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AirTrapMine
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Update GUI 2.6.0: trajectory, color, window, serial JSON

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wenchun
ken910606 3 weeks ago
parent 0ee7dd1fcf
commit 5231cffcb2
6 changed files with 278 additions and 66 deletions
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2
src/GUI/comm_panel.py
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@ -247,7 +247,7 @@ class CommPanel(QWidget):
self.serial_baudrate_combo = QComboBox()
self.serial_baudrate_combo.addItems(['9600', '19200', '38400', '57600', '115200'])
self.serial_baudrate_combo.setCurrentText('57600')
self.serial_baudrate_combo.setCurrentText('115200')
self.serial_baudrate_combo.setFixedWidth(100)
_set_scaled_stylesheet(self.serial_baudrate_combo, """
QComboBox {

161
src/GUI/communication.py
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@ -83,7 +83,10 @@ class JsonTelemetryProcessor:
"position": {"lat": 24.0, "lon": 120.0},
"heading": 90
}
Serial JSON uses this same shape; only the transport/framing differs.
Serial JSON also accepts the compact UAV.py shape:
{"s": 1, "m": "GUIDED", "a": 1, "b": 85, "h": 10.0,
"v": 4.2, "p": [24.0, 120.0], "ypr": [90.0, 0.0, 0.0],
"g": 3, "d": [0.8, 1.2]}
"""
def _emit_json_connection_type(self, drone_id):
@ -103,19 +106,21 @@ class JsonTelemetryProcessor:
if not isinstance(data, dict):
return
system_id = data.get('system_id', data.get('sysid'))
system_id = data.get('system_id', data.get('sysid', data.get('s')))
if system_id is None:
return
drone_id = f"s{self.socket_id}_{system_id}"
self._emit_json_connection_type(drone_id)
mode = data.get('mode', data.get('mode_name'))
mode = data.get('mode', data.get('mode_name', data.get('m')))
state = {}
if mode is not None:
state['mode'] = mode
if 'armed' in data:
state['armed'] = data.get('armed')
elif 'a' in data:
state['armed'] = bool(data.get('a'))
if state:
self.signals.update_signal.emit('state', drone_id, state)
@ -144,6 +149,10 @@ class JsonTelemetryProcessor:
if 'battery_voltage' in data:
battery_data['voltage'] = data.get('battery_voltage')
self.signals.update_signal.emit('battery', drone_id, battery_data)
elif 'b' in data:
self.signals.update_signal.emit('battery', drone_id, {
'percentage': data.get('b')
})
pos = data.get('position')
if isinstance(pos, dict):
@ -159,6 +168,22 @@ class JsonTelemetryProcessor:
'lon': data.get('lon', data.get('longitude', 0)),
'alt': data.get('alt', data.get('altitude', 0))
})
elif isinstance(data.get('p'), (list, tuple)) and len(data.get('p')) >= 2:
dop = data.get('d') if isinstance(data.get('d'), (list, tuple)) else []
gps_data = {
'lat': data['p'][0],
'lon': data['p'][1],
'alt': data.get('h', 0)
}
if 'g' in data:
gps_data['fix_type'] = data.get('g')
if len(dop) >= 1:
gps_data['eph'] = dop[0]
gps_data['hdop'] = dop[0]
if len(dop) >= 2:
gps_data['epv'] = dop[1]
gps_data['vdop'] = dop[1]
self.signals.update_signal.emit('gps', drone_id, gps_data)
local = data.get('local_position', data.get('local_pose', data.get('local')))
if isinstance(local, dict):
@ -183,6 +208,29 @@ class JsonTelemetryProcessor:
self.signals.update_signal.emit('altitude', drone_id, {
'altitude': alt
})
elif 'h' in data:
height = data.get('h', 0.0)
self.signals.update_signal.emit('local_pose', drone_id, {
'x': 0.0,
'y': 0.0,
'z': height
})
self.signals.update_signal.emit('altitude', drone_id, {
'altitude': height
})
elif (
isinstance(data.get('p'), (list, tuple))
or 'lat' in data
or 'latitude' in data
):
self.signals.update_signal.emit('local_pose', drone_id, {
'x': 0.0,
'y': 0.0,
'z': 0.0
})
self.signals.update_signal.emit('altitude', drone_id, {
'altitude': 0.0
})
velocity = data.get('velocity')
if isinstance(velocity, dict):
@ -191,6 +239,12 @@ class JsonTelemetryProcessor:
'vy': velocity.get('vy', velocity.get('y', 0.0)),
'vz': velocity.get('vz', velocity.get('z', 0.0))
})
elif 'v' in data:
self.signals.update_signal.emit('velocity', drone_id, {
'vx': data.get('v', 0.0),
'vy': 0.0,
'vz': 0.0
})
attitude = data.get('attitude')
if isinstance(attitude, dict):
@ -200,12 +254,28 @@ class JsonTelemetryProcessor:
'yaw': attitude.get('yaw', 0.0),
'rates': attitude.get('rates', (0.0, 0.0, 0.0))
})
elif isinstance(data.get('ypr'), (list, tuple)) and len(data.get('ypr')) >= 3:
yaw, pitch, roll = data['ypr'][0], data['ypr'][1], data['ypr'][2]
self.signals.update_signal.emit('attitude', drone_id, {
'roll': roll,
'pitch': pitch,
'yaw': yaw,
'rates': (0.0, 0.0, 0.0)
})
hud = data.get('hud', {})
if not isinstance(hud, dict):
hud = {}
if 'heading' in data:
hud['heading'] = data.get('heading')
elif 'y' in data:
hud['heading'] = data.get('y')
elif isinstance(data.get('ypr'), (list, tuple)) and len(data.get('ypr')) >= 1:
hud['heading'] = data['ypr'][0]
if 'v' in data and 'groundspeed' not in hud:
hud['groundspeed'] = data.get('v')
if 'h' in data and 'alt' not in hud and 'altitude' not in hud:
hud['alt'] = data.get('h')
if hud:
self.signals.update_signal.emit('hud', drone_id, {
'heading': hud.get('heading', 0.0),
@ -229,6 +299,7 @@ class UDPMavlinkReceiver(threading.Thread):
self.connection_name = connection_name
self.monitor = monitor # 保存 monitor 引用
self.socket_id = monitor.get_next_socket_id() if monitor else 0
self._socket_id_released = False
self.running = False
self.sock = None
@ -258,6 +329,7 @@ class UDPMavlinkReceiver(threading.Thread):
finally:
if self.sock:
self.sock.close()
self._release_socket_id()
def process_mavlink_message(self, msg):
"""處理 MAVLink 訊息"""
@ -343,6 +415,12 @@ class UDPMavlinkReceiver(threading.Thread):
def stop(self):
"""停止接收器"""
self.running = False
self._release_socket_id()
def _release_socket_id(self):
if self.monitor and not self._socket_id_released:
self.monitor.release_socket_id(self.socket_id)
self._socket_id_released = True
class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
"""串口遙測接收器，可自動處理 MAVLink 或 WebSocket 格式 JSON。"""
@ -354,6 +432,7 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
self.connection_name = connection_name
self.monitor = monitor # 保存 monitor 引用
self.socket_id = monitor.get_next_socket_id() if monitor else 0
self._socket_id_released = False
self.source_type = 'Serial'
self.running = False
self.serial_conn = None
@ -402,6 +481,7 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
self.serial_conn.close()
except Exception:
pass
self._release_socket_id()
def _process_mavlink_byte(self, byte):
try:
@ -562,6 +642,12 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
self.serial_conn.close()
except Exception:
pass
self._release_socket_id()
def _release_socket_id(self):
if self.monitor and not self._socket_id_released:
self.monitor.release_socket_id(self.socket_id)
self._socket_id_released = True
class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
"""WebSocket MAVLink 接收器"""
@ -572,6 +658,7 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
self.connection_name = connection_name
self.monitor = monitor # 保存 monitor 引用
self.socket_id = monitor.get_next_socket_id() if monitor else 0 # 一次性分配 socket_id
self._socket_id_released = False
self.source_type = 'WS'
self.running = False
self.max_retries = 5
@ -629,6 +716,7 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
break
print(f"WebSocket client {self.connection_name} stopped")
self._release_socket_id()
def process_websocket_message(self, data):
"""處理 WebSocket 訊息"""
@ -637,6 +725,12 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
def stop(self):
"""停止接收器"""
self.running = False
self._release_socket_id()
def _release_socket_id(self):
if self.monitor and not self._socket_id_released:
self.monitor.release_socket_id(self.socket_id)
self._socket_id_released = True
class DroneMonitor(Node):
# Subscribe to drone ROS2 topics
@ -675,7 +769,7 @@ class DroneMonitor(Node):
# 【新增】Socket ID 重新分配機制 (從 0 開始)
# ================================================================================
self.socket_id_mapping = {} # {原始socket_id: 重新分配的socket_id}
self.socket_id_counter = 0 # 當前分配到的最大socket_id
self.active_socket_ids = set() # 目前通訊連線使用中的 socket_id
self.socket_id_lock = Lock() # 線程安全鎖
# ================================================================================
@ -708,23 +802,55 @@ class DroneMonitor(Node):
self.create_timer(1.0, self.scan_topics)
def get_next_socket_id(self):
"""获取下一个可用的 socket_id（从 0 开始连续分配）"""
"""取得目前最小的未使用 socket_id（從 0 開始）。"""
with self.socket_id_lock:
current_id = self.socket_id_counter
self.socket_id_counter += 1
return current_id
socket_id = 0
while socket_id in self.active_socket_ids:
socket_id += 1
self.active_socket_ids.add(socket_id)
return socket_id
def release_socket_id(self, socket_id):
"""釋放通訊連線使用的 socket_id，讓後續連線可重用最小空缺。"""
try:
socket_id = int(socket_id)
except (TypeError, ValueError):
return
with self.socket_id_lock:
if socket_id in getattr(self, 'socket_id_mapping', {}).values():
return
if socket_id in getattr(self, 'sys_to_socket_id', {}).values():
return
self.active_socket_ids.discard(socket_id)
def get_or_assign_socket_id(self, original_socket_id):
"""根據原始 socket_id 分配或獲取對應的 socket_id（從 0 開始連續分配）
同一個原始 socket_id 會得到同一個分配的 ID
"""ROS2 socket_id 映射。
有原始 socket_id=N 時優先使用 N；若 N 已被其他通訊占用，
才改用目前最小未使用 ID。同一個原始 socket_id 會得到同一個映射。
"""
original_socket_id = str(original_socket_id)
with self.socket_id_lock:
if original_socket_id not in self.socket_id_mapping:
# 分配新的 socket_id
self.socket_id_mapping[original_socket_id] = self.socket_id_counter
self.socket_id_counter += 1
try:
preferred_socket_id = int(original_socket_id)
except (TypeError, ValueError):
preferred_socket_id = None
if (
preferred_socket_id is not None
and preferred_socket_id >= 0
and preferred_socket_id not in self.active_socket_ids
):
socket_id = preferred_socket_id
else:
socket_id = 0
while socket_id in self.active_socket_ids:
socket_id += 1
self.active_socket_ids.add(socket_id)
self.socket_id_mapping[original_socket_id] = socket_id
return self.socket_id_mapping[original_socket_id]
@ -796,8 +922,7 @@ class DroneMonitor(Node):
# 为每个 sys_id 分配 socket_id（如果还没有分配）
# 注意：如果后续 summary 提供了 socket_id，会使用 summary 的映射覆盖
if sys_id not in self.sys_to_socket_id:
# 暂时所有 ROS2 topic 共享同一个 socket_id = 0
self.sys_to_socket_id[sys_id] = 0
self.sys_to_socket_id[sys_id] = self.get_next_socket_id()
subs_attr = f'drone_{sys_id}_subs'
if not hasattr(self, subs_attr):
@ -1194,8 +1319,12 @@ class DroneMonitor(Node):
# 從 summary 獲取原始 socket_id，並映射到分配的 socket_id
original_socket_id = data.get('socket_id')
if original_socket_id is not None:
fallback_socket_id = self.sys_to_socket_id.pop(sys_id, None)
if fallback_socket_id is not None:
self.release_socket_id(fallback_socket_id)
# 使用原始 socket_id 獲取或分配統一的 socket_id
assigned_socket_id = self.get_or_assign_socket_id(original_socket_id)
self.sys_to_socket_id[sys_id] = assigned_socket_id
else:
# 如果沒有 socket_id，使用 sys_to_socket_id 映射
assigned_socket_id = self.sys_to_socket_id.get(sys_id, 0)
@ -1361,7 +1490,7 @@ class DroneMonitor(Node):
'ping': msg.data
}
def start_serial_connection(self, port='/dev/ttyUSB0', baudrate=57600):
def start_serial_connection(self, port='/dev/ttyUSB0', baudrate=115200):
"""啟動串口遙測連接（自動辨識 MAVLink / JSON）"""
connection_name = f"Serial_{port.replace('/', '_')}"
receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name, self)

2
src/GUI/drone_panel.py
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@ -290,6 +290,7 @@ class DronePanel(QWidget):
# 分隔符
separator1 = QLabel(" - ")
separator1.setObjectName(f"{self.drone_id}_battery_sep1")
_set_scaled_stylesheet(separator1, "color: #DDD;")
# 顯示電壓
@ -299,6 +300,7 @@ class DronePanel(QWidget):
# 分隔符
separator2 = QLabel(" - ")
separator2.setObjectName(f"{self.drone_id}_battery_sep2")
_set_scaled_stylesheet(separator2, "color: #DDD;")
# 顯示電池節數 (S count)

71
src/GUI/gui.py
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@ -148,7 +148,7 @@ class ToggleSwitch(QWidget):
class ControlStationUI(QMainWindow):
planning_finished = pyqtSignal(object)
VERSION = '2.5.0'
VERSION = '2.6.0'
FONT_SCALE_MIN = 70
FONT_SCALE_MAX = 180
FONT_SCALE_DEFAULT = 100
@ -220,23 +220,24 @@ class ControlStationUI(QMainWindow):
self.socket_types = {}
self.socket_colors = {
'0': '#00BFFF', # 天藍色 (DeepSkyBlue)
'1': '#FFD700', # 金色 (Gold)
'2': '#FF6969', # 淺紅色 (Light Red)
'3': '#FF69B4', # 熱粉紅 (HotPink)
'4': '#00FA9A', # 中春綠 (MediumSpringGreen)
'5': '#9370DB', # 中紫色 (MediumPurple) - 串口
'6': '#FFA500', # 橙色 (Orange)
'7': '#20B2AA', # 淺海綠 (LightSeaGreen)
'8': '#7CFC00', # 草綠色 (LawnGreen)
'9': '#FF8C00', # 深橙色 (DarkOrange)
'default': '#AAAAAA' # 灰色
'0': '#00ACC1', # Cyan
'1': "#FDD835", # Yellow
'2': '#F8BBD0', # Pink
'3': '#90EE90', # Green
'4': '#FB8C00', # Orange
'5': '#8E24AA', # Purple
'6': '#1E88E5', # Blue
'7': '#E53935', # Red
'8': '#C0CA33', # Lime
'9': '#6D4C41', # Brown
'default': '#E0E0E0' # Light gray
}
self.drone_positions = {}
self.drone_headings = {}
# 初始化地圖
self.drone_map = DroneMap()
self.drone_map.set_socket_colors(self.socket_colors)
# 地圖更新獨立節流（10Hz），避免 WebEngine / JS map 拖慢 panel 更新
self.map_timer = QTimer()
@ -379,7 +380,7 @@ class ControlStationUI(QMainWindow):
verify_label = QLabel("模擬驗證")
verify_label.setStyleSheet("color: #CCC; font-size: 12px;")
self.verify_toggle = ToggleSwitch(checked=True)
self.verify_toggle = ToggleSwitch(checked=False)
group_header.addWidget(verify_label)
group_header.addWidget(self.verify_toggle)
@ -1183,6 +1184,16 @@ class ControlStationUI(QMainWindow):
panel.update_drone_list()
panel.update_status()
self._sync_map_group_colors()
def _sync_map_group_colors(self):
"""同步每台 drone 的 group 顏色到地圖箭頭外框。"""
drone_group_colors = {}
for group in self.mission_groups.values():
for drone_id in group.selected_drone_ids:
drone_group_colors[drone_id] = group.color
self.drone_map.set_drone_group_colors(drone_group_colors)
def _get_drone_checkbox_style(self, blocked=False):
"""回傳 drone checkbox 樣式；被其他 group 佔用時顯示紅色填滿。"""
blocked_style = """
@ -1272,6 +1283,8 @@ class ControlStationUI(QMainWindow):
# 只有當操作目標組是 active 組時，才更新 UI
if group_id == self.active_group_id:
self.refresh_selection_ui()
else:
self._sync_map_group_colors()
panel = self.group_panels.get(group_id)
if panel:
@ -1492,6 +1505,8 @@ class ControlStationUI(QMainWindow):
if group_id == self.active_group_id:
self.refresh_selection_ui()
else:
self._sync_map_group_colors()
panel = self.group_panels.get(group_id)
if panel:
@ -1528,6 +1543,8 @@ class ControlStationUI(QMainWindow):
# 只有當操作目標組是 active 組時，才更新 UI
if group_id == self.active_group_id:
self.refresh_selection_ui()
else:
self._sync_map_group_colors()
panel = self.group_panels.get(group_id)
if panel:
@ -1552,6 +1569,8 @@ class ControlStationUI(QMainWindow):
# 只有當操作目標組是 active 組時，才更新 UI
if group_id == self.active_group_id:
self.refresh_selection_ui()
else:
self._sync_map_group_colors()
panel = self.group_panels.get(group_id)
if panel:
@ -1598,6 +1617,7 @@ class ControlStationUI(QMainWindow):
if self.group_tab_widget.count() > 0:
self.group_tab_widget.setCurrentIndex(0)
# _on_group_tab_changed 會自動設定新的 active group
self._sync_map_group_colors()
self.statusBar().showMessage(f"已刪除 Group {group_id}", 3000)
@ -2314,17 +2334,30 @@ class ControlStationUI(QMainWindow):
self.queue_overview_update(drone_id, 'armed', arm_text)
elif msg_type == 'battery':
voltage = data.get('voltage', 16)
cells = round(voltage / 3.95)
percentage = (voltage / cells - 3.7) / 0.5 * 100 if cells > 0 else 0
voltage = data.get('voltage')
cells = round(voltage / 3.95) if voltage is not None else None
percentage = (
(voltage / cells - 3.7) / 0.5 * 100
if voltage is not None and cells and cells > 0
else data.get('percentage', 0)
)
if percentage < 20: voltage_color = '#FF6464'
elif percentage < 50: voltage_color = '#FFA500'
else: voltage_color = '#FFFFFF'
percentage = data.get('percentage', percentage)
self.update_field(panel, drone_id, 'battery_pct', f"{percentage:.0f}%", voltage_color)
self.update_field(panel, drone_id, 'battery_vol', f"{voltage:.2f}V")
self.update_field(panel, drone_id, 'battery_cells', f"{cells}S")
self.queue_overview_update(drone_id, 'battery', f"{voltage:.2f}V")
if voltage is not None:
self.update_field(panel, drone_id, 'battery_sep1', " - ")
self.update_field(panel, drone_id, 'battery_vol', f"{voltage:.2f}V")
self.update_field(panel, drone_id, 'battery_sep2', " - ")
self.update_field(panel, drone_id, 'battery_cells', f"{cells}S")
self.queue_overview_update(drone_id, 'battery', f"{voltage:.2f}V")
else:
self.update_field(panel, drone_id, 'battery_sep1', "")
self.update_field(panel, drone_id, 'battery_vol', "")
self.update_field(panel, drone_id, 'battery_sep2', "")
self.update_field(panel, drone_id, 'battery_cells', "")
self.queue_overview_update(drone_id, 'battery', f"{percentage:.0f}%")
elif msg_type == 'altitude':
altitude = data.get('altitude', 0)

93
src/GUI/map_layout.py
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@ -1,4 +1,6 @@
#!/usr/bin/env python3
import json
from PyQt6.QtWebEngineWidgets import QWebEngineView
from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
from PyQt6.QtWebChannel import QWebChannel
@ -17,6 +19,8 @@ class DroneMap:
self.map_loaded = False
self.pending_map_updates = {}
self.font_scale = 1.0
self.socket_colors = {}
self.drone_group_colors = {}
# 創建橋接對象
self.bridge = MapBridge()
@ -281,38 +285,37 @@ class DroneMap:
}, 100);
});
function createArrowIcon(color) {
function createArrowIcon(color, groupColor) {
const outlineColor = groupColor || 'transparent';
return L.divIcon({
className: 'drone-arrow',
html: `
<div style="
width: 30px; height: 30px;
width: 34px; height: 34px;
display: flex;
align-items: center;
justify-content: center;
">
<svg width="30" height="30" viewBox="0 0 30 30">
<polygon points="15,0 30,30 15,25 0,30" fill="${color || '#FF0000'}" />
<svg width="34" height="34" viewBox="0 0 34 34">
<polygon
points="17,3 31,31 17,26 3,31"
fill="${color || '#FF0000'}"
stroke="${outlineColor}"
stroke-width="3"
stroke-linejoin="round"
/>
</svg>
</div>
`,
iconSize: [30, 30],
iconAnchor: [15, 15]
iconSize: [34, 34],
iconAnchor: [17, 17]
});
}
function getColorBySocketId(id) {
if (id.startsWith("s0_")) return "#00BFFF";
if (id.startsWith("s1_")) return "#FFD700";
if (id.startsWith("s2_")) return "#FF6969";
if (id.startsWith("s3_")) return "#FF69B4";
if (id.startsWith("s4_")) return "#00FA9A";
if (id.startsWith("s5_")) return "#9370DB";
if (id.startsWith("s6_")) return "#FFA500";
if (id.startsWith("s7_")) return "#20B2AA";
if (id.startsWith("s8_")) return "#7CFC00";
if (id.startsWith("s9_")) return "#FF8C00";
return "#AAAAAA";
const match = /^s([^_]+)_/.exec(id || '');
const socketId = match ? match[1] : 'default';
return socketColors[socketId] || socketColors.default || "#E0E0E0";
}
function createIdIcon(id) {
@ -340,8 +343,11 @@ class DroneMap:
var markers = {};
var idLabels = {};
var trajectories = {};
const maxTrajectoryPoints = 300;
const maxTrajectoryPoints = 2000;
const trajectoryMinDistanceMeters = 0.05;
var trajectoryLines = {};
var socketColors = {};
var droneGroupColors = {};
var focusedId = null;
var initialized = false;
var trajectoryGroup = L.layerGroup().addTo(map);
@ -703,7 +709,7 @@ class DroneMap:
color: color,
weight: 3,
opacity: 0.7,
smoothFactor: 1
smoothFactor: 0.1
}).addTo(trajectoryGroup);
}
}
@ -746,7 +752,7 @@ class DroneMap:
if (markers[id]) {
const lastPos = markers[id].getLatLng();
const distance = lastPos.distanceTo([lat, lon]);
if (distance > 1) {
if (distance >= trajectoryMinDistanceMeters) {
addTrajectoryPoint(id, lat, lon);
}
@ -760,7 +766,7 @@ class DroneMap:
const color = getColorBySocketId(id);
markers[id] = L.marker([lat, lon], {
icon: createArrowIcon(color),
icon: createArrowIcon(color, droneGroupColors[id]),
rotationAngle: heading,
rotationOrigin: 'center'
})
@ -798,6 +804,33 @@ class DroneMap:
}
}
function setDroneGroupColors(groupColors) {
droneGroupColors = groupColors || {};
Object.keys(markers).forEach(id => {
markers[id].setIcon(
createArrowIcon(getColorBySocketId(id), droneGroupColors[id])
);
if (typeof markers[id].setRotationAngle === 'function') {
markers[id].setRotationAngle(markers[id].options.rotationAngle || 0);
}
});
}
function setSocketColors(colors) {
socketColors = colors || {};
Object.keys(markers).forEach(id => {
markers[id].setIcon(
createArrowIcon(getColorBySocketId(id), droneGroupColors[id])
);
if (typeof markers[id].setRotationAngle === 'function') {
markers[id].setRotationAngle(markers[id].options.rotationAngle || 0);
}
});
Object.keys(trajectoryLines).forEach(id => {
trajectoryLines[id].setStyle({ color: getColorBySocketId(id) });
});
}
function clearAllTrajectories() {
trajectories = {};
Object.values(trajectoryLines).forEach(line => {
@ -904,6 +937,8 @@ class DroneMap:
if ok:
self.map_loaded = True
self.set_font_scale(self.font_scale)
self.set_socket_colors(self.socket_colors)
self.set_drone_group_colors(self.drone_group_colors)
else:
_log("ERROR", "地圖載入失敗")
@ -918,7 +953,7 @@ class DroneMap:
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});")
js_commands.append(f"updateDrone({lat:.8f}, {lon:.8f}, '{drone_id}', {heading:.1f});")
if js_commands:
combined_js = "\n".join(js_commands)
@ -930,6 +965,20 @@ class DroneMap:
"""清除所有軌跡"""
if self.map_loaded:
self.map_view.page().runJavaScript("clearAllTrajectories();")
def set_drone_group_colors(self, drone_group_colors):
"""設定每台無人機的 group 外框顏色；未分組者不傳入即為透明。"""
self.drone_group_colors = dict(drone_group_colors or {})
if self.map_loaded:
payload = json.dumps(self.drone_group_colors)
self.map_view.page().runJavaScript(f"setDroneGroupColors({payload});")
def set_socket_colors(self, socket_colors):
"""設定 socket 顏色，供地圖箭頭本體與軌跡線使用。"""
self.socket_colors = dict(socket_colors or {})
if self.map_loaded:
payload = json.dumps(self.socket_colors)
self.map_view.page().runJavaScript(f"setSocketColors({payload});")
def focus_on_drone(self, drone_id):
"""聚焦到指定無人機"""

15
src/GUI/mission_group.py
Unescape Escape View File

@ -13,14 +13,13 @@ from mission_executor import MissionExecutor, MissionState
# 群組顏色（循環使用）
GROUP_COLORS = [
'#4A9EFF', # 藍
'#FF8C42', # 橘
'#56C87A', # 綠
'#E85D75', # 紅
'#B07CED', # 紫
'#F5C542', # 黃
'#42C9C9', # 青
'#FF6B9D', # 粉
"#E53935", # Deep Red
"#FB8C00", # Deep Orange
"#FDD835", # Deep Yellow
"#43A047", # Deep Green
"#1E88E5", # Deep Blue
"#8E24AA", # Deep Purple
"#D81B60", # Deep Pink
]
DEFAULT_MISSION_PARAM_VALUES = {

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