diff --git a/src/unitdev01/unitdev01/gui.py b/src/unitdev01/unitdev01/gui.py
index 623a0d2..d9e7a0f 100644
--- a/src/unitdev01/unitdev01/gui.py
+++ b/src/unitdev01/unitdev01/gui.py
@@ -3,11 +3,14 @@ import rclpy
from rclpy.node import Node
from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout,
QWidget, QLabel, QSplitter, QScrollArea,
- QSizePolicy)
-from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal
+ QSizePolicy, QApplication)
+from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal, QUrl
from PyQt6.QtGui import QColor
+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
@@ -138,8 +141,8 @@ class DroneMonitor(Node):
def gps_callback(self, drone_id, msg):
self.signals.update_signal.emit('gps', drone_id, {
'lat': msg.latitude,
- 'lon': msg.longitude,
- 'alt': msg.altitude
+ 'lon': msg.longitude
+ ,'alt': msg.altitude
})
def local_vel_callback(self, drone_id, msg):
@@ -150,7 +153,9 @@ class DroneMonitor(Node):
})
def altitude_callback(self, drone_id, msg):
- self.signals.update_signal.emit('altitude', drone_id, msg.data)
+ self.signals.update_signal.emit('altitude', drone_id, {
+ 'altitude': msg.data
+ })
def local_pose_callback(self, drone_id, msg):
self.signals.update_signal.emit('local_pose', drone_id, {
@@ -212,26 +217,43 @@ class ControlStationUI(QMainWindow):
left_layout.addWidget(scroll_area)
# 右侧地图区域
- self.map_widget = QLabel()
- self.map_widget.setAlignment(Qt.AlignmentFlag.AlignCenter)
- self.map_widget.setStyleSheet("""
- QLabel {
- background-color: #1A1A1A;
- color: #AAAAAA;
- font-size: 18px;
- border: 2px solid #333;
- border-radius: 10px;
- padding: 20px;
+ self.map_view = QWebEngineView()
+
+ inline_html = '''
+
+
+
+
+
+
+
+
+
+
+ '''
+ self.map_view.setHtml(inline_html)
+ self.map_view.loadFinished.connect(self.on_map_loaded)
+
main_splitter.addWidget(left_panel)
- main_splitter.addWidget(self.map_widget)
+ main_splitter.addWidget(self.map_view)
main_splitter.setSizes([400, 1000])
self.setCentralWidget(main_splitter)
+ def on_map_loaded(self, ok: bool):
+ if ok:
+ self.map_loaded = True
+ else:
+ print("⚠️ 地图页加载失败")
+
def create_drone_panel(self, drone_id):
panel = QWidget()
panel.setObjectName(f"panel_{drone_id}")
@@ -280,11 +302,11 @@ 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", "-- V")
- self.create_data_row(layout, "GPS:", f"{drone_id}_gps", "等待定位...")
- self.create_data_row(layout, "Local:", f"{drone_id}_local", "X: -- Y: -- Z: --")
- self.create_data_row(layout, "速度:", f"{drone_id}_velocity", "VX: -- VY: -- VZ: --")
- self.create_data_row(layout, "姿態:", f"{drone_id}_attitude", "Roll: -- Pitch: -- Yaw: --")
+ 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, "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", "--")
return panel
@@ -317,7 +339,7 @@ class ControlStationUI(QMainWindow):
return
if msg_type == 'mode':
- self.update_field(panel, drone_id, 'mode', f"模式: {data}",
+ self.update_field(panel, drone_id, 'mode', f"{data}",
'#FF5555' if '返航' in data else '#55FF55')
elif msg_type == 'battery':
@@ -327,18 +349,26 @@ class ControlStationUI(QMainWindow):
'#FF6464' if voltage < 12 else '#FFFFFF')
elif msg_type == 'gps':
- text = (f"緯度: {data['lat']:.6f}\n"
- f"經度: {data['lon']:.6f}\n"
- f"高度: {data['alt']:.1f} m")
+ text = (f"緯度: {data['lat']:.6f}°\n"
+ f"經度: {data['lon']:.6f}°")
self.update_field(panel, drone_id, 'gps', text)
- self.update_map_display(f"Drone {drone_id}\n{text}")
+ if self.on_map_loaded:
+ js = f"updateDrone({data['lat']}, {data['lon']:.6f}, {drone_id})"
+ self.map_view.page().runJavaScript(js)
+
+ elif msg_type == 'altitude':
+ text = (f"{data['altitude']:.1f} m")
+ self.update_field(panel, drone_id, 'altitude', text)
elif msg_type == 'local_pose':
- text = (f"X: {data['x']:.1f} m\n"
- f"Y: {data['y']:.1f} m\n"
- f"Z: {data['z']:.1f} m")
+ text = (f"({data['x']:.1f}, {data['y']:.1f}, {data['z']:.1f})")
self.update_field(panel, drone_id, 'local', text)
+ elif msg_type == 'hud':
+ text = (f"地速: {data['groundspeed']:.1f} m/s\n"
+ f"航向: {data['heading']:.1f}°")
+ self.update_field(panel, drone_id, 'hud', text)
+ '''
elif msg_type == 'velocity':
text = (f"VX: {data['vx']:.1f} m/s\n"
f"VY: {data['vy']:.1f} m/s\n"
@@ -350,13 +380,7 @@ class ControlStationUI(QMainWindow):
f"Pitch: {data['pitch']:.1f}°\n"
f"Yaw: {data['yaw']:.1f}°")
self.update_field(panel, drone_id, 'attitude', text)
-
- elif msg_type == 'hud':
- text = (f"空速: {data['airspeed']:.1f} m/s\n"
- f"地速: {data['groundspeed']:.1f} m/s\n"
- f"航向: {data['heading']:.1f}°")
- self.update_field(panel, drone_id, 'hud', text)
-
+ '''
def update_field(self, panel, drone_id, field, text, color=None):
if label := panel.findChild(QLabel, f"{drone_id}_{field}"):
label.setText(text)
@@ -369,10 +393,6 @@ class ControlStationUI(QMainWindow):
self.info_layout.addWidget(panel)
self.drones[drone_id] = panel
- def update_map_display(self, text):
- self.map_widget.setText(text)
- self.map_widget.repaint()
-
def spin_ros(self):
try:
self.executor.spin_once(timeout_sec=0)
@@ -386,7 +406,7 @@ class ControlStationUI(QMainWindow):
event.accept()
if __name__ == '__main__':
- app = QApplication([])
+ app = QApplication(sys.argv)
station = ControlStationUI()
station.show()
- app.exec()
\ No newline at end of file
+ app.exec(app.exec())
\ No newline at end of file