, {
+                        color: color,
+                        fillColor: color,
+                        fillOpacity: 0.2,
+                        weight: 2
+                    }).addTo(layerGroup);
+                    rectPoints.forEach(point => {
+                        L.circleMarker(point, {
+                            radius: 5,
+                            color: color,
+                            fillColor: color,
+                            fillOpacity: 0.8
+                        }).addTo(layerGroup);
+                    });
+                }
+
+                function clearGridSweepAreaForGroup(groupId, restartSelection) {
+                    if (gridSweepAreaLayers[groupId]) {
+                        map.removeLayer(gridSweepAreaLayers[groupId]);
+                        delete gridSweepAreaLayers[groupId];
+                    }
+                    if (restartSelection) {
+                        clearSelectionMode();
+                        selectionMode = 'rect';
+                        map.dragging.disable();
+                        console.log('Grid Sweep: 已清除範圍並重新進入框選模式');
+                    }
+                }
+
                 function clearAllMissionPlans() {
                     for (var gid in groupMissionLayers) {
                         map.removeLayer(groupMissionLayers[gid]);
@@ -1110,6 +1130,23 @@ class DroneMap:
             self.map_view.page().runJavaScript(f"clearMissionPlanForGroup('{group_id}');")
             _log("INFO", f"地圖已清除 Group {group_id} 任務規劃")
 
+    def draw_grid_sweep_area_for_group(self, group_id, color, rect_corners):
+        """繪製指定群組的 Grid Sweep 框選範圍。"""
+        if self.map_loaded:
+            group_json = json.dumps(group_id)
+            color_json = json.dumps(color)
+            corners_json = json.dumps(rect_corners)
+            self.map_view.page().runJavaScript(
+                f"drawGridSweepAreaForGroup({group_json}, {color_json}, {corners_json});")
+
+    def clear_grid_sweep_area_for_group(self, group_id, restart_selection=False):
+        """清除指定群組的 Grid Sweep 範圍，可選擇重新進入框選模式。"""
+        if self.map_loaded:
+            group_json = json.dumps(group_id)
+            restart_js = str(bool(restart_selection)).lower()
+            self.map_view.page().runJavaScript(
+                f"clearGridSweepAreaForGroup({group_json}, {restart_js});")
+
     def set_mission_mode(self, mode):
         """從 Python 端切換地圖的任務模式（觸發框選/路徑標記等）"""
         if self.map_loaded: