feat(GUI): 新增模擬驗證滑動開關（ToggleSwitch）

在清除軌跡按鈕左邊加入滑動開關，可控制執行任務時是否開啟 matplotlib 驗證視窗。
預設開啟，OFF 時跳過驗證。

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>

src/GUI/gui.py

@@ -5,8 +5,8 @@ from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout
                             QSizePolicy, QTabWidget, QTableWidget, QTableWidgetItem,
                             QHeaderView, QPushButton, QCheckBox, QLineEdit,
                             QComboBox, QDialog, QPlainTextEdit, QSlider)
-from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal, QEvent
+from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal, QEvent, QPropertyAnimation, pyqtProperty, QEasingCurve
-from PyQt6.QtGui import QColor, QFont
+from PyQt6.QtGui import QColor, QFont, QPainter, QPen
 import sys
 import asyncio
 import json
@@ -72,6 +72,76 @@ class StreamRedirector(QObject):
             self.text_written.emit(line)
         self._buffer = ""
 
+class ToggleSwitch(QWidget):
+    """自訂滑動開關 — ON 綠色 / OFF 紅色"""
+    toggled = pyqtSignal(bool)
+
+    def __init__(self, checked=True, parent=None):
+        super().__init__(parent)
+        self._checked = checked
+        self._knob_x = 1.0 if checked else 0.0
+        self.setFixedSize(44, 24)
+        self.setCursor(Qt.CursorShape.PointingHandCursor)
+
+        self._animation = QPropertyAnimation(self, b"knob_position", self)
+        self._animation.setDuration(150)
+        self._animation.setEasingCurve(QEasingCurve.Type.InOutCubic)
+
+    def _get_knob_position(self):
+        return self._knob_x
+
+    def _set_knob_position(self, val):
+        self._knob_x = val
+        self.update()
+
+    knob_position = pyqtProperty(float, _get_knob_position, _set_knob_position)
+
+    def isChecked(self):
+        return self._checked
+
+    def setChecked(self, checked):
+        if self._checked != checked:
+            self._checked = checked
+            self._animate(checked)
+            self.toggled.emit(checked)
+
+    def mousePressEvent(self, event):
+        self.setChecked(not self._checked)
+
+    def _animate(self, checked):
+        self._animation.stop()
+        self._animation.setStartValue(self._knob_x)
+        self._animation.setEndValue(1.0 if checked else 0.0)
+        self._animation.start()
+
+    def paintEvent(self, event):
+        p = QPainter(self)
+        p.setRenderHint(QPainter.RenderHint.Antialiasing)
+        w, h = self.width(), self.height()
+        r = h / 2
+
+        # 背景軌道：依 knob_x 插值 灰→綠
+        red = QColor(0x88, 0x88, 0x88)
+        green = QColor(0x4C, 0xAF, 0x50)
+        t = self._knob_x
+        bg = QColor(
+            int(red.red()   + (green.red()   - red.red())   * t),
+            int(red.green() + (green.green() - red.green()) * t),
+            int(red.blue()  + (green.blue()  - red.blue())  * t),
+        )
+        p.setPen(Qt.PenStyle.NoPen)
+        p.setBrush(bg)
+        p.drawRoundedRect(0, 0, w, h, r, r)
+
+        # 滑塊圓形
+        knob_d = h - 4
+        knob_range = w - knob_d - 4
+        knob_cx = 2 + self._knob_x * knob_range + knob_d / 2
+        p.setBrush(QColor(255, 255, 255))
+        p.drawEllipse(int(knob_cx - knob_d / 2), 2, int(knob_d), int(knob_d))
+        p.end()
+
+
 class ControlStationUI(QMainWindow):
     VERSION = '2.2.0'
     FONT_SCALE_MIN = 70
@@ -276,6 +346,12 @@ class ControlStationUI(QMainWindow):
         group_header.addLayout(title_layout)
         group_header.addStretch()
 
+        verify_label = QLabel("模擬驗證")
+        verify_label.setStyleSheet("color: #CCC; font-size: 12px;")
+        self.verify_toggle = ToggleSwitch(checked=True)
+        group_header.addWidget(verify_label)
+        group_header.addWidget(self.verify_toggle)
+
         clear_traj_btn = QPushButton("清除軌跡")
         clear_traj_btn.setStyleSheet("""
             QPushButton { background-color: #EF5350; color: white; border: none;
@@ -1935,6 +2011,9 @@ class ControlStationUI(QMainWindow):
                               selected_drones, waypoints_per_drone, origin,
                               target_gps=None, rect_corners=None, route_waypoints=None):
         """存 JSON + 啟動 matplotlib 視覺化驗證 (獨立 process)"""
+        if not self.verify_toggle.isChecked():
+            _log("INFO", "模擬驗證已關閉，跳過驗證視窗")
+            return
         import os
         data = {
             'mission_type': mission_type,