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@ -4,8 +4,7 @@ from rclpy.node import Node
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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, QApplication)
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from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal, QUrl
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from PyQt6.QtGui import QColor
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from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal
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from PyQt6.QtWebEngineWidgets import QWebEngineView
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import math
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import re
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@ -14,8 +13,8 @@ import sys
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from threading import Lock
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from geometry_msgs.msg import Point, Vector3
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from sensor_msgs.msg import BatteryState, NavSatFix, Imu
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from std_msgs.msg import String, Float64
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from mavros_msgs.msg import VfrHud
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from std_msgs.msg import Float64
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from mavros_msgs.msg import VfrHud, State
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class DroneSignals(QObject):
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update_signal = pyqtSignal(str, str, object) # (msg_type, drone_id, data)
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@ -62,10 +61,10 @@ class DroneMonitor(Node):
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lambda msg, did=drone_id: self.battery_callback(did, msg),
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10
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),
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'flightMode': self.create_subscription(
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String,
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f'{base_topic}/flightMode',
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lambda msg, did=drone_id: self.mode_callback(did, msg),
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'state': self.create_subscription(
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State,
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f'{base_topic}/state',
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lambda msg, did=drone_id: self.state_callback(did, msg),
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10
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),
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'global': self.create_subscription(
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@ -135,14 +134,17 @@ class DroneMonitor(Node):
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'voltage': msg.voltage
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})
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def mode_callback(self, drone_id, msg):
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self.signals.update_signal.emit('mode', drone_id, msg.data)
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def state_callback(self, drone_id, msg):
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self.signals.update_signal.emit('state', drone_id, {
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'mode': msg.mode,
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'armed': msg.armed
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})
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def gps_callback(self, drone_id, msg):
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self.signals.update_signal.emit('gps', drone_id, {
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'lat': msg.latitude,
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'lon': msg.longitude
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,'alt': msg.altitude
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'lon': msg.longitude,
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'alt': msg.altitude
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})
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def local_vel_callback(self, drone_id, msg):
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@ -236,7 +238,7 @@ class ControlStationUI(QMainWindow):
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<body>
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<div id="map"></div>
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<script>
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var map = L.map('map').setView([0, 0], 2);
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var map = L.map('map').setView([0, 0], 16);
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L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
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maxZoom: 19
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}).addTo(map);
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@ -260,7 +262,7 @@ class ControlStationUI(QMainWindow):
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rotationOrigin: 'center'
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}).addTo(map).bindPopup(id);
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}
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map.setView([lat, lon], 16);
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map.setView([lat, lon]);
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}
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</script>
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</body>
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@ -365,8 +367,9 @@ class ControlStationUI(QMainWindow):
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if not (panel := self.drones.get(drone_id)):
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return
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if msg_type == 'mode':
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self.update_field(panel, drone_id, 'mode', f"{data}",
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if msg_type == 'state':
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mode = data['mode']
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self.update_field(panel, drone_id, 'mode', f"{mode}",
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'#FF5555' if '返航' in data else '#55FF55')
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elif msg_type == 'battery':
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