update gui

src/GUI/comm_panel.py

@@ -1,7 +1,9 @@
 #!/usr/bin/env python3
 from PyQt6.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, 
-                            QPushButton, QLineEdit)
+                            QPushButton, QLineEdit, QComboBox)
 from PyQt6.QtCore import pyqtSignal
+import glob
+import os
 
 class CommPanel(QWidget):
     """通讯设置面板类"""
@@ -13,12 +15,16 @@ class CommPanel(QWidget):
     ws_connection_added = pyqtSignal(str)  # url
     ws_connection_toggled = pyqtSignal(dict, QPushButton, QLabel)  # conn, btn, status_label
     ws_connection_removed = pyqtSignal(dict, QWidget)  # conn, panel
+    serial_connection_added = pyqtSignal(str, int)  # port, baudrate
+    serial_connection_toggled = pyqtSignal(dict, QPushButton, QLabel)  # conn, btn, status_label
+    serial_connection_removed = pyqtSignal(dict, QWidget)  # conn, panel
     status_message = pyqtSignal(str, int)  # message, timeout
     
     def __init__(self, parent=None):
         super().__init__(parent)
         self.udp_connections = []
         self.ws_connections = []
+        self.serial_connections = []
         self._init_ui()
     
     def _init_ui(self):
@@ -105,6 +111,118 @@ class CommPanel(QWidget):
         separator.setFixedHeight(20)
         layout.addWidget(separator)
         
+        # ========== Serial 區域 ==========
+        serial_title = QLabel("Serial")
+        serial_title.setStyleSheet("""
+            color: #DDD;
+            font-size: 14px;
+            font-weight: bold;
+            padding: 5px;
+            background-color: #333;
+            border-radius: 4px;
+        """)
+        layout.addWidget(serial_title)
+        
+        # Serial 連接列表容器
+        self.serial_list_widget = QWidget()
+        self.serial_list_layout = QVBoxLayout(self.serial_list_widget)
+        self.serial_list_layout.setContentsMargins(0, 0, 0, 0)
+        self.serial_list_layout.setSpacing(5)
+        layout.addWidget(self.serial_list_widget)
+        
+        # Serial 添加新連接區域
+        add_serial_widget = QWidget()
+        add_serial_layout = QHBoxLayout(add_serial_widget)
+        add_serial_layout.setContentsMargins(0, 0, 0, 0)
+        
+        self.serial_port_combo = QComboBox()
+        self.serial_port_combo.setStyleSheet("""
+            QComboBox {
+                background-color: #333;
+                color: #DDD;
+                border: 1px solid #555;
+                border-radius: 4px;
+                padding: 5px;
+            }
+            QComboBox::drop-down {
+                border: none;
+            }
+            QComboBox::down-arrow {
+                image: none;
+                border-left: 5px solid transparent;
+                border-right: 5px solid transparent;
+                border-top: 5px solid #DDD;
+            }
+        """)
+        self._refresh_serial_ports()
+        
+        refresh_ports_btn = QPushButton("↻")
+        refresh_ports_btn.setFixedWidth(35)
+        refresh_ports_btn.clicked.connect(self._refresh_serial_ports)
+        refresh_ports_btn.setToolTip("重新掃描串口")
+        refresh_ports_btn.setStyleSheet("""
+            QPushButton {
+                background-color: #444;
+                color: #DDD;
+                border: none;
+                padding: 6px;
+                border-radius: 4px;
+                font-size: 16px;
+            }
+            QPushButton:hover { background-color: #555; }
+        """)
+        
+        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.setFixedWidth(100)
+        self.serial_baudrate_combo.setStyleSheet("""
+            QComboBox {
+                background-color: #333;
+                color: #DDD;
+                border: 1px solid #555;
+                border-radius: 4px;
+                padding: 5px;
+            }
+            QComboBox::drop-down {
+                border: none;
+            }
+            QComboBox::down-arrow {
+                image: none;
+                border-left: 5px solid transparent;
+                border-right: 5px solid transparent;
+                border-top: 5px solid #DDD;
+            }
+        """)
+        
+        add_serial_btn = QPushButton("添加")
+        add_serial_btn.clicked.connect(self._handle_add_serial)
+        add_serial_btn.setStyleSheet("""
+            QPushButton {
+                background-color: #4CAF50;
+                color: white;
+                border: none;
+                padding: 6px 12px;
+                border-radius: 4px;
+                min-width: 30px;
+            }
+            QPushButton:hover { background-color: #45a049; }
+        """)
+        
+        add_serial_layout.addWidget(QLabel("Port:", styleSheet="color: #DDD;"))
+        add_serial_layout.addWidget(self.serial_port_combo)
+        add_serial_layout.addWidget(refresh_ports_btn)
+        add_serial_layout.addWidget(QLabel("Baud:", styleSheet="color: #DDD;"))
+        add_serial_layout.addWidget(self.serial_baudrate_combo)
+        add_serial_layout.addWidget(add_serial_btn)
+        
+        layout.addWidget(add_serial_widget)
+        
+        # 分隔線
+        separator = QWidget()
+        separator.setFixedHeight(20)
+        layout.addWidget(separator)
+        
         # ========== WebSocket 區域 ==========
         ws_title = QLabel("WebSocket")
         ws_title.setStyleSheet("""
@@ -229,6 +347,94 @@ class CommPanel(QWidget):
         # 清空輸入框
         self.ws_url_input.clear()
     
+    def _refresh_serial_ports(self):
+        """重新掃描可用的串口"""
+        self.serial_port_combo.clear()
+        
+        # 掃描 Linux 下的串口設備
+        ports = []
+        
+        # 掃描 USB 串口
+        usb_ports = glob.glob('/dev/ttyUSB*')
+        ports.extend(usb_ports)
+        
+        # 掃描 ACM 串口
+        acm_ports = glob.glob('/dev/ttyACM*')
+        ports.extend(acm_ports)
+        
+        # 排序
+        ports.sort()
+        
+        if ports:
+            self.serial_port_combo.addItems(ports)
+        else:
+            self.serial_port_combo.addItem("沒有找到串口")
+            self.serial_port_combo.setEnabled(False)
+            return
+        
+        self.serial_port_combo.setEnabled(True)
+    
+    def _handle_add_serial(self):
+        """處理添加 Serial 連接"""
+        port = self.serial_port_combo.currentText()
+        baudrate_text = self.serial_baudrate_combo.currentText()
+        
+        if not port or port == "沒有找到串口":
+            self.status_message.emit("請選擇有效的串口", 3000)
+            return
+        
+        try:
+            baudrate = int(baudrate_text)
+        except ValueError:
+            self.status_message.emit("波特率格式錯誤", 3000)
+            return
+        
+        # 檢查是否已存在相同連接
+        for conn in self.serial_connections:
+            if conn['port'] == port:
+                self.status_message.emit("連接已存在", 3000)
+                return
+        
+        # 發送信號通知主窗口
+        self.serial_connection_added.emit(port, baudrate)
+    
+    def _handle_add_ws(self):
+        """處理添加 WebSocket 連接"""
+        input_url = self.ws_url_input.text().strip()
+        
+        if not input_url:
+            self.status_message.emit("請輸入 WebSocket URL", 3000)
+            return
+        
+        # 自動添加 ws:// 前綴
+        if not input_url.startswith('ws://') and not input_url.startswith('wss://'):
+            url = f'ws://{input_url}'
+        else:
+            url = input_url
+        
+        # 基本 URL 格式驗證
+        try:
+            if '://' in url:
+                parts = url.split('://', 1)
+                if len(parts) == 2 and ':' not in parts[1]:
+                    self.status_message.emit("URL 格式錯誤，需要包含端口號 (例如: 127.0.0.1:8756)", 3000)
+                    return
+        except:
+            self.status_message.emit("URL 格式錯誤", 3000)
+            return
+        
+        # 檢查是否已存在相同連接
+        for conn in self.ws_connections:
+            if conn['url'] == url:
+                self.status_message.emit("連接已存在", 3000)
+                return
+        
+        # 發送信號通知主窗口
+        self.ws_connection_added.emit(url)
+        
+        # 清空輸入框
+        self.ws_url_input.clear()
+    
     def create_udp_connection_panel(self, conn):
         """創建 UDP 連接面板"""
         panel = QWidget()
@@ -396,3 +602,87 @@ class CommPanel(QWidget):
         """從列表中移除 WebSocket 連接"""
         if conn in self.ws_connections:
             self.ws_connections.remove(conn)
+    
+    def create_serial_connection_panel(self, conn):
+        """創建 Serial 連接面板"""
+        panel = QWidget()
+        panel.setStyleSheet("""
+            QWidget {
+                background-color: #2A2A2A;
+                border-radius: 6px;
+                padding: 8px;
+                border: 1px solid #444;
+            }
+        """)
+        
+        layout = QHBoxLayout(panel)
+        layout.setContentsMargins(8, 8, 8, 8)
+        
+        # 連接資訊
+        info_label = QLabel(f"{conn['name']} - {conn['port']} @ {conn['baudrate']}")
+        info_label.setStyleSheet("color: #DDD; font-size: 12px;")
+        
+        # 狀態指示器
+        status_label = QLabel("●")
+        if conn.get('enabled', False):
+            status_label.setStyleSheet("color: #4CAF50; font-size: 16px;")
+            status_label.setToolTip("運行中")
+        else:
+            status_label.setStyleSheet("color: #888; font-size: 16px;")
+            status_label.setToolTip("已停止")
+        
+        # 控制按鈕
+        toggle_btn = QPushButton("停止" if conn.get('enabled', False) else "啟動")
+        toggle_btn.setFixedWidth(60)
+        toggle_btn.clicked.connect(lambda: self.serial_connection_toggled.emit(conn, toggle_btn, status_label))
+        toggle_btn.setStyleSheet("""
+            QPushButton {
+                background-color: #444;
+                color: #DDD;
+                border: none;
+                padding: 4px 8px;
+                border-radius: 3px;
+                font-size: 11px;
+            }
+            QPushButton:hover { background-color: #555; }
+        """)
+        
+        remove_btn = QPushButton("移除")
+        remove_btn.setFixedWidth(60)
+        remove_btn.clicked.connect(lambda: self.serial_connection_removed.emit(conn, panel))
+        remove_btn.setStyleSheet("""
+            QPushButton {
+                background-color: #d32f2f;
+                color: white;
+                border: none;
+                padding: 4px 8px;
+                border-radius: 3px;
+                font-size: 11px;
+            }
+            QPushButton:hover { background-color: #b71c1c; }
+        """)
+        
+        layout.addWidget(status_label)
+        layout.addWidget(info_label)
+        layout.addStretch()
+        layout.addWidget(toggle_btn)
+        layout.addWidget(remove_btn)
+        
+        # 儲存引用
+        panel.connection = conn
+        panel.toggle_btn = toggle_btn
+        panel.status_label = status_label
+        
+        return panel
+    
+    def add_serial_panel(self, conn):
+        """添加 Serial 連接面板到列表"""
+        panel = self.create_serial_connection_panel(conn)
+        self.serial_list_layout.addWidget(panel)
+        self.serial_connections.append(conn)
+        return panel
+    
+    def remove_serial_connection_from_list(self, conn):
+        """從列表中移除 Serial 連接"""
+        if conn in self.serial_connections:
+            self.serial_connections.remove(conn)

src/GUI/communication.py

@@ -397,6 +397,12 @@ class DroneMonitor(Node):
         # ================================================================================
         self.drone_gps = {}  # {drone_id: {'lat': ..., 'lon': ..., 'alt': ...}}
         # ================================================================================
+        
+        # ================================================================================
+        # 【新增】儲存 sys_id 到 actual_drone_id 的映射 (從 summary 獲取)
+        # ================================================================================
+        self.sys_to_actual_id = {}  # {sys_id: actual_drone_id} e.g. {'sys11': 's0_11'}
+        # ================================================================================
         self.serial_receivers = []
         
         # 主题检测定时器
@@ -553,7 +559,13 @@ class DroneMonitor(Node):
             }
 
     def battery_callback(self, drone_id, msg):
-        self.latest_data[(drone_id, 'battery')] = {
+        # 使用映射獲取實際的 drone_id
+        actual_drone_id = self.sys_to_actual_id.get(drone_id, None)
+        # 如果還沒有從 summary 獲取到映射，則不處理
+        if actual_drone_id is None:
+            return
+        
+        self.latest_data[(actual_drone_id, 'battery')] = {
             'voltage': msg.voltage
         }
 
@@ -580,6 +592,15 @@ class DroneMonitor(Node):
             if socket_id is not None and sysid is not None:
                 # 使用 socket_id 作為前綴
                 actual_drone_id = f's{socket_id}_{sysid}'
+                
+                # ================================================================================
+                # 【關鍵】保存 sys_id 到 actual_drone_id 的映射
+                # ================================================================================
+                sys_key = f'sys{sysid}'
+                self.sys_to_actual_id[sys_key] = actual_drone_id
+                # 也保存原始的 s0_ 格式到實際 ID 的映射
+                self.sys_to_actual_id[drone_id] = actual_drone_id
+                # ================================================================================
             else:
                 actual_drone_id = drone_id
             
@@ -600,7 +621,13 @@ class DroneMonitor(Node):
             print(f"Error in summary_callback for {drone_id}: {e}")
 
     def gps_callback(self, drone_id, msg):
-        self.latest_data[(drone_id, 'gps')] = {
+        # 使用映射獲取實際的 drone_id
+        actual_drone_id = self.sys_to_actual_id.get(drone_id, None)
+        # 如果還沒有從 summary 獲取到映射，則不處理
+        if actual_drone_id is None:
+            return
+        
+        self.latest_data[(actual_drone_id, 'gps')] = {
             'lat': msg.latitude,
             'lon': msg.longitude,
             'alt': msg.altitude
@@ -609,7 +636,7 @@ class DroneMonitor(Node):
         # ================================================================================
         # 【新增】儲存 GPS 資料到 drone_gps 字典
         # ================================================================================
-        self.drone_gps[drone_id] = {
+        self.drone_gps[actual_drone_id] = {
             'lat': msg.latitude,
             'lon': msg.longitude,
             'alt': msg.altitude
@@ -636,7 +663,13 @@ class DroneMonitor(Node):
         }
 
     def hud_callback(self, drone_id, msg):
-        self.latest_data[(drone_id, 'hud')] = {
+        # 使用映射獲取實際的 drone_id
+        actual_drone_id = self.sys_to_actual_id.get(drone_id, None)
+        # 如果還沒有從 summary 獲取到映射，則不處理
+        if actual_drone_id is None:
+            return
+        
+        self.latest_data[(actual_drone_id, 'hud')] = {
             'airspeed': msg.airspeed,
             'groundspeed': msg.groundspeed,
             'heading': msg.heading,

src/GUI/gui.py

@@ -44,25 +44,6 @@ class ControlStationUI(QMainWindow):
         # 初始化UI
         self.drones = {}
         self.socket_groups = {}
-        self.info_types = ["模式", "ARM", "電壓", "經度", "緯度", "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,
-            "longitude": 3,
-            "latitude": 4,
-            "altitude": 5,
-            "local": 6,
-            "velocity": 7,
-            "groundspeed": 8,
-            "heading": 9,
-            "roll": 10,
-            "pitch": 11,
-            "yaw": 12,
-            "loss_rate": 13,
-            "ping": 14
-        }
         
         self.socket_colors = {
             '0': '#00BFFF',  # 天藍色 (DeepSkyBlue)
@@ -86,7 +67,8 @@ class ControlStationUI(QMainWindow):
         self.udp_receivers = []
         self.udp_connections = []
         self.ws_connections = []
-        self.monitor.start_serial_connection('/dev/ttyUSB0', 57600)
+        self.serial_receivers = []
+        self.serial_connections = []
         
         # ================================================================================
         # 【新增】初始化任務規劃器
@@ -122,17 +104,20 @@ class ControlStationUI(QMainWindow):
         self.left_tab.addTab(scroll, "無人載具")
         
         # — 分頁 2：Overview Table
-        self.overview_table = OverviewTable(self.info_types, self.info_type_map)
+        self.overview_table = OverviewTable()
         self.left_tab.addTab(self.overview_table, "總覽")
 
         # — 分頁 3：通訊設定
         self.comm_panel = CommPanel()
         self.comm_panel.udp_connection_added.connect(self.handle_udp_connection_added)
         self.comm_panel.ws_connection_added.connect(self.handle_ws_connection_added)
+        self.comm_panel.serial_connection_added.connect(self.handle_serial_connection_added)
         self.comm_panel.udp_connection_toggled.connect(self.toggle_udp_connection)
         self.comm_panel.ws_connection_toggled.connect(self.toggle_ws_connection)
+        self.comm_panel.serial_connection_toggled.connect(self.toggle_serial_connection)
         self.comm_panel.udp_connection_removed.connect(self.remove_udp_connection)
         self.comm_panel.ws_connection_removed.connect(self.remove_ws_connection)
+        self.comm_panel.serial_connection_removed.connect(self.remove_serial_connection)
         self.comm_panel.status_message.connect(lambda msg, timeout: self.statusBar().showMessage(msg, timeout))
 
         self.left_tab.addTab(self.comm_panel, "通訊")
@@ -269,6 +254,7 @@ class ControlStationUI(QMainWindow):
         # 添加地圖
         right_layout.addWidget(self.drone_map.get_widget())
         self.drone_map.get_gps_signal().connect(self.handle_map_click)
+        self.drone_map.get_drone_clicked_signal().connect(self.handle_drone_clicked)
 
             
         # Add widgets to splitter
@@ -427,6 +413,69 @@ class ControlStationUI(QMainWindow):
         
         self.statusBar().showMessage(f"已移除 UDP 连接: {conn['ip']}:{conn['port']}", 3000)
 
+    def handle_serial_connection_added(self, port, baudrate):
+        """處理添加 Serial 連接"""
+        conn = {
+            'name': f'Serial',
+            'port': port,
+            'baudrate': baudrate,
+            'enabled': False,
+            'receiver': None
+        }
+        
+        # 添加到列表
+        self.serial_connections.append(conn)
+        
+        # 在 UI 中顯示
+        panel = self.comm_panel.add_serial_panel(conn)
+        
+        self.statusBar().showMessage(f"已添加 Serial 连接: {port} @ {baudrate}", 3000)
+    
+    def toggle_serial_connection(self, conn, btn, status_label):
+        """切換 Serial 連接狀態"""
+        if conn.get('enabled', False):
+            # 停止連接
+            if conn.get('receiver'):
+                conn['receiver'].stop()
+                conn['receiver'] = None
+            
+            conn['enabled'] = False
+            btn.setText("啟動")
+            status_label.setStyleSheet("color: #888; font-size: 16px;")
+            status_label.setToolTip("已停止")
+            self.statusBar().showMessage(f"已停止 Serial 連接: {conn['port']}", 3000)
+        else:
+            # 啟動連接
+            try:
+                receiver = self.monitor.start_serial_connection(conn['port'], conn['baudrate'])
+                conn['receiver'] = receiver
+                conn['enabled'] = True
+                btn.setText("停止")
+                status_label.setStyleSheet("color: #4CAF50; font-size: 16px;")
+                status_label.setToolTip("運行中")
+                self.statusBar().showMessage(f"已啟動 Serial 連接: {conn['port']}", 3000)
+            except Exception as e:
+                self.statusBar().showMessage(f"啟動 Serial 連接失敗: {str(e)}", 5000)
+    
+    def remove_serial_connection(self, conn, panel):
+        """移除 Serial 連接"""
+        # 停止連接
+        if conn.get('enabled', False) and conn.get('receiver'):
+            conn['receiver'].stop()
+        
+        # 从列表移除
+        if conn in self.serial_connections:
+            self.serial_connections.remove(conn)
+        
+        # 从 comm_panel 列表移除
+        self.comm_panel.remove_serial_connection_from_list(conn)
+        
+        # 从 UI 移除
+        panel.setParent(None)
+        panel.deleteLater()
+        
+        self.statusBar().showMessage(f"已移除 Serial 连接: {conn['port']}", 3000)
+
     def create_socket_group_panel(self, socket_id):
         """創建 socket 分組面板"""
         color = self.socket_colors.get(socket_id, self.socket_colors['default'])
@@ -592,15 +641,45 @@ class ControlStationUI(QMainWindow):
             heading = data.get('heading')
             self.drone_headings[drone_id] = heading
             groundspeed = data.get('groundspeed')
+            airspeed = data.get('airspeed')
+            throttle = data.get('throttle')
+            hud_alt = data.get('alt')
+            climb = data.get('climb')
+            
             heading_text = f"{heading:.1f}°"
             if isinstance(groundspeed, (int, float)):
                 groundspeed_text = f"{groundspeed:.1f} m/s"
             else:
                 groundspeed_text = "--"
+            
+            if isinstance(airspeed, (int, float)):
+                airspeed_text = f"{airspeed:.1f} m/s"
+            else:
+                airspeed_text = "--"
+            
+            if isinstance(throttle, (int, float)):
+                throttle_text = f"{throttle:.0f}%"
+            else:
+                throttle_text = "--"
+            
+            if isinstance(hud_alt, (int, float)):
+                hud_alt_text = f"{hud_alt:.1f} m"
+            else:
+                hud_alt_text = "--"
+            
+            if isinstance(climb, (int, float)):
+                climb_text = f"{climb:.1f} m/s"
+            else:
+                climb_text = "--"
+            
             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)
+            self.update_overview_table(drone_id, 'airspeed', airspeed_text)
+            self.update_overview_table(drone_id, 'throttle', throttle_text)
+            self.update_overview_table(drone_id, 'hud_alt', hud_alt_text)
+            self.update_overview_table(drone_id, 'climb', climb_text)
             
             # 如果有位置資訊，也更新地圖上的航向
             if drone_id in self.drone_positions:
@@ -948,6 +1027,21 @@ class ControlStationUI(QMainWindow):
             import traceback
             traceback.print_exc()
     
+    def handle_drone_clicked(self, drone_id):
+        """
+        處理地圖上無人機被點擊事件，切換該無人機的選取狀態
+        
+        Args:
+            drone_id: 無人機 ID
+        """
+        print(f"地圖上點擊無人機: {drone_id}")
+        
+        if drone_id in self.drones:
+            panel = self.drones[drone_id]
+            checkbox = panel.get_checkbox()
+            # 切換勾選狀態
+            checkbox.setChecked(not checkbox.isChecked())
+    
     def show_planned_waypoints(self):
         """
         顯示規劃的航點（在終端輸出）

src/GUI/map_layout.py

@@ -214,6 +214,9 @@ class DroneMap:
                             rotationOrigin: 'center'
                         })
                         .on('click', function () {
+                            if (bridge) {
+                                bridge.emitDroneClicked(id);
+                            }
                             focusOn(id);
                         })
                         .addTo(map);
@@ -223,6 +226,9 @@ class DroneMap:
                             zIndexOffset: 1000
                         })
                         .on('click', function() {
+                            if (bridge) {
+                                bridge.emitDroneClicked(id);
+                            }
                             focusOn(id);
                         })
                         .addTo(map);
@@ -423,9 +429,14 @@ class DroneMap:
         """獲取 GPS 信號"""
         return self.bridge.gps_signal
     
+    def get_drone_clicked_signal(self):
+        """獲取無人機點擊信號"""
+        return self.bridge.drone_clicked
+    
 class MapBridge(QObject):
     """JavaScript 和 Python 之間的橋接類"""
     gps_signal = pyqtSignal(float, float)  # lat, lon
+    drone_clicked = pyqtSignal(str)  # drone_id
     
     def __init__(self):
         super().__init__()
@@ -434,3 +445,8 @@ class MapBridge(QObject):
     def emitGpsSignal(self, lat, lon):
         """供 JavaScript 調用的方法"""
         self.gps_signal.emit(lat, lon)
+    
+    @pyqtSlot(str)
+    def emitDroneClicked(self, drone_id):
+        """供 JavaScript 調用的方法 - 當無人機被點擊時"""
+        self.drone_clicked.emit(drone_id)

src/GUI/overview_table.py

@@ -5,11 +5,38 @@ from PyQt6.QtCore import Qt
 class OverviewTable(QTableWidget):
     """總覽表格，顯示所有無人機的狀態資訊"""
     
-    def __init__(self, info_types, info_type_map, parent=None):
+    # 默認的資訊類型和映射
+    DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "Local", "Velocity", "地速", "航向",
+                          "空速", "油門", "HUD高", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
+    
+    DEFAULT_INFO_TYPE_MAP = {
+        "mode": 0,
+        "armed": 1,
+        "battery": 2,
+        "longitude": 3,
+        "latitude": 4,
+        "altitude": 5,
+        "local": 6,
+        "velocity": 7,
+        "groundspeed": 8,
+        "heading": 9,
+        "airspeed": 10,
+        "throttle": 11,
+        "hud_alt": 12,
+        "climb": 13,
+        "roll": 14,
+        "pitch": 15,
+        "yaw": 16,
+        "loss_rate": 17,
+        "ping": 18
+    }
+    
+    def __init__(self, info_types=None, info_type_map=None, parent=None):
         super().__init__(parent)
         
-        self.info_types = info_types
-        self.info_type_map = info_type_map
+        # 使用提供的或默認的資訊類型
+        self.info_types = info_types if info_types is not None else self.DEFAULT_INFO_TYPES
+        self.info_type_map = info_type_map if info_type_map is not None else self.DEFAULT_INFO_TYPE_MAP
         self.drones = {}  # 存儲無人機面板的引用
         
         # 初始化表格