2.8.0 xbee and ws command

src/GUI/communication.py

@@ -29,6 +29,28 @@ def _log(level, message):
     print(f"[{level}] {message}")
 
 
+def build_xbee_json_command(system_id, command, position=None):
+    """Build the shared newline-free XBee command used by Serial and WebSocket."""
+    if isinstance(system_id, bool) or not isinstance(system_id, int):
+        raise ValueError("XBee system_id 必須為整數")
+    if not isinstance(command, str):
+        raise ValueError("XBee 指令必須為大寫字串")
+    if command not in {'START', 'STOP', 'GOTO'}:
+        raise ValueError(f"XBee 指令必須為大寫 START、STOP 或 GOTO: {command}")
+
+    payload_data = {
+        's': system_id,
+        'c': command,
+    }
+    if command == 'GOTO':
+        if not isinstance(position, (list, tuple)) or len(position) < 2:
+            raise ValueError("GOTO 缺少有效的經緯度")
+        payload_data['p'] = [float(position[0]), float(position[1])]
+
+    return json.dumps(
+        payload_data, ensure_ascii=False, separators=(',', ':'))
+
+
 # 確保 src 目錄在 Python 路徑中（用於 fc_network_apps 導入）
 _src_path = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
 if _src_path not in sys.path:
@@ -95,7 +117,9 @@ class JsonTelemetryProcessor:
         "position": {"lat": 24.0, "lon": 120.0},
         "heading": 90
     }
-    Serial JSON also accepts the compact UAV.py shape:
+    Serial and WebSocket JSON also accept compact UAV status shapes:
+    {"s": 1, "m": "GUIDED", "b": 85, "p": [24.0, 120.0], "y": 90.0}
+    or the full shape:
     {"s": 1, "m": "GUIDED", "a": 1, "b": 85, "h": 10.0,
      "v": 4.2, "p": [24.0, 120.0], "ypr": [90.0, 0.0, 0.0],
      "g": 3, "d": [0.8, 1.2]}
@@ -118,6 +142,20 @@ class JsonTelemetryProcessor:
             if not isinstance(data, dict):
                 return
 
+            # XBee command acknowledgement does not carry a UAV system id.
+            # Route it to the GUI log/status area instead of silently dropping it.
+            if all(key in data for key in ('result', 'command', 'message')):
+                self.signals.update_signal.emit(
+                    'xbee_ack',
+                    self.connection_name,
+                    {
+                        'result': data.get('result'),
+                        'command': data.get('command'),
+                        'message': data.get('message'),
+                    }
+                )
+                return
+
             system_id = data.get('system_id', data.get('sysid', data.get('s')))
             if system_id is None:
                 return
@@ -125,6 +163,13 @@ class JsonTelemetryProcessor:
             drone_id = f"s{self.socket_id}_{system_id}"
             self._emit_json_connection_type(drone_id)
 
+            # Compact XBee/UAV packets are complete snapshots. Emit every field
+            # group, using None for omitted values, so the GUI can show '-'
+            # instead of inventing zero-valued telemetry or retaining stale data.
+            if 's' in data and 'c' not in data:
+                self._process_compact_uav_telemetry(data, drone_id)
+                return
+
             mode = data.get('mode', data.get('mode_name', data.get('m')))
             state = {}
             if mode is not None:
@@ -301,6 +346,82 @@ class JsonTelemetryProcessor:
         except Exception as e:
             print(f"{self.source_type} JSON telemetry processing error: {e}")
 
+    def _process_compact_uav_telemetry(self, data, drone_id):
+        """Convert one compact XBee UAV snapshot into existing GUI events."""
+        snapshot = {'_snapshot': True}
+
+        self.signals.update_signal.emit('state', drone_id, {
+            **snapshot,
+            'mode': data.get('m'),
+            'armed': bool(data.get('a')) if data.get('a') is not None else None,
+        })
+        self.signals.update_signal.emit('battery', drone_id, {
+            **snapshot,
+            'percentage': data.get('b'),
+            'voltage': None,
+        })
+
+        position = data.get('p')
+        has_position = isinstance(position, (list, tuple)) and len(position) >= 2
+        dop = data.get('d')
+        has_dop = isinstance(dop, (list, tuple))
+        ypr = data.get('ypr')
+        has_ypr = isinstance(ypr, (list, tuple)) and len(ypr) >= 3
+        has_yaw = data.get('y') is not None
+        # In the legacy compact shape, a lone 'h' is heading. In the newer
+        # y/ypr shapes it is height, matching the original ground-station parser.
+        height = data.get('h') if has_ypr or has_yaw else None
+        yaw = ypr[0] if has_ypr else data.get('y', data.get('h'))
+        pitch = ypr[1] if has_ypr else None
+        roll = ypr[2] if has_ypr else None
+
+        self.signals.update_signal.emit('gps', drone_id, {
+            **snapshot,
+            'lat': position[0] if has_position else None,
+            'lon': position[1] if has_position else None,
+            'alt': height,
+            'fix_type': data.get('g'),
+            'eph': dop[0] if has_dop and len(dop) >= 1 else None,
+            'epv': dop[1] if has_dop and len(dop) >= 2 else None,
+            'satellites_visible': None,
+        })
+
+        self.signals.update_signal.emit('altitude', drone_id, {
+            **snapshot,
+            'altitude': height,
+        })
+        self.signals.update_signal.emit('local_pose', drone_id, {
+            **snapshot,
+            'x': None,
+            'y': None,
+            'z': height,
+        })
+
+        # Compact 'v' is scalar ground speed, not an XY velocity vector.
+        self.signals.update_signal.emit('velocity', drone_id, {
+            **snapshot,
+            'vx': None,
+            'vy': None,
+            'vz': None,
+        })
+
+        self.signals.update_signal.emit('attitude', drone_id, {
+            **snapshot,
+            'roll': roll,
+            'pitch': pitch,
+            'yaw': yaw,
+            'rates': None,
+        })
+        self.signals.update_signal.emit('hud', drone_id, {
+            **snapshot,
+            'heading': yaw,
+            'groundspeed': data.get('v'),
+            'airspeed': None,
+            'throttle': None,
+            'alt': height,
+            'climb': None,
+        })
+
 class UDPMavlinkReceiver(threading.Thread):
     """UDP MAVLink 接收器"""
     def __init__(self, ip, port, signals, connection_name, monitor=None):
@@ -448,6 +569,7 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         self.source_type = 'Serial'
         self.running = False
         self.serial_conn = None
+        self.serial_write_lock = Lock()
         self.mav_parser = mavutil.mavlink.MAVLink(None)
         self.mav_parser.robust_parsing = True
         self.json_buffer = []
@@ -490,11 +612,24 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         finally:
             if self.serial_conn:
                 try:
+                    with self.serial_write_lock:
                         self.serial_conn.close()
                 except Exception:
                     pass
             self._release_socket_id()
 
+    def send_json_command(self, system_id, command, position=None):
+        """Send one newline-delimited XBee JSON command on this serial link."""
+        payload = build_xbee_json_command(system_id, command, position) + '\n'
+        with self.serial_write_lock:
+            if not self.running or self.serial_conn is None:
+                raise RuntimeError("Serial 連線尚未啟動")
+            if hasattr(self.serial_conn, 'is_open') and not self.serial_conn.is_open:
+                raise RuntimeError("Serial 連線已關閉")
+            self.serial_conn.write(payload.encode('utf-8'))
+            self.serial_conn.flush()
+        return payload.strip()
+
     def _process_mavlink_byte(self, byte):
         try:
             msg = self.mav_parser.parse_char(byte)
@@ -651,6 +786,7 @@ class SerialMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         self.running = False
         if self.serial_conn:
             try:
+                with self.serial_write_lock:
                     self.serial_conn.close()
             except Exception:
                 pass
@@ -675,12 +811,19 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         self.running = False
         self.max_retries = 5
         self.base_delay = 1.0
+        self.loop = None
+        self.websocket = None
+        self.websocket_lock = Lock()
         
     def run(self):
         """執行 WebSocket 接收循環"""
         self.running = True
-        asyncio.set_event_loop(asyncio.new_event_loop())
+        self.loop = asyncio.new_event_loop()
-        asyncio.get_event_loop().run_until_complete(self.ws_client_loop())
+        asyncio.set_event_loop(self.loop)
+        try:
+            self.loop.run_until_complete(self.ws_client_loop())
+        finally:
+            self.loop.close()
     
     async def ws_client_loop(self):
         """WebSocket 連接的主循環"""
@@ -691,9 +834,11 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         while self.running and retry_count < self.max_retries:
             try:
                 async with websockets.connect(self.url) as websocket:
+                    with self.websocket_lock:
+                        self.websocket = websocket
                     print(f"WebSocket {self.connection_name} connected to {self.url}")
                     retry_count = 0  # 重置重試計數
-                    
+                    try:
                         async for message in websocket:
                             if not self.running:
                                 break
@@ -707,6 +852,10 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
                                 print(f"WebSocket {self.connection_name} JSON decode error: {e}")
                             except Exception as e:
                                 print(f"WebSocket {self.connection_name} message processing error: {e}")
+                    finally:
+                        with self.websocket_lock:
+                            if self.websocket is websocket:
+                                self.websocket = None
                             
             except websockets.exceptions.ConnectionClosedError:
                 print(f"WebSocket {self.connection_name} connection closed")
@@ -730,6 +879,37 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
         print(f"WebSocket client {self.connection_name} stopped")
         self._release_socket_id()
 
+    def send_json_command(self, system_id, command, position=None):
+        """Schedule an XBee JSON command on this receiver's WebSocket loop."""
+        payload = build_xbee_json_command(system_id, command, position)
+        with self.websocket_lock:
+            loop = self.loop
+            websocket = self.websocket
+
+        if not self.running or loop is None or not loop.is_running():
+            raise RuntimeError("WebSocket 連線尚未啟動")
+        if websocket is None:
+            raise RuntimeError("WebSocket 尚未連線")
+
+        async def _send_on_current_connection():
+            with self.websocket_lock:
+                if self.websocket is not websocket:
+                    raise RuntimeError("WebSocket 連線已變更")
+            await websocket.send(payload)
+
+        future = asyncio.run_coroutine_threadsafe(
+            _send_on_current_connection(), loop)
+
+        def _report_send_error(done_future):
+            try:
+                done_future.result()
+            except Exception as e:
+                print(
+                    f"WebSocket {self.connection_name} command send error: {e}")
+
+        future.add_done_callback(_report_send_error)
+        return payload
+    
     def process_websocket_message(self, data):
         """處理 WebSocket 訊息"""
         self.process_json_telemetry_message(data)
@@ -737,6 +917,11 @@ class WebSocketMavlinkReceiver(threading.Thread, JsonTelemetryProcessor):
     def stop(self):
         """停止接收器"""
         self.running = False
+        with self.websocket_lock:
+            loop = self.loop
+            websocket = self.websocket
+        if loop is not None and loop.is_running() and websocket is not None:
+            asyncio.run_coroutine_threadsafe(websocket.close(), loop)
         self._release_socket_id()
 
     def _release_socket_id(self):

src/GUI/drone_panel.py

@@ -222,11 +222,11 @@ class DronePanel(QWidget):
         status_title = QLabel("狀態：")
         _set_scaled_stylesheet(status_title, "color: #888; min-width: 50px;")
         
-        self.mode_label = QLabel("--")
+        self.mode_label = QLabel("-")
         self.mode_label.setObjectName(f"{self.drone_id}_mode")
         _set_scaled_stylesheet(self.mode_label, "color: #DDD;")
         
-        self.armed_label = QLabel("--")
+        self.armed_label = QLabel("-")
         self.armed_label.setObjectName(f"{self.drone_id}_armed")
         _set_scaled_stylesheet(self.armed_label, "color: #DDD;")
         
@@ -284,7 +284,7 @@ class DronePanel(QWidget):
         battery_title = QLabel("電池：")
         _set_scaled_stylesheet(battery_title, "color: #888; min-width: 50px;")
 
-        self.battery_pct_label = QLabel("--")
+        self.battery_pct_label = QLabel("-")
         self.battery_pct_label.setObjectName(f"{self.drone_id}_battery_pct")
         _set_scaled_stylesheet(self.battery_pct_label, "color: #DDD;")
 
@@ -294,7 +294,7 @@ class DronePanel(QWidget):
         _set_scaled_stylesheet(separator1, "color: #DDD;")
 
         # 顯示電壓
-        self.battery_vol_label = QLabel("--")
+        self.battery_vol_label = QLabel("-")
         self.battery_vol_label.setObjectName(f"{self.drone_id}_battery_vol")
         _set_scaled_stylesheet(self.battery_vol_label, "color: #DDD;")
 
@@ -304,7 +304,7 @@ class DronePanel(QWidget):
         _set_scaled_stylesheet(separator2, "color: #DDD;")
 
         # 顯示電池節數 (S count)
-        self.battery_cells_label = QLabel("--")
+        self.battery_cells_label = QLabel("-")
         self.battery_cells_label.setObjectName(f"{self.drone_id}_battery_cells")
         _set_scaled_stylesheet(self.battery_cells_label, "color: #DDD;")
 
@@ -327,14 +327,14 @@ class DronePanel(QWidget):
         altitude_title = QLabel("高度：")
         _set_scaled_stylesheet(altitude_title, "color: #888; min-width: 50px;")
         
-        self.altitude_label = QLabel("--")
+        self.altitude_label = QLabel("-")
         self.altitude_label.setObjectName(f"{self.drone_id}_altitude")
         _set_scaled_stylesheet(self.altitude_label, "color: #DDD;")
         
         speed_title = QLabel("速度：")
         _set_scaled_stylesheet(speed_title, "color: #888; margin-left: 10px;")
         
-        self.speed_label = QLabel("--")
+        self.speed_label = QLabel("-")
         self.speed_label.setObjectName(f"{self.drone_id}_speed")
         _set_scaled_stylesheet(self.speed_label, "color: #DDD;")
         
@@ -355,14 +355,14 @@ class DronePanel(QWidget):
         fix_title = QLabel("定位：")
         _set_scaled_stylesheet(fix_title, "color: #888; min-width: 50px;")
 
-        self.fix_type_label = QLabel("--")
+        self.fix_type_label = QLabel("-")
         self.fix_type_label.setObjectName(f"{self.drone_id}_fix_type_label")
         _set_scaled_stylesheet(self.fix_type_label, "color: #DDD;")
 
         error_title = QLabel("誤差(H/V)：")
         _set_scaled_stylesheet(error_title, "color: #888; margin-left: 8px;")
 
-        self.gnss_error_label = QLabel("--")
+        self.gnss_error_label = QLabel("-")
         self.gnss_error_label.setObjectName(f"{self.drone_id}_gnss_error")
         _set_scaled_stylesheet(self.gnss_error_label, "color: #DDD;")
 

src/GUI/gui.py

@@ -147,7 +147,7 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.7.1'
+    VERSION = '2.8.0'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
@@ -449,7 +449,7 @@ class ControlStationUI(QMainWindow):
         self.right_vertical_splitter.setChildrenCollapsible(False)
         self.right_vertical_splitter.setStretchFactor(0, 0)
         self.right_vertical_splitter.setStretchFactor(1, 1)
-        self.right_vertical_splitter.setSizes([180, 640])
+        self.right_vertical_splitter.setSizes([210, 640])
         right_layout.addWidget(self.right_vertical_splitter)
 
         # 添加地圖
@@ -873,6 +873,16 @@ class ControlStationUI(QMainWindow):
             'drone', f"/fc_network/vehicle/{sys_id}/status_text "
                      f"[{label}] {data.get('text', '')}")
 
+    def _record_xbee_ack(self, connection_name, data):
+        """將 XBee JSON ACK 顯示於既有無人機紀錄與狀態列。"""
+        command = data.get('command', '-')
+        result = data.get('result', '-')
+        message = data.get('message', '-')
+        text = (f"{connection_name} XBee ACK｜命令:{command} "
+                f"狀態:{result} 訊息:{message}")
+        self._append_history('drone', text)
+        self.statusBar().showMessage(text, 5000)
+
     def _record_sys_diags_warning(self, sys_id, data):
         """sys_diags 只在診斷值異常或內容改變時顯示警告。"""
         installed = int(data.get('sensors_install_mask', 0))
@@ -1062,8 +1072,11 @@ class ControlStationUI(QMainWindow):
     def handle_serial_connection_added(self, port, baudrate):
         conn = {'name': 'Serial', 'port': port, 'baudrate': baudrate, 'enabled': False, 'receiver': None}
         self.serial_connections.append(conn)
-        self.comm_panel.add_serial_panel(conn)
+        panel = self.comm_panel.add_serial_panel(conn)
-        self.statusBar().showMessage(f"已添加 Serial 連接: {port} @ {baudrate}", 3000)
+        # Serial 新增後立即啟動；若啟動失敗，面板仍保留為停止狀態，
+        # 使用者可在排除連線問題後手動重試。
+        self.toggle_serial_connection(
+            conn, panel.toggle_btn, panel.status_label)
     
     def toggle_serial_connection(self, conn, btn, status_label):
         if conn.get('enabled', False):
@@ -1278,6 +1291,7 @@ class ControlStationUI(QMainWindow):
         panel.arm_requested.connect(self._handle_group_arm)
         panel.takeoff_requested.connect(self._handle_group_takeoff)
         panel.reboot_requested.connect(self._handle_group_reboot)
+        panel.xbee_command_requested.connect(self._handle_xbee_command)
         panel.box_select_requested.connect(self._handle_box_select)
         panel.select_all_requested.connect(self._handle_select_all_for_group)
         panel.clear_group_requested.connect(self._handle_clear_group)
@@ -1552,6 +1566,7 @@ class ControlStationUI(QMainWindow):
         if group.executor:
             group.executor.stop()
         group.planned_waypoints = None
+        group.mission_target = None
         self.drone_map.clear_mission_plan_for_group(group_id)
         panel = self.group_panels.get(group_id)
         if panel:
@@ -1666,6 +1681,81 @@ class ControlStationUI(QMainWindow):
             future = self.monitor.reboot_drone(drone_id)
             loop.create_task(self.handle_service_response(future, f"重啟飛控 {drone_id}"))
 
+    def _handle_xbee_command(self, group_id, command):
+        """依 UAV 所屬連線透過 Serial 或 WebSocket 發送 XBee JSON 指令。"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            self.statusBar().showMessage(f"Group {group_id} 不存在", 3000)
+            return
+
+        selected = sorted(group.selected_drone_ids)
+        if not selected:
+            self.statusBar().showMessage(
+                f"Group {group_id}: 請先分配無人機", 3000)
+            return
+
+        command = str(command).upper()
+        position = None
+        if command == 'GOTO':
+            position = group.mission_target
+            if position is None:
+                self.statusBar().showMessage(
+                    f"Group {group_id}: 請先在地圖點選目標點", 4000)
+                return
+
+        receivers_by_socket = {}
+        for conn in self.serial_connections:
+            receiver = conn.get('receiver')
+            if conn.get('enabled') and receiver is not None:
+                receivers_by_socket[str(receiver.socket_id)] = (
+                    receiver, 'Serial')
+        for conn in self.ws_connections:
+            receiver = conn.get('receiver')
+            if conn.get('enabled') and receiver is not None:
+                receivers_by_socket[str(receiver.socket_id)] = (
+                    receiver, 'WebSocket')
+
+        sent = []
+        failed = []
+        for drone_id in selected:
+            match = re.fullmatch(r's(\d+)_(\d+)', drone_id)
+            if not match:
+                failed.append(f"{drone_id}(ID格式錯誤)")
+                continue
+
+            socket_id, system_id = match.groups()
+            route = receivers_by_socket.get(socket_id)
+            if route is None:
+                failed.append(f"{drone_id}(無可用Serial/WebSocket)")
+                continue
+
+            receiver, transport = route
+            try:
+                payload = receiver.send_json_command(
+                    int(system_id), command, position=position)
+                sent.append(drone_id)
+                self._append_history(
+                    'gui', f"{drone_id} XBee {transport} TX｜{payload}")
+            except Exception as e:
+                failed.append(f"{drone_id}({e})")
+
+        if sent and not failed:
+            target_text = (
+                f" → {position[0]:.7f}, {position[1]:.7f}"
+                if position is not None else ""
+            )
+            self.statusBar().showMessage(
+                f"Group {group_id}: XBee {command} 已送至 "
+                f"{len(sent)} 台{target_text}", 4000)
+        elif sent:
+            self.statusBar().showMessage(
+                f"Group {group_id}: XBee {command} 已送 {len(sent)} 台；"
+                f"失敗 {len(failed)} 台：{', '.join(failed)}", 6000)
+        else:
+            self.statusBar().showMessage(
+                f"Group {group_id}: XBee {command} 未送出："
+                f"{', '.join(failed)}", 6000)
+
     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
@@ -1754,6 +1844,7 @@ class ControlStationUI(QMainWindow):
 
         group.selected_drone_ids.clear()
         group.planned_waypoints = None
+        group.mission_target = None
         if group.executor:
             group.executor.stop()
         self.drone_map.clear_mission_plan_for_group(group_id)
@@ -1837,6 +1928,9 @@ class ControlStationUI(QMainWindow):
 
     def update_ui(self, msg_type, drone_id, data):
         """只做數據快取，不在這裡更新 UI"""
+        if msg_type == 'xbee_ack':
+            self._record_xbee_ack(drone_id, data)
+            return
         if msg_type == 'status_text':
             self._record_drone_status(drone_id, data)
             return
@@ -1859,7 +1953,6 @@ class ControlStationUI(QMainWindow):
         
         if drone_id not in self.drones:
             self.add_drone(drone_id)
-            return
 
         # 只做資料快取，不更新 UI - 所有 UI 更新都在 _update_panel_and_map 中進行
         if drone_id not in self._message_cache:
@@ -2133,6 +2226,7 @@ class ControlStationUI(QMainWindow):
 
         center_lat, center_lon, _ = center_origin
         target_lat, target_lon = context['draw_target']
+        group.mission_target = (float(target_lat), float(target_lon))
         self.drone_map.draw_mission_plan_for_group(
             group_id, group.color,
             center_lat, center_lon, target_lat, target_lon
@@ -2171,6 +2265,9 @@ class ControlStationUI(QMainWindow):
         if mission_type is None:
             return  # Grid Sweep / Leader-Follower 由各自的觸發方式處理
 
+        # XBee GOTO 直接使用該 Group 最近一次點擊的地圖座標，與文字欄位解耦。
+        group.mission_target = (float(lat), float(lon))
+
         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)
@@ -2441,7 +2538,7 @@ class ControlStationUI(QMainWindow):
     def _format_gnss_fix_type(fix_type):
         fix_labels = {
             0: "No GPS",
-            1: "No GPS",
+            1: "No Fix",
             2: "2D Fix",
             3: "3D Fix",
             4: "DGPS",
@@ -2451,7 +2548,7 @@ class ControlStationUI(QMainWindow):
         try:
             return fix_labels.get(int(fix_type), f"Fix {fix_type}")
         except (TypeError, ValueError):
-            return "--"
+            return "-"
 
     def update_overview_table(self, drone_id=None, field=None, value=None):
         if not hasattr(self, 'overview_table') or self.overview_table is None: return
@@ -2687,15 +2784,21 @@ class ControlStationUI(QMainWindow):
                 # 處理所有快取的消息類型
                 for msg_type, data in cached_data.items():
                     if msg_type == 'state':
-                        mode = data.get('mode', 'UNKNOWN')
+                        mode_value = data.get('mode')
+                        mode = str(mode_value) if mode_value is not None else '-'
                         armed = data.get('armed', None)
-                        mode_color = '#FF5555' if any(x in mode.upper() for x in ['RTL', '返航', 'EMERGENCY']) else '#55FF55'
+                        if mode == '-':
+                            mode_color = '#AAAAAA'
+                        else:
+                            mode_color = '#FF5555' if any(
+                                x in mode.upper() for x in ['RTL', '返航', 'EMERGENCY']
+                            ) else '#55FF55'
                         if armed is True:
                             arm_text, arm_color = "ARMED", '#55FF55'
                         elif armed is False:
                             arm_text, arm_color = "DISARMED", '#FF5555'
                         else:
-                            arm_text, arm_color = "--", '#AAAAAA'
+                            arm_text, arm_color = "-", '#AAAAAA'
                         self.update_field(panel, drone_id, 'mode', mode, mode_color)
                         self.update_field(panel, drone_id, 'armed', arm_text, arm_color)
                         self.queue_overview_update(drone_id, 'mode', mode)
@@ -2703,42 +2806,59 @@ class ControlStationUI(QMainWindow):
                     
                     elif msg_type == 'battery':
                         voltage = data.get('voltage')
-                        cells = round(voltage / 3.95) if voltage is not None else None
+                        cells = round(voltage / 3.95) if isinstance(voltage, (int, float)) else None
-                        percentage = (
+                        calculated_percentage = (
                             (voltage / cells - 3.7) / 0.5 * 100
-                            if voltage is not None and cells and cells > 0
+                            if isinstance(voltage, (int, float)) and cells and cells > 0
-                            else data.get('percentage', 0)
+                            else None
                         )
+                        percentage = data.get('percentage')
+                        if not isinstance(percentage, (int, float)):
+                            percentage = calculated_percentage
+                        if isinstance(percentage, (int, float)):
                             if percentage < 20: voltage_color = '#FF6464'
                             elif percentage < 50: voltage_color = '#FFA500'
                             else: voltage_color = '#FFFFFF'
-                        percentage = data.get('percentage', percentage)
+                            percentage_text = f"{percentage:.0f}%"
-                        self.update_field(panel, drone_id, 'battery_pct', f"{percentage:.0f}%", voltage_color)
+                        else:
-                        if voltage is not None:
+                            voltage_color = '#AAAAAA'
+                            percentage_text = '-'
+                        self.update_field(panel, drone_id, 'battery_pct', percentage_text, voltage_color)
+                        if isinstance(voltage, (int, float)):
                             self.update_field(panel, drone_id, 'battery_sep1', " - ")
                             self.update_field(panel, drone_id, 'battery_vol', f"{voltage:.2f}V")
                             self.update_field(panel, drone_id, 'battery_sep2', " - ")
                             self.update_field(panel, drone_id, 'battery_cells', f"{cells}S")
                             self.queue_overview_update(drone_id, 'battery', f"{voltage:.2f}V")
+                        elif data.get('_snapshot'):
+                            self.update_field(panel, drone_id, 'battery_sep1', " - ")
+                            self.update_field(panel, drone_id, 'battery_vol', "-")
+                            self.update_field(panel, drone_id, 'battery_sep2', " - ")
+                            self.update_field(panel, drone_id, 'battery_cells', "-")
+                            self.queue_overview_update(drone_id, 'battery', percentage_text)
                         else:
                             self.update_field(panel, drone_id, 'battery_sep1', "")
                             self.update_field(panel, drone_id, 'battery_vol', "")
                             self.update_field(panel, drone_id, 'battery_sep2', "")
                             self.update_field(panel, drone_id, 'battery_cells', "")
-                            self.queue_overview_update(drone_id, 'battery', f"{percentage:.0f}%")
+                            self.queue_overview_update(drone_id, 'battery', percentage_text)
                     
                     elif msg_type == 'altitude':
-                        altitude = data.get('altitude', 0)
+                        altitude = data.get('altitude')
-                        text = f"{altitude:.1f} m"
+                        text = f"{altitude:.1f} m" if isinstance(altitude, (int, float)) else '-'
                         self.update_field(panel, drone_id, 'altitude', text)
                         self.queue_overview_update(drone_id, 'altitude', text)
                     
                     elif msg_type == 'local_pose':
-                        x, y = data.get('x', 0), data.get('y', 0)
+                        x, y = data.get('x'), data.get('y')
+                        if isinstance(x, (int, float)) and isinstance(y, (int, float)):
                             if not hasattr(self.monitor, 'drone_local'):
                                 self.monitor.drone_local = {}
                             self.monitor.drone_local[drone_id] = {'x': x, 'y': y}
-                        self.queue_overview_update(drone_id, 'local', f"{x:.1f}, {y:.1f}")
+                            local_text = f"{x:.1f}, {y:.1f}"
+                        else:
+                            local_text = '-'
+                        self.queue_overview_update(drone_id, 'local', local_text)
                     
                     elif msg_type == 'loss_rate':
                         text = f"{data.get('loss_rate', 0):.1f}%"
@@ -2751,24 +2871,47 @@ class ControlStationUI(QMainWindow):
                         self.queue_overview_update(drone_id, 'ping', text)
                     
                     elif msg_type == 'velocity':
-                        self.queue_overview_update(drone_id, 'velocity', f"{data['vx']:.1f}, {data['vy']:.1f}")
+                        vx, vy = data.get('vx'), data.get('vy')
+                        velocity_text = (
+                            f"{vx:.1f}, {vy:.1f}"
+                            if isinstance(vx, (int, float)) and isinstance(vy, (int, float))
+                            else '-'
+                        )
+                        self.queue_overview_update(drone_id, 'velocity', velocity_text)
                     
                     elif msg_type == 'attitude':
-                        roll, pitch, yaw = data.get('roll', 0), data.get('pitch', 0), data.get('yaw', 0)
+                        roll, pitch, yaw = data.get('roll'), data.get('pitch'), data.get('yaw')
-                        self.queue_overview_update(drone_id, 'roll', f"{roll:.1f}°")
+                        self.queue_overview_update(
-                        self.queue_overview_update(drone_id, 'pitch', f"{pitch:.1f}°")
+                            drone_id, 'roll',
-                        self.queue_overview_update(drone_id, 'yaw', f"{yaw:.1f}°")
+                            f"{roll:.1f}°" if isinstance(roll, (int, float)) else '-'
+                        )
+                        self.queue_overview_update(
+                            drone_id, 'pitch',
+                            f"{pitch:.1f}°" if isinstance(pitch, (int, float)) else '-'
+                        )
+                        self.queue_overview_update(
+                            drone_id, 'yaw',
+                            f"{yaw:.1f}°" if isinstance(yaw, (int, float)) else '-'
+                        )
                     
                     elif msg_type == 'gps':
                         gps_data = data
-                        lat, lon = gps_data.get('lat', 0), gps_data.get('lon', 0)
+                        lat, lon = gps_data.get('lat'), gps_data.get('lon')
+                        has_position = (
+                            isinstance(lat, (int, float)) and isinstance(lon, (int, float))
+                        )
+                        if has_position:
                             self.drone_positions[drone_id] = (lat, lon)
                             self._map_dirty_drones.add(drone_id)
                             if not hasattr(self.monitor, 'drone_gps'):
                                 self.monitor.drone_gps = {}
                             self.monitor.drone_gps[drone_id] = gps_data.copy()
-                        self.queue_overview_update(drone_id, 'latitude', f"{lat:.6f}°")
+                        self.queue_overview_update(
-                        self.queue_overview_update(drone_id, 'longitude', f"{lon:.6f}°")
+                            drone_id, 'latitude', f"{lat:.6f}°" if has_position else '-'
+                        )
+                        self.queue_overview_update(
+                            drone_id, 'longitude', f"{lon:.6f}°" if has_position else '-'
+                        )
                         fix_type = gps_data.get('fix_type')
                         satellites_visible = gps_data.get('satellites_visible')
                         eph = gps_data.get('eph')
@@ -2778,7 +2921,7 @@ class ControlStationUI(QMainWindow):
                         if isinstance(eph, (int, float)) and isinstance(epv, (int, float)):
                             error_text = f"{eph:.1f}/{epv:.1f}"
                         else:
-                            error_text = "--"
+                            error_text = "-"
                         self.update_field(panel, drone_id, 'gnss_error', error_text)
                         self.queue_overview_update(
                             drone_id, 'fix_type',
@@ -2786,38 +2929,41 @@ class ControlStationUI(QMainWindow):
                         )
                         self.queue_overview_update(
                             drone_id, 'satellites_visible',
-                            str(satellites_visible) if satellites_visible is not None else "--"
+                            str(satellites_visible) if satellites_visible is not None else "-"
                         )
                         self.queue_overview_update(
                             drone_id, 'eph',
-                            f"{eph:.2f}" if isinstance(eph, (int, float)) else "--"
+                            f"{eph:.2f}" if isinstance(eph, (int, float)) else "-"
                         )
                         self.queue_overview_update(
                             drone_id, 'epv',
-                            f"{epv:.2f}" if isinstance(epv, (int, float)) else "--"
+                            f"{epv:.2f}" if isinstance(epv, (int, float)) else "-"
                         )
                     
                     elif msg_type == 'hud':
                         hud_data = data
-                        heading = hud_data.get('heading', 0)
+                        heading = hud_data.get('heading')
+                        if isinstance(heading, (int, float)):
                             self.drone_headings[drone_id] = heading
                             self._map_dirty_drones.add(drone_id)
-                        groundspeed = hud_data.get('groundspeed', 0)
+                        groundspeed = hud_data.get('groundspeed')
-                        airspeed = hud_data.get('airspeed', 0)
+                        airspeed = hud_data.get('airspeed')
-                        throttle = hud_data.get('throttle', 0)
+                        throttle = hud_data.get('throttle')
-                        hud_alt = hud_data.get('alt', 0)
+                        hud_alt = hud_data.get('alt')
-                        climb = hud_data.get('climb', 0)
+                        climb = hud_data.get('climb')
                         
-                        self.queue_overview_update(drone_id, 'heading', f"{heading:.1f}°")
+                        heading_text = f"{heading:.1f}°" if isinstance(heading, (int, float)) else '-'
-                        self.queue_overview_update(drone_id, 'groundspeed', f"{groundspeed:.1f} m/s" if isinstance(groundspeed, (int, float)) else "--")
+                        groundspeed_text = f"{groundspeed:.1f} m/s" if isinstance(groundspeed, (int, float)) else '-'
-                        self.queue_overview_update(drone_id, 'airspeed', f"{airspeed:.1f} m/s" if isinstance(airspeed, (int, float)) else "--")
+                        self.queue_overview_update(drone_id, 'heading', heading_text)
-                        self.queue_overview_update(drone_id, 'throttle', f"{throttle:.0f}%" if isinstance(throttle, (int, float)) else "--")
+                        self.queue_overview_update(drone_id, 'groundspeed', groundspeed_text)
-                        self.queue_overview_update(drone_id, 'hud_alt', f"{hud_alt:.1f} m" if isinstance(hud_alt, (int, float)) else "--")
+                        self.queue_overview_update(drone_id, 'airspeed', f"{airspeed:.1f} m/s" if isinstance(airspeed, (int, float)) else "-")
-                        self.queue_overview_update(drone_id, 'climb', f"{climb:.1f} m/s" if isinstance(climb, (int, float)) else "--")
+                        self.queue_overview_update(drone_id, 'throttle', f"{throttle:.0f}%" if isinstance(throttle, (int, float)) else "-")
+                        self.queue_overview_update(drone_id, 'hud_alt', f"{hud_alt:.1f} m" if isinstance(hud_alt, (int, float)) else "-")
+                        self.queue_overview_update(drone_id, 'climb', f"{climb:.1f} m/s" if isinstance(climb, (int, float)) else "-")
                         
-                        self.update_field(panel, drone_id, 'heading', f"{heading:.1f}°")
+                        self.update_field(panel, drone_id, 'heading', heading_text)
-                        self.update_field(panel, drone_id, 'groundspeed', f"{groundspeed:.1f} m/s" if isinstance(groundspeed, (int, float)) else "--")
+                        self.update_field(panel, drone_id, 'groundspeed', groundspeed_text)
-                        self.update_field(panel, drone_id, 'speed', f"{groundspeed:.1f} m/s" if isinstance(groundspeed, (int, float)) else "--")
+                        self.update_field(panel, drone_id, 'speed', groundspeed_text)
                         
             
             elapsed = (time.time() - start_time) * 1000
@@ -2857,9 +3003,13 @@ class ControlStationUI(QMainWindow):
             if not panel or not hasattr(panel, 'update_attitude'):
                 continue
 
-            roll = data.get('roll', 0)
+            roll = data.get('roll')
-            pitch = data.get('pitch', 0)
+            pitch = data.get('pitch')
-            yaw = data.get('yaw', 0)
+            yaw = data.get('yaw')
+            # The ADI is graphical and cannot render '-'. Keep its last valid
+            # pose while the text/table fields show missing snapshot values.
+            if not all(isinstance(value, (int, float)) for value in (roll, pitch, yaw)):
+                continue
             heading = self.drone_headings.get(drone_id, yaw)
 
             panel._last_roll = roll

src/GUI/mission_group.py

@@ -57,6 +57,7 @@ class MissionGroup:
         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
+        self.mission_target = None           # (lat, lon)，最近點擊的地圖目標供 XBee GOTO 使用
         self.leader_drone_id = None          # LEADER_FOLLOWER 專用：指定的領隊無人機 ID
 
     @property
@@ -163,6 +164,7 @@ class GroupPanel(QWidget):
     arm_requested = pyqtSignal(str)                    # group_id
     takeoff_requested = pyqtSignal(str, float)         # group_id, altitude
     reboot_requested = pyqtSignal(str)                 # group_id
+    xbee_command_requested = pyqtSignal(str, str)      # group_id, START/STOP/GOTO
     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
@@ -394,6 +396,43 @@ class GroupPanel(QWidget):
         reboot_col.addWidget(reboot_btn)
         reboot_col.addStretch()
 
+        # ============================
+        # XBee JSON 指令（GOTO 使用最近點擊的地圖目標點）
+        # ============================
+        xbee_col = QVBoxLayout()
+        xbee_col.setSpacing(3)
+
+        xbee_title = QLabel("XBee/WS 指令")
+        xbee_title.setStyleSheet(TITLE)
+        xbee_col.addWidget(xbee_title)
+
+        xbee_buttons = QVBoxLayout()
+        xbee_buttons.setSpacing(3)
+        start_xbee_btn = QPushButton("START")
+        start_xbee_btn.setStyleSheet(
+            BTN.format(bg='#2E7D32', fg='white', hover='#388E3C'))
+        start_xbee_btn.clicked.connect(
+            lambda: self.xbee_command_requested.emit(
+                self.group.group_id, 'START'))
+        stop_xbee_btn = QPushButton("STOP")
+        stop_xbee_btn.setStyleSheet(
+            BTN.format(bg='#C62828', fg='white', hover='#D32F2F'))
+        stop_xbee_btn.clicked.connect(
+            lambda: self.xbee_command_requested.emit(
+                self.group.group_id, 'STOP'))
+        goto_xbee_btn = QPushButton("GOTO")
+        goto_xbee_btn.setToolTip("前往目前 Group 最近一次點擊的地圖目標點")
+        goto_xbee_btn.setStyleSheet(
+            BTN.format(bg='#1565C0', fg='white', hover='#1976D2'))
+        goto_xbee_btn.clicked.connect(
+            lambda: self.xbee_command_requested.emit(
+                self.group.group_id, 'GOTO'))
+        xbee_buttons.addWidget(start_xbee_btn)
+        xbee_buttons.addWidget(stop_xbee_btn)
+        xbee_buttons.addWidget(goto_xbee_btn)
+        xbee_col.addLayout(xbee_buttons)
+        xbee_col.addStretch()
+
         # ============================
         # 第四欄：任務參數
         # ============================
@@ -500,7 +539,7 @@ class GroupPanel(QWidget):
         # 當任務類型切換時更新參數顯示
         self.type_combo.currentTextChanged.connect(self._update_param_visibility)
 
-        # ── 組裝欄位：控制指令 > 任務規劃 > 任務參數 > 選取與分組 > 飛控操作 ──
+        # ── 組裝欄位：控制指令 > 任務規劃 > 任務參數 > 選取與分組 > 飛控操作 > XBee ──
         # 使用伸展因子 0 讓列根據內容自動調整寬度，而不是均等分配
         cols.addLayout(left, 0)
         cols.addWidget(self._make_sep())
@@ -511,6 +550,8 @@ class GroupPanel(QWidget):
         cols.addLayout(right, 0)
         cols.addWidget(self._make_sep())
         cols.addLayout(reboot_col, 0)
+        cols.addWidget(self._make_sep())
+        cols.addLayout(xbee_col, 0)
         cols.addStretch()  # 填充剩餘空間，使欄位置左
 
         layout.addLayout(cols)
@@ -619,6 +660,7 @@ class GroupPanel(QWidget):
 
     def update_mission_info(self, center_lat, center_lon, target_lat, target_lon):
         """更新中心點 / 目標點顯示"""
+        self.group.mission_target = (float(target_lat), float(target_lon))
         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)
@@ -627,6 +669,7 @@ class GroupPanel(QWidget):
 
     def clear_mission_info(self):
         """清除中心點 / 目標點顯示"""
+        self.group.mission_target = None
         self.center_label.setText("中心: --")
         self.center_label.setStyleSheet("color: #AAA; font-size: 11px;")
         self.target_label.setText("目標: --")

src/GUI/overview_table.py

@@ -115,11 +115,11 @@ class OverviewTable(QTableWidget):
             panel = self.drones[did]
             for field, row in self.info_type_map.items():
                 if field == 'mission':
-                    # 任務狀態非遙測，取自獨立保存，避免被 "--" 蓋掉
+                    # 任務狀態非遙測，取自獨立保存，避免被 "-" 蓋掉
-                    val = self.mission_status.get(did, "--")
+                    val = self.mission_status.get(did, "-")
                 else:
                     lbl = panel.findChild(QLabel, f"{did}_{field}")
-                    val = lbl.text() if lbl else "--"
+                    val = lbl.text() if lbl else "-"
                 val_item = QTableWidgetItem(val)
                 val_item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
                 self.setItem(row, col, val_item)

src/GUI/websocket_client.py

@@ -0,0 +1,155 @@
+import asyncio
+import websockets
+import json
+import sys
+
+WS_URL = "ws://127.0.0.1:8765"
+SYSTEM_ID = 2
+GOTO_POSITION = [24.1234567, 120.1234567]
+
+
+class WebSocketClient:
+    def __init__(self, ws_url=WS_URL, system_id=SYSTEM_ID):
+        self.ws_url = ws_url
+        if isinstance(system_id, bool) or not isinstance(system_id, int):
+            raise ValueError("system_id 必須為整數")
+        self.system_id = system_id
+        
+    def process_websocket_message(self, data):
+        """解析 server 的 Essential／Full UAV 狀態或命令 ACK。"""
+        if isinstance(data, str):
+            try:
+                data = json.loads(data)
+            except json.JSONDecodeError as e:
+                print(f"JSON 格式錯誤: {e}")
+                return
+
+        if not isinstance(data, dict):
+            print(f"未知訊息格式: {data}")
+            return
+
+        if all(key in data for key in ("result", "command", "message")):
+            print(
+                f"ACK | Command:{data.get('command', '-')} | "
+                f"Result:{data.get('result', '-')} | "
+                f"Message:{data.get('message', '-')}"
+            )
+            return
+
+        if "s" not in data:
+            print(f"未知 JSON 訊息: {data}")
+            return
+
+        position = data.get("p")
+        if isinstance(position, (list, tuple)) and len(position) >= 2:
+            position_text = f"{position[0]}, {position[1]}"
+        else:
+            position_text = "-"
+
+        ypr = data.get("ypr")
+        if isinstance(ypr, (list, tuple)) and len(ypr) >= 3:
+            yaw, pitch, roll = ypr[0], ypr[1], ypr[2]
+        else:
+            yaw, pitch, roll = data.get("y"), None, None
+
+        dop = data.get("d")
+        if isinstance(dop, (list, tuple)) and len(dop) >= 2:
+            dop_text = f"{dop[0]}/{dop[1]}"
+        else:
+            dop_text = "-"
+
+        armed = data.get("a")
+        if armed is None:
+            armed_text = "-"
+        else:
+            armed_text = "ARMED" if bool(armed) else "DISARMED"
+
+        def value_or_dash(value, suffix=""):
+            return f"{value}{suffix}" if value is not None else "-"
+
+        print(
+            f"UAV | ID:{data.get('s', '-')} | "
+            f"Mode:{value_or_dash(data.get('m'))} | "
+            f"Arm:{armed_text} | "
+            f"Battery:{value_or_dash(data.get('b'), '%')} | "
+            f"Position:{position_text} | "
+            f"Height:{value_or_dash(data.get('h'), 'm')} | "
+            f"Velocity:{value_or_dash(data.get('v'), 'm/s')} | "
+            f"Yaw:{value_or_dash(yaw, 'deg')} | "
+            f"Pitch:{value_or_dash(pitch, 'deg')} | "
+            f"Roll:{value_or_dash(roll, 'deg')} | "
+            f"GPS:{value_or_dash(data.get('g'))} | DOP(H/V):{dop_text}"
+        )
+
+    async def send_commands_loop(self, websocket):
+        """從 stdin 讀取按鍵 (輸入後按 Enter) 並發送對應的 JSON 指令"""
+        loop = asyncio.get_event_loop()
+        print("輸入 1 = START, 2 = STOP, 3 = GOTO (然後按 Enter)")
+        while True:
+            # readline 會包含換行
+            try:
+                line = await loop.run_in_executor(None, sys.stdin.readline)
+            except Exception:
+                return
+            if not line:
+                # EOF
+                return
+            cmd = line.strip()
+            if cmd == '1':
+                msg = {"s": self.system_id, "c": "START"}
+            elif cmd == '2':
+                msg = {"s": self.system_id, "c": "STOP"}
+            elif cmd == '3':
+                msg = {
+                    "s": self.system_id,
+                    "c": "GOTO",
+                    "p": list(GOTO_POSITION),
+                }
+            else:
+                print(f"未知指令: {cmd}")
+                continue
+
+            try:
+                await websocket.send(json.dumps(msg))
+                print(f"已發送: {msg}")
+            except Exception as e:
+                print(f"發送失敗: {e}")
+                return
+
+    async def ws_client_loop(self):
+        retry_count = 0
+        max_retries = 5
+        base_delay = 1.0
+        while retry_count < max_retries:
+            try:
+                async with websockets.connect(self.ws_url) as websocket:
+                    print(f"WebSocket connected: {self.ws_url}")
+                    retry_count = 0
+                    # 啟動後台任務來接收 stdin 指令並發送
+                    send_task = asyncio.create_task(self.send_commands_loop(websocket))
+                    try:
+                        async for message in websocket:
+                            # message 已經是 string
+                            self.process_websocket_message(message)
+                    finally:
+                        send_task.cancel()
+                        await asyncio.gather(send_task, return_exceptions=True)
+                            
+            except websockets.exceptions.ConnectionClosedError:
+                print("WebSocket connection closed")
+                break
+            except Exception as e:
+                retry_count += 1
+                delay = base_delay * (2 ** min(retry_count, 4))
+                print(f"WebSocket connection error: {e}, retrying in {delay}s (attempt {retry_count}/{max_retries})")
+                await asyncio.sleep(delay)
+        
+        print("WebSocket client stopped after maximum retries")
+
+    async def start(self):
+        """啟動 WebSocket 客戶端"""
+        await self.ws_client_loop()
+
+if __name__ == "__main__":
+    client = WebSocketClient()
+    asyncio.run(client.start())

src/GUI/websocket_server.py

@@ -0,0 +1,179 @@
+import asyncio
+import websockets
+import json
+from urllib.parse import urlparse
+
+# 可切換為 "essential" 或 "full"；預設廣播完整狀態。
+STATUS_FORMAT = "full"
+SYSTEM_ID = 2
+
+# WebSocket 伺服器位址；修改此參數即可更換監聽 IP/port。
+WS_URL = "ws://0.0.0.0:8765"
+
+
+def parse_ws_url(ws_url):
+    """將 ws://host:port 解析為 websockets.serve 所需參數。"""
+    parsed = urlparse(ws_url)
+    if parsed.scheme != "ws":
+        raise ValueError("WS_URL 必須使用 ws:// 格式")
+    if not parsed.hostname:
+        raise ValueError("WS_URL 缺少主機位址")
+    try:
+        port = parsed.port
+    except ValueError as e:
+        raise ValueError(f"WS_URL port 格式錯誤: {e}") from e
+    if port is None:
+        raise ValueError("WS_URL 缺少 port")
+    return parsed.hostname, port
+
+# 啟動伺服器
+async def main(ws_url=WS_URL):
+    host, port = parse_ws_url(ws_url)
+    async with websockets.serve(client_handler, host, port):
+        print(f"WebSocket server started at {ws_url}")
+        await asyncio.Future()  # run forever
+
+# 模擬資料
+def get_uav_status(status_format=None):
+    status_format = status_format or STATUS_FORMAT
+    essential_status = {
+        "s": SYSTEM_ID,                 # system ID
+        "m": "GUIDED",                  # mode
+        "b": 78,                        # battery (%)
+        "p": [24.1199660, 120.677230],  # [lat, lon] (deg)
+        "y": 178.5,                     # yaw (deg)
+    }
+
+    full_status = {
+        "s": SYSTEM_ID,                 # system ID
+        "m": "GUIDED",                  # mode
+        "a": 1,                         # 1=armed, 0=disarmed
+        "b": 78,                        # battery (%)
+        "h": 12.3,                      # height (m)
+        "v": 4.2,                       # velocity (m/s)
+        "p": [24.1199660, 120.677230],  # [lat, lon] (deg)
+        "ypr": [178.5, -0.1, 0.0],      # yaw, pitch, roll (deg)
+        "g": 3,                         # GPS fix type
+        "d": [0.8, 1.2],                # HDOP, VDOP
+    }
+
+    if status_format == "essential":
+        return essential_status
+    if status_format == "full":
+        return full_status
+    raise ValueError(
+        f"不支援的 STATUS_FORMAT: {status_format}，請使用 essential 或 full")
+
+# 處理 client 傳來的訊息
+async def handle_client_messages(websocket):
+    try:
+        async for message in websocket:
+            try:
+                data = json.loads(message)
+                print(f"Received from client: {data}")
+                system_id = data.get("s")
+                cmd = data.get("c")
+                # XBee 命令格式:
+                # {"s":2,"c":"START"}
+                # {"s":2,"c":"STOP"}
+                # {"s":2,"c":"GOTO","p":[lat,lon]}
+                if system_id is None:
+                    ack = {
+                        "result": "ERROR",
+                        "command": cmd,
+                        "message": "缺少 system_id 欄位 s",
+                    }
+                    await websocket.send(json.dumps(ack, ensure_ascii=False))
+                    print(f"Sent ack: {ack}")
+                elif (isinstance(system_id, bool)
+                      or not isinstance(system_id, int)
+                      or system_id != SYSTEM_ID):
+                    ack = {
+                        "result": "ERROR",
+                        "command": cmd,
+                        "message": (
+                            f"指令目標 system_id={system_id} 不符，"
+                            f"本 UAV system_id={SYSTEM_ID}"
+                        ),
+                    }
+                    await websocket.send(json.dumps(ack, ensure_ascii=False))
+                    print(f"Sent ack: {ack}")
+                elif isinstance(cmd, str) and cmd in {"START", "STOP", "GOTO"}:
+                    if cmd == "START":
+                        print(f"收到 START 指令: system_id={system_id}")
+                        ack = {
+                            "result": "SUCCESS",
+                            "command": cmd,
+                            "message": "已接收 START 指令",
+                        }
+                    elif cmd == "STOP":
+                        print(f"收到 STOP 指令: system_id={system_id}")
+                        ack = {
+                            "result": "SUCCESS",
+                            "command": cmd,
+                            "message": "已接收 STOP 指令",
+                        }
+                    elif cmd == "GOTO":
+                        position = data.get("p")
+                        if isinstance(position, (list, tuple)) and len(position) >= 2:
+                            lat, lon = position[0], position[1]
+                            print(
+                                f"收到 GOTO 指令: system_id={system_id}, "
+                                f"lat={lat}, lon={lon}"
+                            )
+                            ack = {
+                                "result": "SUCCESS",
+                                "command": cmd,
+                                "message": "已接收 GOTO 指令",
+                            }
+                        else:
+                            print("GOTO 指令缺少位置 p=[lat,lon]")
+                            ack = {
+                                "result": "ERROR",
+                                "command": cmd,
+                                "message": "GOTO 指令缺少位置 p=[lat,lon]",
+                            }
+
+                    await websocket.send(json.dumps(ack, ensure_ascii=False))
+                    print(f"Sent ack: {ack}")
+                else:
+                    ack = {
+                        "result": "ERROR",
+                        "command": cmd,
+                        "message": "指令 c 必須為大寫 START、STOP 或 GOTO",
+                    }
+                    await websocket.send(json.dumps(ack, ensure_ascii=False))
+                    print(f"Sent ack: {ack}")
+            except json.JSONDecodeError:
+                print("❌ JSON 格式錯誤")
+    except websockets.ConnectionClosed:
+        print("❌ Client connection closed while receiving")
+
+# 持續廣播 UAV 資訊
+async def broadcast_uav_status(websocket):
+    try:
+        while True:
+            msg = get_uav_status()
+            await websocket.send(json.dumps(msg))
+            await asyncio.sleep(1)  # 每秒發送一次
+    except websockets.ConnectionClosed:
+        print("❌ Client connection closed while sending")
+
+# 每個 client 的處理流程
+async def client_handler(websocket, path=None):
+    print(f"🔗 Client connected: {websocket.remote_address}")
+    receive_task = asyncio.create_task(handle_client_messages(websocket))
+    send_task = asyncio.create_task(broadcast_uav_status(websocket))
+
+    done, pending = await asyncio.wait(
+        [receive_task, send_task],
+        return_when=asyncio.FIRST_COMPLETED,
+    )
+
+    for task in pending:
+        task.cancel()
+
+    print(f"🔌 Client disconnected: {websocket.remote_address}")
+
+if __name__ == "__main__":
+    asyncio.run(main(WS_URL))

src/GUI/xbee_gcs.py

@@ -0,0 +1,127 @@
+import serial
+import json
+import threading
+import time
+from pynput import keyboard
+
+SYSTEM_ID = 2
+
+try:
+    ser = serial.Serial('/dev/ttyUSB1', 115200, timeout=0.1) 
+    print("XBee 地面站啟動")
+    print("[1] START  [2] STOP  [3] GOTO  [Esc] 退出程式")
+except Exception as e:
+    print(f"無法開啟序列埠: {e}")
+    exit()
+
+GPS_TYPE_LABELS = {
+    0: "no GPS",
+    1: "no fix",
+    2: "2D",
+    3: "3D",
+    4: "DGPS",
+    5: "RTK float",
+    6: "RTK fixed",
+}
+
+def format_uav_data(uav_data):
+    system_id = uav_data.get("s", "?")
+    mode = uav_data.get("m", "?")
+    battery = uav_data.get("b", "?")
+    position = uav_data.get("p", "?")
+
+    parts = [
+        f"[UAV] ID:{system_id}",
+        f"Mode:{mode}",
+        f"Bat:{battery}%",
+        f"Pos:{position}",
+    ]
+
+    if "a" in uav_data:
+        armed_text = "ARMED" if int(uav_data.get("a", 0)) == 1 else "DISARMED"
+        parts.append(f"Arm:{armed_text}")
+
+    ypr = uav_data.get("ypr")
+    if isinstance(ypr, list) and len(ypr) >= 3:
+        parts.append(f"Height:{uav_data.get('h', '?')}m")
+        parts.append(f"Yaw:{ypr[0]}deg")
+        parts.append(f"Pitch:{ypr[1]}deg")
+        parts.append(f"Roll:{ypr[2]}deg")
+    elif "y" in uav_data:
+        parts.append(f"Height:{uav_data.get('h', '?')}m")
+        parts.append(f"Yaw:{uav_data.get('y')}deg")
+    elif "h" in uav_data:
+        parts.append(f"Heading:{uav_data.get('h')}")
+
+    if "v" in uav_data:
+        parts.append(f"Vel:{uav_data.get('v')}m/s")
+
+    if "g" in uav_data:
+        gps_type = uav_data.get("g")
+        parts.append(f"GPS:{gps_type}({GPS_TYPE_LABELS.get(gps_type, 'unknown')})")
+
+    dop = uav_data.get("d")
+    if isinstance(dop, list) and len(dop) >= 2:
+        parts.append(f"DOP(H/V):{dop[0]}/{dop[1]}")
+
+    return " | ".join(parts)
+
+def receive_thread():
+    while True:
+        try:
+            if ser.in_waiting > 0:
+                line = ser.readline().decode('utf-8', errors='ignore').strip()
+                if line:
+                    try:
+                        data = json.loads(line)
+                        # 判斷是確認訊息（ack）還是 UAV 狀態
+                        if "result" in data and "command" in data and "message" in data:
+                            # 這是確認訊息
+                            result = data.get("result")
+                            cmd = data.get("command")
+                            msg = data.get("message")
+                            print(f"\n[確認] 命令:{cmd} 狀態:{result} 訊息:{msg}", flush=True)
+                        else:
+                            # 這是 UAV 狀態訊息
+                            print(format_uav_data(data), flush=True)
+                    except json.JSONDecodeError:
+                        pass 
+        except Exception as e:
+            print(f"\n[接收錯誤] {e}")
+        time.sleep(0.01)
+
+t = threading.Thread(target=receive_thread, daemon=True)
+t.start()
+
+def send_command(command, position=None):
+    try:
+        if command not in {"START", "STOP", "GOTO"}:
+            raise ValueError("指令必須為大寫 START、STOP 或 GOTO")
+        cmd = {
+            "s": SYSTEM_ID,
+            "c": command
+        }
+        if position is not None:
+            cmd["p"] = position
+
+        payload = json.dumps(cmd, separators=(',', ':')) + "\n"
+        ser.write(payload.encode('utf-8'))
+        print(f"\n>> [指令已發送] {payload.strip()}")
+    except Exception as e:
+        print(f"\n發送失敗: {e}")
+
+def on_press(key):
+    try:
+        if key.char == "1":
+            send_command("START")
+        elif key.char == "2":
+            send_command("STOP")
+        elif key.char == "3":
+            send_command("GOTO", [24.1199660, 120.677230])
+    except AttributeError:
+        if key == keyboard.Key.esc:
+            print("\n程式結束")
+            return False
+
+with keyboard.Listener(on_press=on_press) as listener:
+    listener.join()

src/GUI/xbee_uav.py

@@ -0,0 +1,141 @@
+import serial
+import json
+import math
+import time
+
+PORT = '/dev/ttyUSB0'  # 替換為實際的序列埠名稱
+BAUD_RATE = 115200
+SYSTEM_ID = 2
+
+# 可切換為 "essential" 或 "full"；預設發送完整狀態。
+STATUS_FORMAT = "full"
+
+try:
+    ser = serial.Serial(PORT, BAUD_RATE, timeout=0.1)
+    print("XBee 無人機啟動...")
+except Exception as e:
+    print(f"無法開啟序列埠: {e}")
+    exit()
+
+def get_uav_status(status_format=None):
+    status_format = status_format or STATUS_FORMAT
+    essential_status = {
+        "s": SYSTEM_ID,                 # system ID
+        "m": "GUIDED",                  # mode
+        "b": 78,                        # battery (%)
+        "p": [24.1199660, 120.677230],  # [lat, lon] (deg)
+        "y": 178.5,                     # yaw (deg)
+    }
+    full_status = {
+        "s": SYSTEM_ID,                 # system ID
+        "m": "GUIDED",                  # mode
+        "a": 1,                         # 1=armed, 0=disarmed
+        "b": 78,                        # battery (%)
+        "h": 12.3,                      # height (m)
+        "v": 4.2,                       # velocity (m/s)
+        "p": [24.1199660, 120.677230],  # position: [lat, lon] (deg)
+        "ypr": [178.5, -0.1, 0.0],      # yaw, pitch, roll (deg)
+        "g": 3,                         # GPS type {0: no GPS, 1: no fix, 2: 2D, 3: 3D, 4: DGPS, 5: RTK float, 6: RTK fixed}
+        "d": [0.8, 1.2],                # DOP: [hdop, vdop]
+    }
+    if status_format == "essential":
+        return essential_status
+    if status_format == "full":
+        return full_status
+    raise ValueError(
+        f"不支援的 STATUS_FORMAT: {status_format}，請使用 essential 或 full")
+
+def handle_command(cmd_obj):
+    # 統一指令格式: {"s": <int>, "c": "START|STOP|GOTO"}
+    target_s = cmd_obj.get("s")
+    command = cmd_obj.get("c")
+    ack = None
+
+    if (isinstance(target_s, bool)
+            or not isinstance(target_s, int)
+            or target_s != SYSTEM_ID):
+        ack = {
+            "result": "ERROR",
+            "command": command,
+            "message": (
+                f"指令目標 system_id={target_s} 不符，"
+                f"本 UAV system_id={SYSTEM_ID}"
+            ),
+        }
+    elif not isinstance(command, str) or command not in {"START", "STOP", "GOTO"}:
+        print(f"\n[接收指令] 未知或格式錯誤的指令: {command}")
+        ack = {
+            "result": "ERROR",
+            "command": command,
+            "message": "指令 c 必須為大寫 START、STOP 或 GOTO",
+        }
+    elif command == "START":
+        print("\n[接收指令] 開始任務")
+        ack = {"result": "SUCCESS", "command": "START", "message": "成功"}
+    elif command == "STOP":
+        print("\n[接收指令] 停止任務")
+        ack = {"result": "SUCCESS", "command": "STOP", "message": "成功"}
+    elif command == "GOTO":
+        # 優先使用 XBee 格式 p=[lat, lon]，並兼容舊版 lat/lon 欄位。
+        position = cmd_obj.get("p")
+        if isinstance(position, (list, tuple)) and len(position) >= 2:
+            lat, lon = position[0], position[1]
+        else:
+            lat, lon = cmd_obj.get("lat"), cmd_obj.get("lon")
+
+        try:
+            if isinstance(lat, bool) or isinstance(lon, bool):
+                raise ValueError
+            lat = float(lat)
+            lon = float(lon)
+            if not math.isfinite(lat) or not math.isfinite(lon):
+                raise ValueError
+            if not -90.0 <= lat <= 90.0 or not -180.0 <= lon <= 180.0:
+                raise ValueError
+        except (TypeError, ValueError):
+            print("\n[接收指令] GOTO 目標無效，需要有效的 p=[lat,lon]")
+            ack = {
+                "result": "ERROR",
+                "command": "GOTO",
+                "message": "GOTO 指令缺少或包含無效的 p=[lat,lon]",
+            }
+        else:
+            target = [lat, lon]
+            print(f"\n[接收指令] 導航任務 目標位置: {target}")
+            ack = {
+                "result": "SUCCESS",
+                "command": "GOTO",
+                "p": target,
+                "message": "成功",
+            }
+    # 發送回覆（ack）到 GCS via serial
+    if ack is not None:
+        try:
+            payload = json.dumps(ack, ensure_ascii=False) + "\n"
+            ser.write(payload.encode('utf-8'))
+            print(f"已發送回覆: {payload.strip()}")
+        except Exception as e:
+            print(f"發送回覆失敗: {e}")
+
+try:
+    while True:
+        data = get_uav_status()
+        json_payload = json.dumps(data, separators=(',', ':')) + "\n"
+        ser.write(json_payload.encode('utf-8'))
+        print(f"發送狀態: {json_payload.strip()}")
+        for _ in range(10):
+            if ser.in_waiting > 0:
+                try:
+                    cmd_line = ser.readline().decode('utf-8').strip()
+                    if cmd_line:
+                        cmd_obj = json.loads(cmd_line)
+                        handle_command(cmd_obj)
+
+                except json.JSONDecodeError:
+                    pass 
+            time.sleep(0.1)
+
+except KeyboardInterrupt:
+    print("發送停止")
+finally:
+    ser.close()