From a1efcf566489660fa875b1d0aebf3b83337616b1 Mon Sep 17 00:00:00 2001
From: ken910606 <ken910606@gmail.com>
Date: Wed, 8 Apr 2026 14:33:01 +0800
Subject: [PATCH] Update GUI 2.0.1 from local

---
 src/GUI/gui.py | 17 +++++++++++------
 1 file changed, 11 insertions(+), 6 deletions(-)

diff --git a/src/GUI/gui.py b/src/GUI/gui.py
index 5966f64..d9d50c8 100644
--- a/src/GUI/gui.py
+++ b/src/GUI/gui.py
@@ -12,6 +12,7 @@ import asyncio
 import json
 import subprocess
 import time
+import traceback
 
 # 導入分離的類別
 from communication import DroneMonitor, UDPMavlinkReceiver, WebSocketMavlinkReceiver
@@ -379,6 +380,8 @@ class ControlStationUI(QMainWindow):
                 status_label.setToolTip("運行中")
                 self.statusBar().showMessage(f"已啟動 Serial 連接: {conn['port']}", 3000)
             except Exception as e:
+                print(f"❌ Serial 連接啟動失敗: {str(e)}")
+                traceback.print_exc()
                 self.statusBar().showMessage(f"啟動 Serial 連接失敗: {str(e)}", 5000)
     
     def remove_serial_connection(self, conn, panel):
@@ -496,7 +499,6 @@ class ControlStationUI(QMainWindow):
             print(f"⚠️  {action} 被取消")
         except Exception as e:
             print(f"❌ {action} 錯誤: {str(e)}")
-            import traceback
             traceback.print_exc()
             self.statusBar().showMessage(f"{action} 錯誤: {str(e)}", 3000)
 
@@ -798,12 +800,12 @@ class ControlStationUI(QMainWindow):
                     except Exception as service_error:
                         msg = f"❌ {drone_id} 服務調用錯誤: {str(service_error)}"
                         print(f"   {msg}", flush=True)
+                        traceback.print_exc()
                         self.message_queue.put((msg, 2000))
                         
                 except Exception as e:
                     msg = f"❌ {drone_id} 錯誤: {str(e)}"
                     print(f"   {msg}", flush=True)
-                    import traceback
                     traceback.print_exc()
                     self.message_queue.put((msg, 2000))
                     self.message_queue.put((msg, 2000))
@@ -1229,7 +1231,6 @@ class ControlStationUI(QMainWindow):
             )
         except Exception as e:
             self.statusBar().showMessage(f"❌ Group {group.group_id}: 規劃失敗: {str(e)}", 5000)
-            import traceback
             traceback.print_exc()
 
     # ================================================================================
@@ -1301,7 +1302,6 @@ class ControlStationUI(QMainWindow):
             )
         except Exception as e:
             self.statusBar().showMessage(f"❌ Group {group.group_id}: Grid Sweep 規劃失敗: {str(e)}", 5000)
-            import traceback
             traceback.print_exc()
 
     # ================================================================================
@@ -1381,7 +1381,6 @@ class ControlStationUI(QMainWindow):
             )
         except Exception as e:
             self.statusBar().showMessage(f"❌ Group {group.group_id}: 跟隨模式規劃失敗: {str(e)}", 5000)
-            import traceback
             traceback.print_exc()
 
     # ================================================================================
@@ -1663,6 +1662,7 @@ class ControlStationUI(QMainWindow):
                     break
         except Exception as e:
             print(f"❌ 消息隊列處理錯誤: {e}", flush=True)
+            traceback.print_exc()
 
     def _spin_asyncio(self):
         """驅動 asyncio 事件循環，允許異步任務執行
@@ -1678,7 +1678,8 @@ class ControlStationUI(QMainWindow):
                 loop.run_until_complete(asyncio.sleep(0))
         except Exception as e:
             # 靜默忽略任何錯誤，防止 Qt 定時器出現異常
-            pass
+            # 但仍然打印詳細的堆棧跟踪以便調試
+            traceback.print_exc()
 
     def spin_ros(self):
         try:
@@ -1694,8 +1695,10 @@ class ControlStationUI(QMainWindow):
                 print(f"⚠️ ROS2 context 錯誤（忽略）: {e}", flush=True)
             else:
                 print(f"ROS spin error: {e}", flush=True)
+                traceback.print_exc()
         except Exception as e:
             print(f"ROS spin error: {e}", flush=True)
+            traceback.print_exc()
 
     def closeEvent(self, event):
         try:
@@ -1711,6 +1714,7 @@ class ControlStationUI(QMainWindow):
             self.executor.shutdown()
         except Exception as e:
             print(f"⚠️ 清理資源時出錯: {e}", flush=True)
+            traceback.print_exc()
         
         # 安全地 shutdown ROS2
         try:
@@ -1718,6 +1722,7 @@ class ControlStationUI(QMainWindow):
                 rclpy.shutdown()
         except RuntimeError as e:
             print(f"⚠️ ROS2 shutdown 錯誤: {e}", flush=True)
+            traceback.print_exc()
         
         event.accept()