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chiyu
ken910606 9 months ago
parent e41e284442
commit 592fb36967
1 changed files with 141 additions and 50 deletions
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src/unitdev01/unitdev01/gui.py
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@ -41,48 +41,82 @@ class DroneMonitor(Node):
# 定義需要過濾的模式
self.filtered_modes = ['Mode(0x000000c0)']
# 啟動 WebSocket client 執行緒
threading.Thread(target=self.start_ws_client, daemon=True).start()
# 定義多個 WebSocket 連接配置
self.websocket_connections = [
{
'name': 'local_1',
'url': 'ws://192.168.137.1:5163',
'enabled': True
},
{
'name': 'local_2',
'url': 'ws://0.0.0.0:8756',
'enabled': True # 新增的端口
},
{
'name': 'remote_8756',
'url': 'ws://192.168.50.48:8756',
'enabled': False # 可選擇啟用
}
]
# 啟動多個 WebSocket client 執行緒
for connection in self.websocket_connections:
if connection['enabled']:
threading.Thread(
target=self.start_ws_client,
args=(connection,),
daemon=True,
name=f"WebSocket-{connection['name']}"
).start()
# 主题检测定时器
self.create_timer(1.0, self.scan_topics)
def start_ws_client(self):
def start_ws_client(self, connection_config):
"""啟動單個 WebSocket 客戶端"""
asyncio.set_event_loop(asyncio.new_event_loop())
asyncio.get_event_loop().run_until_complete(self.ws_client_loop())
asyncio.get_event_loop().run_until_complete(
self.ws_client_loop(connection_config)
)
async def ws_client_loop(self):
async def ws_client_loop(self, connection_config):
"""單個 WebSocket 連接的主循環"""
retry_count = 0
max_retries = 5
base_delay = 1.0
local = "ws://0.0.0.0:8765" # 本地 WebSocket 地址
remote = "ws://192.168.50.48:8756"
connection_name = connection_config['name']
url = connection_config['url']
print(f"Starting WebSocket client for {connection_name} at {url}")
while retry_count < max_retries:
try:
async with websockets.connect(local) as websocket:
print("WebSocket connected")
async with websockets.connect(url) as websocket:
print(f"WebSocket {connection_name} connected to {url}")
retry_count = 0 # 重置重試計數
async for message in websocket:
try:
data = json.loads(message)
# 添加連接來源信息
data['_connection_source'] = connection_name
self.process_websocket_message(data)
except json.JSONDecodeError as e:
print(f"WebSocket JSON decode error: {e}")
print(f"WebSocket {connection_name} JSON decode error: {e}")
except Exception as e:
print(f"WebSocket message processing error: {e}")
print(f"WebSocket {connection_name} message processing error: {e}")
except websockets.exceptions.ConnectionClosedError:
print("WebSocket connection closed")
print(f"WebSocket {connection_name} connection closed")
break
except Exception as e:
retry_count += 1
delay = base_delay * (2 ** min(retry_count, 4)) # 指數退避
print(f"WebSocket connection error: {e}, retrying in {delay}s (attempt {retry_count}/{max_retries})")
print(f"WebSocket {connection_name} connection error: {e}, retrying in {delay}s (attempt {retry_count}/{max_retries})")
await asyncio.sleep(delay)
print("WebSocket client stopped after maximum retries")
print(f"WebSocket client {connection_name} stopped after maximum retries")
def process_websocket_message(self, data):
try:
@ -446,7 +480,7 @@ class ControlStationUI(QMainWindow):
scroll = QScrollArea()
scroll.setWidget(self.drone_panel_container)
scroll.setWidgetResizable(True)
self.left_tab.addTab(scroll, "無人機")
self.left_tab.addTab(scroll, "無人載具")
# 底部控制按鈕區域
bottom_control = QWidget()
@ -594,14 +628,37 @@ class ControlStationUI(QMainWindow):
<script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
<style>
html, body, #map { height: 100%; margin: 0; }
.map-controls {
position: absolute;
top: 10px;
right: 10px;
z-index: 1000;
}
.control-button {
padding: 8px 12px;
background-color: #f44336;
color: white;
border: none;
border-radius: 4px;
cursor: pointer;
font-size: 12px;
box-shadow: 0 2px 5px rgba(0,0,0,0.2);
}
.control-button:hover {
background-color: #d32f2f;
}
</style>
</head>
<body>
<div id="map"></div>
<div class="map-controls">
<button class="control-button" onclick="clearAllTrajectories()">清除軌跡</button>
</div>
<script>
var map = L.map('map').setView([0, 0], 20);
var map = L.map('map').setView([0, 0], 19);
L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
maxZoom: 19, // OpenStreetMap 支持的最大縮放級別
maxZoom: 19,
attribution: '© OpenStreetMap contributors'
}).addTo(map);
@ -612,17 +669,16 @@ class ControlStationUI(QMainWindow):
});
function getColorBySocketId(id) {
if (id.startsWith("s0_")) return "#00BFFF"; // DeepSkyBlue
if (id.startsWith("s1_")) return "#FFD700"; // Gold
if (id.startsWith("s2_")) return "#FF69B4"; // HotPink
if (id.startsWith("s9_")) return "#7CFC00"; // LawnGreen
return "#AAAAAA"; // Default
if (id.startsWith("s0_")) return "#00BFFF";
if (id.startsWith("s1_")) return "#FFD700";
if (id.startsWith("s2_")) return "#FF69B4";
if (id.startsWith("s9_")) return "#7CFC00";
return "#AAAAAA";
}
// 新增 ID 標籤的圖標
function createIdIcon(id) {
const color = getColorBySocketId(id);
const sysid = id.split('_')[1]; // e.g., 's3_2' → '2'
const sysid = id.split('_')[1];
return L.divIcon({
className: 'drone-id',
html: `<div style="
@ -644,12 +700,39 @@ class ControlStationUI(QMainWindow):
});
}
var markers = {}; // 儲存所有無人機
var idLabels = {}; // 新增：儲存 ID 標籤
var focusedId = null; // 目前被鎖定的 sysid
var initialized = false; // 是否完成首次初始化
var markers = {};
var idLabels = {};
var trajectories = {};
var trajectoryLines = {};
var focusedId = null;
var initialized = false;
var trajectoryGroup = L.layerGroup().addTo(map);
function initTrajectory(id) {
if (!trajectories[id]) {
trajectories[id] = [];
const color = getColorBySocketId(id);
trajectoryLines[id] = L.polyline([], {
color: color,
weight: 3,
opacity: 0.7,
smoothFactor: 1
}).addTo(trajectoryGroup);
}
}
function addTrajectoryPoint(id, lat, lon) {
initTrajectory(id);
const point = [lat, lon];
trajectories[id].push(point);
if (trajectories[id].length > 1000) {
trajectories[id].shift();
}
trajectoryLines[id].setLatLngs([...trajectories[id]]);
}
// ⬆️ 鎖定指定無人機（置中地圖並彈出名稱）
function focusOn(id) {
if (!markers[id]) return;
focusedId = id;
@ -657,23 +740,29 @@ class ControlStationUI(QMainWindow):
map.flyTo(latlng, map.getZoom());
}
// 🔁 定期重新鎖定 focusedId
setInterval(() => {
if (focusedId && markers[focusedId]) {
var latlng = markers[focusedId].getLatLng();
map.panTo(latlng); // 或 flyTo / setView
map.panTo(latlng);
}
}, 1000); // 每秒更新一次視角
}, 1000);
// 📡 更新／新增無人機 marker
function updateDrone(lat, lon, id, heading) {
if (markers[id]) {
const lastPos = markers[id].getLatLng();
const distance = lastPos.distanceTo([lat, lon]);
if (distance > 1) {
addTrajectoryPoint(id, lat, lon);
}
markers[id]
.setLatLng([lat, lon])
.setRotationAngle(heading);
// 更新 ID 標籤位置
idLabels[id].setLatLng([lat, lon]);
} else {
initTrajectory(id);
addTrajectoryPoint(id, lat, lon);
markers[id] = L.marker([lat, lon], {
icon: arrowIcon,
rotationAngle: heading,
@ -682,28 +771,32 @@ class ControlStationUI(QMainWindow):
.on('click', function () {
focusOn(id);
})
.addTo(map)
.addTo(map);
// 新增 ID 標籤
idLabels[id] = L.marker([lat, lon], {
icon: createIdIcon(id),
zIndexOffset: 1000 // 確保 ID 標籤在箭頭上方
zIndexOffset: 1000
})
.on('click', function() {
focusOn(id);
})
.addTo(map);
// 🧭 第一次加入 → 若未初始化，則以 sysid 最小的初始化
if (!initialized || id < focusedId) {
focusOn(id);
markers[id]
.setLatLng([lat, lon])
.setRotationAngle(heading);
initialized = true;
}
}
}
function clearAllTrajectories() {
trajectories = {};
Object.values(trajectoryLines).forEach(line => {
trajectoryGroup.removeLayer(line);
});
trajectoryLines = {};
console.log('所有軌跡已清除');
}
</script>
</body>
</html>
@ -1167,18 +1260,16 @@ class ControlStationUI(QMainWindow):
elif msg_type == 'battery':
voltage = data.get('voltage', 16)
# 使用標準電壓判斷電池節數
cell_max = 4.2
# 判斷電池節數
cells = round(voltage / 3.95)
max = cell_max * cells
# 計算電量百分比
percentage = voltage / max * 100
percentage = (voltage / cells - 3.7) / 0.5 * 100
# 根據百分比設置顏色
if percentage < 20:
voltage_color = '#FF6464' # 紅色 (低電量)
elif percentage < 40:
elif percentage < 50:
voltage_color = '#FFA500' # 橘色 (中低電量)
else:
voltage_color = '#FFFFFF' # 白色 (正常電量)

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