chiyu1468/AirTrapMine
2
0
Fork 1
Code Issues Pull Requests Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
ken910606
2026-06-03 20:15:20 +08:00
parent 0ee7dd1fcf
commit 5231cffcb2
6 changed files with 278 additions and 66 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/GUI/map_layout.py
+71 -22
View File
@@ -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"""