diff --git a/src/GUI/comm_panel.py b/src/GUI/comm_panel.py index cf79be1..1382a9f 100644 --- a/src/GUI/comm_panel.py +++ b/src/GUI/comm_panel.py @@ -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 { diff --git a/src/GUI/communication.py b/src/GUI/communication.py index 852476e..913a5a8 100644 --- a/src/GUI/communication.py +++ b/src/GUI/communication.py @@ -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) diff --git a/src/GUI/drone_panel.py b/src/GUI/drone_panel.py index 1da0d7a..b7ac474 100644 --- a/src/GUI/drone_panel.py +++ b/src/GUI/drone_panel.py @@ -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) diff --git a/src/GUI/gui.py b/src/GUI/gui.py index 9999510..913981f 100644 --- a/src/GUI/gui.py +++ b/src/GUI/gui.py @@ -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) diff --git a/src/GUI/map_layout.py b/src/GUI/map_layout.py index c4105cf..72a7915 100644 --- a/src/GUI/map_layout.py +++ b/src/GUI/map_layout.py @@ -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: `
- - + +
`, - 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""" diff --git a/src/GUI/mission_group.py b/src/GUI/mission_group.py index aa50fb6..17f79aa 100644 --- a/src/GUI/mission_group.py +++ b/src/GUI/mission_group.py @@ -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 = {