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chiyu
ken910606 1 year ago
parent 945d79a6fa
commit 4d694f28b4
1 changed files with 56 additions and 24 deletions
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src/unitdev01/unitdev01/gui.py
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@ -191,6 +191,8 @@ class ControlStationUI(QMainWindow):
self.executor.add_node(self.monitor) self.executor.add_node(self.monitor)
# 初始化UI # 初始化UI
self.drone_positions = {}
self.map_loaded = False
self.init_ui() self.init_ui()
# 定时处理ROS事件 # 定时处理ROS事件
@ -221,23 +223,48 @@ class ControlStationUI(QMainWindow):
inline_html = ''' inline_html = '''
<!DOCTYPE html> <!DOCTYPE html>
<html><head> <html>
<meta charset="utf-8"/> <head>
<link rel="stylesheet" href="https://unpkg.com/leaflet/dist/leaflet.css"/> <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/dist/leaflet.js"></script>
<style>html,body,#map{height:100%;margin:0}</style> <script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
</head><body> <style>
html, body, #map { height: 100%; margin: 0; }
</style>
</head>
<body>
<div id="map"></div> <div id="map"></div>
<script> <script>
var map = L.map('map').setView([0,0],2); var map = L.map('map').setView([0, 0], 2);
L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png',{maxZoom:19}).addTo(map); L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
maxZoom: 19
}).addTo(map);
var arrowIcon = L.icon({
iconUrl: 'https://cdn-icons-png.flaticon.com/512/399/399308.png', // 朝上的箭頭
iconSize: [40, 40],
iconAnchor: [20, 20]
});
var markers = {}; var markers = {};
function updateDrone(lat,lon,id){
if(markers[id]) markers[id].setLatLng([lat,lon]); function updateDrone(lat, lon, id, heading) {
else markers[id]=L.marker([lat,lon]).addTo(map).bindPopup(id); if (markers[id]) {
markers[id].setLatLng([lat, lon]);
markers[id].setRotationAngle(heading);
} else {
markers[id] = L.marker([lat, lon], {
icon: arrowIcon,
rotationAngle: heading,
rotationOrigin: 'center'
}).addTo(map).bindPopup(id);
}
map.setView([lat, lon], 16);
} }
</script> </script>
</body></html> </body>
</html>
''' '''
self.map_view.setHtml(inline_html) self.map_view.setHtml(inline_html)
self.map_view.loadFinished.connect(self.on_map_loaded) self.map_view.loadFinished.connect(self.on_map_loaded)
@ -349,12 +376,11 @@ class ControlStationUI(QMainWindow):
'#FF6464' if voltage < 12 else '#FFFFFF') '#FF6464' if voltage < 12 else '#FFFFFF')
elif msg_type == 'gps': elif msg_type == 'gps':
text = (f"緯度: {data['lat']:.6f}°\n" lat, lon = data['lat'], data['lon']
f"經度: {data['lon']:.6f}°") self.drone_positions[drone_id] = (lat, lon)
text = (f"緯度: {lat:.6f}°\n"
f"經度: {lon:.6f}°")
self.update_field(panel, drone_id, 'gps', text) self.update_field(panel, drone_id, 'gps', text)
if self.on_map_loaded:
js = f"updateDrone({data['lat']}, {data['lon']:.6f}, {drone_id})"
self.map_view.page().runJavaScript(js)
elif msg_type == 'altitude': elif msg_type == 'altitude':
text = (f"{data['altitude']:.1f} m") text = (f"{data['altitude']:.1f} m")
@ -365,9 +391,15 @@ class ControlStationUI(QMainWindow):
self.update_field(panel, drone_id, 'local', text) self.update_field(panel, drone_id, 'local', text)
elif msg_type == 'hud': elif msg_type == 'hud':
heading = data['heading']
text = (f"地速: {data['groundspeed']:.1f} m/s\n" text = (f"地速: {data['groundspeed']:.1f} m/s\n"
f"航向: {data['heading']:.1f}°") f"航向: {heading:.1f}°")
self.update_field(panel, drone_id, 'hud', text) self.update_field(panel, drone_id, 'hud', text)
if self.map_loaded and drone_id in self.drone_positions:
lat, lon = self.drone_positions[drone_id]
js = f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});"
self.map_view.page().runJavaScript(js)
''' '''
elif msg_type == 'velocity': elif msg_type == 'velocity':
text = (f"VX: {data['vx']:.1f} m/s\n" text = (f"VX: {data['vx']:.1f} m/s\n"

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