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ken910606
2025-06-13 18:45:16 +08:00
parent dc6e150293
commit 68af81ac68
1 changed files with 486 additions and 88 deletions
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src/unitdev01/unitdev01/gui.py
+486 -88
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@@ -3,18 +3,21 @@ import rclpy
from rclpy.node import Node
from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout,
QWidget, QLabel, QSplitter, QScrollArea,
QSizePolicy, QApplication)
QSizePolicy, QTabWidget, QTableWidget, QTableWidgetItem,
QHeaderView, QPushButton, QCheckBox)
from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal
from PyQt6.QtWebEngineWidgets import QWebEngineView
import math
import re
import os
import sys
from threading import Lock
from geometry_msgs.msg import Point, Vector3
from sensor_msgs.msg import BatteryState, NavSatFix, Imu
from std_msgs.msg import Float64
from mavros_msgs.msg import VfrHud, State
from mavros_msgs.msg import State, VfrHud
from mavros_msgs.srv import CommandBool, CommandTOL, SetMode
import asyncio
from functools import partial
class DroneSignals(QObject):
update_signal = pyqtSignal(str, str, object) # (msg_type, drone_id, data)
@@ -26,6 +29,10 @@ class DroneMonitor(Node):
self.drone_topics = {}
self.lock = Lock()
self.arm_clients = {}
self.takeoff_clients = {}
self.selected_drones = set()
# 主题检测定时器
self.create_timer(1.0, self.scan_topics)
@@ -43,11 +50,22 @@ class DroneMonitor(Node):
for drone_id in found_drones:
if not hasattr(self, f'drone_{drone_id}_subs'):
self.setup_drone_subs(drone_id)
self.setup_drone(drone_id)
def setup_drone_subs(self, drone_id):
def setup_drone(self, drone_id):
base_topic = f'/MavLinkBus/{drone_id}'
# Add service clients
self.arm_clients[drone_id] = self.create_client(
CommandBool,
f'{base_topic}/cmd/arming'
)
self.takeoff_clients[drone_id] = self.create_client(
CommandTOL,
f'{base_topic}/cmd/takeoff'
)
subs = {
'attitude': self.create_subscription(
Imu,
@@ -61,12 +79,6 @@ class DroneMonitor(Node):
lambda msg, did=drone_id: self.battery_callback(did, msg),
10
),
'state': self.create_subscription(
State,
f'{base_topic}/state',
lambda msg, did=drone_id: self.state_callback(did, msg),
10
),
'global': self.create_subscription(
NavSatFix,
f'{base_topic}/global_position/global',
@@ -91,6 +103,24 @@ class DroneMonitor(Node):
lambda msg, did=drone_id: self.local_vel_callback(did, msg),
10
),
'loss_rate': self.create_subscription(
Float64,
f'{base_topic}/packet_loss_rate',
lambda msg, did=drone_id: self.loss_rate_callback(did, msg),
10
),
'state': self.create_subscription(
State,
f'{base_topic}/state',
lambda msg, did=drone_id: self.state_callback(did, msg),
10
),
'ping': self.create_subscription(
Float64,
f'{base_topic}/ping',
lambda msg, did=drone_id: self.ping_callback(did, msg),
10
),
'vfr_hud': self.create_subscription(
VfrHud,
f'{base_topic}/vfr_hud',
@@ -102,6 +132,46 @@ class DroneMonitor(Node):
setattr(self, f'drone_{drone_id}_subs', subs)
self.signals.update_signal.emit('new_drone', drone_id, None)
async def arm_drone(self, drone_id, arm):
if drone_id not in self.arm_clients:
return False
client = self.arm_clients[drone_id]
if not client.wait_for_service(timeout_sec=1.0):
return False
request = CommandBool.Request()
request.value = arm
future = client.call_async(request)
try:
response = await future
return response.success
except Exception as e:
self.get_logger().error(f'Arm service call failed: {e}')
return False
async def takeoff_drone(self, drone_id, altitude=10.0):
if drone_id not in self.takeoff_clients:
return False
client = self.takeoff_clients[drone_id]
if not client.wait_for_service(timeout_sec=1.0):
return False
request = CommandTOL.Request()
request.altitude = altitude
request.min_pitch = 0.0
request.yaw = 0.0
future = client.call_async(request)
try:
response = await future
return response.success
except Exception as e:
self.get_logger().error(f'Takeoff service call failed: {e}')
return False
def quaternion_to_euler(self, q):
sinr_cosp = 2 * (q.w * q.x + q.y * q.z)
cosr_cosp = 1 - 2 * (q.x**2 + q.y**2)
@@ -116,7 +186,7 @@ class DroneMonitor(Node):
return math.degrees(roll), math.degrees(pitch), math.degrees(yaw)
# 回调函数
# callbacks
def attitude_callback(self, drone_id, msg):
if hasattr(msg, 'orientation'):
roll, pitch, yaw = self.quaternion_to_euler(msg.orientation)
@@ -176,13 +246,22 @@ class DroneMonitor(Node):
'climb': msg.climb
})
def loss_rate_callback(self, drone_id, msg):
self.signals.update_signal.emit('loss_rate', drone_id, {
'loss_rate': msg.data
})
def ping_callback(self, drone_id, msg):
self.signals.update_signal.emit('ping', drone_id, {
'ping': msg.data
})
class ControlStationUI(QMainWindow):
def __init__(self):
super().__init__()
self.setWindowTitle('GCS')
self.resize(1400, 900)
self.drones = {}
# 初始化ROS2
rclpy.init()
self.monitor = DroneMonitor()
@@ -193,7 +272,26 @@ class ControlStationUI(QMainWindow):
self.executor.add_node(self.monitor)
# 初始化UI
self.drones = {}
self.info_types = ["模式", "ARM", "電壓", "高度", "Local", "Velocity", "地速", "航向",
"Roll", "Pitch", "Yaw", "丟包", "延遲"]
self.info_type_map = {
"mode": 0,
"armed": 1,
"battery": 2,
"altitude": 3,
"local": 4,
"velocity": 5,
"groundspeed": 6,
"heading": 7,
"roll": 8,
"pitch": 9,
"yaw": 10,
"loss_rate": 11,
"ping": 12
}
self.drone_positions = {}
self.drone_headings = {}
self.map_loaded = False
self.init_ui()
@@ -203,23 +301,95 @@ class ControlStationUI(QMainWindow):
self.timer.start(50)
def init_ui(self):
# 只呼叫一次
main_splitter = QSplitter(Qt.Orientation.Horizontal)
# 左側 TabWidget
self.left_tab = QTabWidget()
# — 分頁 1：Drone Panel
self.drone_panel_container = QWidget()
self.drone_panel_layout = QVBoxLayout(self.drone_panel_container)
self.drone_panel_layout.setAlignment(Qt.AlignmentFlag.AlignTop)
self.drone_panel_layout.setSpacing(0)
self.drone_panel_layout.setContentsMargins(10, 10, 10, 10)
# 左侧信息面板
left_panel = QWidget()
left_layout = QVBoxLayout(left_panel)
left_layout.setContentsMargins(5, 5, 5, 5)
# Wrap drone panel in scroll area
scroll = QScrollArea()
scroll.setWidget(self.drone_panel_container)
scroll.setWidgetResizable(True)
self.left_tab.addTab(scroll, "無人機")
# 信息滚动区域
scroll_area = QScrollArea()
scroll_area.setWidgetResizable(True)
self.info_container = QWidget()
self.info_layout = QVBoxLayout(self.info_container)
self.info_layout.setAlignment(Qt.AlignmentFlag.AlignTop)
scroll_area.setWidget(self.info_container)
# 底部控制按鈕區域
bottom_control = QWidget()
bottom_layout = QHBoxLayout(bottom_control)
left_layout.addWidget(scroll_area)
select_all_btn = QPushButton("全選")
select_all_btn.clicked.connect(self.handle_select_all)
select_all_btn.setStyleSheet("""
QPushButton {
background-color: #444;
color: #DDD;
border: none;
padding: 5px 10px;
border-radius: 4px;
min-width: 80px;
}
QPushButton:hover { background-color: #555; }
""")
arm_all_btn = QPushButton("批次解鎖")
arm_all_btn.clicked.connect(self.handle_arm_selected)
arm_all_btn.setStyleSheet("""
QPushButton {
background-color: #444;
color: #DDD;
border: none;
padding: 5px 10px;
border-radius: 4px;
min-width: 80px;
}
QPushButton:hover { background-color: #555; }
""")
takeoff_all_btn = QPushButton("批次起飛")
takeoff_all_btn.clicked.connect(self.handle_takeoff_selected)
takeoff_all_btn.setStyleSheet("""
QPushButton {
background-color: #444;
color: #DDD;
border: none;
padding: 5px 10px;
border-radius: 4px;
min-width: 80px;
}
QPushButton:hover { background-color: #555; }
""")
bottom_layout.addWidget(select_all_btn)
bottom_layout.addWidget(arm_all_btn)
bottom_layout.addWidget(takeoff_all_btn)
bottom_layout.addStretch()
# — 分頁 2：Overview Table
self.overview_table = QTableWidget()
# 一開始只有一欄
self.overview_table.setColumnCount(1)
self.overview_table.setRowCount(len(self.info_types))
self.overview_table.setHorizontalHeaderLabels(["資訊"])
header = self.overview_table.horizontalHeader()
# 只有第一欄自動收縮到內容寬度，其它欄不動
header.setSectionResizeMode(0, QHeaderView.ResizeMode.ResizeToContents)
self.overview_table.verticalHeader().setVisible(False)
for i, txt in enumerate(self.info_types):
item = QTableWidgetItem(txt)
item.setFlags(Qt.ItemFlag.ItemIsEnabled)
item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
self.overview_table.setItem(i, 0, item)
self.left_tab.addTab(self.overview_table, "總覽")
# 右侧地图区域
self.map_view = QWebEngineView()
@@ -305,7 +475,17 @@ class ControlStationUI(QMainWindow):
self.map_view.setHtml(inline_html)
self.map_view.loadFinished.connect(self.on_map_loaded)
main_splitter.addWidget(left_panel)
# Create left container and its layout
left_container = QWidget()
left_layout = QVBoxLayout(left_container)
left_layout.setContentsMargins(0, 0, 0, 0)
# Add tab widget and bottom control to left container
left_layout.addWidget(self.left_tab)
left_layout.addWidget(bottom_control)
# Add widgets to splitter
main_splitter.addWidget(left_container)
main_splitter.addWidget(self.map_view)
main_splitter.setSizes([400, 1000])
@@ -344,6 +524,14 @@ class ControlStationUI(QMainWindow):
header_layout = QHBoxLayout(header)
header_layout.setContentsMargins(0, 0, 0, 0)
# 在標題列加入勾選框
checkbox = QCheckBox()
checkbox.setObjectName(f"{drone_id}_checkbox")
checkbox.setStyleSheet("QCheckBox { color: #DDD; }")
checkbox.stateChanged.connect(lambda state: self.handle_drone_selection(drone_id, state))
header_layout.insertWidget(0, checkbox) # 插入到最前面
# ID显示
id_label = QLabel(drone_id)
id_label.setStyleSheet("""
@@ -365,14 +553,79 @@ class ControlStationUI(QMainWindow):
# 数据字段（带标签）
self.create_data_row(layout, "模式:", f"{drone_id}_mode", "--")
self.create_data_row(layout, "電壓:", f"{drone_id}_battery", "--")
self.create_data_row(layout, "GPS:", f"{drone_id}_gps", "--")
self.create_data_row(layout, "ARM:", f"{drone_id}_armed", "--")
self.create_data_row(layout, "電池:", f"{drone_id}_battery", "--")
self.create_data_row(layout, "高度:", f"{drone_id}_altitude", "--")
self.create_data_row(layout, "Local:", f"{drone_id}_local", "--")
self.create_data_row(layout, "HUD:", f"{drone_id}_hud", "--")
self.create_data_row(layout, "地速:", f"{drone_id}_groundspeed", "--")
self.create_data_row(layout, "航向:", f"{drone_id}_heading", "--")
# Add control buttons
control_widget = QWidget()
control_layout = QHBoxLayout(control_widget)
control_layout.setContentsMargins(0, 0, 0, 0)
arm_btn = QPushButton("解鎖")
arm_btn.setObjectName(f"{drone_id}_arm_btn")
arm_btn.clicked.connect(lambda: self.handle_arm(drone_id))
arm_btn.setStyleSheet("""
QPushButton {
background-color: #444;
color: #DDD;
border: none;
padding: 5px 10px;
border-radius: 4px;
}
QPushButton:hover {
background-color: #555;
}
""")
takeoff_btn = QPushButton("起飛")
takeoff_btn.setObjectName(f"{drone_id}_takeoff_btn")
takeoff_btn.clicked.connect(lambda: self.handle_takeoff(drone_id))
takeoff_btn.setStyleSheet("""
QPushButton {
background-color: #444;
color: #DDD;
border: none;
padding: 5px 10px;
border-radius: 4px;
}
QPushButton:hover {
background-color: #555;
}
""")
control_layout.addWidget(arm_btn)
control_layout.addWidget(takeoff_btn)
control_layout.addStretch()
layout.addWidget(control_widget)
return panel
def handle_arm(self, drone_id):
loop = asyncio.get_event_loop()
arm_state = not self.monitor.get_arm_state(drone_id) # Toggle arm state
future = self.monitor.arm_drone(drone_id, arm_state)
loop.create_task(self.handle_service_response(future, f"{'解鎖' if arm_state else '上鎖'} {drone_id}"))
def handle_takeoff(self, drone_id):
loop = asyncio.get_event_loop()
future = self.monitor.takeoff_drone(drone_id, 10.0) # 10 meters default
loop.create_task(self.handle_service_response(future, f"起飛 {drone_id}"))
async def handle_service_response(self, future, action):
try:
result = await future
if result:
self.statusBar().showMessage(f"{action} 成功", 3000)
else:
self.statusBar().showMessage(f"{action} 失敗", 3000)
except Exception as e:
self.statusBar().showMessage(f"{action} 錯誤: {str(e)}", 3000)
def create_data_row(self, layout, title, object_name, default):
row = QWidget()
hbox = QHBoxLayout(row)
@@ -394,90 +647,235 @@ class ControlStationUI(QMainWindow):
layout.addWidget(row)
def update_ui(self, msg_type, drone_id, data):
# 檢查是否為新無人機，若是則加入無人機面板
if msg_type == 'new_drone':
self.add_drone(drone_id)
return
# 確認無人機面板存在
if not (panel := self.drones.get(drone_id)):
return
# 更新特定欄位並在總覽頁面更新
if msg_type == 'state':
mode = data['mode']
self.update_field(panel, drone_id, 'mode', f"{mode}",
'#FF5555' if '返航' in data else '#55FF55')
mode = data.get('mode', 'UNKNOWN')
armed = data.get('armed', False)
mode_color = '#FF5555' if any(x in mode.upper() for x in ['RTL', '返航', 'EMERGENCY']) else '#55FF55'
arm_text = "ARMED" if armed else "DISARMED"
arm_color = '#55FF55' if armed else '#FF5555'
# 更新無人機面板欄位
self.update_field(panel, drone_id, 'mode', mode, mode_color)
self.update_field(panel, drone_id, 'armed', arm_text, arm_color)
# 更新總覽頁面欄位
self.update_overview_table(drone_id, 'mode', mode)
self.update_overview_table(drone_id, 'armed', arm_text)
elif msg_type == 'battery':
voltage = data.get('voltage', 0)
self.update_field(panel, drone_id, 'battery',
f"{voltage:.1f} V",
'#FF6464' if voltage < 12 else '#FFFFFF')
voltage = 14.8
# 使用標準電壓判斷電池節數
cells_by_max = voltage / 4.2
cells_by_min = voltage / 3.7
# 檢查是否為合理的電池組
is_valid_cells = abs(round(cells_by_max) - cells_by_min) < 0.5
num_cells = round(cells_by_max)
if not is_valid_cells or num_cells < 2:
# 電壓異常，顯示錯誤
text = f"{voltage:.1f}V (電壓異常!)"
voltage_color = '#FF0000' # 紅色
else:
# 正常電壓計算
cell_voltage = voltage / num_cells
cell_max = 4.2
cell_min = 3.7
# 計算電量百分比
percentage = max(0, min(100, ((cell_voltage - cell_min) / (cell_max - cell_min)) * 100))
# 根據百分比設置顏色
if percentage < 20:
voltage_color = '#FF6464' # 紅色 (低電量)
elif percentage < 40:
voltage_color = '#FFA500' # 橘色 (中低電量)
else:
voltage_color = '#FFFFFF' # 白色 (正常電量)
# 顯示總電壓、電池節數、單節電壓和百分比
text = f"{voltage:.1f}V ({cell_voltage:.2f}V / {percentage:.0f}%)"
self.update_field(panel, drone_id, 'battery', text, voltage_color)
self.update_overview_table(drone_id, 'battery', text)
elif msg_type == 'gps':
lat, lon = data['lat'], data['lon']
lat, lon = data.get('lat', 0), data.get('lon', 0)
self.drone_positions[drone_id] = (lat, lon)
text = (f"緯度: {lat:.6f}°\n"
f"經度: {lon:.6f}°")
text = f"{lat:.6f}°, {lon:.6f}°"
self.update_field(panel, drone_id, 'gps', text)
self.update_overview_table(drone_id, 'gps', text)
elif msg_type == 'altitude':
text = (f"{data['altitude']:.1f} m")
altitude = data.get('altitude', 0)
text = f"{altitude:.1f} m"
self.update_field(panel, drone_id, 'altitude', text)
self.update_overview_table(drone_id, 'altitude', text)
elif msg_type == 'local_pose':
text = (f"({data['x']:.1f}, {data['y']:.1f}, {data['z']:.1f})")
text = f"{data['x']:.1f}, {data['y']:.1f}"
self.update_field(panel, drone_id, 'local', text)
self.update_overview_table(drone_id, 'local', text)
elif msg_type == 'hud':
heading = data['heading']
text = (f"地速: {data['groundspeed']:.1f} m/s\n"
f"航向: {heading:.1f}°")
self.update_field(panel, drone_id, 'hud', text)
heading = data.get('heading', 0)
self.drone_headings[drone_id] = heading
groundspeed = data.get('groundspeed', 0)
heading_text = f"{heading:.1f}°"
groundspeed_text = f"{groundspeed:.1f} m/s"
self.update_field(panel, drone_id, 'heading', heading_text)
self.update_field(panel, drone_id, 'groundspeed', groundspeed_text)
self.update_overview_table(drone_id, 'heading', heading_text)
self.update_overview_table(drone_id, 'groundspeed', groundspeed_text)
elif msg_type == 'loss_rate':
loss_rate = data.get('loss_rate', 0)
text = f"{loss_rate:.1f}%"
self.update_field(panel, drone_id, 'loss_rate', text)
self.update_overview_table(drone_id, 'loss_rate', text)
elif msg_type == 'ping':
ping = data.get('ping', 0)
text = f"{ping:.1f} ms"
self.update_field(panel, drone_id, 'ping', text)
self.update_overview_table(drone_id, 'ping', 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"
f"VY: {data['vy']:.1f} m/s\n"
f"VZ: {data['vz']:.1f} m/s")
self.update_field(panel, drone_id, 'velocity', text)
text = f"{data['vx']:.1f}, {data['vy']:.1f}"
self.update_overview_table(drone_id, 'velocity', text)
elif msg_type == 'attitude':
text = (f"Roll: {data['roll']:.1f}°\n"
f"Pitch: {data['pitch']:.1f}°\n"
f"Yaw: {data['yaw']:.1f}°")
self.update_field(panel, drone_id, 'attitude', text)
'''
roll = data.get('roll', 0)
pitch = data.get('pitch', 0)
yaw = data.get('yaw', 0)
roll_text = f"{roll:.1f}°"
pitch_text = f"{pitch:.1f}°"
yaw_text = f"{yaw:.1f}°"
self.update_overview_table(drone_id, 'roll', roll_text)
self.update_overview_table(drone_id, 'pitch', pitch_text)
self.update_overview_table(drone_id, 'yaw', yaw_text)
# 如果地圖已經載入，則更新地圖顯示無人機位置
if self.map_loaded and drone_id in self.drone_positions and drone_id in self.drone_headings:
lat, lon = self.drone_positions[drone_id]
heading = self.drone_headings[drone_id]
js = f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});"
self.map_view.page().runJavaScript(js)
def handle_drone_selection(self, drone_id, state):
"""處理個別無人機勾選狀態變化"""
if state == Qt.CheckState.Checked.value:
self.monitor.selected_drones.add(drone_id)
else:
self.monitor.selected_drones.discard(drone_id)
def handle_select_all(self):
"""處理全選按鈕 - 再次點擊時取消全選"""
# 檢查是否所有無人機都已被選中
all_selected = all(
self.drones[drone_id].findChild(QCheckBox, f"{drone_id}_checkbox").isChecked()
for drone_id in self.drones
)
# 如果全部已選中，則取消全選；否則全選
new_state = not all_selected
# 更新所有勾選框狀態
for drone_id in self.drones:
checkbox = self.drones[drone_id].findChild(QCheckBox, f"{drone_id}_checkbox")
if checkbox:
checkbox.setChecked(new_state)
def handle_arm_selected(self):
"""處理批次解鎖"""
loop = asyncio.get_event_loop()
for drone_id in self.monitor.selected_drones:
future = self.monitor.arm_drone(drone_id, True)
loop.create_task(self.handle_service_response(future, f"批次解鎖 {drone_id}"))
def handle_takeoff_selected(self):
"""處理批次起飛"""
loop = asyncio.get_event_loop()
for drone_id in self.monitor.selected_drones:
future = self.monitor.takeoff_drone(drone_id, 10.0)
loop.create_task(self.handle_service_response(future, f"批次起飛 {drone_id}"))
def update_field(self, panel, drone_id, field, text, color=None):
"""Update a specific field in the panel."""
if label := panel.findChild(QLabel, f"{drone_id}_{field}"):
label.setText(text)
if color:
label.setStyleSheet(f"color: {color};")
'''
def add_drone(self, drone_id):
if drone_id not in self.drones:
panel = self.create_drone_panel(drone_id)
self.info_layout.addWidget(panel)
self.drones[drone_id] = panel
'''
def add_drone(self, drone_id):
if drone_id not in self.drones:
panel = self.create_drone_panel(drone_id)
self.info_layout.addWidget(panel)
self.drones[drone_id] = panel
# 清空原有 layout
for i in reversed(range(self.info_layout.count())):
widget = self.info_layout.itemAt(i).widget()
if widget:
self.info_layout.removeWidget(widget)
widget.setParent(None)
def update_overview_table(self, drone_id=None, field=None, value=None):
# Ensure the widget is available
if not hasattr(self, 'overview_table') or self.overview_table is None:
return
# 根據 key 排序後重新加入
for sorted_id in sorted(self.drones, key=lambda x: int(''.join(filter(str.isdigit, x)) or 0)):
self.info_layout.addWidget(self.drones[sorted_id])
# Update a specific cell in the overview table
if drone_id and field and value:
col = 1 + list(self.drones.keys()).index(drone_id)
row = self.info_type_map.get(field, -1) # Get row from field mapping
if row == -1:
return # Invalid field, exit
item = self.overview_table.item(row, col)
if not item:
item = QTableWidgetItem()
self.overview_table.setItem(row, col, item)
item.setText(value) # Update the cell's text
item.setTextAlignment(Qt.AlignmentFlag.AlignCenter) # Center the text
# If no specific update, refresh entire table
if drone_id is None:
cols = 1 + len(self.drones)
self.overview_table.setColumnCount(cols)
headers = ["資訊"] + list(self.drones.keys())
self.overview_table.setHorizontalHeaderLabels(headers)
for col, did in enumerate(self.drones, start=1):
panel = self.drones[did]
for field, row in self.info_type_map.items():
lbl = panel.findChild(QLabel, f"{did}_{field}")
val = lbl.text() if lbl else "--"
val_item = QTableWidgetItem(val)
val_item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
self.overview_table.setItem(row, col, val_item)
def add_drone(self, drone_id):
"""只這一個 add_drone，不要再重複定義。"""
if drone_id in self.drones:
return
panel = self.create_drone_panel(drone_id)
self.drones[drone_id] = panel
# 重新排序並顯示所有 panel
# 先清空
while self.drone_panel_layout.count():
w = self.drone_panel_layout.takeAt(0).widget()
if w:
w.setParent(None)
# 再依照數字排序加入
for did in sorted(self.drones, key=lambda x: int(x[1:])):
self.drone_panel_layout.addWidget(self.drones[did])
# 更新總覽表
self.update_overview_table()
def spin_ros(self):
try:
@@ -495,4 +893,4 @@ if __name__ == '__main__':
app = QApplication(sys.argv)
station = ControlStationUI()
station.show()
app.exec(app.exec())
app.exec()