|
|
|
|
@ -191,6 +191,8 @@ class ControlStationUI(QMainWindow):
|
|
|
|
|
self.executor.add_node(self.monitor)
|
|
|
|
|
|
|
|
|
|
# 初始化UI
|
|
|
|
|
self.drone_positions = {}
|
|
|
|
|
self.map_loaded = False
|
|
|
|
|
self.init_ui()
|
|
|
|
|
|
|
|
|
|
# 定时处理ROS事件
|
|
|
|
|
@ -221,23 +223,48 @@ class ControlStationUI(QMainWindow):
|
|
|
|
|
|
|
|
|
|
inline_html = '''
|
|
|
|
|
<!DOCTYPE html>
|
|
|
|
|
<html><head>
|
|
|
|
|
<meta charset="utf-8"/>
|
|
|
|
|
<link rel="stylesheet" href="https://unpkg.com/leaflet/dist/leaflet.css"/>
|
|
|
|
|
<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>
|
|
|
|
|
<style>html,body,#map{height:100%;margin:0}</style>
|
|
|
|
|
</head><body>
|
|
|
|
|
<script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
|
|
|
|
|
<style>
|
|
|
|
|
html, body, #map { height: 100%; margin: 0; }
|
|
|
|
|
</style>
|
|
|
|
|
</head>
|
|
|
|
|
<body>
|
|
|
|
|
<div id="map"></div>
|
|
|
|
|
<script>
|
|
|
|
|
var map = L.map('map').setView([0,0],2);
|
|
|
|
|
L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png',{maxZoom:19}).addTo(map);
|
|
|
|
|
var map = L.map('map').setView([0, 0], 2);
|
|
|
|
|
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 = {};
|
|
|
|
|
function updateDrone(lat,lon,id){
|
|
|
|
|
if(markers[id]) markers[id].setLatLng([lat,lon]);
|
|
|
|
|
else markers[id]=L.marker([lat,lon]).addTo(map).bindPopup(id);
|
|
|
|
|
|
|
|
|
|
function updateDrone(lat, lon, id, heading) {
|
|
|
|
|
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>
|
|
|
|
|
</body></html>
|
|
|
|
|
</body>
|
|
|
|
|
</html>
|
|
|
|
|
'''
|
|
|
|
|
self.map_view.setHtml(inline_html)
|
|
|
|
|
self.map_view.loadFinished.connect(self.on_map_loaded)
|
|
|
|
|
@ -349,12 +376,11 @@ class ControlStationUI(QMainWindow):
|
|
|
|
|
'#FF6464' if voltage < 12 else '#FFFFFF')
|
|
|
|
|
|
|
|
|
|
elif msg_type == 'gps':
|
|
|
|
|
text = (f"緯度: {data['lat']:.6f}°\n"
|
|
|
|
|
f"經度: {data['lon']:.6f}°")
|
|
|
|
|
lat, lon = data['lat'], data['lon']
|
|
|
|
|
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)
|
|
|
|
|
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':
|
|
|
|
|
text = (f"{data['altitude']:.1f} m")
|
|
|
|
|
@ -365,9 +391,15 @@ class ControlStationUI(QMainWindow):
|
|
|
|
|
self.update_field(panel, drone_id, 'local', text)
|
|
|
|
|
|
|
|
|
|
elif msg_type == 'hud':
|
|
|
|
|
heading = data['heading']
|
|
|
|
|
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)
|
|
|
|
|
|
|
|
|
|
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':
|
|
|
|
|
text = (f"VX: {data['vx']:.1f} m/s\n"
|
|
|
|
|
|
