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Update GUI

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This commit is contained in:
ken910606
2026-03-04 04:29:15 +08:00
parent 8fdbbbc5dc
commit c3c50d87f6
5 changed files with 802 additions and 207 deletions
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src/GUI/communication.py
+99 -57
View File
@@ -20,12 +20,15 @@ class DroneSignals(QObject):
class UDPMavlinkReceiver(threading.Thread):
"""UDP MAVLink 接收器"""
def __init__(self, ip, port, signals, connection_name):
def __init__(self, ip, port, signals, connection_name, monitor=None):
super().__init__(daemon=True)
self.ip = ip
self.port = port
self.signals = signals
self.connection_name = connection_name
self.monitor = monitor # 保存 monitor 引用
# UDP 使用原始 socket_id = 8
self.socket_id = monitor.get_or_assign_socket_id('8') if monitor else 0
self.running = False
self.sock = None
@@ -61,7 +64,7 @@ class UDPMavlinkReceiver(threading.Thread):
try:
msg_type = msg.get_type()
system_id = msg.get_srcSystem()
drone_id = f"s8_{system_id}" # 使用 s8_ 前綴表示 UDP 來源
drone_id = f"s{self.socket_id}_{system_id}"
if msg_type == "HEARTBEAT":
mode = mavutil.mode_string_v10(msg)
@@ -116,11 +119,13 @@ class UDPMavlinkReceiver(threading.Thread):
})
elif msg_type == "VFR_HUD":
groundspeed = msg.groundspeed
heading = msg.heading
self.signals.update_signal.emit('hud', drone_id, {
'heading': heading,
'groundspeed': groundspeed
'airspeed': msg.airspeed,
'groundspeed': msg.groundspeed,
'heading': msg.heading,
'throttle': msg.throttle,
'alt': msg.alt,
'climb': msg.climb
})
except Exception as e:
@@ -132,12 +137,15 @@ class UDPMavlinkReceiver(threading.Thread):
class SerialMavlinkReceiver(threading.Thread):
"""串口 MAVLink 接收器"""
def __init__(self, port, baudrate, signals, connection_name):
def __init__(self, port, baudrate, signals, connection_name, monitor=None):
super().__init__(daemon=True)
self.port = port
self.baudrate = baudrate
self.signals = signals
self.connection_name = connection_name
self.monitor = monitor # 保存 monitor 引用
# Serial 使用原始 socket_id = 5
self.socket_id = monitor.get_or_assign_socket_id('5') if monitor else 0
self.running = False
self.mav = None
@@ -184,7 +192,7 @@ class SerialMavlinkReceiver(threading.Thread):
try:
msg_type = msg.get_type()
system_id = msg.get_srcSystem()
drone_id = f"s5_{system_id}" # 使用 serial_ 前綴表示串口來源
drone_id = f"s{self.socket_id}_{system_id}"
if msg_type == "HEARTBEAT":
mode = mavutil.mode_string_v10(msg)
@@ -239,11 +247,13 @@ class SerialMavlinkReceiver(threading.Thread):
})
elif msg_type == "VFR_HUD":
groundspeed = msg.groundspeed
heading = msg.heading
self.signals.update_signal.emit('hud', drone_id, {
'heading': heading,
'groundspeed': groundspeed
'airspeed': msg.airspeed,
'groundspeed': msg.groundspeed,
'heading': msg.heading,
'throttle': msg.throttle,
'alt': msg.alt,
'climb': msg.climb
})
except Exception as e:
@@ -255,12 +265,12 @@ class SerialMavlinkReceiver(threading.Thread):
class WebSocketMavlinkReceiver(threading.Thread):
"""WebSocket MAVLink 接收器"""
def __init__(self, url, signals, connection_name):
def __init__(self, url, signals, connection_name, monitor=None):
super().__init__(daemon=True)
self.url = url
self.signals = signals
self.connection_name = connection_name
self.running = False
self.monitor = monitor # 保存 monitor 引用 self.socket_id = monitor.get_next_socket_id() if monitor else 0 # 一次性分配 socket_id self.running = False
self.max_retries = 5
self.base_delay = 1.0
@@ -319,10 +329,10 @@ class WebSocketMavlinkReceiver(threading.Thread):
def process_websocket_message(self, data):
"""處理 WebSocket 訊息"""
try:
drone_id = data.get('system_id')
drone_id = f"s9_{drone_id}" if drone_id else None
if not drone_id:
system_id = data.get('system_id')
if not system_id:
return
drone_id = f"s{self.socket_id}_{system_id}"
# 模式
if 'mode' in data:
@@ -398,16 +408,40 @@ class DroneMonitor(Node):
self.drone_gps = {} # {drone_id: {'lat': ..., 'lon': ..., 'alt': ...}}
# ================================================================================
# ================================================================================
# 【新增】Socket ID 重新分配機制 (從 0 開始)
# ================================================================================
self.socket_id_mapping = {} # {原始socket_id: 重新分配的socket_id}
self.socket_id_counter = 0 # 當前分配到的最大socket_id
self.socket_id_lock = Lock() # 線程安全鎖
# ================================================================================
# ================================================================================
# 【新增】儲存 sys_id 到 actual_drone_id 的映射 (從 summary 獲取)
# ================================================================================
self.sys_to_actual_id = {} # {sys_id: actual_drone_id} e.g. {'sys11': 's0_11'}
self.sys_to_socket_id = {} # {sys_id: assigned_socket_id} e.g. {'sys11': 0}
# ================================================================================
self.serial_receivers = []
# 主题检测定时器
self.create_timer(1.0, self.scan_topics)
def get_or_assign_socket_id(self, original_socket_id):
"""根據原始 socket_id 分配或獲取對應的 socket_id（從 0 開始連續分配）
同一個原始 socket_id 會得到同一個分配的 ID
"""
original_socket_id = str(original_socket_id)
with self.socket_id_lock:
if original_socket_id not in self.socket_id_mapping:
# 分配新的 socket_id
self.socket_id_mapping[original_socket_id] = self.socket_id_counter
print(f"🆕 Socket ID 映射: 原始 {original_socket_id} -> 分配 {self.socket_id_counter}")
self.socket_id_counter += 1
return self.socket_id_mapping[original_socket_id]
def scan_topics(self):
topics = self.get_topic_names_and_types()
drone_pattern = re.compile(r'/fc_network/vehicle/(sys\d+)/(\w+)')
@@ -416,34 +450,36 @@ class DroneMonitor(Node):
for topic_name, _ in topics:
if match := drone_pattern.match(topic_name):
sys_id, topic_type = match.groups()
# 將 sys11 轉換為 s0_11 格式以保持兼容性
drone_num = sys_id.replace('sys', '')
drone_id = f's0_{drone_num}'
found_drones.add(drone_id)
found_drones.add(sys_id)
with self.lock:
self.drone_topics.setdefault(drone_id, set()).add(topic_type)
self.drone_topics.setdefault(sys_id, set()).add(topic_type)
for drone_id in found_drones:
if not hasattr(self, f'drone_{drone_id}_subs'):
self.setup_drone(drone_id)
for sys_id in found_drones:
# 為每個 sys_id 分配 socket_id（如果還沒有分配）
# 注意：如果後續 summary 提供了 socket_id，會使用 summary 的映射覆蓋
if sys_id not in self.sys_to_socket_id:
# 暫時所有 ROS2 topic 共享同一個原始 socket_id，等 summary 提供實際的 socket_id
self.sys_to_socket_id[sys_id] = self.get_or_assign_socket_id('0')
def setup_drone(self, drone_id):
# 從 s0_11 轉換回 sys11 格式
sys_id = drone_id.replace('s0_', 'sys')
if not hasattr(self, f'drone_{sys_id}_subs'):
self.setup_drone(sys_id)
def setup_drone(self, sys_id):
# sys_id 格式： sys11, sys12, ...
base_topic = f'/fc_network/vehicle/{sys_id}'
# Add service clients (保留但可能無法使用，因為新 topic 可能沒有這些服務)
self.arm_clients[drone_id] = self.create_client(
self.arm_clients[sys_id] = self.create_client(
CommandBool,
f'{base_topic}/cmd/arming'
)
self.takeoff_clients[drone_id] = self.create_client(
self.takeoff_clients[sys_id] = self.create_client(
CommandTOL,
f'{base_topic}/cmd/takeoff'
)
# Add setpoint publisher
self.setpoint_pubs[drone_id] = self.create_publisher(
self.setpoint_pubs[sys_id] = self.create_publisher(
Point,
f'{base_topic}/setpoint_position/local',
10
@@ -453,30 +489,30 @@ class DroneMonitor(Node):
'battery': self.create_subscription(
BatteryState,
f'{base_topic}/battery',
lambda msg, did=drone_id: self.battery_callback(did, msg),
lambda msg, sid=sys_id: self.battery_callback(sid, msg),
10
),
'position': self.create_subscription(
NavSatFix,
f'{base_topic}/position',
lambda msg, did=drone_id: self.gps_callback(did, msg),
lambda msg, sid=sys_id: self.gps_callback(sid, msg),
10
),
'summary': self.create_subscription(
String,
f'{base_topic}/summary',
lambda msg, did=drone_id: self.summary_callback(did, msg),
lambda msg, sid=sys_id: self.summary_callback(sid, msg),
10
),
'vfr_hud': self.create_subscription(
VfrHud,
f'{base_topic}/vfr_hud',
lambda msg, did=drone_id: self.hud_callback(did, msg),
lambda msg, sid=sys_id: self.hud_callback(sid, msg),
10
)
}
setattr(self, f'drone_{drone_id}_subs', subs)
setattr(self, f'drone_{sys_id}_subs', subs)
async def arm_drone(self, drone_id, arm):
if drone_id not in self.arm_clients:
@@ -558,9 +594,9 @@ class DroneMonitor(Node):
msg.angular_velocity.z)
}
def battery_callback(self, drone_id, msg):
def battery_callback(self, sys_id, msg):
# 使用映射獲取實際的 drone_id
actual_drone_id = self.sys_to_actual_id.get(drone_id, None)
actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
# 如果還沒有從 summary 獲取到映射，則不處理
if actual_drone_id is None:
return
@@ -578,7 +614,7 @@ class DroneMonitor(Node):
'armed': msg.armed
}
def summary_callback(self, drone_id, msg):
def summary_callback(self, sys_id, msg):
"""處理 summary topic (JSON 格式)"""
try:
data = json.loads(msg.data)
@@ -586,28 +622,34 @@ class DroneMonitor(Node):
if mode in self.filtered_modes:
return
# 根據 socket_id 更新 drone_id
socket_id = data.get('socket_id')
# 從 summary 獲取原始 socket_id，並映射到分配的 socket_id
original_socket_id = data.get('socket_id')
if original_socket_id is not None:
# 使用原始 socket_id 獲取或分配統一的 socket_id
assigned_socket_id = self.get_or_assign_socket_id(original_socket_id)
else:
# 如果沒有 socket_id，使用 sys_to_socket_id 映射
assigned_socket_id = self.sys_to_socket_id.get(sys_id, 0)
sysid = data.get('sysid')
if socket_id is not None and sysid is not None:
# 使用 socket_id 作為前綴
actual_drone_id = f's{socket_id}_{sysid}'
if sysid is not None:
actual_drone_id = f's{assigned_socket_id}_{sysid}'
# ================================================================================
# 【關鍵】保存 sys_id 到 actual_drone_id 的映射
# ================================================================================
sys_key = f'sys{sysid}'
self.sys_to_actual_id[sys_key] = actual_drone_id
# 也保存原始的 s0_ 格式到實際 ID 的映射
self.sys_to_actual_id[drone_id] = actual_drone_id
self.sys_to_actual_id[sys_id] = actual_drone_id
# ================================================================================
else:
actual_drone_id = drone_id
# 如果沒有 sysid，使用 sys_id 中的數字
sys_num = sys_id.replace('sys', '')
actual_drone_id = f's{assigned_socket_id}_{sys_num}'
self.sys_to_actual_id[sys_id] = actual_drone_id
self.latest_data[(actual_drone_id, 'state')] = {
'mode': mode,
'armed': data.get('armed', False),
'socket_id': socket_id,
'socket_id': original_socket_id,
'sysid': sysid,
'vehicle_type': data.get('vehicle_type'),
'autopilot': data.get('autopilot'),
@@ -616,13 +658,13 @@ class DroneMonitor(Node):
'connected': data.get('connected')
}
except json.JSONDecodeError as e:
print(f"Error parsing summary JSON for {drone_id}: {e}")
print(f"Error parsing summary JSON for {sys_id}: {e}")
except Exception as e:
print(f"Error in summary_callback for {drone_id}: {e}")
print(f"Error in summary_callback for {sys_id}: {e}")
def gps_callback(self, drone_id, msg):
def gps_callback(self, sys_id, msg):
# 使用映射獲取實際的 drone_id
actual_drone_id = self.sys_to_actual_id.get(drone_id, None)
actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
# 如果還沒有從 summary 獲取到映射，則不處理
if actual_drone_id is None:
return
@@ -662,9 +704,9 @@ class DroneMonitor(Node):
'z': msg.z
}
def hud_callback(self, drone_id, msg):
def hud_callback(self, sys_id, msg):
# 使用映射獲取實際的 drone_id
actual_drone_id = self.sys_to_actual_id.get(drone_id, None)
actual_drone_id = self.sys_to_actual_id.get(sys_id, None)
# 如果還沒有從 summary 獲取到映射，則不處理
if actual_drone_id is None:
return
@@ -691,7 +733,7 @@ class DroneMonitor(Node):
def start_serial_connection(self, port='/dev/ttyUSB0', baudrate=57600):
"""啟動串口 MAVLink 連接"""
connection_name = f"Serial_{port.replace('/', '_')}"
receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name)
receiver = SerialMavlinkReceiver(port, baudrate, self.signals, connection_name, self)
receiver.start()
self.serial_receivers.append(receiver)
print(f"Started serial connection on {port} at {baudrate} baud")
src/GUI/drone_panel.py
+1 -57
View File
@@ -43,12 +43,8 @@ class DronePanel(QWidget):
# 左側資訊區域
info_widget = self._create_info_section()
# 右側控制按鈕區域
control_widget = self._create_control_section()
# 將 info 和 control 加入內容容器
# 將 info 加入內容容器
content_layout.addWidget(info_widget)
content_layout.addWidget(control_widget)
# 將內容容器加入主佈局
main_layout.addWidget(content_widget)
@@ -205,58 +201,6 @@ class DronePanel(QWidget):
return nav_row
def _create_control_section(self):
"""創建控制按鈕區域"""
control_widget = QWidget()
control_layout = QVBoxLayout(control_widget)
control_layout.setContentsMargins(0, 0, 0, 0)
control_layout.setSpacing(6)
control_widget.setFixedWidth(80)
btn_style = """
QPushButton {
background-color: #444;
color: #DDD;
border: none;
border-radius: 4px;
font-size: 11px;
}
QPushButton:hover {
background-color: #555;
}
"""
# 模式切換按鈕
mode_btn = QPushButton("切換模式")
mode_btn.setStyleSheet(btn_style)
mode_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
mode_btn.clicked.connect(lambda: self.mode_change_requested.emit(self.drone_id))
# 解鎖按鈕
arm_btn = QPushButton("解鎖")
arm_btn.setStyleSheet(btn_style)
arm_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
arm_btn.clicked.connect(lambda: self.arm_requested.emit(self.drone_id))
# 起飛按鈕
takeoff_btn = QPushButton("起飛")
takeoff_btn.setStyleSheet(btn_style)
takeoff_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
takeoff_btn.clicked.connect(lambda: self.takeoff_requested.emit(self.drone_id))
# Setpoint 按鈕
setpoint_btn = QPushButton("Setpoint")
setpoint_btn.setStyleSheet(btn_style)
setpoint_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
setpoint_btn.clicked.connect(lambda: self.setpoint_requested.emit(self.drone_id))
control_layout.addWidget(mode_btn)
control_layout.addWidget(arm_btn)
control_layout.addWidget(takeoff_btn)
control_layout.addWidget(setpoint_btn)
return control_widget
def update_field(self, field, text, color=None):
"""更新指定欄位的值"""
label = self.findChild(QLabel, f"{self.drone_id}_{field}")
src/GUI/gui.py
+100 -41
View File
@@ -143,16 +143,11 @@ class ControlStationUI(QMainWindow):
""")
batch_control_layout.addWidget(batch_title)
# 上方按鈕區域
upper_buttons = QHBoxLayout()
# 第一行：全選按鈕
first_row = QHBoxLayout()
select_all_btn = QPushButton("全選")
select_all_btn.clicked.connect(self.handle_select_all)
arm_all_btn = QPushButton("解鎖")
arm_all_btn.clicked.connect(self.handle_arm_selected)
takeoff_all_btn = QPushButton("起飛")
takeoff_all_btn.clicked.connect(self.handle_takeoff_selected)
for btn in [select_all_btn, arm_all_btn, takeoff_all_btn]:
btn.setStyleSheet("""
select_all_btn.setStyleSheet("""
QPushButton {
background-color: #444;
color: #DDD;
@@ -163,10 +158,10 @@ class ControlStationUI(QMainWindow):
}
QPushButton:hover { background-color: #555; }
""")
upper_buttons.addWidget(btn)
upper_buttons.addStretch()
first_row.addWidget(select_all_btn)
first_row.addStretch()
# 模式切換區域
# 第二行：模式切換
mode_layout = QHBoxLayout()
mode_label = QLabel("模式：")
mode_label.setStyleSheet("color: #DDD; min-width: 40px;")
@@ -197,17 +192,30 @@ class ControlStationUI(QMainWindow):
mode_layout.addWidget(batch_mode_btn)
mode_layout.addStretch()
# 座標輸入區域
coord_widget = QWidget()
coord_layout = QHBoxLayout(coord_widget)
# 第三行：解鎖按鈕
third_row = QHBoxLayout()
arm_all_btn = QPushButton("解鎖")
arm_all_btn.clicked.connect(self.handle_arm_selected)
arm_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; }
""")
third_row.addWidget(arm_all_btn)
third_row.addStretch()
# 第四行：高度輸入和起飛按鈕
fourth_row = QHBoxLayout()
self.x_input = QLineEdit()
self.y_input = QLineEdit()
self.z_input = QLineEdit()
for input_field in [self.x_input, self.y_input, self.z_input]:
input_field.setFixedWidth(60)
input_field.setStyleSheet("""
self.z_input.setFixedWidth(60)
self.z_input.setStyleSheet("""
QLineEdit {
background-color: #333;
color: #DDD;
@@ -217,16 +225,9 @@ class ControlStationUI(QMainWindow):
}
""")
coord_layout.addWidget(QLabel("X:", styleSheet="color: #DDD;"))
coord_layout.addWidget(self.x_input)
coord_layout.addWidget(QLabel("Y:", styleSheet="color: #DDD;"))
coord_layout.addWidget(self.y_input)
coord_layout.addWidget(QLabel("Z:", styleSheet="color: #DDD;"))
coord_layout.addWidget(self.z_input)
setpoint_btn = QPushButton("Setpoint")
setpoint_btn.clicked.connect(self.handle_setpoint_selected)
setpoint_btn.setStyleSheet("""
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;
@@ -238,15 +239,16 @@ class ControlStationUI(QMainWindow):
QPushButton:hover { background-color: #555; }
""")
lower_control = QHBoxLayout()
lower_control.addWidget(coord_widget)
lower_control.addWidget(setpoint_btn)
lower_control.addStretch()
fourth_row.addWidget(QLabel("高度:", styleSheet="color: #DDD;"))
fourth_row.addWidget(self.z_input)
fourth_row.addWidget(takeoff_all_btn)
fourth_row.addStretch()
# 組裝批次控制 layout
batch_control_layout.addLayout(upper_buttons)
batch_control_layout.addLayout(first_row)
batch_control_layout.addLayout(mode_layout)
batch_control_layout.addLayout(lower_control)
batch_control_layout.addLayout(third_row)
batch_control_layout.addLayout(fourth_row)
# 將批次控制 layout 添加到右側容器
right_layout.addLayout(batch_control_layout)
@@ -255,6 +257,8 @@ class ControlStationUI(QMainWindow):
right_layout.addWidget(self.drone_map.get_widget())
self.drone_map.get_gps_signal().connect(self.handle_map_click)
self.drone_map.get_drone_clicked_signal().connect(self.handle_drone_clicked)
self.drone_map.get_clear_all_drone_selection_signal().connect(self.handle_clear_all_drone_selection)
self.drone_map.get_toggle_select_all_drones_signal().connect(self.handle_toggle_select_all_drones)
# Add widgets to splitter
@@ -276,7 +280,7 @@ class ControlStationUI(QMainWindow):
}
# 启动接收器
receiver = UDPMavlinkReceiver(ip, port, self.monitor.signals, new_conn['name'])
receiver = UDPMavlinkReceiver(ip, port, self.monitor.signals, new_conn['name'], self.monitor)
receiver.start()
self.udp_receivers.append(receiver)
new_conn['receiver'] = receiver
@@ -299,7 +303,7 @@ class ControlStationUI(QMainWindow):
}
# 启动接收器
receiver = WebSocketMavlinkReceiver(url, self.monitor.signals, new_conn['name'])
receiver = WebSocketMavlinkReceiver(url, self.monitor.signals, new_conn['name'], self.monitor)
receiver.start()
self.monitor.ws_receivers.append(receiver)
new_conn['receiver'] = receiver
@@ -580,6 +584,9 @@ class ControlStationUI(QMainWindow):
cells = round(voltage / 3.95)
# 計算電量百分比
if cells == 0:
percentage = 0
else:
percentage = (voltage / cells - 3.7) / 0.5 * 100
# 根據百分比設置顏色
@@ -842,10 +849,13 @@ class ControlStationUI(QMainWindow):
self.overview_table.update_table(drone_id, field, value)
def get_socket_id(self, drone_id):
"""從 drone_id 提取 socket_id (例如 's9_1' -> '9')"""
"""從 drone_id 提取 socket_id (例如 's0_1' -> '0')"""
import re
match = re.match(r's(\d+)_\d+', drone_id)
return match.group(1) if match else 'unknown'
match = re.match(r's(\d+)_(\d+)', drone_id)
if not match:
return 'unknown'
return match.group(1)
def add_drone(self, drone_id):
if drone_id in self.drones:
@@ -1042,6 +1052,55 @@ class ControlStationUI(QMainWindow):
# 切換勾選狀態
checkbox.setChecked(not checkbox.isChecked())
def handle_clear_all_drone_selection(self):
"""清除所有無人機的勾選狀態"""
print("清除所有無人機選擇")
for drone_id in self.drones.keys():
checkbox = self.drones[drone_id].get_checkbox()
if checkbox:
checkbox.blockSignals(True)
checkbox.setChecked(False)
checkbox.blockSignals(False)
# 清除選中集合
self.monitor.selected_drones.clear()
# 更新所有分組的勾選框狀態
for socket_id in self.socket_groups.keys():
self.update_group_checkbox_state(socket_id)
def handle_toggle_select_all_drones(self):
"""切換全選/取消全選所有無人機"""
# 檢查是否已經全選
all_selected = all(self.drones[drone_id].get_checkbox().isChecked()
for drone_id in self.drones.keys())
if all_selected:
# 已全選，則取消全選
print("取消全選所有無人機")
for drone_id in self.drones.keys():
checkbox = self.drones[drone_id].get_checkbox()
if checkbox:
checkbox.blockSignals(True)
checkbox.setChecked(False)
checkbox.blockSignals(False)
self.monitor.selected_drones.clear()
else:
# 未全選，則全選
print("全選所有無人機")
for drone_id in self.drones.keys():
checkbox = self.drones[drone_id].get_checkbox()
if checkbox:
checkbox.blockSignals(True)
checkbox.setChecked(True)
checkbox.blockSignals(False)
self.monitor.selected_drones.add(drone_id)
# 更新所有分組的勾選框狀態
for socket_id in self.socket_groups.keys():
self.update_group_checkbox_state(socket_id)
def show_planned_waypoints(self):
"""
顯示規劃的航點（在終端輸出）
src/GUI/map_layout.py
+573 -23
View File
@@ -32,24 +32,148 @@ class DroneMap:
<script src="qrc:///qtwebchannel/qwebchannel.js"></script>
<style>
html, body, #map { height: 100%; margin: 0; }
#map {
user-select: none;
-webkit-user-select: none;
-moz-user-select: none;
-ms-user-select: none;
}
.map-controls {
position: absolute;
top: 10px;
right: 10px;
z-index: 1000;
background-color: rgba(255, 255, 255, 0.95);
padding: 10px;
border-radius: 6px;
box-shadow: 0 2px 8px rgba(0,0,0,0.3);
display: flex;
flex-direction: column;
gap: 5px;
min-width: 150px;
}
.map-controls-bottom {
position: absolute;
bottom: 10px;
left: 10px;
z-index: 1000;
}
.control-button {
padding: 8px 12px;
background-color: #f44336;
background-color: #F44336;
color: white;
border: none;
border-radius: 4px;
cursor: pointer;
font-size: 12px;
font-size: 13px;
font-weight: bold;
box-shadow: 0 2px 5px rgba(0,0,0,0.2);
}
.control-button:hover {
background-color: #d32f2f;
background-color: #D32F2F;
}
.mission-info-panel {
position: absolute;
bottom: 10px;
right: 10px;
z-index: 1000;
background-color: rgba(255, 255, 255, 0.95);
padding: 12px;
border-radius: 6px;
box-shadow: 0 2px 8px rgba(0,0,0,0.3);
min-width: 200px;
}
.mission-info-row {
margin-bottom: 8px;
font-size: 12px;
color: #333;
}
.mission-info-label {
font-weight: bold;
color: #555;
}
.mission-info-value {
color: #2196F3;
font-family: monospace;
}
.mission-start-button {
width: 100%;
padding: 10px;
background-color: #7FBA82;
color: white;
border: none;
border-radius: 4px;
cursor: pointer;
font-size: 13px;
font-weight: bold;
margin-top: 8px;
}
.mission-start-button:hover {
background-color: #6FA872;
}
.mission-start-button:disabled {
background-color: #ccc;
cursor: not-allowed;
}
.selection-buttons {
display: flex;
flex-direction: column;
gap: 5px;
margin-bottom: 10px;
padding-bottom: 10px;
border-bottom: 1px solid #ddd;
} .selection-button-blue {
width: 100%;
padding: 8px;
background-color: #64B5F6;
color: white;
border: none;
border-radius: 4px;
cursor: pointer;
font-size: 13px;
font-weight: bold;
transition: background-color 0.2s;
}
.selection-button-blue:hover {
background-color: #42A5F5;
}
.selection-button-blue.active {
background-color: #1976D2;
} .selection-button-blue {
width: 100%;
padding: 8px;
background-color: #64B5F6;
color: white;
border: none;
border-radius: 4px;
cursor: pointer;
font-size: 13px;
font-weight: bold;
transition: background-color 0.2s;
}
.selection-button-blue:hover {
background-color: #42A5F5;
}
.selection-button-blue.active {
background-color: #1976D2;
}
.selection-button {
width: 100%;
padding: 8px;
background-color: #F44336;
color: white;
border: none;
border-radius: 4px;
cursor: pointer;
font-size: 13px;
font-weight: bold;
transition: background-color 0.2s;
}
.selection-button:hover {
background-color: #D32F2F;
}
.selection-button.active {
background-color: #C62828;
}
</style>
</head>
@@ -57,6 +181,24 @@ class DroneMap:
<div id="map"></div>
<div class="map-controls">
<button class="control-button" onclick="clearAllTrajectories()">清除軌跡</button>
<button class="selection-button" id="select-rect-btn" onclick="toggleRectSelection()">框選方形區域</button>
<button class="selection-button" id="select-polygon-btn" onclick="togglePolygonSelection()">多點選擇區域</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>
@@ -66,17 +208,89 @@ class DroneMap:
});
var map = L.map('map').setView([0, 0], 19);
L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
// 創建不同的地圖圖層
var streetLayer = L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
maxZoom: 19,
attribution: '© OpenStreetMap contributors'
}).addTo(map);
});
var satelliteLayer = L.tileLayer('https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}', {
maxZoom: 19,
attribution: 'Tiles © Esri'
});
// 默認使用衛星圖
var currentLayer = satelliteLayer;
currentLayer.addTo(map);
var isSatellite = true;
// 地圖點擊事件
map.on('click', function(e) {
if (selectionMode === 'polygon') {
// 多點選擇模式：添加點
addPolygonPoint(e.latlng.lat, e.latlng.lng);
} else if (!selectionMode) {
// 正常模式：發送GPS信號
if (bridge) {
bridge.emitGpsSignal(e.latlng.lat, e.latlng.lng);
console.log('點擊位置:', e.latlng.lat, e.latlng.lng);
}
}
});
// 地圖拖曳事件（用於矩形選擇）
map.on('mousedown', function(e) {
mapDragStarted = false;
clickStartPos = {x: e.originalEvent.clientX, y: e.originalEvent.clientY};
if (selectionMode === 'rect' || selectionMode === 'drones') {
isDrawing = true;
drawStartPoint = e.latlng;
L.DomEvent.preventDefault(e.originalEvent);
L.DomEvent.stopPropagation(e);
}
});
map.on('mousemove', function(e) {
// 檢測地圖拖移
if (clickStartPos && !selectionMode) {
var dx = Math.abs(e.originalEvent.clientX - clickStartPos.x);
var dy = Math.abs(e.originalEvent.clientY - clickStartPos.y);
if (dx > 5 || dy > 5) {
mapDragStarted = true;
}
}
if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
// 更新臨時矩形
if (tempRectangle) {
selectionLayer.removeLayer(tempRectangle);
}
var bounds = L.latLngBounds(drawStartPoint, e.latlng);
tempRectangle = L.rectangle(bounds, {
color: selectionMode === 'drones' ? '#9C27B0' : '#FF6B6B',
weight: 2,
fillOpacity: selectionMode === 'drones' ? 0 : 0.2,
dashArray: selectionMode === 'drones' ? '5, 5' : null
}).addTo(selectionLayer);
}
});
map.on('mouseup', function(e) {
if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
isDrawing = false;
var bounds = L.latLngBounds(drawStartPoint, e.latlng);
finishRectSelection(bounds);
drawStartPoint = null;
}
// 重置拖移狀態
clickStartPos = null;
setTimeout(function() {
mapDragStarted = false;
}, 100);
});
function createArrowIcon(color) {
@@ -150,6 +364,273 @@ class DroneMap:
var centerMarker = null; // 中心點標記
var targetMarker = null; // 目標點標記
var missionLine = null; // 中心點到目標點的虛線
var centerPosition = null; // 中心點經緯度
var targetPosition = null; // 目標點經緯度
// 選擇工具變量
var selectionMode = null; // 'drones', 'rect', 'polygon', null
var selectionLayer = L.layerGroup().addTo(map);
var polygonPoints = []; // 多點選擇的點
var polygonMarkers = []; // 多點選擇的標記
var tempRectangle = null; // 臨時矩形
var isDrawing = false; // 是否正在繪製
var drawStartPoint = null; // 繪製起點
var mapDragStarted = false; // 地圖是否正在拖移
var clickStartPos = null; // 記錄點擊開始位置
// ================================================================================
// 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';
}
// 只有當中心點和目標點都設定時才啟用按鈕
if (centerPosition && targetPosition) {
startBtn.disabled = false;
} else {
startBtn.disabled = true;
}
}
// ================================================================================
// 選擇工具函數
// ================================================================================
function toggleSelectAllDrones() {
// 切換全選/取消全選無人機
if (bridge) {
bridge.toggleSelectAllDrones();
console.log('切換全選無人機');
}
}
function toggleDroneSelection() {
clearSelectionMode();
if (selectionMode === 'drones') {
selectionMode = null;
document.getElementById('select-drones-btn').classList.remove('active');
map.dragging.enable();
} else {
selectionMode = 'drones';
document.getElementById('select-drones-btn').classList.add('active');
map.dragging.disable();
}
}
function toggleRectSelection() {
clearSelectionMode();
if (selectionMode === 'rect') {
selectionMode = null;
document.getElementById('select-rect-btn').classList.remove('active');
map.dragging.enable();
} else {
selectionMode = 'rect';
document.getElementById('select-rect-btn').classList.add('active');
map.dragging.disable();
}
}
function togglePolygonSelection() {
if (selectionMode === 'polygon') {
// 第二次點擊：完成選擇
if (polygonPoints.length >= 3) {
finishPolygonSelection();
} else {
alert('至少需要3個點來形成區域');
// 清除並重置
clearSelectionMode();
clearPolygonPoints();
selectionMode = null;
document.getElementById('select-polygon-btn').classList.remove('active');
}
} else {
// 第一次點擊：清除上次的點位並啟動模式
clearSelectionMode();
clearPolygonPoints();
selectionMode = 'polygon';
document.getElementById('select-polygon-btn').classList.add('active');
map.dragging.disable();
}
}
function clearSelectionMode() {
// 清除所有按鈕的激活狀態
document.getElementById('select-drones-btn').classList.remove('active');
document.getElementById('select-rect-btn').classList.remove('active');
document.getElementById('select-polygon-btn').classList.remove('active');
// 清除選擇圖層
selectionLayer.clearLayers();
tempRectangle = null;
// 重新啟用地圖拖曳
map.dragging.enable();
}
function addPolygonPoint(lat, lng) {
polygonPoints.push([lat, lng]);
// 添加邊界點標記
var marker = L.circleMarker([lat, lng], {
radius: 5,
color: '#FF6B6B',
fillColor: '#FF6B6B',
fillOpacity: 0.8
}).addTo(selectionLayer);
polygonMarkers.push(marker);
// 如果有多個點，繪製連線
if (polygonPoints.length > 1) {
L.polyline(polygonPoints, {
color: '#FF6B6B',
weight: 2,
dashArray: '5, 5'
}).addTo(selectionLayer);
}
console.log('添加邊界點:', lat, lng, '總共:', polygonPoints.length);
}
function clearPolygonPoints() {
polygonPoints = [];
polygonMarkers.forEach(m => selectionLayer.removeLayer(m));
polygonMarkers = [];
selectionLayer.clearLayers();
}
function finishPolygonSelection() {
if (polygonPoints.length < 3) {
alert('至少需要3個點來形成區域');
return;
}
// 繪製最終多邊形
var polygon = L.polygon(polygonPoints, {
color: '#FF6B6B',
fillColor: '#FF6B6B',
fillOpacity: 0.2,
weight: 2
}).addTo(selectionLayer);
// 發送多邊形數據到Python
if (bridge) {
var pointsStr = JSON.stringify(polygonPoints);
bridge.polygonSelected(pointsStr);
console.log('多邊形選擇完成:', polygonPoints);
}
// 重置狀態
selectionMode = null;
document.getElementById('select-polygon-btn').classList.remove('active');
map.dragging.enable();
}
function finishRectSelection(bounds) {
var selectedDrones = [];
// 清除臨時矩形
if (tempRectangle) {
selectionLayer.removeLayer(tempRectangle);
tempRectangle = null;
}
if (selectionMode === 'drones') {
// 框選無人機模式：先清除全選
if (bridge) {
bridge.clearAllDroneSelection();
}
Object.keys(markers).forEach(droneId => {
var pos = markers[droneId].getLatLng();
if (bounds.contains(pos)) {
selectedDrones.push(droneId);
// 觸發無人機點擊信號
if (bridge) {
bridge.emitDroneClicked(droneId);
}
}
});
console.log('框選無人機:', selectedDrones);
// 不保留選擇框，直接完成
} else if (selectionMode === 'rect') {
// 框選區域模式
var rectPoints = [
[bounds.getNorth(), bounds.getWest()],
[bounds.getNorth(), bounds.getEast()],
[bounds.getSouth(), bounds.getEast()],
[bounds.getSouth(), bounds.getWest()]
];
// 繪製最終矩形
L.rectangle(bounds, {
color: '#FF6B6B',
fillColor: '#FF6B6B',
fillOpacity: 0.2,
weight: 2
}).addTo(selectionLayer);
// 添加四個角的標記
rectPoints.forEach(point => {
L.circleMarker(point, {
radius: 5,
color: '#FF6B6B',
fillColor: '#FF6B6B',
fillOpacity: 0.8
}).addTo(selectionLayer);
});
// 發送矩形數據到Python
if (bridge) {
var pointsStr = JSON.stringify(rectPoints);
bridge.rectangleSelected(pointsStr);
console.log('矩形選擇完成:', rectPoints);
}
}
// 重置狀態
selectionMode = null;
document.getElementById('select-drones-btn').classList.remove('active');
document.getElementById('select-rect-btn').classList.remove('active');
map.dragging.enable();
}
// ================================================================================
// 開始任務
function startMission() {
if (!centerPosition || !targetPosition) {
alert('請先設定中心點和目標點');
return;
}
if (bridge) {
bridge.startMissionSignal(
centerPosition.lat, centerPosition.lng,
targetPosition.lat, targetPosition.lng
);
console.log('開始任務:', centerPosition, targetPosition);
}
}
// 暫停任務
function pauseMission() {
if (bridge) {
bridge.pauseMissionSignal();
console.log('暫停任務');
}
}
// ================================================================================
function initTrajectory(id) {
@@ -214,6 +695,9 @@ class DroneMap:
rotationOrigin: 'center'
})
.on('click', function () {
if (mapDragStarted) {
return; // 如果是拖移地圖，不處理點擊
}
if (bridge) {
bridge.emitDroneClicked(id);
}
@@ -226,6 +710,9 @@ class DroneMap:
zIndexOffset: 1000
})
.on('click', function() {
if (mapDragStarted) {
return; // 如果是拖移地圖，不處理點擊
}
if (bridge) {
bridge.emitDroneClicked(id);
}
@@ -234,7 +721,8 @@ class DroneMap:
.addTo(map);
if (!initialized || id < focusedId) {
focusOn(id);
focusedId = id;
map.setView([lat, lon], 19); // 第一台無人機：重置並放大到最大
initialized = true;
}
}
@@ -256,6 +744,11 @@ class DroneMap:
// 清除舊的任務規劃標記
clearMissionPlan();
// 保存中心點和目標點位置
centerPosition = {lat: centerLat, lng: centerLon};
targetPosition = {lat: targetLat, lng: targetLon};
updateMissionInfo();
// 繪製中心點標記 "C"（縮小到 20px）
var centerIcon = L.divIcon({
className: 'mission-center',
@@ -308,18 +801,6 @@ class DroneMap:
zIndexOffset: 2000
}).addTo(missionPlanGroup);
// 繪製中心點到目標點的虛線
missionLine = L.polyline(
[[centerLat, centerLon], [targetLat, targetLon]],
{
color: '#FF4444',
weight: 3,
opacity: 0.8,
dashArray: '10, 10', // 虛線樣式
smoothFactor: 1
}
).addTo(missionPlanGroup);
console.log('任務規劃已繪製: C(' + centerLat + ', ' + centerLon + ') -> T(' + targetLat + ', ' + targetLon + ')');
}
@@ -336,11 +817,10 @@ class DroneMap:
targetMarker = null;
}
// 清除任務線
if (missionLine) {
missionPlanGroup.removeLayer(missionLine);
missionLine = null;
}
// 清除位置資訊
centerPosition = null;
targetPosition = null;
updateMissionInfo();
console.log('任務規劃已清除');
}
@@ -433,10 +913,44 @@ class DroneMap:
"""獲取無人機點擊信號"""
return self.bridge.drone_clicked
def get_clear_all_drone_selection_signal(self):
"""獲取清除所有無人機選擇信號"""
return self.bridge.clear_all_drone_selection
def get_toggle_select_all_drones_signal(self):
"""獲取切換全選所有無人機信號"""
return self.bridge.select_all_drones
def get_select_all_drones_signal(self):
"""獲取全選所有無人機信號"""
return self.bridge.select_all_drones
def get_start_mission_signal(self):
"""獲取開始任務信號"""
return self.bridge.start_mission_signal
def get_pause_mission_signal(self):
"""獲取暫停任務信號"""
return self.bridge.pause_mission_signal
def get_rectangle_selected_signal(self):
"""獲取矩形選擇信號"""
return self.bridge.rectangle_selected
def get_polygon_selected_signal(self):
"""獲取多邊形選擇信號"""
return self.bridge.polygon_selected
class MapBridge(QObject):
"""JavaScript 和 Python 之間的橋接類"""
gps_signal = pyqtSignal(float, float) # lat, lon
drone_clicked = pyqtSignal(str) # drone_id
clear_all_drone_selection = pyqtSignal() # clear all drone selection
select_all_drones = pyqtSignal() # select all drones
start_mission_signal = pyqtSignal(float, float, float, float) # center_lat, center_lon, target_lat, target_lon
pause_mission_signal = pyqtSignal() # pause mission
rectangle_selected = pyqtSignal(str) # JSON string of rectangle points
polygon_selected = pyqtSignal(str) # JSON string of polygon points
def __init__(self):
super().__init__()
@@ -450,3 +964,39 @@ class MapBridge(QObject):
def emitDroneClicked(self, drone_id):
"""供 JavaScript 調用的方法 - 當無人機被點擊時"""
self.drone_clicked.emit(drone_id)
@pyqtSlot()
def clearAllDroneSelection(self):
"""供 JavaScript 調用的方法 - 清除所有無人機選擇"""
self.clear_all_drone_selection.emit()
print("🗑️ 清除所有無人機選擇")
@pyqtSlot()
def toggleSelectAllDrones(self):
"""供 JavaScript 調用的方法 - 切換全選/取消全選所有無人機"""
self.select_all_drones.emit()
print("🔄 切換全選無人機")
@pyqtSlot(float, float, float, float)
def startMissionSignal(self, center_lat, center_lon, target_lat, target_lon):
"""供 JavaScript 調用的方法 - 開始任務"""
self.start_mission_signal.emit(center_lat, center_lon, target_lat, target_lon)
print(f"🚀 開始任務信號已發出: C({center_lat}, {center_lon}) -> T({target_lat}, {target_lon})")
@pyqtSlot()
def pauseMissionSignal(self):
"""供 JavaScript 調用的方法 - 暫停任務"""
self.pause_mission_signal.emit()
print("⏸️ 暫停任務信號已發出")
@pyqtSlot(str)
def rectangleSelected(self, points_json):
"""供 JavaScript 調用的方法 - 矩形選擇完成"""
self.rectangle_selected.emit(points_json)
print(f"📦 矩形區域已選擇: {points_json}")
@pyqtSlot(str)
def polygonSelected(self, points_json):
"""供 JavaScript 調用的方法 - 多邊形選擇完成"""
self.polygon_selected.emit(points_json)
print(f"🔷 多邊形區域已選擇: {points_json}")
src/GUI/overview_table.py
+2 -2
View File
@@ -6,8 +6,8 @@ class OverviewTable(QTableWidget):
"""總覽表格，顯示所有無人機的狀態資訊"""
# 默認的資訊類型和映射
DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "Local", "Velocity", "地速", "航向",
"空速", "油門", "HUD高", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "位置", "速度", "地速", "航向",
"空速", "油門", "HUD ALT", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
DEFAULT_INFO_TYPE_MAP = {
"mode": 0,