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>
This commit is contained in:
Claude Opus 4.6
@@ -0,0 +1,17 @@
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# 專案說明
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## 專案背景
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這是計畫相關的研究，負責 Airtrapmine 無人機系統開發。
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使用 SITL、Gazebo 進行模擬，搭配 ArduPilot、MAVLink。
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## 技術環境
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- Ubuntu Linux
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- Python, ROS/Gazebo, SITL
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- MAVLink, PyQt5, cmavnode
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## 注意事項
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- 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
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## 工作流程（Model 使用偏好）
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- **規劃、討論、設計階段**：使用 Opus model（啟動時加 `--model opusplan` 或手動 `/model opus`）
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- **實作、寫程式階段**：使用 Sonnet model（預設，或 `/model sonnet` 切換回來）
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+443
-212
@@ -3,8 +3,10 @@ import rclpy
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from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout,
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QWidget, QLabel, QSplitter, QScrollArea,
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QSizePolicy, QTabWidget, QTableWidget, QTableWidgetItem,
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QHeaderView, QPushButton, QCheckBox, QLineEdit)
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QHeaderView, QPushButton, QCheckBox, QLineEdit,
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QComboBox, QDialog)
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from PyQt6.QtCore import Qt, QTimer
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from PyQt6.QtGui import QColor
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import sys
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import asyncio
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import json
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@@ -19,11 +21,14 @@ from comm_panel import CommPanel
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from overview_table import OverviewTable
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# ================================================================================
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# 導入任務規劃器、執行器、發送器
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# 導入任務規劃器、執行器、發送器、群組
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# ================================================================================
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from mission_planner import FormationPlanner, MissionType
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from command_sender import MavlinkSender
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from mission_executor import MissionExecutor
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from mission_executor import MissionExecutor, MissionState
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from mission_group import (
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MissionGroup, GroupPanel, DroneAssignDialog, GROUP_COLORS
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)
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# ================================================================================
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class ControlStationUI(QMainWindow):
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@@ -94,28 +99,22 @@ class ControlStationUI(QMainWindow):
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base_altitude=10.0, # 基準高度 10 公尺
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altitude_diff=2.0 # 高低差 2 公尺
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)
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self.planned_waypoints = None # 儲存規劃結果
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# ================================================================================
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# ================================================================================
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# 當前任務模式 (由地圖右上角下拉選單控制)
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# ================================================================================
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self.current_mission_mode = 'M_FORMATION'
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# ================================================================================
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# ================================================================================
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# 初始化指令發送器與任務執行器
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# 初始化指令發送器（所有群組共用）
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# ================================================================================
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self.command_sender = MavlinkSender("udpout:127.0.0.1:14550") # 驗證階段寫死
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# ================================================================================
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self.mission_executor = MissionExecutor(
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sender=self.command_sender,
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drone_gps=self.monitor.drone_gps, # 直接傳引用，即時讀取
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arrival_radius=2.0,
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send_rate_hz=2.0
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)
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self.mission_executor.drone_waypoint_reached.connect(self.on_drone_waypoint_reached)
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self.mission_executor.mission_completed.connect(self.on_mission_completed)
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# ================================================================================
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# 多任務群組管理
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# ================================================================================
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self.mission_groups = {} # group_id → MissionGroup
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self.group_panels = {} # group_id → GroupPanel
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self.active_group_id = None # 當前 active 的 group
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self._group_counter = 0 # 用來產生 group_id
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self._pending_box_assign = None # 框選後直接分配到的 group_id
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# ================================================================================
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self.init_ui()
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@@ -163,97 +162,51 @@ class ControlStationUI(QMainWindow):
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right_layout.setContentsMargins(10, 10, 10, 10)
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right_layout.setSpacing(10)
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# ========== 批次控制區域 ==========
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batch_control_layout = QHBoxLayout()
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# ========== 任務群組 Tab ==========
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group_header = QHBoxLayout()
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group_title = QLabel("任務群組")
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group_title.setStyleSheet(
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"color: #DDD; font-size: 14px; font-weight: bold; padding: 2px;")
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group_header.addWidget(group_title)
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group_header.addStretch()
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batch_title = QLabel("批次操作")
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batch_title.setStyleSheet("""
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color: #DDD; font-size: 16px; font-weight: bold;
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padding: 5px; background-color: #333; border-radius: 4px;
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add_group_btn = QPushButton("+ 新增群組")
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add_group_btn.setStyleSheet("""
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QPushButton { background-color: #4A9EFF; color: white; border: none;
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padding: 5px 12px; border-radius: 4px; font-size: 12px; font-weight: bold; }
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QPushButton:hover { background-color: #3A8EEF; }
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""")
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batch_control_layout.addWidget(batch_title)
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add_group_btn.clicked.connect(self._add_mission_group)
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group_header.addWidget(add_group_btn)
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first_row = QHBoxLayout()
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select_all_btn = QPushButton("全選")
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select_all_btn.clicked.connect(self.handle_select_all)
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select_all_btn.setStyleSheet("""
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QPushButton { background-color: #444; color: #DDD; border: none;
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padding: 8px 12px; border-radius: 4px; min-width: 80px; }
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QPushButton:hover { background-color: #555; }
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clear_traj_btn = QPushButton("清除軌跡")
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clear_traj_btn.setStyleSheet("""
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QPushButton { background-color: #EF5350; color: white; border: none;
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padding: 5px 12px; border-radius: 4px; font-size: 12px; font-weight: bold; }
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QPushButton:hover { background-color: #E53935; }
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""")
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first_row.addWidget(select_all_btn)
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first_row.addStretch()
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clear_traj_btn.clicked.connect(self.drone_map.clear_trajectories)
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group_header.addWidget(clear_traj_btn)
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mode_layout = QHBoxLayout()
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mode_label = QLabel("模式：")
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mode_label.setStyleSheet("color: #DDD; min-width: 40px;")
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right_layout.addLayout(group_header)
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from PyQt6.QtWidgets import QComboBox
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self.mode_combo = QComboBox()
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self.mode_combo.addItems([
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"GUIDED", "AUTO", "LAND", "LOITER",
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"STABILIZE", "ACRO", "ALT_HOLD", "RTL",
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"CIRCLE", "DRIFT", "SPORT", "FLIP",
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"AUTOTUNE", "POSHOLD", "BRAKE", "THROW",
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"AVOID_ADSB", "GUIDED_NOGPS", "SMART_RTL",
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"FLOWHOLD", "FOLLOW", "ZIGZAG", "SYSTEMID",
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"AUTOROTATE", "AUTO_RTL"
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])
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self.mode_combo.setCurrentIndex(1)
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self.mode_combo.setStyleSheet("""
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QComboBox { background-color: #333; color: #DDD; border-radius: 3px; padding: 2px 10px;}
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self.group_tab_widget = QTabWidget()
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self.group_tab_widget.setStyleSheet("""
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QTabWidget::pane { border: 1px solid #444; background-color: #2B2B2B; }
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QTabBar::tab {
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background-color: #333; color: #AAA; border: 1px solid #444;
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padding: 5px 12px; margin-right: 2px; border-top-left-radius: 4px;
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border-top-right-radius: 4px; font-size: 12px;
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}
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QTabBar::tab:selected { background-color: #2B2B2B; color: #FFF; border-bottom-color: #2B2B2B; }
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QTabBar::tab:hover { background-color: #3A3A3A; }
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""")
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self.group_tab_widget.setFixedHeight(150)
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self.group_tab_widget.currentChanged.connect(self._on_group_tab_changed)
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right_layout.addWidget(self.group_tab_widget)
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batch_mode_btn = QPushButton("切換")
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batch_mode_btn.clicked.connect(self.handle_batch_mode_change)
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batch_mode_btn.setStyleSheet("""
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QPushButton { background-color: #444; color: #DDD; border: none;
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padding: 8px 12px; border-radius: 4px; min-width: 80px; }
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QPushButton:hover { background-color: #555; }
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""")
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mode_layout.addWidget(mode_label)
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mode_layout.addWidget(self.mode_combo)
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mode_layout.addWidget(batch_mode_btn)
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mode_layout.addStretch()
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third_row = QHBoxLayout()
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arm_all_btn = QPushButton("解鎖")
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arm_all_btn.clicked.connect(self.handle_arm_selected)
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arm_all_btn.setStyleSheet("""
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QPushButton { background-color: #444; color: #DDD; border: none;
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padding: 8px 12px; border-radius: 4px; min-width: 80px; }
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QPushButton:hover { background-color: #555; }
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""")
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third_row.addWidget(arm_all_btn)
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third_row.addStretch()
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fourth_row = QHBoxLayout()
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self.z_input = QLineEdit()
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self.z_input.setFixedWidth(60)
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self.z_input.setStyleSheet("""
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QLineEdit { background-color: #333; color: #DDD;
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border: 1px solid #555; border-radius: 4px; padding: 3px; }
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""")
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takeoff_all_btn = QPushButton("起飛")
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takeoff_all_btn.clicked.connect(self.handle_takeoff_selected)
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takeoff_all_btn.setStyleSheet("""
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QPushButton { background-color: #444; color: #DDD; border: none;
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padding: 8px 12px; border-radius: 4px; min-width: 80px; }
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QPushButton:hover { background-color: #555; }
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""")
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fourth_row.addWidget(QLabel("高度:", styleSheet="color: #DDD;"))
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fourth_row.addWidget(self.z_input)
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fourth_row.addWidget(takeoff_all_btn)
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fourth_row.addStretch()
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batch_control_layout.addLayout(first_row)
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batch_control_layout.addLayout(mode_layout)
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batch_control_layout.addLayout(third_row)
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batch_control_layout.addLayout(fourth_row)
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right_layout.addLayout(batch_control_layout)
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# 預設建立 Group A
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self._add_mission_group()
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# 添加地圖
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right_layout.addWidget(self.drone_map.get_widget())
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@@ -263,13 +216,11 @@ class ControlStationUI(QMainWindow):
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self.drone_map.get_toggle_select_all_drones_signal().connect(self.handle_toggle_select_all_drones)
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# ================================================================================
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# 連接任務控制 + 矩形選取 + 任務模式切換 + 路徑確認信號
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# 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）
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# ================================================================================
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self.drone_map.get_start_mission_signal().connect(self.handle_start_mission)
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self.drone_map.get_pause_mission_signal().connect(self.handle_pause_mission)
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self.drone_map.get_rectangle_selected_signal().connect(self.handle_rectangle_selected)
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self.drone_map.get_mission_mode_changed_signal().connect(self.on_mission_mode_changed)
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self.drone_map.get_route_confirmed_signal().connect(self.handle_route_confirmed)
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self.drone_map.get_drone_box_selected_signal().connect(self._handle_drone_box_selected)
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# ================================================================================
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main_splitter.addWidget(self.left_tab)
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@@ -426,7 +377,13 @@ class ControlStationUI(QMainWindow):
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# ================================================================================
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def handle_mode_change(self, drone_id):
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mode = self.mode_combo.currentText()
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# 從 active group 的 mode_combo 讀取模式
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group = self._get_active_group()
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if group:
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panel = self.group_panels.get(group.group_id)
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mode = panel.mode_combo.currentText() if panel else "GUIDED"
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else:
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mode = "GUIDED"
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loop = asyncio.get_event_loop()
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future = self.monitor.set_mode(drone_id, mode)
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loop.create_task(self.handle_service_response(future, f"切換模式 {mode} {drone_id}"))
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@@ -489,12 +446,265 @@ class ControlStationUI(QMainWindow):
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future = self.monitor.takeoff_drone(drone_id, 10.0)
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loop.create_task(self.handle_service_response(future, f"批次起飛 {drone_id}"))
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def handle_batch_mode_change(self):
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mode = self.mode_combo.currentText()
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# ================================================================================
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# 任務群組管理
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# ================================================================================
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def _next_group_id(self):
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"""產生下一個群組 ID (A, B, C, ...)"""
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gid = chr(ord('A') + self._group_counter)
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self._group_counter += 1
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return gid
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def _add_mission_group(self):
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"""新增一個任務群組"""
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gid = self._next_group_id()
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color = GROUP_COLORS[(self._group_counter - 1) % len(GROUP_COLORS)]
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group = MissionGroup(gid, color)
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self.mission_groups[gid] = group
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panel = GroupPanel(group)
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panel.assign_drones_requested.connect(self._handle_assign_drones)
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panel.mission_type_changed.connect(self._handle_mission_type_changed)
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panel.start_requested.connect(self._handle_group_start)
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panel.pause_requested.connect(self._handle_group_pause)
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panel.stop_requested.connect(self._handle_group_stop)
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panel.mode_change_requested.connect(self._handle_group_mode_change)
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panel.arm_requested.connect(self._handle_group_arm)
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panel.takeoff_requested.connect(self._handle_group_takeoff)
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panel.box_select_requested.connect(self._handle_box_select)
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panel.select_all_requested.connect(self._handle_select_all_for_group)
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panel.clear_group_requested.connect(self._handle_clear_group)
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self.group_panels[gid] = panel
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# 用帶顏色的 tab 標題
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scroll = QScrollArea()
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scroll.setWidget(panel)
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scroll.setWidgetResizable(True)
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idx = self.group_tab_widget.addTab(scroll, f"Group {gid}")
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self.group_tab_widget.tabBar().setTabTextColor(idx, QColor(color))
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self.group_tab_widget.setCurrentIndex(idx)
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self.active_group_id = gid
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self.statusBar().showMessage(f"已新增 Group {gid}", 2000)
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def _on_group_tab_changed(self, index):
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"""Tab 切換時更新 active group 並同步地圖模式"""
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if index < 0:
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self.active_group_id = None
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return
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# tab 標題是 "Group X"
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tab_text = self.group_tab_widget.tabText(index)
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gid = tab_text.replace("Group ", "")
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if gid in self.mission_groups:
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self.active_group_id = gid
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group = self.mission_groups[gid]
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self.drone_map.set_mission_mode(group.mission_type)
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def _get_active_group(self):
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"""取得當前 active 的 MissionGroup"""
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if self.active_group_id and self.active_group_id in self.mission_groups:
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return self.mission_groups[self.active_group_id]
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return None
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def _get_other_assigned(self, exclude_gid):
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"""取得其他群組已佔用的無人機 {drone_id: group_id}"""
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assigned = {}
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for gid, group in self.mission_groups.items():
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if gid == exclude_gid:
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continue
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for did in group.drone_ids:
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assigned[did] = gid
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return assigned
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def _handle_assign_drones(self, group_id):
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"""開啟無人機分配對話框（已勾選的 checkbox 會預先帶入）"""
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group = self.mission_groups.get(group_id)
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if not group:
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return
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all_ids = list(self.drones.keys())
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other_assigned = self._get_other_assigned(group_id)
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# 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
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currently_checked = self.get_selected_drones()
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pre_selected = set(group.drone_ids)
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for did in currently_checked:
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if did not in other_assigned:
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pre_selected.add(did)
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dialog = DroneAssignDialog(self, all_ids, pre_selected, other_assigned)
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if dialog.exec() == QDialog.DialogCode.Accepted:
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group.drone_ids = dialog.get_selected()
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panel = self.group_panels.get(group_id)
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if panel:
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panel.update_drone_list()
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panel.update_status()
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self.statusBar().showMessage(
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f"Group {group_id}: 已分配 {len(group.drone_ids)} 台無人機", 3000)
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def _handle_mission_type_changed(self, group_id, mission_type):
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"""群組任務類型切換"""
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group = self.mission_groups.get(group_id)
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if group:
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group.mission_type = mission_type
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# 如果是 active group，同步更新地圖的選擇模式
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||||
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):
|
||||
self.current_mission_mode = mode
|
||||
mode_names = {
|
||||
'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 _get_group_drones(self, group):
|
||||
"""取得群組的無人機 ID 列表（排序後）"""
|
||||
return sorted(group.drone_ids, key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
|
||||
|
||||
def handle_map_click(self, lat, lon):
|
||||
"""處理地圖點擊事件 — 根據選單模式規劃"""
|
||||
print(f"地圖點擊位置: {lat:.6f}, {lon:.6f} (模式: {self.current_mission_mode})")
|
||||
"""處理地圖點擊事件 — 根據 active group 的任務類型規劃"""
|
||||
group = self._get_active_group()
|
||||
if not group:
|
||||
self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
|
||||
return
|
||||
|
||||
# Grid Sweep 和 Leader-Follower 由各自的觸發方式處理，點擊地圖不處理
|
||||
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
|
||||
return # Grid Sweep / Leader-Follower 由各自的觸發方式處理
|
||||
|
||||
selected_drones = self.get_selected_drones()
|
||||
selected_drones = self._get_group_drones(group)
|
||||
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}
|
||||
self.show_planned_waypoints()
|
||||
group.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
|
||||
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}")
|
||||
selected_drones = self.get_selected_drones()
|
||||
if len(selected_drones) == 0:
|
||||
self.statusBar().showMessage("⚠ 請先選擇無人機再框選區域", 3000)
|
||||
group = self._get_active_group()
|
||||
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(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
|
||||
self.statusBar().showMessage(f"⏳ 正在規劃 Grid Sweep ({len(selected_drones)} 台) ...", 2000)
|
||||
panel = self.group_panels.get(group.group_id)
|
||||
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}
|
||||
self.show_planned_waypoints()
|
||||
group.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
|
||||
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"""
|
||||
print(f"路徑確認: {points_json}")
|
||||
|
||||
selected_drones = self.get_selected_drones()
|
||||
if len(selected_drones) == 0:
|
||||
self.statusBar().showMessage("⚠ 請先選擇無人機再標記路徑", 3000)
|
||||
group = self._get_active_group()
|
||||
if not group:
|
||||
self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
|
||||
return
|
||||
if group.mission_type != 'LEADER_FOLLOWER':
|
||||
return
|
||||
|
||||
selected_drones = self._get_group_drones(group)
|
||||
if len(selected_drones) == 0:
|
||||
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
|
||||
self.statusBar().showMessage(f"⏳ 正在規劃跟隨模式 ({len(selected_drones)} 台, {len(route_waypoints)} 個路徑點) ...", 2000)
|
||||
panel = self.group_panels.get(group.group_id)
|
||||
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,
|
||||
target_gps,
|
||||
MissionType.LEADER_FOLLOWER,
|
||||
params={
|
||||
'route_waypoints': route_waypoints,
|
||||
'lateral_offset': 3.0,
|
||||
'longitudinal_spacing': 5.0,
|
||||
'altitude': base_alt
|
||||
}
|
||||
drone_gps_positions, target_gps, MissionType.LEADER_FOLLOWER,
|
||||
params=params
|
||||
)
|
||||
|
||||
self.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
|
||||
self.show_planned_waypoints()
|
||||
group.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
|
||||
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
|
||||
)
|
||||
|
||||
# 啟動視覺化驗證
|
||||
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):
|
||||
if not self.planned_waypoints: return
|
||||
print("\n" + "=" * 60)
|
||||
print("任務規劃結果")
|
||||
print("=" * 60)
|
||||
drone_ids = self.planned_waypoints['drone_ids']
|
||||
waypoints = self.planned_waypoints['waypoints']
|
||||
def show_planned_waypoints(self, group=None):
|
||||
pw = group.planned_waypoints if group else None
|
||||
if not pw:
|
||||
return
|
||||
gid = group.group_id if group else "?"
|
||||
print(f"\n{'=' * 60}")
|
||||
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()
|
||||
|
||||
+113
-134
@@ -178,35 +178,8 @@ class DroneMap:
|
||||
</head>
|
||||
<body>
|
||||
<div id="map"></div>
|
||||
<div class="map-controls">
|
||||
<button class="selection-button" onclick="clearAllTrajectories()">清除軌跡</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 class="map-controls" id="map-controls-panel" style="display: none;">
|
||||
<button class="confirm-route-button" id="confirm-route-btn" onclick="confirmRoute()">確認路徑</button>
|
||||
</div>
|
||||
|
||||
<script>
|
||||
@@ -375,6 +348,9 @@ class DroneMap:
|
||||
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
|
||||
var selectionLayer = L.layerGroup().addTo(map);
|
||||
@@ -393,30 +369,8 @@ class DroneMap:
|
||||
var routeLayer = L.layerGroup().addTo(map);
|
||||
// ================================================================================
|
||||
|
||||
// 更新任務信息面板
|
||||
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;
|
||||
}
|
||||
}
|
||||
// 任務信息已移至 GroupPanel 顯示
|
||||
function updateMissionInfo() {}
|
||||
|
||||
// ================================================================================
|
||||
// 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);
|
||||
}
|
||||
}
|
||||
|
||||
// ================================================================================
|
||||
@@ -709,8 +651,8 @@ class DroneMap:
|
||||
clearSelectionMode();
|
||||
clearRoutePoints();
|
||||
|
||||
// 隱藏確認路徑按鈕
|
||||
document.getElementById('confirm-route-btn').style.display = 'none';
|
||||
// 預設隱藏控制面板
|
||||
document.getElementById('map-controls-panel').style.display = 'none';
|
||||
|
||||
if (mode === 'GRID_SWEEP') {
|
||||
// 自動進入框選模式
|
||||
@@ -718,9 +660,9 @@ class DroneMap:
|
||||
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="
|
||||
background-color: #FF4444;
|
||||
color: white;
|
||||
width: 20px;
|
||||
height: 20px;
|
||||
border-radius: 50%;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
font-weight: bold;
|
||||
font-size: 12px;
|
||||
border: 2px solid white;
|
||||
box-shadow: 0 2px 5px rgba(0,0,0,0.3);
|
||||
">C</div>`,
|
||||
iconSize: [20, 20],
|
||||
iconAnchor: [10, 10]
|
||||
html: '<div style="' +
|
||||
'background-color: ' + color + ';' +
|
||||
'color: white;' +
|
||||
'width: 22px; height: 22px;' +
|
||||
'border-radius: 50%;' +
|
||||
'display: flex; align-items: center; justify-content: center;' +
|
||||
'font-weight: bold; font-size: 10px;' +
|
||||
'border: 2px solid white;' +
|
||||
'box-shadow: 0 2px 5px rgba(0,0,0,0.3);' +
|
||||
'">' + groupId + '</div>',
|
||||
iconSize: [22, 22],
|
||||
iconAnchor: [11, 11]
|
||||
});
|
||||
|
||||
centerMarker = L.marker([centerLat, centerLon], {
|
||||
icon: centerIcon,
|
||||
zIndexOffset: 2000
|
||||
}).addTo(missionPlanGroup);
|
||||
L.marker([centerLat, centerLon], {
|
||||
icon: centerIcon, zIndexOffset: 2000
|
||||
}).addTo(layerGroup);
|
||||
|
||||
var targetIcon = L.divIcon({
|
||||
className: 'mission-target',
|
||||
html: `<div style="
|
||||
background-color: #FFD700;
|
||||
color: #FF4444;
|
||||
width: 20px;
|
||||
height: 20px;
|
||||
border-radius: 50%;
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
font-weight: bold;
|
||||
font-size: 14px;
|
||||
border: 2px solid white;
|
||||
box-shadow: 0 2px 5px rgba(0,0,0,0.3);
|
||||
">★</div>`,
|
||||
iconSize: [20, 20],
|
||||
iconAnchor: [10, 10]
|
||||
html: '<div style="' +
|
||||
'background-color: #FFD700;' +
|
||||
'color: ' + color + ';' +
|
||||
'width: 22px; height: 22px;' +
|
||||
'border-radius: 50%;' +
|
||||
'display: flex; align-items: center; justify-content: center;' +
|
||||
'font-weight: bold; font-size: 14px;' +
|
||||
'border: 2px solid white;' +
|
||||
'box-shadow: 0 2px 5px rgba(0,0,0,0.3);' +
|
||||
'">★</div>',
|
||||
iconSize: [22, 22],
|
||||
iconAnchor: [11, 11]
|
||||
});
|
||||
|
||||
targetMarker = L.marker([targetLat, targetLon], {
|
||||
icon: targetIcon,
|
||||
zIndexOffset: 2000
|
||||
}).addTo(missionPlanGroup);
|
||||
L.marker([targetLat, targetLon], {
|
||||
icon: targetIcon, zIndexOffset: 2000
|
||||
}).addTo(layerGroup);
|
||||
|
||||
console.log('任務規劃已繪製: C(' + centerLat + ', ' + centerLon + ') -> T(' + targetLat + ', ' + targetLon + ')');
|
||||
console.log('Group ' + groupId + ' 任務規劃已繪製');
|
||||
}
|
||||
|
||||
function clearMissionPlan() {
|
||||
if (centerMarker) {
|
||||
missionPlanGroup.removeLayer(centerMarker);
|
||||
centerMarker = null;
|
||||
function clearMissionPlanForGroup(groupId) {
|
||||
if (groupMissionLayers[groupId]) {
|
||||
map.removeLayer(groupMissionLayers[groupId]);
|
||||
delete groupMissionLayers[groupId];
|
||||
}
|
||||
}
|
||||
|
||||
if (targetMarker) {
|
||||
missionPlanGroup.removeLayer(targetMarker);
|
||||
targetMarker = null;
|
||||
function clearAllMissionPlans() {
|
||||
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("clearMissionPlan();")
|
||||
print("🗑️ 地圖已清除任務規劃")
|
||||
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(f"clearMissionPlanForGroup('{group_id}');")
|
||||
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):
|
||||
@@ -1030,6 +998,10 @@ class DroneMap:
|
||||
"""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"""
|
||||
gps_signal = pyqtSignal(float, float)
|
||||
@@ -1042,6 +1014,7 @@ 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__()
|
||||
@@ -1103,3 +1076,9 @@ class MapBridge(QObject):
|
||||
"""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}")
|
||||
|
||||
@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}")
|
||||
@@ -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)
|
||||
|
||||
Reference in New Issue
Block a user