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Add/Update GUI module from wenchun

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ken910606
2026-02-02 01:04:37 +08:00
parent e4b658d578
commit 9f1235197a
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src/GUI/map_layout.py
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#!/usr/bin/env python3
from PyQt6.QtWebEngineWidgets import QWebEngineView
from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
from PyQt6.QtWebChannel import QWebChannel
class DroneMap:
"""無人機地圖類別 - 負責管理 Leaflet 地圖顯示"""
def __init__(self):
"""初始化地圖"""
self.map_view = QWebEngineView()
self.map_loaded = False
self.pending_map_updates = {}
# 創建橋接對象
self.bridge = MapBridge()
# 設置 QWebChannel
self.channel = QWebChannel()
self.channel.registerObject('bridge', self.bridge)
self.map_view.page().setWebChannel(self.channel)
# 設置地圖 HTML
inline_html = '''
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<link rel="stylesheet" href="https://unpkg.com/leaflet/dist/leaflet.css" />
<script src="https://unpkg.com/leaflet/dist/leaflet.js"></script>
<script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
<script src="qrc:///qtwebchannel/qwebchannel.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 bridge;
new QWebChannel(qt.webChannelTransport, function(channel) {
bridge = channel.objects.bridge;
});
var map = L.map('map').setView([0, 0], 19);
L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
maxZoom: 19,
attribution: '© OpenStreetMap contributors'
}).addTo(map);
// 地圖點擊事件
map.on('click', function(e) {
if (bridge) {
bridge.emitGpsSignal(e.latlng.lat, e.latlng.lng);
console.log('點擊位置:', e.latlng.lat, e.latlng.lng);
}
});
function createArrowIcon(color) {
return L.divIcon({
className: 'drone-arrow',
html: `
<div style="
width: 30px; height: 30px;
display: flex;
align-items: center;
justify-content: center;
">
<svg width="30" height="30" viewBox="0 0 30 30">
<polygon points="15,0 30,30 15,25 0,30" fill="${color || '#FF0000'}" />
</svg>
</div>
`,
iconSize: [30, 30],
iconAnchor: [15, 15] // ★ 箭頭往左上移，使 ID 顯示在右下
});
}
function getColorBySocketId(id) {
if (id.startsWith("s0_")) return "#00BFFF"; // 天藍色
if (id.startsWith("s1_")) return "#FFD700"; // 金色
if (id.startsWith("s2_")) return "#FF6969"; // 淺紅色
if (id.startsWith("s3_")) return "#FF69B4"; // 熱粉紅
if (id.startsWith("s4_")) return "#00FA9A"; // 中春綠
if (id.startsWith("s5_")) return "#9370DB"; // 中紫色 (串口)
if (id.startsWith("s6_")) return "#FFA500"; // 橙色
if (id.startsWith("s7_")) return "#20B2AA"; // 淺海綠
if (id.startsWith("s8_")) return "#7CFC00"; // 草綠色
if (id.startsWith("s9_")) return "#FF8C00"; // 深橙色
return "#AAAAAA"; // 灰色 (預設)
}
function createIdIcon(id) {
const sysid = id.split('_')[1];
return L.divIcon({
className: 'drone-id',
html: `<div style="
background-color: transparent;
color: black;
width: 16px;
height: 16px;
border-radius: 50%;
display: flex;
align-items: center;
justify-content: center;
font-weight: bold;
font-size: 12px;
text-shadow: 1px 1px 2px rgba(255,255,255,0.8), -1px -1px 2px rgba(255,255,255,0.8);
">${sysid}</div>`,
iconSize: [16, 16],
iconAnchor: [8, 6] // ★ icon 中心 = 經緯度點
});
}
var markers = {};
var idLabels = {};
var trajectories = {};
var trajectoryLines = {};
var focusedId = null;
var initialized = false;
var trajectoryGroup = L.layerGroup().addTo(map);
// ================================================================================
// 【新增】任務規劃視覺化變數
// ================================================================================
var missionPlanGroup = L.layerGroup().addTo(map); // 任務規劃圖層
var centerMarker = null; // 中心點標記
var targetMarker = null; // 目標點標記
var missionLine = null; // 中心點到目標點的虛線
// ================================================================================
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]]);
}
function focusOn(id) {
if (!markers[id]) return;
focusedId = id;
var latlng = markers[id].getLatLng();
map.flyTo(latlng, map.getZoom());
}
setInterval(() => {
if (focusedId && markers[focusedId]) {
var latlng = markers[focusedId].getLatLng();
map.panTo(latlng);
}
}, 1000);
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);
idLabels[id].setLatLng([lat, lon]);
} else {
initTrajectory(id);
addTrajectoryPoint(id, lat, lon);
const color = getColorBySocketId(id);
markers[id] = L.marker([lat, lon], {
icon: createArrowIcon(color),
rotationAngle: heading,
rotationOrigin: 'center'
})
.on('click', function () {
focusOn(id);
})
.addTo(map);
idLabels[id] = L.marker([lat, lon], {
icon: createIdIcon(id),
zIndexOffset: 1000
})
.on('click', function() {
focusOn(id);
})
.addTo(map);
if (!initialized || id < focusedId) {
focusOn(id);
initialized = true;
}
}
}
function clearAllTrajectories() {
trajectories = {};
Object.values(trajectoryLines).forEach(line => {
trajectoryGroup.removeLayer(line);
});
trajectoryLines = {};
console.log('所有軌跡已清除');
}
// ================================================================================
// 【新增】任務規劃視覺化函式
// ================================================================================
function drawMissionPlan(centerLat, centerLon, targetLat, targetLon) {
// 清除舊的任務規劃標記
clearMissionPlan();
// 繪製中心點標記 "C"（縮小到 20px）
var centerIcon = L.divIcon({
className: 'mission-center',
html: `<div style="
background-color: #FF4444;
color: white;
width: 20px;
height: 20px;
border-radius: 50%;
display: flex;
align-items: center;
justify-content: center;
font-weight: bold;
font-size: 12px;
border: 2px solid white;
box-shadow: 0 2px 5px rgba(0,0,0,0.3);
">C</div>`,
iconSize: [20, 20],
iconAnchor: [10, 10]
});
centerMarker = L.marker([centerLat, centerLon], {
icon: centerIcon,
zIndexOffset: 2000
}).addTo(missionPlanGroup);
// 繪製目標點標記 "★"（星星符號）
var targetIcon = L.divIcon({
className: 'mission-target',
html: `<div style="
background-color: #FFD700;
color: #FF4444;
width: 20px;
height: 20px;
border-radius: 50%;
display: flex;
align-items: center;
justify-content: center;
font-weight: bold;
font-size: 14px;
border: 2px solid white;
box-shadow: 0 2px 5px rgba(0,0,0,0.3);
">★</div>`,
iconSize: [20, 20],
iconAnchor: [10, 10]
});
targetMarker = L.marker([targetLat, targetLon], {
icon: targetIcon,
zIndexOffset: 2000
}).addTo(missionPlanGroup);
// 繪製中心點到目標點的虛線
missionLine = L.polyline(
[[centerLat, centerLon], [targetLat, targetLon]],
{
color: '#FF4444',
weight: 3,
opacity: 0.8,
dashArray: '10, 10', // 虛線樣式
smoothFactor: 1
}
).addTo(missionPlanGroup);
console.log('任務規劃已繪製: C(' + centerLat + ', ' + centerLon + ') -> T(' + targetLat + ', ' + targetLon + ')');
}
function clearMissionPlan() {
// 清除中心點標記
if (centerMarker) {
missionPlanGroup.removeLayer(centerMarker);
centerMarker = null;
}
// 清除目標點標記
if (targetMarker) {
missionPlanGroup.removeLayer(targetMarker);
targetMarker = null;
}
// 清除任務線
if (missionLine) {
missionPlanGroup.removeLayer(missionLine);
missionLine = null;
}
console.log('任務規劃已清除');
}
// ================================================================================
</script>
</body>
</html>
'''
self.map_view.setHtml(inline_html)
self.map_view.loadFinished.connect(self._on_map_loaded)
# 設置地圖更新計時器
self.map_update_timer = QTimer()
self.map_update_timer.timeout.connect(self.update_map_positions)
self.map_update_timer.start(200) # 每 200ms 更新一次
def _on_map_loaded(self, ok: bool):
"""地圖加載完成回調"""
if ok:
self.map_loaded = True
else:
print("⚠️ 地圖加載失敗")
def update_drone_position(self, drone_id, lat, lon, heading):
"""更新無人機位置（加入待處理隊列）"""
self.pending_map_updates[drone_id] = (lat, lon, heading)
def update_map_positions(self):
"""批量更新地圖上的無人機位置"""
if not self.map_loaded or not self.pending_map_updates:
return
# 批量執行所有待更新的位置
js_commands = []
for drone_id, (lat, lon, heading) in self.pending_map_updates.items():
js_commands.append(f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});")
if js_commands:
combined_js = "\n".join(js_commands)
self.map_view.page().runJavaScript(combined_js)
# 清空待更新緩存
self.pending_map_updates.clear()
def clear_trajectories(self):
"""清除所有軌跡"""
if self.map_loaded:
self.map_view.page().runJavaScript("clearAllTrajectories();")
def focus_on_drone(self, drone_id):
"""聚焦到指定無人機"""
if self.map_loaded:
self.map_view.page().runJavaScript(f"focusOn('{drone_id}');")
# ================================================================================
# 【新增】任務規劃視覺化方法
# ================================================================================
def draw_mission_plan(self, center_lat, center_lon, target_lat, target_lon):
"""
在地圖上繪製任務規劃
Args:
center_lat: 中心點緯度
center_lon: 中心點經度
target_lat: 目標點緯度
target_lon: 目標點經度
"""
if self.map_loaded:
js_code = f"drawMissionPlan({center_lat:.6f}, {center_lon:.6f}, {target_lat:.6f}, {target_lon:.6f});"
self.map_view.page().runJavaScript(js_code)
print(f"📍 地圖已繪製任務規劃: C({center_lat:.6f}, {center_lon:.6f}) -> T({target_lat:.6f}, {target_lon:.6f})")
def clear_mission_plan(self):
"""清除地圖上的任務規劃標記"""
if self.map_loaded:
self.map_view.page().runJavaScript("clearMissionPlan();")
print("🗑️ 地圖已清除任務規劃")
# ================================================================================
def get_widget(self):
"""獲取地圖 widget"""
return self.map_view
def get_gps_signal(self):
"""獲取 GPS 信號"""
return self.bridge.gps_signal
class MapBridge(QObject):
"""JavaScript 和 Python 之間的橋接類"""
gps_signal = pyqtSignal(float, float) # lat, lon
def __init__(self):
super().__init__()
@pyqtSlot(float, float)
def emitGpsSignal(self, lat, lon):
"""供 JavaScript 調用的方法"""
self.gps_signal.emit(lat, lon)