feat: 多任務群組系統 — 四欄式面板、地圖框選分配、可調參數

- 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>

CLAUDE.md

@@ -0,0 +1,17 @@
+# 專案說明
+
+## 專案背景
+這是計畫相關的研究，負責 Airtrapmine 無人機系統開發。
+使用 SITL、Gazebo 進行模擬，搭配 ArduPilot、MAVLink。
+
+## 技術環境
+- Ubuntu Linux
+- Python, ROS/Gazebo, SITL
+- MAVLink, PyQt5, cmavnode
+
+## 注意事項
+- 這個專案跟在 Windows 上做的 MADDPG/MATLAB 異質載具對抗模擬是完全不同的工作，不要把兩者的內容混在一起
+
+## 工作流程（Model 使用偏好）
+- **規劃、討論、設計階段**：使用 Opus model（啟動時加 `--model opusplan` 或手動 `/model opus`）
+- **實作、寫程式階段**：使用 Sonnet model（預設，或 `/model sonnet` 切換回來）

src/GUI/gui.py

@@ -1,10 +1,12 @@
 #!/usr/bin/env python3
 import rclpy
 from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout,
-                            QWidget, QLabel, QSplitter, QScrollArea, 
+                            QWidget, QLabel, QSplitter, QScrollArea,
                             QSizePolicy, QTabWidget, QTableWidget, QTableWidgetItem,
-                            QHeaderView, QPushButton, QCheckBox, QLineEdit)
+                            QHeaderView, QPushButton, QCheckBox, QLineEdit,
+                            QComboBox, QDialog)
 from PyQt6.QtCore import Qt, QTimer
+from PyQt6.QtGui import QColor
 import sys
 import asyncio
 import json
@@ -19,11 +21,14 @@ from comm_panel import CommPanel
 from overview_table import OverviewTable
 
 # ================================================================================
-# 導入任務規劃器、執行器、發送器
+# 導入任務規劃器、執行器、發送器、群組
 # ================================================================================
 from mission_planner import FormationPlanner, MissionType
 from command_sender import MavlinkSender
-from mission_executor import MissionExecutor
+from mission_executor import MissionExecutor, MissionState
+from mission_group import (
+    MissionGroup, GroupPanel, DroneAssignDialog, GROUP_COLORS
+)
 # ================================================================================
 
 class ControlStationUI(QMainWindow):
@@ -94,28 +99,22 @@ class ControlStationUI(QMainWindow):
             base_altitude=10.0,    # 基準高度 10 公尺
             altitude_diff=2.0      # 高低差 2 公尺
         )
-        self.planned_waypoints = None  # 儲存規劃結果
         # ================================================================================
 
         # ================================================================================
-        # 當前任務模式 (由地圖右上角下拉選單控制)
+        # 初始化指令發送器（所有群組共用）
         # ================================================================================
-        self.current_mission_mode = 'M_FORMATION'
+        self.command_sender = MavlinkSender("udpout:127.0.0.1:14550")  # 驗證階段寫死
         # ================================================================================
 
         # ================================================================================
-        # 初始化指令發送器與任務執行器
+        # 多任務群組管理
         # ================================================================================
-        self.command_sender = MavlinkSender("udpout:127.0.0.1:14550")  # 驗證階段寫死
+        self.mission_groups = {}        # group_id → MissionGroup
-
+        self.group_panels = {}          # group_id → GroupPanel
-        self.mission_executor = MissionExecutor(
+        self.active_group_id = None     # 當前 active 的 group
-            sender=self.command_sender,
+        self._group_counter = 0         # 用來產生 group_id
-            drone_gps=self.monitor.drone_gps,    # 直接傳引用，即時讀取
+        self._pending_box_assign = None # 框選後直接分配到的 group_id
-            arrival_radius=2.0,
-            send_rate_hz=2.0
-        )
-        self.mission_executor.drone_waypoint_reached.connect(self.on_drone_waypoint_reached)
-        self.mission_executor.mission_completed.connect(self.on_mission_completed)
         # ================================================================================
         
         self.init_ui()
@@ -163,97 +162,51 @@ class ControlStationUI(QMainWindow):
         right_layout.setContentsMargins(10, 10, 10, 10)
         right_layout.setSpacing(10)
         
-        # ========== 批次控制區域 ==========
+        # ========== 任務群組 Tab ==========
-        batch_control_layout = QHBoxLayout()
+        group_header = QHBoxLayout()
-        
+        group_title = QLabel("任務群組")
-        batch_title = QLabel("批次操作")
+        group_title.setStyleSheet(
-        batch_title.setStyleSheet("""
+            "color: #DDD; font-size: 14px; font-weight: bold; padding: 2px;")
-            color: #DDD; font-size: 16px; font-weight: bold;
+        group_header.addWidget(group_title)
-            padding: 5px; background-color: #333; border-radius: 4px;
+        group_header.addStretch()
-        """)
+
-        batch_control_layout.addWidget(batch_title)
+        add_group_btn = QPushButton("+ 新增群組")
-
+        add_group_btn.setStyleSheet("""
-        first_row = QHBoxLayout()
+            QPushButton { background-color: #4A9EFF; color: white; border: none;
-        select_all_btn = QPushButton("全選")
+                padding: 5px 12px; border-radius: 4px; font-size: 12px; font-weight: bold; }
-        select_all_btn.clicked.connect(self.handle_select_all)
+            QPushButton:hover { background-color: #3A8EEF; }
-        select_all_btn.setStyleSheet("""
-            QPushButton { background-color: #444; color: #DDD; border: none;
-                padding: 8px 12px; border-radius: 4px; min-width: 80px; }
-            QPushButton:hover { background-color: #555; }
         """)
-        first_row.addWidget(select_all_btn)
+        add_group_btn.clicked.connect(self._add_mission_group)
-        first_row.addStretch()
+        group_header.addWidget(add_group_btn)
-
+
-        mode_layout = QHBoxLayout()
+        clear_traj_btn = QPushButton("清除軌跡")
-        mode_label = QLabel("模式：")
+        clear_traj_btn.setStyleSheet("""
-        mode_label.setStyleSheet("color: #DDD; min-width: 40px;")
+            QPushButton { background-color: #EF5350; color: white; border: none;
-
+                padding: 5px 12px; border-radius: 4px; font-size: 12px; font-weight: bold; }
-        from PyQt6.QtWidgets import QComboBox
+            QPushButton:hover { background-color: #E53935; }
-        self.mode_combo = QComboBox()
-        self.mode_combo.addItems([
-            "GUIDED", "AUTO", "LAND", "LOITER",
-            "STABILIZE", "ACRO", "ALT_HOLD", "RTL", 
-            "CIRCLE", "DRIFT", "SPORT", "FLIP", 
-            "AUTOTUNE", "POSHOLD", "BRAKE", "THROW",
-            "AVOID_ADSB", "GUIDED_NOGPS", "SMART_RTL", 
-            "FLOWHOLD", "FOLLOW", "ZIGZAG", "SYSTEMID", 
-            "AUTOROTATE", "AUTO_RTL"
-        ])
-        self.mode_combo.setCurrentIndex(1)
-        self.mode_combo.setStyleSheet("""
-            QComboBox { background-color: #333; color: #DDD; border-radius: 3px; padding: 2px 10px;}
-        """)
-
-        batch_mode_btn = QPushButton("切換")
-        batch_mode_btn.clicked.connect(self.handle_batch_mode_change)
-        batch_mode_btn.setStyleSheet("""
-            QPushButton { background-color: #444; color: #DDD; border: none;
-                padding: 8px 12px; border-radius: 4px; min-width: 80px; }
-            QPushButton:hover { background-color: #555; }
         """)
-        mode_layout.addWidget(mode_label)
+        clear_traj_btn.clicked.connect(self.drone_map.clear_trajectories)
-        mode_layout.addWidget(self.mode_combo)
+        group_header.addWidget(clear_traj_btn)
-        mode_layout.addWidget(batch_mode_btn)
+
-        mode_layout.addStretch()
+        right_layout.addLayout(group_header)
-
+
-        third_row = QHBoxLayout()
+        self.group_tab_widget = QTabWidget()
-        arm_all_btn = QPushButton("解鎖")
+        self.group_tab_widget.setStyleSheet("""
-        arm_all_btn.clicked.connect(self.handle_arm_selected)
+            QTabWidget::pane { border: 1px solid #444; background-color: #2B2B2B; }
-        arm_all_btn.setStyleSheet("""
+            QTabBar::tab {
-            QPushButton { background-color: #444; color: #DDD; border: none;
+                background-color: #333; color: #AAA; border: 1px solid #444;
-                padding: 8px 12px; border-radius: 4px; min-width: 80px; }
+                padding: 5px 12px; margin-right: 2px; border-top-left-radius: 4px;
-            QPushButton:hover { background-color: #555; }
+                border-top-right-radius: 4px; font-size: 12px;
-        """)
+            }
-        third_row.addWidget(arm_all_btn)
+            QTabBar::tab:selected { background-color: #2B2B2B; color: #FFF; border-bottom-color: #2B2B2B; }
-        third_row.addStretch()
+            QTabBar::tab:hover { background-color: #3A3A3A; }
-
-        fourth_row = QHBoxLayout()
-        self.z_input = QLineEdit()
-        self.z_input.setFixedWidth(60)
-        self.z_input.setStyleSheet("""
-            QLineEdit { background-color: #333; color: #DDD;
-                border: 1px solid #555; border-radius: 4px; padding: 3px; }
-        """)
-        
-        takeoff_all_btn = QPushButton("起飛")
-        takeoff_all_btn.clicked.connect(self.handle_takeoff_selected)
-        takeoff_all_btn.setStyleSheet("""
-            QPushButton { background-color: #444; color: #DDD; border: none;
-                padding: 8px 12px; border-radius: 4px; min-width: 80px; }
-            QPushButton:hover { background-color: #555; }
         """)
-        
+        self.group_tab_widget.setFixedHeight(150)
-        fourth_row.addWidget(QLabel("高度:", styleSheet="color: #DDD;"))
+        self.group_tab_widget.currentChanged.connect(self._on_group_tab_changed)
-        fourth_row.addWidget(self.z_input)
+        right_layout.addWidget(self.group_tab_widget)
-        fourth_row.addWidget(takeoff_all_btn)
-        fourth_row.addStretch()
-
-        batch_control_layout.addLayout(first_row)
-        batch_control_layout.addLayout(mode_layout)
-        batch_control_layout.addLayout(third_row)
-        batch_control_layout.addLayout(fourth_row)
 
-        right_layout.addLayout(batch_control_layout)
+        # 預設建立 Group A
+        self._add_mission_group()
         
         # 添加地圖
         right_layout.addWidget(self.drone_map.get_widget())
@@ -263,13 +216,11 @@ class ControlStationUI(QMainWindow):
         self.drone_map.get_toggle_select_all_drones_signal().connect(self.handle_toggle_select_all_drones)
 
         # ================================================================================
-        # 連接任務控制 + 矩形選取 + 任務模式切換 + 路徑確認信號
+        # 連接地圖信號（任務模式改由 Group Tab 控制，不再從地圖下拉選單）
         # ================================================================================
-        self.drone_map.get_start_mission_signal().connect(self.handle_start_mission)
-        self.drone_map.get_pause_mission_signal().connect(self.handle_pause_mission)
         self.drone_map.get_rectangle_selected_signal().connect(self.handle_rectangle_selected)
-        self.drone_map.get_mission_mode_changed_signal().connect(self.on_mission_mode_changed)
         self.drone_map.get_route_confirmed_signal().connect(self.handle_route_confirmed)
+        self.drone_map.get_drone_box_selected_signal().connect(self._handle_drone_box_selected)
         # ================================================================================
             
         main_splitter.addWidget(self.left_tab)
@@ -426,7 +377,13 @@ class ControlStationUI(QMainWindow):
     # ================================================================================
 
     def handle_mode_change(self, drone_id):
-        mode = self.mode_combo.currentText()
+        # 從 active group 的 mode_combo 讀取模式
+        group = self._get_active_group()
+        if group:
+            panel = self.group_panels.get(group.group_id)
+            mode = panel.mode_combo.currentText() if panel else "GUIDED"
+        else:
+            mode = "GUIDED"
         loop = asyncio.get_event_loop()
         future = self.monitor.set_mode(drone_id, mode)
         loop.create_task(self.handle_service_response(future, f"切換模式 {mode} {drone_id}"))
@@ -488,13 +445,266 @@ class ControlStationUI(QMainWindow):
         for drone_id in self.monitor.selected_drones:
             future = self.monitor.takeoff_drone(drone_id, 10.0)
             loop.create_task(self.handle_service_response(future, f"批次起飛 {drone_id}"))
-    
+
-    def handle_batch_mode_change(self):
+    # ================================================================================
-        mode = self.mode_combo.currentText()
+    # 任務群組管理
+    # ================================================================================
+
+    def _next_group_id(self):
+        """產生下一個群組 ID (A, B, C, ...)"""
+        gid = chr(ord('A') + self._group_counter)
+        self._group_counter += 1
+        return gid
+
+    def _add_mission_group(self):
+        """新增一個任務群組"""
+        gid = self._next_group_id()
+        color = GROUP_COLORS[(self._group_counter - 1) % len(GROUP_COLORS)]
+        group = MissionGroup(gid, color)
+        self.mission_groups[gid] = group
+
+        panel = GroupPanel(group)
+        panel.assign_drones_requested.connect(self._handle_assign_drones)
+        panel.mission_type_changed.connect(self._handle_mission_type_changed)
+        panel.start_requested.connect(self._handle_group_start)
+        panel.pause_requested.connect(self._handle_group_pause)
+        panel.stop_requested.connect(self._handle_group_stop)
+        panel.mode_change_requested.connect(self._handle_group_mode_change)
+        panel.arm_requested.connect(self._handle_group_arm)
+        panel.takeoff_requested.connect(self._handle_group_takeoff)
+        panel.box_select_requested.connect(self._handle_box_select)
+        panel.select_all_requested.connect(self._handle_select_all_for_group)
+        panel.clear_group_requested.connect(self._handle_clear_group)
+        self.group_panels[gid] = panel
+
+        # 用帶顏色的 tab 標題
+        scroll = QScrollArea()
+        scroll.setWidget(panel)
+        scroll.setWidgetResizable(True)
+        idx = self.group_tab_widget.addTab(scroll, f"Group {gid}")
+        self.group_tab_widget.tabBar().setTabTextColor(idx, QColor(color))
+        self.group_tab_widget.setCurrentIndex(idx)
+        self.active_group_id = gid
+        self.statusBar().showMessage(f"已新增 Group {gid}", 2000)
+
+    def _on_group_tab_changed(self, index):
+        """Tab 切換時更新 active group 並同步地圖模式"""
+        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:
+            self.active_group_id = gid
+            group = self.mission_groups[gid]
+            self.drone_map.set_mission_mode(group.mission_type)
+
+    def _get_active_group(self):
+        """取得當前 active 的 MissionGroup"""
+        if self.active_group_id and self.active_group_id in self.mission_groups:
+            return self.mission_groups[self.active_group_id]
+        return None
+
+    def _get_other_assigned(self, exclude_gid):
+        """取得其他群組已佔用的無人機 {drone_id: group_id}"""
+        assigned = {}
+        for gid, group in self.mission_groups.items():
+            if gid == exclude_gid:
+                continue
+            for did in group.drone_ids:
+                assigned[did] = gid
+        return assigned
+
+    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）"""
+        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
+        currently_checked = self.get_selected_drones()
+        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)
+        if dialog.exec() == QDialog.DialogCode.Accepted:
+            group.drone_ids = dialog.get_selected()
+            panel = self.group_panels.get(group_id)
+            if panel:
+                panel.update_drone_list()
+                panel.update_status()
+            self.statusBar().showMessage(
+                f"Group {group_id}: 已分配 {len(group.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"""
+        group = self.mission_groups.get(group_id)
+        if group:
+            group.mission_type = mission_type
+            # 如果是 active group，同步更新地圖的選擇模式
+            if group_id == self.active_group_id:
+                self.drone_map.set_mission_mode(mission_type)
+
+    def _create_executor_for_group(self, group):
+        """為群組建立 MissionExecutor"""
+        executor = MissionExecutor(
+            sender=self.command_sender,
+            drone_gps=self.monitor.drone_gps,
+            arrival_radius=2.0,
+            send_rate_hz=2.0
+        )
+        executor.drone_waypoint_reached.connect(self.on_drone_waypoint_reached)
+        executor.mission_completed.connect(
+            lambda gid=group.group_id: self._on_group_mission_completed(gid))
+        group.executor = executor
+
+    def _handle_group_start(self, group_id):
+        """啟動群組任務"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            return
+        if group.planned_waypoints is None:
+            self.statusBar().showMessage(f"⚠ Group {group_id}: 請先規劃任務", 3000)
+            return
+        if group.executor is None:
+            self._create_executor_for_group(group)
+        group.executor.start(group.planned_waypoints)
+        panel = self.group_panels.get(group_id)
+        if panel:
+            panel.update_status()
+        self.statusBar().showMessage(f"🚀 Group {group_id}: 任務已啟動", 3000)
+
+    def _handle_group_pause(self, group_id):
+        """暫停/恢復群組任務"""
+        group = self.mission_groups.get(group_id)
+        if not group or not group.executor:
+            return
+        if group.executor.state == MissionState.RUNNING:
+            group.executor.pause()
+            self.statusBar().showMessage(f"⏸ Group {group_id}: 任務已暫停", 3000)
+        elif group.executor.state == MissionState.PAUSED:
+            group.executor.resume()
+            self.statusBar().showMessage(f"▶ Group {group_id}: 任務已恢復", 3000)
+        panel = self.group_panels.get(group_id)
+        if panel:
+            panel.update_status()
+
+    def _handle_group_stop(self, group_id):
+        """停止群組任務"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            return
+        if group.executor:
+            group.executor.stop()
+        group.planned_waypoints = None
+        self.drone_map.clear_mission_plan_for_group(group_id)
+        panel = self.group_panels.get(group_id)
+        if panel:
+            panel.update_status()
+            panel.clear_mission_info()
+        self.statusBar().showMessage(f"■ Group {group_id}: 任務已停止", 3000)
+
+    def _handle_group_mode_change(self, group_id, mode):
+        """切換群組內所有無人機的飛行模式"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            return
         loop = asyncio.get_event_loop()
-        for drone_id in self.monitor.selected_drones:
+        for drone_id in group.drone_ids:
             future = self.monitor.set_mode(drone_id, mode)
-            loop.create_task(self.handle_service_response(future, f"{drone_id} 切換模式 {mode}"))
+            loop.create_task(self.handle_service_response(future, f"{drone_id} 切換 {mode}"))
+
+    def _handle_group_arm(self, group_id):
+        """解鎖群組內所有無人機"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            return
+        loop = asyncio.get_event_loop()
+        for drone_id in group.drone_ids:
+            future = self.monitor.arm_drone(drone_id, True)
+            loop.create_task(self.handle_service_response(future, f"解鎖 {drone_id}"))
+
+    def _handle_group_takeoff(self, group_id, altitude):
+        """群組內所有無人機起飛"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            return
+        loop = asyncio.get_event_loop()
+        for drone_id in group.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)"))
+
+    def _handle_box_select(self, group_id):
+        """觸發地圖框選 → 框選完成後直接分配到該群組"""
+        self._pending_box_assign = group_id
+        self.drone_map.toggle_drone_box_select()
+        self.statusBar().showMessage(
+            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"""
+        group_id = self._pending_box_assign
+        self._pending_box_assign = None
+        if not group_id:
+            return
+        group = self.mission_groups.get(group_id)
+        if not group:
+            return
+        drone_ids = json.loads(drone_ids_json)
+        other = self._get_other_assigned(group_id)
+        valid = {did for did in drone_ids if did not in other}
+        group.drone_ids = valid
+        panel = self.group_panels.get(group_id)
+        if panel:
+            panel.update_drone_list()
+            panel.update_status()
+        self.statusBar().showMessage(
+            f"Group {group_id}: 框選分配 {len(valid)} 台無人機", 3000)
+
+    def _handle_select_all_for_group(self, group_id):
+        """全選所有可用無人機，直接分配到該群組"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            return
+        other = self._get_other_assigned(group_id)
+        available = {did for did in self.drones.keys() if did not in other}
+        group.drone_ids = available
+        panel = self.group_panels.get(group_id)
+        if panel:
+            panel.update_drone_list()
+            panel.update_status()
+        self.statusBar().showMessage(
+            f"Group {group_id}: 全選分配 {len(available)} 台無人機", 3000)
+
+    def _handle_clear_group(self, group_id):
+        """清除群組的無人機分配"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            return
+        group.drone_ids = set()
+        group.planned_waypoints = None
+        if group.executor:
+            group.executor.stop()
+        self.drone_map.clear_mission_plan_for_group(group_id)
+        panel = self.group_panels.get(group_id)
+        if panel:
+            panel.update_drone_list()
+            panel.update_status()
+            panel.clear_mission_info()
+        self.statusBar().showMessage(
+            f"Group {group_id}: 已清除分組", 3000)
+
+    def _on_group_mission_completed(self, group_id):
+        """群組任務完成回呼"""
+        panel = self.group_panels.get(group_id)
+        if panel:
+            panel.update_status()
+        self.statusBar().showMessage(f"✅ Group {group_id}: 所有無人機已完成任務", 5000)
 
     # ================================================================================
     # UI 更新
@@ -610,73 +820,76 @@ class ControlStationUI(QMainWindow):
             self.update_group_checkbox_state(socket_id)
 
     # ================================================================================
-    # 任務模式切換
+    # 任務規劃 — 點擊地圖（路由到 active group）
     # ================================================================================
 
-    def on_mission_mode_changed(self, mode):
+    def _get_group_drones(self, group):
-        self.current_mission_mode = mode
+        """取得群組的無人機 ID 列表（排序後）"""
-        mode_names = {
+        return sorted(group.drone_ids, key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
-            'M_FORMATION': '列隊飛行',
-            'CIRCLE_FORMATION': '環狀包圍',
-            'LEADER_FOLLOWER': '跟隨模式',
-            'GRID_SWEEP': '柵狀偵查'
-        }
-        display_name = mode_names.get(mode, mode)
-        self.statusBar().showMessage(f"🔄 任務模式: {display_name}", 3000)
-        print(f"任務模式切換: {mode}")
 
-    # ================================================================================
-    # 任務規劃 — 點擊地圖 (M-Formation / Circle)
-    # ================================================================================
-    
     def handle_map_click(self, lat, lon):
-        """處理地圖點擊事件 — 根據選單模式規劃"""
+        """處理地圖點擊事件 — 根據 active group 的任務類型規劃"""
-        print(f"地圖點擊位置: {lat:.6f}, {lon:.6f} (模式: {self.current_mission_mode})")
+        group = self._get_active_group()
-        
+        if not group:
-        # Grid Sweep 和 Leader-Follower 由各自的觸發方式處理，點擊地圖不處理
+            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            return
+
         mode_map = {
             'M_FORMATION': MissionType.M_FORMATION,
             'CIRCLE_FORMATION': MissionType.CIRCLE_FORMATION,
         }
-        mission_type = mode_map.get(self.current_mission_mode)
+        mission_type = mode_map.get(group.mission_type)
         if mission_type is None:
-            # Grid Sweep / Leader-Follower 模式下點擊地圖不處理
+            return  # Grid Sweep / Leader-Follower 由各自的觸發方式處理
-            return
+
-        
+        selected_drones = self._get_group_drones(group)
-        selected_drones = self.get_selected_drones()
         if len(selected_drones) == 0:
-            self.statusBar().showMessage("⚠ 請先選擇無人機（勾選 checkbox）", 3000)
+            self.statusBar().showMessage(f"⚠ Group {group.group_id}: 請先分配無人機", 3000)
             return
-        
+
-        base_alt = 10.0
+        print(f"地圖點擊: {lat:.6f}, {lon:.6f} → Group {group.group_id} ({group.mission_type})")
+        panel = self.group_panels.get(group.group_id)
+        params = panel.get_mission_params() if panel else {}
+        base_alt = params.get('base_altitude', params.get('altitude', 10.0))
         target_gps = (lat, lon, base_alt)
-        self.statusBar().showMessage(f"⏳ 正在規劃 {self.current_mission_mode} ({len(selected_drones)} 台) ...", 2000)
+        self.statusBar().showMessage(
-        
+            f"⏳ Group {group.group_id}: 正在規劃 {group.mission_type} ({len(selected_drones)} 台) ...", 2000)
+
         try:
             drone_gps_positions = self._collect_drone_gps(selected_drones, base_alt)
-            if drone_gps_positions is None: return
+            if drone_gps_positions is None:
-            
+                return
+
             waypoints_per_drone, center_origin = self.mission_planner.plan_formation_mission(
-                drone_gps_positions, target_gps, mission_type
+                drone_gps_positions, target_gps, mission_type, params=params
             )
-            
+
-            self.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
+            group.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
-            self.show_planned_waypoints()
+            group.center_origin = center_origin
-            
+            self.show_planned_waypoints(group)
+
             center_lat, center_lon, _ = center_origin
-            self.drone_map.draw_mission_plan(center_lat, center_lon, lat, lon)
+            self.drone_map.draw_mission_plan_for_group(
-            
+                group.group_id, group.color,
+                center_lat, center_lon, lat, lon
+            )
+
             self._launch_verification(
-                self.current_mission_mode, drone_gps_positions, selected_drones,
+                group.mission_type, drone_gps_positions, selected_drones,
                 waypoints_per_drone, center_origin, target_gps=target_gps
             )
-            
+
+            panel = self.group_panels.get(group.group_id)
+            if panel:
+                panel.update_status()
+                panel.update_mission_info(center_lat, center_lon, lat, lon)
+
             total_wps = sum(len(wps) for wps in waypoints_per_drone)
             self.statusBar().showMessage(
-                f"✓ {self.current_mission_mode} 規劃完成！{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
+                f"✓ Group {group.group_id}: {group.mission_type} 規劃完成！{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
             )
         except Exception as e:
-            self.statusBar().showMessage(f"❌ 規劃失敗: {str(e)}", 5000)
+            self.statusBar().showMessage(f"❌ Group {group.group_id}: 規劃失敗: {str(e)}", 5000)
             import traceback
             traceback.print_exc()
 
@@ -685,66 +898,93 @@ class ControlStationUI(QMainWindow):
     # ================================================================================
 
     def handle_rectangle_selected(self, points_json):
-        print(f"矩形選取: {points_json}")
+        group = self._get_active_group()
-        selected_drones = self.get_selected_drones()
+        if not group:
+            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            return
+        if group.mission_type != 'GRID_SWEEP':
+            return  # 非 Grid Sweep 模式不處理矩形選取
+
+        selected_drones = self._get_group_drones(group)
         if len(selected_drones) == 0:
-            self.statusBar().showMessage("⚠ 請先選擇無人機再框選區域", 3000)
+            self.statusBar().showMessage(f"⚠ Group {group.group_id}: 請先分配無人機", 3000)
             return
+
+        print(f"矩形選取 → Group {group.group_id}: {points_json}")
         try:
             rect_corners = [(p[0], p[1]) for p in json.loads(points_json)]
         except (json.JSONDecodeError, IndexError):
             self.statusBar().showMessage("❌ 矩形座標解析失敗", 3000)
             return
 
-        base_alt = 10.0
+        panel = self.group_panels.get(group.group_id)
-        self.statusBar().showMessage(f"⏳ 正在規劃 Grid Sweep ({len(selected_drones)} 台) ...", 2000)
+        params = panel.get_mission_params() if panel else {}
+        base_alt = params.get('altitude', 10.0)
+        self.statusBar().showMessage(
+            f"⏳ Group {group.group_id}: 正在規劃 Grid Sweep ({len(selected_drones)} 台) ...", 2000)
         try:
             drone_gps_positions = self._collect_drone_gps(selected_drones, base_alt)
-            if drone_gps_positions is None: return
+            if drone_gps_positions is None:
+                return
 
             target_lat = sum(c[0] for c in rect_corners) / 4
             target_lon = sum(c[1] for c in rect_corners) / 4
             target_gps = (target_lat, target_lon, base_alt)
 
+            params['rect_corners'] = rect_corners
             waypoints_per_drone, center_origin = self.mission_planner.plan_formation_mission(
                 drone_gps_positions, target_gps, MissionType.GRID_SWEEP,
-                params={'rect_corners': rect_corners, 'line_spacing': 5.0, 'altitude': base_alt}
+                params=params
             )
-            
+
-            self.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
+            group.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
-            self.show_planned_waypoints()
+            group.center_origin = center_origin
-            
+            self.show_planned_waypoints(group)
+
             center_lat, center_lon, _ = center_origin
-            self.drone_map.draw_mission_plan(center_lat, center_lon, target_lat, target_lon)
+            self.drone_map.draw_mission_plan_for_group(
+                group.group_id, group.color,
+                center_lat, center_lon, target_lat, target_lon
+            )
             self._launch_verification(
                 'grid_sweep', drone_gps_positions, selected_drones,
                 waypoints_per_drone, center_origin, rect_corners=rect_corners
             )
-            
+
+            panel = self.group_panels.get(group.group_id)
+            if panel:
+                panel.update_status()
+                panel.update_mission_info(center_lat, center_lon, target_lat, target_lon)
+
             total_wps = sum(len(wps) for wps in waypoints_per_drone)
             self.statusBar().showMessage(
-                f"✓ Grid Sweep 規劃完成！{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
+                f"✓ Group {group.group_id}: Grid Sweep 規劃完成！{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
             )
         except Exception as e:
-            self.statusBar().showMessage(f"❌ Grid Sweep 規劃失敗: {str(e)}", 5000)
+            self.statusBar().showMessage(f"❌ Group {group.group_id}: Grid Sweep 規劃失敗: {str(e)}", 5000)
             import traceback
             traceback.print_exc()
 
     # ================================================================================
-    # 任務規劃 — 路徑確認 (Leader-Follower 跟隨模式)
+    # 任務規劃 — 路徑確認 (Leader-Follower)
     # ================================================================================
 
     def handle_route_confirmed(self, points_json):
-        """路徑確認 → Leader-Follower 任務規劃"""
+        group = self._get_active_group()
-        print(f"路徑確認: {points_json}")
+        if not group:
-        
+            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
-        selected_drones = self.get_selected_drones()
+            return
+        if group.mission_type != 'LEADER_FOLLOWER':
+            return
+
+        selected_drones = self._get_group_drones(group)
         if len(selected_drones) == 0:
-            self.statusBar().showMessage("⚠ 請先選擇無人機再標記路徑", 3000)
+            self.statusBar().showMessage(f"⚠ Group {group.group_id}: 請先分配無人機", 3000)
             return
-        
+
+        print(f"路徑確認 → Group {group.group_id}: {points_json}")
         try:
-            route_points = json.loads(points_json)  # [[lat, lon], ...]
+            route_points = json.loads(points_json)
             route_waypoints = [(p[0], p[1]) for p in route_points]
         except (json.JSONDecodeError, IndexError):
             self.statusBar().showMessage("❌ 路徑座標解析失敗", 3000)
@@ -754,81 +994,67 @@ class ControlStationUI(QMainWindow):
             self.statusBar().showMessage("⚠ 至少需要 2 個路徑點", 3000)
             return
 
-        base_alt = 10.0
+        panel = self.group_panels.get(group.group_id)
-        self.statusBar().showMessage(f"⏳ 正在規劃跟隨模式 ({len(selected_drones)} 台, {len(route_waypoints)} 個路徑點) ...", 2000)
+        params = panel.get_mission_params() if panel else {}
-        
+        base_alt = params.get('altitude', 10.0)
+        self.statusBar().showMessage(
+            f"⏳ Group {group.group_id}: 正在規劃跟隨模式 ({len(selected_drones)} 台) ...", 2000)
+
         try:
             drone_gps_positions = self._collect_drone_gps(selected_drones, base_alt)
             if drone_gps_positions is None:
                 return
 
-            # 目標點 = 路徑中心（供 origin 計算）
             target_lat = sum(p[0] for p in route_waypoints) / len(route_waypoints)
             target_lon = sum(p[1] for p in route_waypoints) / len(route_waypoints)
             target_gps = (target_lat, target_lon, base_alt)
 
+            params['route_waypoints'] = route_waypoints
             waypoints_per_drone, center_origin = self.mission_planner.plan_formation_mission(
-                drone_gps_positions,
+                drone_gps_positions, target_gps, MissionType.LEADER_FOLLOWER,
-                target_gps,
+                params=params
-                MissionType.LEADER_FOLLOWER,
-                params={
-                    'route_waypoints': route_waypoints,
-                    'lateral_offset': 3.0,
-                    'longitudinal_spacing': 5.0,
-                    'altitude': base_alt
-                }
             )
-            
+
-            self.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
+            group.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
-            self.show_planned_waypoints()
+            group.center_origin = center_origin
-            
+            self.show_planned_waypoints(group)
+
             center_lat, center_lon, _ = center_origin
-            self.drone_map.draw_mission_plan(center_lat, center_lon, target_lat, target_lon)
+            self.drone_map.draw_mission_plan_for_group(
-            
+                group.group_id, group.color,
-            # 啟動視覺化驗證
+                center_lat, center_lon, target_lat, target_lon
+            )
+
             self._launch_verification(
                 'LEADER_FOLLOWER', drone_gps_positions, selected_drones,
                 waypoints_per_drone, center_origin,
                 target_gps=target_gps, route_waypoints=route_waypoints
             )
-            
+
+            panel = self.group_panels.get(group.group_id)
+            if panel:
+                panel.update_status()
+                panel.update_mission_info(center_lat, center_lon, target_lat, target_lon)
+
             total_wps = sum(len(wps) for wps in waypoints_per_drone)
             self.statusBar().showMessage(
-                f"✓ 跟隨模式規劃完成！{len(selected_drones)} 台，{len(route_waypoints)} 個路徑點，共 {total_wps} 個航點", 5000
+                f"✓ Group {group.group_id}: 跟隨模式規劃完成！{len(selected_drones)} 台，共 {total_wps} 個航點", 5000
             )
         except Exception as e:
-            self.statusBar().showMessage(f"❌ 跟隨模式規劃失敗: {str(e)}", 5000)
+            self.statusBar().showMessage(f"❌ Group {group.group_id}: 跟隨模式規劃失敗: {str(e)}", 5000)
             import traceback
             traceback.print_exc()
 
     # ================================================================================
-    # 任務執行控制
+    # 任務執行回呼
     # ================================================================================
 
-    def handle_start_mission(self, center_lat, center_lon, target_lat, target_lon):
-        if self.planned_waypoints is None:
-            self.statusBar().showMessage("⚠ 請先規劃任務", 3000)
-            return
-        self.mission_executor.start(self.planned_waypoints)
-        self.statusBar().showMessage("🚀 任務已啟動", 3000)
-
-    def handle_pause_mission(self):
-        if self.mission_executor.state.value == "running":
-            self.mission_executor.pause()
-            self.statusBar().showMessage("⏸ 任務已暫停", 3000)
-        elif self.mission_executor.state.value == "paused":
-            self.mission_executor.resume()
-            self.statusBar().showMessage("▶ 任務已恢復", 3000)
-
     def on_drone_waypoint_reached(self, drone_id, wp_index, total):
         if wp_index >= total:
             self.statusBar().showMessage(f"📍 {drone_id} 完成所有航點", 3000)
         else:
             self.statusBar().showMessage(f"📍 {drone_id} → WP {wp_index}/{total}", 2000)
 
-    def on_mission_completed(self):
-        self.statusBar().showMessage("✅ 所有無人機已完成任務", 5000)
-
     # ================================================================================
     # 輔助方法
     # ================================================================================
@@ -877,20 +1103,23 @@ class ControlStationUI(QMainWindow):
         subprocess.Popen([sys.executable, script_path, '--file', json_path])
         print(f"驗證視窗已啟動: {json_path}")
     
-    def show_planned_waypoints(self):
+    def show_planned_waypoints(self, group=None):
-        if not self.planned_waypoints: return
+        pw = group.planned_waypoints if group else None
-        print("\n" + "=" * 60)
+        if not pw:
-        print("任務規劃結果")
+            return
-        print("=" * 60)
+        gid = group.group_id if group else "?"
-        drone_ids = self.planned_waypoints['drone_ids']
+        print(f"\n{'=' * 60}")
-        waypoints = self.planned_waypoints['waypoints']
+        print(f"任務規劃結果 — Group {gid}")
+        print(f"{'=' * 60}")
+        drone_ids = pw['drone_ids']
+        waypoints = pw['waypoints']
         print(f"\n共 {len(drone_ids)} 台無人機")
         for i, drone_id in enumerate(drone_ids):
             wps = waypoints[i]
             print(f"\n【{drone_id}】({len(wps)} 個航點)")
             for j, wp in enumerate(wps):
                 print(f"  WP{j}: ({wp[0]:.6f}°, {wp[1]:.6f}°, {wp[2]:.1f}m)")
-        print("\n" + "=" * 60)
+        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()]
@@ -1095,7 +1324,9 @@ class ControlStationUI(QMainWindow):
             print(f"ROS spin error: {e}")
 
     def closeEvent(self, event):
-        self.mission_executor.stop()
+        for group in self.mission_groups.values():
+            if group.executor:
+                group.executor.stop()
         self.command_sender.close()
         for receiver in self.udp_receivers:
             receiver.stop()

src/GUI/map_layout.py

@@ -178,35 +178,8 @@ class DroneMap:
             </head>
             <body>
             <div id="map"></div>
-            <div class="map-controls">
+            <div class="map-controls" id="map-controls-panel" style="display: none;">
-                <button class="selection-button" onclick="clearAllTrajectories()">清除軌跡</button>
+                <button class="confirm-route-button" id="confirm-route-btn" onclick="confirmRoute()">確認路徑</button>
-                <div style="border-top: 1px solid #ddd; padding-top: 5px; margin-top: 5px;">
-                    <label style="font-size: 12px; color: #555; font-weight: bold;">任務模式</label>
-                    <select id="mission-mode-select" onchange="onMissionModeChanged(this.value)" style="width: 100%; padding: 6px; border-radius: 4px; border: 1px solid #ccc; font-size: 12px; margin-top: 3px;">
-                        <option value="M_FORMATION">列隊飛行</option>
-                        <option value="CIRCLE_FORMATION">環狀包圍</option>
-                        <option value="LEADER_FOLLOWER">跟隨模式</option>
-                        <option value="GRID_SWEEP">柵狀偵查</option>
-                    </select>
-                </div>
-                <button class="confirm-route-button" id="confirm-route-btn" onclick="confirmRoute()" style="display: none;">確認路徑</button>
-                <button class="selection-button" id="select-polygon-btn" onclick="togglePolygonSelection()">多點選擇區域 (開發中)</button>
-            </div>
-            <div class="mission-info-panel">
-                <div class="selection-buttons">
-                    <button class="selection-button-blue" onclick="toggleSelectAllDrones()">全選無人機</button>
-                    <button class="selection-button-blue" id="select-drones-btn" onclick="toggleDroneSelection()">框選無人機</button>
-                </div>
-                <div class="mission-info-row">
-                    <span class="mission-info-label">中心點: </span>
-                    <span class="mission-info-value" id="center-position">未設定</span>
-                </div>
-                <div class="mission-info-row">
-                    <span class="mission-info-label">目標點: </span>
-                    <span class="mission-info-value" id="target-position">未設定</span>
-                </div>
-                <button class="mission-start-button" id="start-mission-btn" onclick="startMission()" disabled>開始任務</button>
-                <button class="mission-start-button" id="pause-mission-btn" onclick="pauseMission()">暫停任務</button>
             </div>
 
             <script>
@@ -374,6 +347,9 @@ class DroneMap:
                 var missionLine = null;
                 var centerPosition = null;
                 var targetPosition = null;
+
+                // 多群組任務規劃 — 每個 group 各自的 layer group
+                var groupMissionLayers = {};  // group_id → L.layerGroup
                 
                 // 選擇工具變量
                 var selectionMode = null;  // 'drones', 'rect', 'polygon', 'route', null
@@ -393,30 +369,8 @@ class DroneMap:
                 var routeLayer = L.layerGroup().addTo(map);
                 // ================================================================================
                 
-                // 更新任務信息面板
+                // 任務信息已移至 GroupPanel 顯示
-                function updateMissionInfo() {
+                function updateMissionInfo() {}
-                    const centerElem = document.getElementById('center-position');
-                    const targetElem = document.getElementById('target-position');
-                    const startBtn = document.getElementById('start-mission-btn');
-                    
-                    if (centerPosition) {
-                        centerElem.textContent = `${centerPosition.lat.toFixed(6)}°, ${centerPosition.lng.toFixed(6)}°`;
-                    } else {
-                        centerElem.textContent = '未設定';
-                    }
-                    
-                    if (targetPosition) {
-                        targetElem.textContent = `${targetPosition.lat.toFixed(6)}°, ${targetPosition.lng.toFixed(6)}°`;
-                    } else {
-                        targetElem.textContent = '未設定';
-                    }
-                    
-                    if (centerPosition && targetPosition) {
-                        startBtn.disabled = false;
-                    } else {
-                        startBtn.disabled = true;
-                    }
-                }
                 
                 // ================================================================================
                 // 選擇工具函數
@@ -429,14 +383,14 @@ class DroneMap:
                 }
                 
                 function toggleDroneSelection() {
-                    clearSelectionMode();
                     if (selectionMode === 'drones') {
                         selectionMode = null;
-                        document.getElementById('select-drones-btn').classList.remove('active');
+                        selectionLayer.clearLayers();
+                        tempRectangle = null;
                         map.dragging.enable();
                     } else {
+                        clearSelectionMode();
                         selectionMode = 'drones';
-                        document.getElementById('select-drones-btn').classList.add('active');
                         map.dragging.disable();
                     }
                 }
@@ -450,7 +404,7 @@ class DroneMap:
                             clearSelectionMode();
                             clearPolygonPoints();
                             selectionMode = null;
-                            document.getElementById('select-polygon-btn').classList.remove('active');
+                            // select-polygon-btn removed from map overlay
                         }
                     } else {
                         clearSelectionMode();
@@ -462,17 +416,12 @@ class DroneMap:
                 }
                 
                 function clearSelectionMode() {
-                    document.getElementById('select-drones-btn').classList.remove('active');
-                    document.getElementById('select-polygon-btn').classList.remove('active');
-                    
                     selectionLayer.clearLayers();
                     tempRectangle = null;
-                    
+
                     // 不清除 routeLayer（由 clearRoutePoints 單獨管理）
-                    
                     map.dragging.enable();
-                    
+
-                    // 如果離開 route 模式，重置 selectionMode
                     if (selectionMode !== 'route') {
                         selectionMode = null;
                     }
@@ -527,7 +476,7 @@ class DroneMap:
                     }
                     
                     selectionMode = null;
-                    document.getElementById('select-polygon-btn').classList.remove('active');
+                    // select-polygon-btn removed from map overlay
                     map.dragging.enable();
                 }
                 
@@ -554,6 +503,10 @@ class DroneMap:
                             }
                         });
                         console.log('框選無人機:', selectedDrones);
+                        // 通知 Python 完整的框選結果
+                        if (bridge && selectedDrones.length > 0) {
+                            bridge.droneBoxSelected(JSON.stringify(selectedDrones));
+                        }
                         
                     } else if (selectionMode === 'rect') {
                         var rectPoints = [
@@ -588,18 +541,7 @@ class DroneMap:
                     
                     // 重置狀態
                     selectionMode = null;
-                    document.getElementById('select-drones-btn').classList.remove('active');
                     map.dragging.enable();
-                    
-                    // 如果仍在 Grid Sweep 模式，重新進入框選
-                    var currentMode = document.getElementById('mission-mode-select').value;
-                    if (currentMode === 'GRID_SWEEP') {
-                        setTimeout(function() {
-                            selectionMode = 'rect';
-                            map.dragging.disable();
-                            console.log('Grid Sweep: 重新進入框選模式');
-                        }, 500);
-                    }
                 }
                 
                 // ================================================================================
@@ -708,19 +650,19 @@ class DroneMap:
                     selectionMode = null;
                     clearSelectionMode();
                     clearRoutePoints();
-                    
+
-                    // 隱藏確認路徑按鈕
+                    // 預設隱藏控制面板
-                    document.getElementById('confirm-route-btn').style.display = 'none';
+                    document.getElementById('map-controls-panel').style.display = 'none';
-                    
+
                     if (mode === 'GRID_SWEEP') {
                         // 自動進入框選模式
                         selectionMode = 'rect';
                         map.dragging.disable();
                         console.log('Grid Sweep: 進入框選模式');
                     } else if (mode === 'LEADER_FOLLOWER') {
-                        // 進入路徑標記模式
+                        // 進入路徑標記模式 + 顯示確認路徑按鈕
                         selectionMode = 'route';
-                        document.getElementById('confirm-route-btn').style.display = 'block';
+                        document.getElementById('map-controls-panel').style.display = 'flex';
                         console.log('跟隨模式: 進入路徑標記模式，點擊地圖添加路徑點');
                     }
                     
@@ -839,76 +781,74 @@ class DroneMap:
                 // 任務規劃視覺化函式
                 // ================================================================================
                 function drawMissionPlan(centerLat, centerLon, targetLat, targetLon) {
-                    clearMissionPlan();
+                    drawMissionPlanForGroup('_default', '#FF4444', centerLat, centerLon, targetLat, targetLon);
-                    
+                }
+
+                function drawMissionPlanForGroup(groupId, color, centerLat, centerLon, targetLat, targetLon) {
+                    clearMissionPlanForGroup(groupId);
+
                     centerPosition = {lat: centerLat, lng: centerLon};
                     targetPosition = {lat: targetLat, lng: targetLon};
                     updateMissionInfo();
-                    
+
+                    var layerGroup = L.layerGroup().addTo(map);
+                    groupMissionLayers[groupId] = layerGroup;
+
                     var centerIcon = L.divIcon({
                         className: 'mission-center',
-                        html: `<div style="
+                        html: '<div style="' +
-                            background-color: #FF4444;
+                            'background-color: ' + color + ';' +
-                            color: white;
+                            'color: white;' +
-                            width: 20px;
+                            'width: 22px; height: 22px;' +
-                            height: 20px;
+                            'border-radius: 50%;' +
-                            border-radius: 50%;
+                            'display: flex; align-items: center; justify-content: center;' +
-                            display: flex;
+                            'font-weight: bold; font-size: 10px;' +
-                            align-items: center;
+                            'border: 2px solid white;' +
-                            justify-content: center;
+                            'box-shadow: 0 2px 5px rgba(0,0,0,0.3);' +
-                            font-weight: bold;
+                            '">' + groupId + '</div>',
-                            font-size: 12px;
+                        iconSize: [22, 22],
-                            border: 2px solid white;
+                        iconAnchor: [11, 11]
-                            box-shadow: 0 2px 5px rgba(0,0,0,0.3);
-                            ">C</div>`,
-                        iconSize: [20, 20],
-                        iconAnchor: [10, 10]
                     });
-                    
+
-                    centerMarker = L.marker([centerLat, centerLon], {
+                    L.marker([centerLat, centerLon], {
-                        icon: centerIcon,
+                        icon: centerIcon, zIndexOffset: 2000
-                        zIndexOffset: 2000
+                    }).addTo(layerGroup);
-                    }).addTo(missionPlanGroup);
+
-                    
                     var targetIcon = L.divIcon({
                         className: 'mission-target',
-                        html: `<div style="
+                        html: '<div style="' +
-                            background-color: #FFD700;
+                            'background-color: #FFD700;' +
-                            color: #FF4444;
+                            'color: ' + color + ';' +
-                            width: 20px;
+                            'width: 22px; height: 22px;' +
-                            height: 20px;
+                            'border-radius: 50%;' +
-                            border-radius: 50%;
+                            'display: flex; align-items: center; justify-content: center;' +
-                            display: flex;
+                            'font-weight: bold; font-size: 14px;' +
-                            align-items: center;
+                            'border: 2px solid white;' +
-                            justify-content: center;
+                            'box-shadow: 0 2px 5px rgba(0,0,0,0.3);' +
-                            font-weight: bold;
+                            '">★</div>',
-                            font-size: 14px;
+                        iconSize: [22, 22],
-                            border: 2px solid white;
+                        iconAnchor: [11, 11]
-                            box-shadow: 0 2px 5px rgba(0,0,0,0.3);
-                            ">★</div>`,
-                        iconSize: [20, 20],
-                        iconAnchor: [10, 10]
                     });
-                    
+
-                    targetMarker = L.marker([targetLat, targetLon], {
+                    L.marker([targetLat, targetLon], {
-                        icon: targetIcon,
+                        icon: targetIcon, zIndexOffset: 2000
-                        zIndexOffset: 2000
+                    }).addTo(layerGroup);
-                    }).addTo(missionPlanGroup);
+
-                    
+                    console.log('Group ' + groupId + ' 任務規劃已繪製');
-                    console.log('任務規劃已繪製: C(' + centerLat + ', ' + centerLon + ') -> T(' + targetLat + ', ' + targetLon + ')');
                 }
-                
+
-                function clearMissionPlan() {
+                function clearMissionPlanForGroup(groupId) {
-                    if (centerMarker) {
+                    if (groupMissionLayers[groupId]) {
-                        missionPlanGroup.removeLayer(centerMarker);
+                        map.removeLayer(groupMissionLayers[groupId]);
-                        centerMarker = null;
+                        delete groupMissionLayers[groupId];
                     }
-                    
+                }
-                    if (targetMarker) {
+
-                        missionPlanGroup.removeLayer(targetMarker);
+                function clearAllMissionPlans() {
-                        targetMarker = null;
+                    for (var gid in groupMissionLayers) {
+                        map.removeLayer(groupMissionLayers[gid]);
                     }
-                    
+                    groupMissionLayers = {};
                     centerPosition = null;
                     targetPosition = null;
                     updateMissionInfo();
@@ -969,17 +909,45 @@ class DroneMap:
     # 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"""
+        """在地圖上繪製任務規劃（舊介面，相容用）"""
+        self.draw_mission_plan_for_group('_default', '#FF4444',
+                                          center_lat, center_lon, target_lat, target_lon)
+
+    def draw_mission_plan_for_group(self, group_id, color,
+                                     center_lat, center_lon, target_lat, target_lon):
+        """在地圖上繪製指定群組的任務規劃（帶顏色區分）"""
         if self.map_loaded:
-            js_code = f"drawMissionPlan({center_lat:.6f}, {center_lon:.6f}, {target_lat:.6f}, {target_lon:.6f});"
+            js_code = (
+                f"drawMissionPlanForGroup("
+                f"'{group_id}', '{color}', "
+                f"{center_lat:.6f}, {center_lon:.6f}, "
+                f"{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})")
+            print(f"📍 地圖已繪製 Group {group_id} 任務規劃: "
-    
+                  f"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"""
+        """清除地圖上所有任務規劃標記"""
+        if self.map_loaded:
+            self.map_view.page().runJavaScript("clearAllMissionPlans();")
+            print("🗑️ 地圖已清除所有任務規劃")
+
+    def clear_mission_plan_for_group(self, group_id):
+        """清除指定群組的任務規劃標記"""
         if self.map_loaded:
-            self.map_view.page().runJavaScript("clearMissionPlan();")
+            self.map_view.page().runJavaScript(f"clearMissionPlanForGroup('{group_id}');")
-            print("🗑️ 地圖已清除任務規劃")
+            print(f"🗑️ 地圖已清除 Group {group_id} 任務規劃")
+
+    def set_mission_mode(self, mode):
+        """從 Python 端切換地圖的任務模式（觸發框選/路徑標記等）"""
+        if self.map_loaded:
+            self.map_view.page().runJavaScript(f"onMissionModeChanged('{mode}');")
+
+    def toggle_drone_box_select(self):
+        """切換地圖上的無人機框選模式"""
+        if self.map_loaded:
+            self.map_view.page().runJavaScript("toggleDroneSelection();")
     # ================================================================================
     
     def get_widget(self):
@@ -1029,6 +997,10 @@ class DroneMap:
     def get_route_confirmed_signal(self):
         """獲取路徑確認信號"""
         return self.bridge.route_confirmed
+
+    def get_drone_box_selected_signal(self):
+        """獲取框選無人機完成信號"""
+        return self.bridge.drone_box_selected
     
 class MapBridge(QObject):
     """JavaScript 和 Python 之間的橋接類"""
@@ -1042,7 +1014,8 @@ class MapBridge(QObject):
     polygon_selected = pyqtSignal(str)
     mission_mode_changed = pyqtSignal(str)
     route_confirmed = pyqtSignal(str)  # 路徑確認 (JSON 字串)
-    
+    drone_box_selected = pyqtSignal(str)  # 框選無人機完成 (JSON 字串)
+
     def __init__(self):
         super().__init__()
     
@@ -1102,4 +1075,10 @@ class MapBridge(QObject):
     def routeConfirmed(self, points_json):
         """供 JavaScript 調用的方法 - 路徑確認"""
         self.route_confirmed.emit(points_json)
-        print(f"📍 路徑已確認: {points_json}")
+        print(f"📍 路徑已確認: {points_json}")
+
+    @pyqtSlot(str)
+    def droneBoxSelected(self, drone_ids_json):
+        """供 JavaScript 調用的方法 - 框選無人機完成"""
+        self.drone_box_selected.emit(drone_ids_json)
+        print(f"📦 框選無人機: {drone_ids_json}")

src/GUI/mission_group.py

@@ -0,0 +1,495 @@
+#!/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)
+