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feat: 多任務群組系統 — 四欄式面板、地圖框選分配、可調參數

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- 新增 mission_group.py：MissionGroup 資料結構、DroneAssignDialog、GroupPanel
- GroupPanel 四欄式佈局：控制指令 / 任務規劃 / 任務參數 / 選取與分組
- 任務參數欄依任務類型動態切換（間距、高度、偏移量等），規劃時從 UI 讀值
- 框選/全選可直接分配無人機到群組，清除分組一鍵重置
- 地圖清理：移除右下角 overlay，功能整合至 GroupPanel
- 修復 JS clearSelectionMode 引用已移除元素導致框選/Grid Sweep 失效
- 每群組獨立 MissionExecutor，共用 MavlinkSender

Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
This commit is contained in:
wenchun
2026-04-01 18:15:49 +08:00
co-authored by Claude Opus 4.6
parent 693a55c289
commit c2196153ff
4 changed files with 1104 additions and 382 deletions
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src/GUI/mission_group.py
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#!/usr/bin/env python3
"""
任務群組模組
管理多任務群組的資料結構與無人機分配對話框
"""
from PyQt6.QtWidgets import (
QWidget, QVBoxLayout, QHBoxLayout, QLabel, QPushButton,
QComboBox, QDialog, QCheckBox, QScrollArea, QFrame, QLineEdit
)
from PyQt6.QtCore import Qt, pyqtSignal
from mission_executor import MissionExecutor, MissionState
# 群組顏色（循環使用）
GROUP_COLORS = [
'#4A9EFF', # 藍
'#FF8C42', # 橘
'#56C87A', # 綠
'#E85D75', # 紅
'#B07CED', # 紫
'#F5C542', # 黃
'#42C9C9', # 青
'#FF6B9D', # 粉
]
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.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
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
@property
def state(self):
if self.executor is None:
return MissionState.IDLE
return self.executor.state
@property
def display_name(self):
return f"Group {self.group_id}"
class DroneAssignDialog(QDialog):
"""無人機分配對話框"""
def __init__(self, parent, all_drone_ids, current_assigned, other_assigned):
"""
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}
"""
super().__init__(parent)
self.setWindowTitle("分配無人機")
self.setMinimumWidth(280)
self.setStyleSheet("""
QDialog { background-color: #2B2B2B; }
QLabel { color: #DDD; }
QCheckBox { color: #DDD; spacing: 8px; padding: 4px; }
QCheckBox::indicator { width: 16px; height: 16px; }
QCheckBox:disabled { color: #666; }
""")
layout = QVBoxLayout(self)
title = QLabel("選擇要分配到此群組的無人機：")
title.setStyleSheet("font-size: 13px; font-weight: bold; padding-bottom: 6px;")
layout.addWidget(title)
# 滾動區域
scroll = QScrollArea()
scroll.setWidgetResizable(True)
scroll.setMaximumHeight(300)
scroll_widget = QWidget()
scroll_layout = QVBoxLayout(scroll_widget)
scroll_layout.setSpacing(2)
self.checkboxes = {}
sorted_ids = sorted(all_drone_ids, key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
for drone_id in sorted_ids:
cb = QCheckBox(drone_id)
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)
scroll_layout.addStretch()
scroll.setWidget(scroll_widget)
layout.addWidget(scroll)
# 按鈕
btn_layout = QHBoxLayout()
ok_btn = QPushButton("確定")
ok_btn.setStyleSheet("""
QPushButton { background-color: #4A9EFF; color: white; border: none;
padding: 8px 20px; border-radius: 4px; font-weight: bold; }
QPushButton:hover { background-color: #3A8EEF; }
""")
ok_btn.clicked.connect(self.accept)
cancel_btn = QPushButton("取消")
cancel_btn.setStyleSheet("""
QPushButton { background-color: #555; color: #DDD; border: none;
padding: 8px 20px; border-radius: 4px; }
QPushButton:hover { background-color: #666; }
""")
cancel_btn.clicked.connect(self.reject)
btn_layout.addStretch()
btn_layout.addWidget(cancel_btn)
btn_layout.addWidget(ok_btn)
layout.addLayout(btn_layout)
def get_selected(self):
"""回傳勾選的無人機 ID set"""
return {did for did, cb in self.checkboxes.items() if cb.isChecked() and cb.isEnabled()}
class GroupPanel(QWidget):
"""單一群組的 UI 面板（嵌入到 tab 中）— 三欄式佈局"""
# 信號
assign_drones_requested = pyqtSignal(str) # group_id
mission_type_changed = pyqtSignal(str, str) # group_id, mission_type
start_requested = pyqtSignal(str) # group_id
pause_requested = pyqtSignal(str) # group_id
stop_requested = pyqtSignal(str) # group_id
mode_change_requested = pyqtSignal(str, str) # group_id, mode
arm_requested = pyqtSignal(str) # group_id
takeoff_requested = pyqtSignal(str, float) # group_id, altitude
box_select_requested = pyqtSignal(str) # group_id — 框選直接分配
select_all_requested = pyqtSignal(str) # group_id — 全選直接分配
clear_group_requested = pyqtSignal(str) # group_id — 清除分組
BUTTON_STYLE = """
QPushButton {{ background-color: {bg}; color: {fg}; border: none;
padding: 5px 8px; border-radius: 4px; font-size: 11px; }}
QPushButton:hover {{ background-color: {hover}; }}
QPushButton:disabled {{ background-color: #444; color: #666; }}
"""
def __init__(self, group: MissionGroup, parent=None):
super().__init__(parent)
self.group = group
self._build_ui()
def _make_sep(self):
"""建立垂直分隔線"""
sep = QFrame()
sep.setFrameShape(QFrame.Shape.VLine)
sep.setStyleSheet("color: #444;")
return sep
def _build_ui(self):
layout = QVBoxLayout(self)
layout.setContentsMargins(6, 4, 6, 4)
layout.setSpacing(0)
COMBO = ("QComboBox { background-color: #333; color: #DDD; "
"border-radius: 3px; padding: 2px 6px; font-size: 11px; }")
BTN = self.BUTTON_STYLE
LBL = "color: #AAA; font-size: 11px;"
TITLE = "color: #DDD; font-size: 11px; font-weight: bold; padding-bottom: 2px;"
# ── 三欄主佈局 ──
cols = QHBoxLayout()
cols.setSpacing(6)
# ============================
# 左欄：控制指令
# ============================
left = QVBoxLayout()
left.setSpacing(3)
left_title = QLabel("控制指令")
left_title.setStyleSheet(TITLE)
left.addWidget(left_title)
# 模式切換
mode_row = QHBoxLayout()
mode_row.setSpacing(3)
self.mode_combo = QComboBox()
self.mode_combo.addItems([
"GUIDED", "AUTO", "LAND", "LOITER",
"STABILIZE", "ALT_HOLD", "RTL", "POSHOLD", "SMART_RTL"
])
self.mode_combo.setStyleSheet(COMBO)
mode_btn = QPushButton("切換")
mode_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
mode_btn.clicked.connect(
lambda: self.mode_change_requested.emit(
self.group.group_id, self.mode_combo.currentText()))
mode_row.addWidget(self.mode_combo, 1)
mode_row.addWidget(mode_btn)
left.addLayout(mode_row)
# 解鎖
arm_btn = QPushButton("解鎖")
arm_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
arm_btn.clicked.connect(
lambda: self.arm_requested.emit(self.group.group_id))
left.addWidget(arm_btn)
# 起飛
takeoff_row = QHBoxLayout()
takeoff_row.setSpacing(3)
self.alt_input = QComboBox()
self.alt_input.setEditable(True)
self.alt_input.addItems(["5", "10", "15", "20"])
self.alt_input.setCurrentText("10")
self.alt_input.setStyleSheet(COMBO)
alt_lbl = QLabel("m")
alt_lbl.setStyleSheet(LBL)
takeoff_btn = QPushButton("起飛")
takeoff_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
takeoff_btn.clicked.connect(self._on_takeoff)
takeoff_row.addWidget(self.alt_input, 1)
takeoff_row.addWidget(alt_lbl)
takeoff_row.addWidget(takeoff_btn)
left.addLayout(takeoff_row)
left.addStretch()
# ============================
# 中欄：任務規劃（左右分割）
# ============================
mid = QVBoxLayout()
mid.setSpacing(2)
mid_title = QLabel("任務規劃")
mid_title.setStyleSheet(TITLE)
mid.addWidget(mid_title)
mid_body = QHBoxLayout()
mid_body.setSpacing(4)
# 左側：類型 + 狀態 + 座標
mid_left = QVBoxLayout()
mid_left.setSpacing(2)
self.type_combo = QComboBox()
self.type_combo.addItems([
"M_FORMATION", "CIRCLE_FORMATION", "LEADER_FOLLOWER", "GRID_SWEEP"
])
self.type_combo.setStyleSheet(COMBO)
self.type_combo.currentTextChanged.connect(
lambda t: self.mission_type_changed.emit(self.group.group_id, t))
mid_left.addWidget(self.type_combo)
self.status_label = QLabel("○ 未規劃")
self.status_label.setStyleSheet("color: #888; font-size: 11px;")
mid_left.addWidget(self.status_label)
self.center_label = QLabel("中心: --")
self.center_label.setStyleSheet("color: #AAA; font-size: 11px;")
mid_left.addWidget(self.center_label)
self.target_label = QLabel("目標: --")
self.target_label.setStyleSheet("color: #AAA; font-size: 11px;")
mid_left.addWidget(self.target_label)
mid_left.addStretch()
# 右側：執行 / 暫停 / 停止（垂直排列）
mid_right = QVBoxLayout()
mid_right.setSpacing(3)
self.start_btn = QPushButton("▶ 執行")
self.start_btn.setStyleSheet(BTN.format(bg='#2E7D32', fg='white', hover='#388E3C'))
self.start_btn.clicked.connect(
lambda: self.start_requested.emit(self.group.group_id))
self.pause_btn = QPushButton("⏸ 暫停")
self.pause_btn.setStyleSheet(BTN.format(bg='#F57F17', fg='white', hover='#F9A825'))
self.pause_btn.clicked.connect(
lambda: self.pause_requested.emit(self.group.group_id))
self.stop_btn = QPushButton("■ 停止")
self.stop_btn.setStyleSheet(BTN.format(bg='#C62828', fg='white', hover='#D32F2F'))
self.stop_btn.clicked.connect(
lambda: self.stop_requested.emit(self.group.group_id))
mid_right.addWidget(self.start_btn)
mid_right.addWidget(self.pause_btn)
mid_right.addWidget(self.stop_btn)
mid_right.addStretch()
mid_body.addLayout(mid_left, 1)
mid_body.addLayout(mid_right)
mid.addLayout(mid_body)
# ============================
# 選取與分組（2x2 按鈕）
# ============================
right = QVBoxLayout()
right.setSpacing(3)
right_title = QLabel("選取與分組")
right_title.setStyleSheet(TITLE)
right.addWidget(right_title)
self.drone_list_label = QLabel("尚未分配")
self.drone_list_label.setStyleSheet("color: #888; font-size: 11px;")
self.drone_list_label.setWordWrap(True)
right.addWidget(self.drone_list_label)
# 2x2 按鈕網格
grid_r1 = QHBoxLayout()
grid_r1.setSpacing(3)
assign_btn = QPushButton("編輯分配")
assign_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
assign_btn.clicked.connect(
lambda: self.assign_drones_requested.emit(self.group.group_id))
clear_btn = QPushButton("清除分組")
clear_btn.setStyleSheet(BTN.format(bg='#777', fg='white', hover='#888'))
clear_btn.clicked.connect(
lambda: self.clear_group_requested.emit(self.group.group_id))
grid_r1.addWidget(assign_btn)
grid_r1.addWidget(clear_btn)
right.addLayout(grid_r1)
grid_r2 = QHBoxLayout()
grid_r2.setSpacing(3)
box_btn = QPushButton("框選")
box_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5'))
box_btn.clicked.connect(
lambda: self.box_select_requested.emit(self.group.group_id))
all_btn = QPushButton("全選")
all_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5'))
all_btn.clicked.connect(
lambda: self.select_all_requested.emit(self.group.group_id))
grid_r2.addWidget(box_btn)
grid_r2.addWidget(all_btn)
right.addLayout(grid_r2)
right.addStretch()
# ============================
# 第四欄：任務參數
# ============================
param_col = QVBoxLayout()
param_col.setSpacing(2)
param_title = QLabel("任務參數")
param_title.setStyleSheet(TITLE)
param_col.addWidget(param_title)
INPUT = ("QLineEdit { background-color: #333; color: #DDD; "
"border: 1px solid #555; border-radius: 3px; "
"padding: 1px 4px; font-size: 11px; }")
# 每種任務類型的參數定義: (key, label, default_value)
self._param_defs = {
'M_FORMATION': [
('spacing', '間距 (m)', '5.0'),
('base_altitude', '基準高度 (m)', '10.0'),
('altitude_diff', '高低差 (m)', '2.0'),
],
'CIRCLE_FORMATION': [
('radius', '半徑 (m)', '10.0'),
('altitude', '高度 (m)', '10.0'),
('start_angle', '起始角 (°)', '0'),
],
'LEADER_FOLLOWER': [
('lateral_offset', '橫向偏移 (m)', '3.0'),
('longitudinal_spacing', '縱向間距 (m)', '5.0'),
('altitude', '高度 (m)', '10.0'),
],
'GRID_SWEEP': [
('line_spacing', '掃描線距 (m)', '5.0'),
('altitude', '高度 (m)', '10.0'),
],
}
# 建立所有參數列的 widget（先全部建好，切換時顯示/隱藏）
self._param_widgets = {} # key → (label_widget, input_widget)
self._param_rows = [] # 所有 row layout 對應的 container widget
for mission_type, defs in self._param_defs.items():
for key, label_text, default in defs:
if key in self._param_widgets:
continue # 同名參數只建一次
row_w = QWidget()
row_l = QHBoxLayout(row_w)
row_l.setContentsMargins(0, 0, 0, 0)
row_l.setSpacing(3)
lbl = QLabel(label_text)
lbl.setStyleSheet(LBL)
inp = QLineEdit(default)
inp.setStyleSheet(INPUT)
inp.setFixedWidth(50)
row_l.addWidget(lbl, 1)
row_l.addWidget(inp)
param_col.addWidget(row_w)
self._param_widgets[key] = (row_w, inp)
self._param_rows.append(row_w)
param_col.addStretch()
# 初始顯示對應的參數
self._update_param_visibility()
# 當任務類型切換時更新參數顯示
self.type_combo.currentTextChanged.connect(self._update_param_visibility)
# ── 組裝四欄：控制指令 > 任務規劃 > 任務參數 > 選取與分組 ──
cols.addLayout(left, 1)
cols.addWidget(self._make_sep())
cols.addLayout(mid, 1)
cols.addWidget(self._make_sep())
cols.addLayout(param_col, 1)
cols.addWidget(self._make_sep())
cols.addLayout(right, 1)
layout.addLayout(cols)
def update_drone_list(self):
"""更新無人機列表顯示"""
if not self.group.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,
key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
self.drone_list_label.setText("、".join(sorted_ids))
self.drone_list_label.setStyleSheet(
f"color: {self.group.color}; font-size: 11px; font-weight: bold;")
def update_status(self):
"""更新任務狀態顯示"""
state = self.group.state
if self.group.planned_waypoints is None:
self.status_label.setText("○ 未規劃")
self.status_label.setStyleSheet("color: #888; font-size: 11px;")
elif state == MissionState.RUNNING:
self.status_label.setText("▶ 執行中")
self.status_label.setStyleSheet("color: #4CAF50; font-size: 11px; font-weight: bold;")
elif state == MissionState.PAUSED:
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)
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(
f"color: {self.group.color}; font-size: 11px; font-weight: bold;")
def _update_param_visibility(self, _=None):
"""根據當前任務類型，顯示/隱藏對應的參數列"""
mission_type = self.type_combo.currentText()
visible_keys = {d[0] for d in self._param_defs.get(mission_type, [])}
for key, (row_w, _inp) in self._param_widgets.items():
row_w.setVisible(key in visible_keys)
def get_mission_params(self):
"""讀取當前顯示的參數值，回傳 dict"""
mission_type = self.type_combo.currentText()
params = {}
for key, _label, default in self._param_defs.get(mission_type, []):
if key in self._param_widgets:
_row_w, inp = self._param_widgets[key]
try:
params[key] = float(inp.text())
except ValueError:
params[key] = float(default)
return params
def update_mission_info(self, center_lat, center_lon, target_lat, target_lon):
"""更新中心點 / 目標點顯示"""
info_style = f"color: {self.group.color}; font-size: 11px; font-weight: bold;"
self.center_label.setText(f"中心: {center_lat:.6f}°, {center_lon:.6f}°")
self.center_label.setStyleSheet(info_style)
self.target_label.setText(f"目標: {target_lat:.6f}°, {target_lon:.6f}°")
self.target_label.setStyleSheet(info_style)
def clear_mission_info(self):
"""清除中心點 / 目標點顯示"""
self.center_label.setText("中心: --")
self.center_label.setStyleSheet("color: #AAA; font-size: 11px;")
self.target_label.setText("目標: --")
self.target_label.setStyleSheet("color: #AAA; font-size: 11px;")
def _on_takeoff(self):
try:
alt = float(self.alt_input.currentText())
except ValueError:
alt = 10.0
self.takeoff_requested.emit(self.group.group_id, alt)