2.8.1

src/GUI/gui.py

@@ -1318,6 +1318,7 @@ class ControlStationUI(QMainWindow):
         """切換 group tab — 只需切換 active group 並刷新 UI"""
         if index < 0:
             self.active_group_id = None
+            self._sync_map_follow_for_active_group()
             return
 
         tab_text = self.group_tab_widget.tabText(index)
@@ -1345,6 +1346,13 @@ class ControlStationUI(QMainWindow):
         group = self._get_active_group()
         selected = group.selected_drone_ids if group else set()
         current_group_id = group.group_id if group else None
+        selection_history = getattr(
+            self, '_last_map_selection_by_group', {})
+        previous_selected = selection_history.get(current_group_id, set())
+        newly_selected = set(selected) - set(previous_selected)
+        if current_group_id is not None:
+            selection_history[current_group_id] = set(selected)
+        self._last_map_selection_by_group = selection_history
 
         # 左側 drone checkbox
         for drone_id, panel in self.drones.items():
@@ -1372,6 +1380,23 @@ class ControlStationUI(QMainWindow):
                 panel.update_status()
 
         self._sync_map_group_colors()
+        self._sync_map_follow_for_active_group()
+        if newly_selected:
+            # 選取 UAV 時移動到該機目前位置；非任務狀態只移動一次。
+            self.drone_map.focus_on_drone(sorted(newly_selected)[0])
+
+    def _sync_map_follow_for_active_group(self):
+        """只在 active group 的任務執行中啟用地圖 UAV 跟隨。"""
+        group = self._get_active_group()
+        running = bool(
+            group is not None
+            and group.executor is not None
+            and group.executor.state == MissionState.RUNNING
+        )
+        preferred_drone_id = None
+        if running and group.selected_drone_ids:
+            preferred_drone_id = sorted(group.selected_drone_ids)[0]
+        self.drone_map.set_mission_following(running, preferred_drone_id)
 
     def _sync_map_group_colors(self):
         """同步每台 drone 的 group 顏色到地圖箭頭外框。"""
@@ -1538,6 +1563,7 @@ class ControlStationUI(QMainWindow):
                 group.executor.hover_stable_sec = ep.get(
                     'hover_stable_sec', group.executor.hover_stable_sec)
         group.executor.start(group.planned_waypoints)
+        self._sync_map_follow_for_active_group()
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
@@ -1554,6 +1580,7 @@ class ControlStationUI(QMainWindow):
         elif group.executor.state == MissionState.PAUSED:
             group.executor.resume()
             self.statusBar().showMessage(f"Group {group_id}: 任務已恢復", 3000)
+        self._sync_map_follow_for_active_group()
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
@@ -1565,6 +1592,7 @@ class ControlStationUI(QMainWindow):
             return
         if group.executor:
             group.executor.stop()
+        self._sync_map_follow_for_active_group()
         group.planned_waypoints = None
         group.mission_target = None
         self.drone_map.clear_mission_plan_for_group(group_id)
@@ -1917,6 +1945,7 @@ class ControlStationUI(QMainWindow):
 
     def _on_group_mission_completed(self, group_id):
         """群組任務完成回呼"""
+        self._sync_map_follow_for_active_group()
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_status()
@@ -2257,6 +2286,9 @@ class ControlStationUI(QMainWindow):
             self.statusBar().showMessage("請先建立任務群組", 3000)
             return
 
+        # 不論後續是否能進行任務規劃，都先記錄最新點擊的目標點。
+        group.mission_target = (float(lat), float(lon))
+
         mode_map = {
             'M_FORMATION': MissionType.M_FORMATION,
             'CIRCLE_FORMATION': MissionType.CIRCLE_FORMATION,
@@ -2265,9 +2297,6 @@ 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)

src/GUI/map_layout.py

@@ -21,6 +21,8 @@ class DroneMap:
         self.font_scale = 1.0
         self.socket_colors = {}
         self.drone_group_colors = {}
+        self.mission_following_enabled = False
+        self.mission_following_drone_id = None
         
         # 創建橋接對象
         self.bridge = MapBridge()
@@ -199,16 +201,18 @@ class DroneMap:
                     bridge = channel.objects.bridge;
                 });
 
-                var map = L.map('map').setView([0, 0], 19); 
+                var map = L.map('map', {maxZoom: 20}).setView([0, 0], 19);
                 
                 // 創建不同的地圖圖層
                 var streetLayer = L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
-                    maxZoom: 19,
+                    maxNativeZoom: 19,
+                    maxZoom: 20,
                     attribution: '© OpenStreetMap contributors'
                 });
                 
                 var satelliteLayer = L.tileLayer('https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}', {
-                    maxZoom: 19,
+                    maxNativeZoom: 19,
+                    maxZoom: 20,
                     attribution: 'Tiles © Esri'
                 });
                 
@@ -217,7 +221,6 @@ class DroneMap:
                 currentLayer.addTo(map);
                 var isSatellite = true;
 
-
                 // 地圖點擊事件
                 map.on('click', function(e) {
                     if (selectionMode === 'polygon') {
@@ -349,6 +352,7 @@ class DroneMap:
                 var socketColors = {};
                 var droneGroupColors = {};
                 var focusedId = null;
+                var missionFollowingEnabled = false;
                 var initialized = false;
                 var trajectoryGroup = L.layerGroup().addTo(map);
 
@@ -767,15 +771,34 @@ class DroneMap:
 
                 function focusOn(id) {
                     if (!markers[id]) return;
-                    focusedId = id;
+                    // 非任務狀態只移動一次；任務執行中才記住焦點持續跟隨。
+                    focusedId = missionFollowingEnabled ? id : null;
                     var latlng = markers[id].getLatLng();
                     autoCenteringMap = true;
                     map.flyTo(latlng, map.getZoom());
                     setTimeout(() => { autoCenteringMap = false; }, 500);
                 }
 
-                setInterval(() => {
+                function setMissionFollowingEnabled(enabled, preferredId) {
+                    missionFollowingEnabled = Boolean(enabled);
+                    if (!missionFollowingEnabled) {
+                        // 非任務狀態不跟隨 UAV 或目標點，保留使用者手動地圖視角。
+                        focusedId = null;
+                        return;
+                    }
+
+                    // 任務已在執行時保留原有焦點；尚無焦點時跟隨指定 UAV。
                     if (focusedId && markers[focusedId]) {
+                        return;
+                    }
+                    if (preferredId && markers[preferredId]) {
+                        focusOn(preferredId);
+                        initialized = true;
+                    }
+                }
+
+                setInterval(() => {
+                    if (missionFollowingEnabled && focusedId && markers[focusedId]) {
                         var latlng = markers[focusedId].getLatLng();
                         autoFollowPanTo(latlng);
                     }
@@ -793,7 +816,7 @@ class DroneMap:
                             .setLatLng([lat, lon])
                             .setRotationAngle(heading);
                         idLabels[id].setLatLng([lat, lon]);
-                        if (id === focusedId) {
+                        if (missionFollowingEnabled && id === focusedId) {
                             autoFollowPanTo(markers[id].getLatLng());
                         }
                     } else {
@@ -813,7 +836,6 @@ class DroneMap:
                             if (bridge) {
                                 bridge.emitDroneClicked(id);
                             }
-                            focusOn(id);
                         })
                         .addTo(map);
 
@@ -828,14 +850,23 @@ class DroneMap:
                             if (bridge) {
                                 bridge.emitDroneClicked(id);
                             }
-                            focusOn(id);
                         })
                         .addTo(map);
 
-                        if (!initialized || id < focusedId) {
+                        if (!initialized) {
+                            // 第一次收到 UAV 位置時只做一次初始置中，
+                            // 非任務狀態不設 focusedId，所以後續不會跟隨。
+                            if (missionFollowingEnabled) {
                                 focusedId = id;
+                            }
+                            autoCenteringMap = true;
                             map.setView([lat, lon], 19);
+                            setTimeout(() => { autoCenteringMap = false; }, 300);
                             initialized = true;
+                        } else if (missionFollowingEnabled &&
+                                   (!focusedId || id < focusedId)) {
+                            focusedId = id;
+                            map.setView([lat, lon], 19);
                         }
                     }
                 }
@@ -975,6 +1006,9 @@ class DroneMap:
             self.set_font_scale(self.font_scale)
             self.set_socket_colors(self.socket_colors)
             self.set_drone_group_colors(self.drone_group_colors)
+            self.set_mission_following(
+                self.mission_following_enabled,
+                self.mission_following_drone_id)
         else:
             _log("ERROR", "地圖載入失敗")
     
@@ -1021,6 +1055,17 @@ class DroneMap:
         if self.map_loaded:
             self.map_view.page().runJavaScript(f"focusOn('{drone_id}');")
 
+    def set_mission_following(self, enabled, preferred_drone_id=None):
+        """只在任務執行中啟用 UAV 自動跟隨。"""
+        self.mission_following_enabled = bool(enabled)
+        self.mission_following_drone_id = preferred_drone_id
+        if self.map_loaded:
+            preferred_json = json.dumps(preferred_drone_id)
+            self.map_view.page().runJavaScript(
+                "setMissionFollowingEnabled("
+                f"{str(self.mission_following_enabled).lower()}, "
+                f"{preferred_json});")
+
     def set_font_scale(self, scale):
         """設定地圖 HTML 控制項的字體倍率。"""
         self.font_scale = scale