Update GUI 2.0.7 group selected list

src/GUI/communication.py

@@ -13,10 +13,11 @@ import sys
 import os
 import traceback
 from pymavlink import mavutil
-from geometry_msgs.msg import Point, Vector3
+from geometry_msgs.msg import Point, Vector3, Vector3Stamped, PoseWithCovarianceStamped
 from sensor_msgs.msg import BatteryState, NavSatFix, Imu
 from std_msgs.msg import Float64, String
 from mavros_msgs.msg import State, VfrHud
+from nav_msgs.msg import Odometry
 from mavros_msgs.srv import CommandBool, CommandTOL
 
 # 確保 src 目錄在 Python 路徑中（用於 fc_network_apps 導入）
@@ -588,8 +589,25 @@ class DroneMonitor(Node):
                 # 暂时所有 ROS2 topic 共享同一个 socket_id = 0
                 self.sys_to_socket_id[sys_id] = 0
             
-            if not hasattr(self, f'drone_{sys_id}_subs'):
+            subs_attr = f'drone_{sys_id}_subs'
+            if not hasattr(self, subs_attr):
                 self.setup_drone(sys_id)
+            else:
+                # 檢查既有訂閱是否包含 position_ned，如果不包含就添加（兼容舊訂閱）
+                subs = getattr(self, subs_attr, {})
+                if isinstance(subs, dict) and 'position_ned' not in subs:
+                    base_topic = f'/fc_network/vehicle/{sys_id}'
+                    try:
+                        pos_ned_sub = self.create_subscription(
+                            Odometry,
+                            f'{base_topic}/position_ned',
+                            lambda msg, sid=sys_id: self.position_ned_callback(sid, msg),
+                            10
+                        )
+                        subs['position_ned'] = pos_ned_sub
+                        setattr(self, subs_attr, subs)  # 明確保存更新後的字典
+                    except Exception as e:
+                        pass
     
     def setup_drone(self, sys_id):
         # sys_id 格式： sys11, sys12, ...
@@ -636,6 +654,12 @@ class DroneMonitor(Node):
                 f'{base_topic}/vfr_hud',
                 lambda msg, sid=sys_id: self.hud_callback(sid, msg),
                 10
+            ),
+            'position_ned': self.create_subscription(
+                Odometry,
+                f'{base_topic}/position_ned',
+                lambda msg, sid=sys_id: self.position_ned_callback(sid, msg),
+                10
             )
         }
         
@@ -879,6 +903,7 @@ class DroneMonitor(Node):
                 sys_num = sys_id.replace('sys', '')
                 actual_drone_id = f's{assigned_socket_id}_{sys_num}'
                 self.sys_to_actual_id[sys_id] = actual_drone_id
+                print(f"[DEBUG] summary_callback: 已創建映射 {sys_id} -> {actual_drone_id} (使用 sys_num)")
             
             # 先發送連接類型資訊
             self.signals.update_signal.emit('connection_type', actual_drone_id, {
@@ -959,6 +984,45 @@ class DroneMonitor(Node):
             'climb': msg.climb
         }
 
+    def position_ned_callback(self, sys_id, msg):
+        """處理 position_ned topic (nav_msgs/msg/Odometry)
+        NED 座標系中的位置（在 msg.pose.pose.position）：
+        - x: 北向位移 (m)
+        - y: 東向位移 (m)
+        - z: 向下位移 (m) - 負值表示向下，轉換為高度需要 * (-1)
+        """
+        try:
+            # 使用映射獲取實際的 drone_id
+            actual_drone_id = self.sys_to_actual_id.get(sys_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
+            
+            # 從 Odometry 消息中提取位置數據 (msg.pose.pose.position)
+            # Odometry 結構：header, child_frame_id, pose(包含PoseWithCovariance), twist
+            x = msg.pose.pose.position.y  # NED 座標系中交換 x/y（與 local_pose 對齐）
+            y = msg.pose.pose.position.x
+            z = -msg.pose.pose.position.z  # 將向下的 NED z 轉換為向上的高度（z 為負表示向下）
+            
+            # 儲存高度信息
+            self.latest_data[(actual_drone_id, 'altitude')] = {
+                'altitude': z
+            }
+            
+            # 儲存本地位置信息
+            self.latest_data[(actual_drone_id, 'local_pose')] = {
+                'x': x,
+                'y': y,
+                'z': z
+            }
+            
+            # 發送信號給 GUI 更新高度顯示
+            self.signals.update_signal.emit('altitude', actual_drone_id, {
+                'altitude': z
+            })
+        except Exception as e:
+            pass
+
     def loss_rate_callback(self, drone_id, msg):
         self.latest_data[(drone_id, 'loss_rate')] = {
             'loss_rate': msg.data

src/GUI/gui.py

@@ -33,7 +33,7 @@ from mission_group import (
 # ================================================================================
 
 class ControlStationUI(QMainWindow):
-    VERSION = '2.0.6'
+    VERSION = '2.0.7'
     
     def __init__(self):
         super().__init__()
@@ -450,11 +450,17 @@ class ControlStationUI(QMainWindow):
         loop.create_task(self.handle_service_response(future, f"起飛 {drone_id}"))
 
     def handle_setpoint_selected(self):
+        """發送位置命令到 active group 的所有選中無人機"""
+        group = self._get_active_group()
+        if not group:
+            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            return
+        
         try:
             x = float(self.x_input.text() or '0')
             y = float(self.y_input.text() or '0')
             z = float(self.z_input.text() or '0')
-            for drone_id in self.monitor.selected_drones:
+            for drone_id in group.selected_drone_ids:
                 if self.monitor.send_setpoint(drone_id, x, y, z):
                     self.statusBar().showMessage(f"發送位置命令到 {drone_id}: ({x}, {y}, {z})", 3000)
                 else:
@@ -507,8 +513,18 @@ class ControlStationUI(QMainWindow):
             self.statusBar().showMessage(f"{action} 錯誤: {str(e)}", 3000)
 
     def handle_arm_selected(self):
+        """解鎖 active group 的所有選中無人機"""
+        group = self._get_active_group()
+        if not group:
+            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            return
+        
+        selected = list(group.selected_drone_ids)
+        if not selected:
+            self.statusBar().showMessage("⚠ 尚未選擇任何無人機", 3000)
+            return
+        
         print(f"\n📢 [GUI] handle_arm_selected 被調用")
-        selected = list(self.monitor.selected_drones)
         print(f"   已選擇的無人機: {selected}")
         loop = asyncio.get_event_loop()
         for drone_id in selected:
@@ -523,8 +539,19 @@ class ControlStationUI(QMainWindow):
         print(f"   handle_arm_selected 完成\n")
 
     def handle_takeoff_selected(self):
+        """起飛 active group 的所有選中無人機"""
+        group = self._get_active_group()
+        if not group:
+            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            return
+        
+        selected = list(group.selected_drone_ids)
+        if not selected:
+            self.statusBar().showMessage("⚠ 尚未選擇任何無人機", 3000)
+            return
+        
         loop = asyncio.get_event_loop()
-        for drone_id in self.monitor.selected_drones:
+        for drone_id in selected:
             future = self.monitor.takeoff_drone(drone_id, 10.0)
             loop.create_task(self.handle_service_response(future, f"批次起飛 {drone_id}"))
 
@@ -584,25 +611,34 @@ class ControlStationUI(QMainWindow):
         scroll.setWidgetResizable(True)
         idx = self.group_tab_widget.addTab(scroll, f"Group {gid}")
         self.group_tab_widget.tabBar().setTabTextColor(idx, QColor(color))
+
+        # 切換到新 group 的 tab
         self.group_tab_widget.setCurrentIndex(idx)
-        self.active_group_id = gid
+
         self.statusBar().showMessage(f"已新增 Group {gid}", 2000)
-        
+
         # 更新刪除按鈕的啟用/禁用狀態
         self._update_delete_buttons_state()
 
     def _on_group_tab_changed(self, index):
-        """Tab 切換時更新 active group 並同步地圖模式"""
+        """切換 group tab — 只需切換 active group 並刷新 UI"""
         if index < 0:
             self.active_group_id = None
             return
-        # tab 標題是 "Group X"
+
         tab_text = self.group_tab_widget.tabText(index)
         gid = tab_text.replace("Group ", "")
-        if gid in self.mission_groups:
+        if gid not in self.mission_groups:
-            self.active_group_id = gid
+            return
-            group = self.mission_groups[gid]
+
-            self.drone_map.set_mission_mode(group.mission_type)
+        self.active_group_id = gid
+        group = self.mission_groups[gid]
+
+        # 同步地圖的任務模式
+        self.drone_map.set_mission_mode(group.mission_type)
+
+        # 統一刷新所有 UI
+        self.refresh_selection_ui()
 
     def _get_active_group(self):
         """取得當前 active 的 MissionGroup"""
@@ -610,53 +646,84 @@ class ControlStationUI(QMainWindow):
             return self.mission_groups[self.active_group_id]
         return None
 
-    def _get_other_assigned(self, exclude_gid):
+    def refresh_selection_ui(self):
-        """取得其他群組已佔用的無人機 {drone_id: group_id}"""
+        """統一刷新所有 UI 元素：左側 drone 勾選、左側 socket 勾選、右側 group panel"""
-        assigned = {}
+        group = self._get_active_group()
-        for gid, group in self.mission_groups.items():
+        selected = group.selected_drone_ids if group else set()
-            if gid == exclude_gid:
+
-                continue
+        # 左側 drone checkbox
-            for did in group.drone_ids:
+        for drone_id, panel in self.drones.items():
-                assigned[did] = gid
+            checkbox = panel.get_checkbox()
-        return assigned
+            if checkbox:
+                checkbox.blockSignals(True)
+                checkbox.setChecked(drone_id in selected)
+                checkbox.blockSignals(False)
+
+        # 左側 socket checkbox
+        for socket_id in self.socket_groups.keys():
+            self.refresh_socket_checkbox(socket_id, selected)
+
+        # 右側 group panel
+        if group:
+            panel = self.group_panels.get(group.group_id)
+            if panel:
+                panel.update_drone_list()
+                panel.update_status()
+
+    def refresh_socket_checkbox(self, socket_id, selected_ids):
+        """根據 selected_ids 推導並更新 socket 的勾選狀態"""
+        drone_ids = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id]
+        if not drone_ids:
+            return
+
+        socket_widget = self.socket_groups.get(socket_id)
+        if not socket_widget:
+            return
+
+        checkbox = socket_widget.findChild(QCheckBox, f"socket_{socket_id}_checkbox")
+        if not checkbox:
+            return
+
+        checked_count = sum(1 for did in drone_ids if did in selected_ids)
+
+        checkbox.blockSignals(True)
+        if checked_count == 0:
+            checkbox.setCheckState(Qt.CheckState.Unchecked)
+        elif checked_count == len(drone_ids):
+            checkbox.setCheckState(Qt.CheckState.Checked)
+        else:
+            checkbox.setCheckState(Qt.CheckState.PartiallyChecked)
+        checkbox.blockSignals(False)
+
+
+    # 【已遷移至 refresh_socket_checkbox()】舊的 update_group_checkbox_state() 已廢棄
 
     def _handle_assign_drones(self, group_id):
-        """開啟無人機分配對話框（已勾選的 checkbox 會預先帶入）"""
+        """開啟無人機分配對話框 — 直接修改 selected_drone_ids"""
         group = self.mission_groups.get(group_id)
         if not group:
             return
         all_ids = list(self.drones.keys())
-        other_assigned = self._get_other_assigned(group_id)
 
-        # 將目前 checkbox 已勾選的無人機（且未被其他群組佔用）合併進 pre-selected
+        # 預先選中：目前 group 的 selected_drone_ids
-        currently_checked = self.get_selected_drones()
+        pre_selected = set(group.selected_drone_ids)
-        pre_selected = set(group.drone_ids)
-        for did in currently_checked:
-            if did not in other_assigned:
-                pre_selected.add(did)
 
-        dialog = DroneAssignDialog(self, all_ids, pre_selected, other_assigned)
+        # 允許多 group 分配，所以不需要 other_assigned 過濾
+        dialog = DroneAssignDialog(self, all_ids, pre_selected, {})
         if dialog.exec() == QDialog.DialogCode.Accepted:
-            group.drone_ids = dialog.get_selected()
+            group.selected_drone_ids = dialog.get_selected()
+
+            # 只有當操作目標組是 active 組時，才更新 UI
+            if group_id == self.active_group_id:
+                self.refresh_selection_ui()
+
             panel = self.group_panels.get(group_id)
             if panel:
                 panel.update_drone_list()
                 panel.update_status()
-            
+
-            # 同步更新左側面板的 checkbox 狀態
-            self.monitor.selected_drones = group.drone_ids.copy()
-            for drone_id in all_ids:
-                if drone_id in self.drones:
-                    checkbox = self.drones[drone_id].get_checkbox()
-                    if checkbox:
-                        checkbox.blockSignals(True)
-                        checkbox.setChecked(drone_id in group.drone_ids)
-                        checkbox.blockSignals(False)
-                # 更新 socket 群組的 checkbox 狀態
-                self.update_group_checkbox_state(self.get_socket_id(drone_id))
-            
             self.statusBar().showMessage(
-                f"Group {group_id}: 已分配 {len(group.drone_ids)} 台無人機", 3000)
+                f"Group {group_id}: 已分配 {len(group.selected_drone_ids)} 台無人機", 3000)
 
     def _handle_mission_type_changed(self, group_id, mission_type):
         """群組任務類型切換"""
@@ -738,19 +805,19 @@ class ControlStationUI(QMainWindow):
             print(f"❌ 找不到群組: {group_id}", flush=True)
             return
         
-        if not group.drone_ids:
+        if not group.selected_drone_ids:
             print(f"⚠️  群組中沒有無人機", flush=True)
             self.statusBar().showMessage(f"群組 {group_id} 中沒有無人機", 3000)
             return
         
-        print(f"   準備為 {len(group.drone_ids)} 台無人機切換模式...", flush=True)
+        print(f"   準備為 {len(group.selected_drone_ids)} 台無人機切換模式...", flush=True)
         self.statusBar().showMessage(f"正在切換模式...", 1000)
         
         # 使用 asyncio 執行（通過事件循環）
         async def do_mode_changes_async():
             print(f"\n   【異步任務】開始執行模式切換", flush=True)
             
-            for drone_id in group.drone_ids:
+            for drone_id in group.selected_drone_ids:
                 print(f"\n   【切換】{drone_id} → {mode}", flush=True)
                 try:
                     result = await self.monitor.set_mode(drone_id, mode)
@@ -789,11 +856,11 @@ class ControlStationUI(QMainWindow):
         if not group:
             print(f"   ⚠️ 群組不存在，返回\n")
             return
-        print(f"   群組內無人機: {group.drone_ids}")
+        print(f"   群組內無人機: {group.selected_drone_ids}")
         loop = asyncio.get_event_loop()
         print(f"   事件循環: {loop}")
         
-        for drone_id in group.drone_ids:
+        for drone_id in group.selected_drone_ids:
             print(f"\n   ┌─ 處理無人機: {drone_id}")
             print(f"   ├─ 準備調用 arm_drone(drone_id={drone_id}, arm=True)")
             coro = self.monitor.arm_drone(drone_id, True)
@@ -817,7 +884,7 @@ class ControlStationUI(QMainWindow):
         if not group:
             return
         loop = asyncio.get_event_loop()
-        for drone_id in group.drone_ids:
+        for drone_id in group.selected_drone_ids:
             future = self.monitor.takeoff_drone(drone_id, altitude)
             loop.create_task(self.handle_service_response(future, f"起飛 {drone_id} ({altitude}m)"))
 
@@ -829,7 +896,7 @@ class ControlStationUI(QMainWindow):
             f"請在地圖上框選要分配到 Group {group_id} 的無人機", 5000)
 
     def _handle_drone_box_selected(self, drone_ids_json):
-        """地圖框選完成 — 直接分配到指定群組"""
+        """地圖框選完成 — 直接分配到指定群組的 selected_drone_ids"""
         group_id = self._pending_box_assign
         self._pending_box_assign = None
         if not group_id:
@@ -838,93 +905,72 @@ class ControlStationUI(QMainWindow):
         if not group:
             return
         drone_ids = json.loads(drone_ids_json)
-        other = self._get_other_assigned(group_id)
+        group.selected_drone_ids = set(drone_ids)
-        valid = {did for did in drone_ids if did not in other}
+        
-        group.drone_ids = valid
+        # 只有當操作目標組是 active 組時，才更新 UI
+        if group_id == self.active_group_id:
+            self.refresh_selection_ui()
+        
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_drone_list()
             panel.update_status()
         
-        # 同步更新左側面板的 checkbox 狀態
-        self.monitor.selected_drones = group.drone_ids.copy()
-        for drone_id in self.drones.keys():
-            checkbox = self.drones[drone_id].get_checkbox()
-            if checkbox:
-                checkbox.blockSignals(True)
-                checkbox.setChecked(drone_id in group.drone_ids)
-                checkbox.blockSignals(False)
-            self.update_group_checkbox_state(self.get_socket_id(drone_id))
-        
         self.statusBar().showMessage(
-            f"Group {group_id}: 框選分配 {len(valid)} 台無人機", 3000)
+            f"Group {group_id}: 框選分配 {len(drone_ids)} 台無人機", 3000)
 
     def _handle_select_all_for_group(self, group_id):
-        """全選/取消全選 - Toggle 邏輯"""
+        """全選/取消全選 — Toggle 邏輯"""
         group = self.mission_groups.get(group_id)
         if not group:
             return
-        
+
-        other = self._get_other_assigned(group_id)
+        all_ids = set(self.drones.keys())
-        available = {did for did in self.drones.keys() if did not in other}
+
-        
         # Toggle 邏輯：如果已全選，則清空；否則全選
-        if group.drone_ids == available:
+        if group.selected_drone_ids == all_ids:
             # 已全選 → 清空
-            group.drone_ids = set()
+            group.selected_drone_ids.clear()
-            self.monitor.selected_drones.clear()
             msg_status = "已取消全選"
         else:
             # 未全選 → 全選
-            group.drone_ids = available
+            group.selected_drone_ids = set(all_ids)
-            self.monitor.selected_drones = group.drone_ids.copy()
+            msg_status = f"全選分配 {len(all_ids)} 台無人機"
-            msg_status = f"全選分配 {len(available)} 台無人機"
+
-        
+        # 只有當操作目標組是 active 組時，才更新 UI
+        if group_id == self.active_group_id:
+            self.refresh_selection_ui()
+
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_drone_list()
             panel.update_status()
-            # 更新按鈕文本
+
-            panel.set_all_select_state(group.drone_ids == available)
-        
-        # 同步更新左側面板的 checkbox 狀態
-        for drone_id in self.drones.keys():
-            checkbox = self.drones[drone_id].get_checkbox()
-            if checkbox:
-                checkbox.blockSignals(True)
-                checkbox.setChecked(drone_id in group.drone_ids)
-                checkbox.blockSignals(False)
-            self.update_group_checkbox_state(self.get_socket_id(drone_id))
-        
         self.statusBar().showMessage(
             f"Group {group_id}: {msg_status}", 3000)
 
     def _handle_clear_group(self, group_id):
-        """清除群組的無人機分配"""
+        """清除群組的無人機選擇"""
         group = self.mission_groups.get(group_id)
         if not group:
             return
-        group.drone_ids = set()
+
+        group.selected_drone_ids.clear()
         group.planned_waypoints = None
         if group.executor:
             group.executor.stop()
         self.drone_map.clear_mission_plan_for_group(group_id)
+
+        # 只有當操作目標組是 active 組時，才更新 UI
+        if group_id == self.active_group_id:
+            self.refresh_selection_ui()
+
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_drone_list()
             panel.update_status()
             panel.clear_mission_info()
-        
+
-        # 同步更新左側面板的 checkbox 狀態（全部取消勾選）
-        self.monitor.selected_drones.clear()
-        for drone_id in self.drones.keys():
-            checkbox = self.drones[drone_id].get_checkbox()
-            if checkbox:
-                checkbox.blockSignals(True)
-                checkbox.setChecked(False)
-                checkbox.blockSignals(False)
-            self.update_group_checkbox_state(self.get_socket_id(drone_id))
-        
         self.statusBar().showMessage(
             f"Group {group_id}: 已清除分組", 3000)
 
@@ -958,17 +1004,12 @@ class ControlStationUI(QMainWindow):
         if group_id in self.group_panels:
             del self.group_panels[group_id]
         
-        # 更新 active group
+        # 更新 active group — 讓 currentChanged signal 自動處理
         if self.active_group_id == group_id:
+            self.active_group_id = None
             if self.group_tab_widget.count() > 0:
                 self.group_tab_widget.setCurrentIndex(0)
-                # 更新 active_group_id 為當前 tab 的群組
+            # _on_group_tab_changed 會自動設定新的 active group
-                for gid, panel in self.group_panels.items():
-                    if panel == self.group_tab_widget.currentWidget().widget():
-                        self.active_group_id = gid
-                        break
-            else:
-                self.active_group_id = None
         
         self.statusBar().showMessage(f"已刪除 Group {group_id}", 3000)
         
@@ -1023,173 +1064,74 @@ class ControlStationUI(QMainWindow):
     # ================================================================================
 
     def handle_group_selection(self, socket_id, state):
-        """處理 socket 群組 checkbox 的勾選/取消勾選
+        """Socket 群組勾選 — 更新該 socket 下所有 drone 的選擇狀態"""
-        
+        group = self._get_active_group()
-        這個方法在用戶點擊 socket 群組的 checkbox 時被調用。
+        if not group:
-        需要同時更新：
+            return
-        1. 該 socket 下所有無人機的 checkbox
+
-        2. self.monitor.selected_drones（用於控制面板同步）
+        drone_ids = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id]
-        3. 右侧活躍群組的無人機分配（新增）
+        is_checked = (state == Qt.CheckState.Checked.value)
-        
-        參數：
-            socket_id: socket ID (str)
-            state: Qt.CheckState 的整數值 (0=Unchecked, 1=PartiallyChecked, 2=Checked)
-        """
-        print(f"\n📢 [GUI] handle_group_selection 被調用", flush=True)
-        print(f"   socket_id: {socket_id}, state: {state}", flush=True)
-        print(f"   state 類型: {type(state)}", flush=True)
-        
-        # 獲取該 socket 下所有無人機
-        group_drones = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id]
-        print(f"   該 socket 下的無人機: {group_drones}", flush=True)
-        
-        # 判斷是否勾選（只有 state == 2 時才是 Checked）
-        is_checked = (state == 2)  # Qt.CheckState.Checked.value == 2
-        print(f"   is_checked: {is_checked}", flush=True)
-        
-        # 更新該 socket 下所有無人機的 checkbox 狀態
-        for drone_id in group_drones:
-            checkbox = self.drones[drone_id].get_checkbox()
-            if checkbox:
-                print(f"   └─ 更新 {drone_id}: setChecked({is_checked})", flush=True)
-                checkbox.blockSignals(True)
-                checkbox.setChecked(is_checked)
-                checkbox.blockSignals(False)
-                
-                # 同時更新 monitor.selected_drones 以同步控制面板
-                if is_checked:
-                    self.monitor.selected_drones.add(drone_id)
-                else:
-                    self.monitor.selected_drones.discard(drone_id)
-        
-        # 👇 新增：同步更新右侧活躍群組的無人機分配
-        if self.active_group_id:
-            group = self.mission_groups.get(self.active_group_id)
-            panel = self.group_panels.get(self.active_group_id)
-            if group and panel:
-                print(f"   ├─ 同步右侧群組 {self.active_group_id}", flush=True)
-                if is_checked:
-                    # 勾選時：將該 socket 下的無人機添加到活躍群組
-                    for drone_id in group_drones:
-                        group.drone_ids.add(drone_id)
-                    print(f"   │  └─ 添加到群組: {group_drones}", flush=True)
-                else:
-                    # 取消勾選時：從活躍群組移除該 socket 下的無人機
-                    for drone_id in group_drones:
-                        group.drone_ids.discard(drone_id)
-                    print(f"   │  └─ 從群組移除: {group_drones}", flush=True)
-                
-                # 更新右側群組面板的顯示
-                panel.update_drone_list()
-                panel.update_status()
-                print(f"   │  └─ 已更新右侧群組面板", flush=True)
-        
-        print(f"   最終 selected_drones: {self.monitor.selected_drones}", flush=True)
-        print(f"✓ handle_group_selection 完成\n", flush=True)
 
-    def handle_drone_selection(self, drone_id, state):
-        is_checked = state == Qt.CheckState.Checked.value
         if is_checked:
-            self.monitor.selected_drones.add(drone_id)
+            group.selected_drone_ids.update(drone_ids)
         else:
-            self.monitor.selected_drones.discard(drone_id)
+            group.selected_drone_ids.difference_update(drone_ids)
-        self.update_group_checkbox_state(self.get_socket_id(drone_id))
+
-        
+        self.refresh_selection_ui()
-        # 同步更新任務群組的無人機分配狀態
+
-        # 遍歷所有任務群組，更新已分配的無人機列表顯示
+    def handle_drone_selection(self, drone_id, state):
-        if not is_checked:
+        """單台 drone 勾選 — 只修改 active group 的 selected_drone_ids"""
-            # 取消勾選時：從所有包含該無人機的群組中移除
+        group = self._get_active_group()
-            for group_id, group in self.mission_groups.items():
+        if not group:
-                if drone_id in group.drone_ids:
+            return
-                    group.drone_ids.discard(drone_id)
+
-                    panel = self.group_panels.get(group_id)
+        is_checked = (state == Qt.CheckState.Checked.value)
-                    if panel:
+
-                        panel.update_drone_list()
+        if is_checked:
-                        panel.update_status()
+            group.selected_drone_ids.add(drone_id)
-                        # 更新全選按鈕狀態
-                        other = self._get_other_assigned(group_id)
-                        available = {did for did in self.drones.keys() if did not in other}
-                        panel.set_all_select_state(group.drone_ids == available)
         else:
-            # 勾選時：檢查該無人機是否已分配給其他群組，若未分配則添加到當前活躍群組
+            group.selected_drone_ids.discard(drone_id)
-            is_already_assigned = any(
+
-                drone_id in group.drone_ids 
+        self.refresh_selection_ui()
-                for group in self.mission_groups.values()
-            )
-            if not is_already_assigned and self.active_group_id:
-                # 無人機未被分配給任何群組，可以添加到當前活躍群組
-                group = self.mission_groups.get(self.active_group_id)
-                panel = self.group_panels.get(self.active_group_id)
-                if group and panel:
-                    group.drone_ids.add(drone_id)
-                    panel.update_drone_list()
-                    panel.update_status()
-                    # 更新全選按鈕狀態
-                    other = self._get_other_assigned(self.active_group_id)
-                    available = {did for did in self.drones.keys() if did not in other}
-                    panel.set_all_select_state(group.drone_ids == available)
-
-    def update_group_checkbox_state(self, socket_id):
-        group_drones = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id]
-        if not group_drones: return
-        checked_count = sum(1 for did in group_drones if self.drones[did].is_checked())
-        if socket_id in self.socket_groups:
-            group_checkbox = self.socket_groups[socket_id].findChild(QCheckBox, f"socket_{socket_id}_checkbox")
-            if group_checkbox:
-                group_checkbox.blockSignals(True)
-                if checked_count == 0: group_checkbox.setCheckState(Qt.CheckState.Unchecked)
-                elif checked_count == len(group_drones): group_checkbox.setCheckState(Qt.CheckState.Checked)
-                else: group_checkbox.setCheckState(Qt.CheckState.PartiallyChecked)
-                group_checkbox.blockSignals(False)
-
-    def handle_select_all(self):
-        all_selected = all(self.drones[did].is_checked() for did in self.drones)
-        new_state = not all_selected
-        for drone_id in self.drones:
-            self.drones[drone_id].set_checked(new_state)
-        for socket_id in self.socket_groups:
-            group_checkbox = self.socket_groups[socket_id].findChild(QCheckBox, f"socket_{socket_id}_checkbox")
-            if group_checkbox:
-                group_checkbox.blockSignals(True)
-                group_checkbox.setChecked(new_state)
-                group_checkbox.blockSignals(False)
 
     def handle_drone_clicked(self, drone_id):
-        if drone_id in self.drones:
+        """地圖上點擊 drone — 切換其選擇狀態"""
-            checkbox = self.drones[drone_id].get_checkbox()
+        group = self._get_active_group()
-            checkbox.setChecked(not checkbox.isChecked())
+        if not group:
-    
+            return
-    def handle_clear_all_drone_selection(self):
+
-        for drone_id in self.drones.keys():
+        if drone_id in group.selected_drone_ids:
-            checkbox = self.drones[drone_id].get_checkbox()
+            group.selected_drone_ids.remove(drone_id)
-            if checkbox:
+        else:
-                checkbox.blockSignals(True)
+            group.selected_drone_ids.add(drone_id)
-                checkbox.setChecked(False)
+
-                checkbox.blockSignals(False)
+        self.refresh_selection_ui()
-        self.monitor.selected_drones.clear()
-        for socket_id in self.socket_groups.keys():
-            self.update_group_checkbox_state(socket_id)
     
     def handle_toggle_select_all_drones(self):
-        all_selected = all(self.drones[did].get_checkbox().isChecked() for did in self.drones.keys())
+        """全選 / 清空 — 切換 active group 的所有 drone"""
-        if all_selected:
+        group = self._get_active_group()
-            for drone_id in self.drones.keys():
+        if not group:
-                checkbox = self.drones[drone_id].get_checkbox()
+            return
-                if checkbox:
+
-                    checkbox.blockSignals(True)
+        all_ids = set(self.drones.keys())
-                    checkbox.setChecked(False)
+
-                    checkbox.blockSignals(False)
+        if group.selected_drone_ids == all_ids:
-            self.monitor.selected_drones.clear()
+            # 已全選 → 清空
+            group.selected_drone_ids.clear()
         else:
-            for drone_id in self.drones.keys():
+            # 未全選 → 全選
-                checkbox = self.drones[drone_id].get_checkbox()
+            group.selected_drone_ids = set(all_ids)
-                if checkbox:
+
-                    checkbox.blockSignals(True)
+        self.refresh_selection_ui()
-                    checkbox.setChecked(True)
+
-                    checkbox.blockSignals(False)
+    def handle_clear_all_drone_selection(self):
-                    self.monitor.selected_drones.add(drone_id)
+        """清除 active group 的所有無人機選擇"""
-        for socket_id in self.socket_groups.keys():
+        group = self._get_active_group()
-            self.update_group_checkbox_state(socket_id)
+        if not group:
+            return
+        group.selected_drone_ids.clear()
+        self.refresh_selection_ui()
+        self.statusBar().showMessage("已清除所有選擇", 2000)
 
     # ================================================================================
     # 任務規劃 — 點擊地圖（路由到 active group）
@@ -1197,7 +1139,7 @@ class ControlStationUI(QMainWindow):
 
     def _get_group_drones(self, group):
         """取得群組的無人機 ID 列表（排序後）"""
-        return sorted(group.drone_ids, key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
+        return sorted(group.selected_drone_ids, key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
 
     def handle_map_click(self, lat, lon):
         """處理地圖點擊事件 — 根據 active group 的任務類型規劃"""
@@ -1518,9 +1460,6 @@ class ControlStationUI(QMainWindow):
                 print(f"  WP{j}: ({wp[0]:.6f}°, {wp[1]:.6f}°, {wp[2]:.1f}m)")
         print(f"\n{'=' * 60}")
     
-    def get_selected_drones(self):
-        return [did for did, panel in self.drones.items() if hasattr(panel, 'checkbox') and panel.checkbox.isChecked()]
-
     def update_field(self, panel, drone_id, field, text, color=None):
         if isinstance(panel, DronePanel):
             panel.update_field(field, text, color)
@@ -1544,8 +1483,9 @@ class ControlStationUI(QMainWindow):
             self.socket_groups[socket_id] = self.create_socket_group_panel(socket_id)
         self.socket_groups[socket_id].drones_layout.addWidget(panel)
         self.reorganize_socket_groups()
-        self.update_group_checkbox_state(socket_id)
         self.update_overview_table()
+        # 同步新 drone 到 UI
+        self.refresh_selection_ui()
 
     def reorganize_socket_groups(self):
         while self.drone_panel_layout.count():

src/GUI/mission_group.py

@@ -28,14 +28,18 @@ class MissionGroup:
     """單一任務群組的資料"""
 
     def __init__(self, group_id, color):
-        self.group_id = group_id          # 'A', 'B', 'C', ...
+        self.group_id = group_id             # 'A', 'B', 'C', ...
-        self.color = color                # 顏色 hex
+        self.color = color                   # 顏色 hex
-        self.drone_ids = set()            # 已分配的無人機 ID
+        
-        self.mission_type = 'M_FORMATION' # 預設任務類型
+        # 唯一真實資料來源：該 group 選中的 drone ID
-        self.planned_waypoints = None     # 規劃結果 dict
+        # 代表：group 擁有的 drone、被選中的 drone、可以操作的 drone
-        self.executor = None              # MissionExecutor 實例（延遲建立）
+        self.selected_drone_ids = set()
-        self.center_origin = None         # 規劃原點
+        
-        self.leader_drone_id = None       # LEADER_FOLLOWER 專用：指定的領隊無人機 ID
+        self.mission_type = 'M_FORMATION'    # 預設任務類型
+        self.planned_waypoints = None        # 規劃結果 dict
+        self.executor = None                 # MissionExecutor 實例（延遲建立）
+        self.center_origin = None            # 規劃原點
+        self.leader_drone_id = None          # LEADER_FOLLOWER 專用：指定的領隊無人機 ID
 
     @property
     def state(self):
@@ -51,13 +55,13 @@ class MissionGroup:
 class DroneAssignDialog(QDialog):
     """無人機分配對話框"""
 
-    def __init__(self, parent, all_drone_ids, current_assigned, other_assigned):
+    def __init__(self, parent, all_drone_ids, current_assigned, other_assigned=None):
         """
         Args:
             parent: 父 widget
             all_drone_ids: 所有可用無人機 ID 列表
             current_assigned: 當前群組已分配的無人機 set
-            other_assigned: 其他群組已佔用的無人機 dict {drone_id: group_id}
+            other_assigned: (忽略 — 現在允許多 group 分配)
         """
         super().__init__(parent)
         self.setWindowTitle("分配無人機")
@@ -67,7 +71,6 @@ class DroneAssignDialog(QDialog):
             QLabel { color: #DDD; }
             QCheckBox { color: #DDD; spacing: 8px; padding: 4px; }
             QCheckBox::indicator { width: 16px; height: 16px; }
-            QCheckBox:disabled { color: #666; }
         """)
 
         layout = QVBoxLayout(self)
@@ -90,12 +93,9 @@ class DroneAssignDialog(QDialog):
         for drone_id in sorted_ids:
             cb = QCheckBox(drone_id)
 
+            # 所有 drone 都能被選摘（支持多 group 分配）
             if drone_id in current_assigned:
                 cb.setChecked(True)
-            elif drone_id in other_assigned:
-                cb.setEnabled(False)
-                cb.setToolTip(f"已分配到 Group {other_assigned[drone_id]}")
-                cb.setText(f"{drone_id}  (Group {other_assigned[drone_id]})")
 
             self.checkboxes[drone_id] = cb
             scroll_layout.addWidget(cb)
@@ -160,7 +160,6 @@ class GroupPanel(QWidget):
     def __init__(self, group: MissionGroup, parent=None):
         super().__init__(parent)
         self.group = group
-        self._is_all_selected = False  # 追蹤全選狀態
         self.all_btn_ref = None  # 保存全選按鈕的參考
         self._build_ui()
 
@@ -454,11 +453,11 @@ class GroupPanel(QWidget):
 
     def update_drone_list(self):
         """更新無人機列表顯示"""
-        if not self.group.drone_ids:
+        if not self.group.selected_drone_ids:
             self.drone_list_label.setText("尚未分配")
             self.drone_list_label.setStyleSheet("color: #888; font-size: 11px;")
         else:
-            sorted_ids = sorted(self.group.drone_ids,
+            sorted_ids = sorted(self.group.selected_drone_ids,
                                 key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
             self.drone_list_label.setText("、".join(sorted_ids))
             self.drone_list_label.setStyleSheet(
@@ -467,7 +466,7 @@ class GroupPanel(QWidget):
 
     def _refresh_leader_options(self):
         """依目前群組成員重新填充領隊下拉選單，保留目前選擇若仍有效"""
-        sorted_ids = sorted(self.group.drone_ids,
+        sorted_ids = sorted(self.group.selected_drone_ids,
                             key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
         current = self.group.leader_drone_id
         self._leader_combo.blockSignals(True)
@@ -498,7 +497,7 @@ class GroupPanel(QWidget):
             self.status_label.setText("⏸ 已暫停")
             self.status_label.setStyleSheet("color: #FFA000; font-size: 11px; font-weight: bold;")
         else:
-            n = len(self.group.drone_ids)
+            n = len(self.group.selected_drone_ids)
             total_wps = sum(len(wps) for wps in self.group.planned_waypoints['waypoints'])
             self.status_label.setText(f"● 已規劃 ({n}架/{total_wps}點)")
             self.status_label.setStyleSheet(
@@ -508,10 +507,6 @@ class GroupPanel(QWidget):
         """全選按鈕點擊 - 發送信號給 gui.py 處理 toggle 邏輯"""
         self.select_all_requested.emit(self.group.group_id)
     
-    def set_all_select_state(self, is_selected):
-        """外部設置全選狀態（按鈕文本保持「全選/取消」）"""
-        self._is_all_selected = is_selected
-    
     def set_delete_enabled(self, enabled):
         """啟用或禁用刪除群組按鈕"""
         self.delete_group_btn.setEnabled(enabled)

src/GUI/overview_table.py

@@ -7,7 +7,7 @@ class OverviewTable(QTableWidget):
     
     # 默認的資訊類型和映射
     DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "XY位置", "XY速度", "地速", "航向",
-                          "空速", "油門", "HUD ALT", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
+                          "空速", "油門", "海拔高度", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
     
     DEFAULT_INFO_TYPE_MAP = {
         "mode": 0,