Upload files to 'src/GUI'

src/GUI/communication.py

@@ -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,
+                    'airspeed': msg.airspeed,
-                    'groundspeed': groundspeed
+                    '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,
+                    'airspeed': msg.airspeed,
-                    'groundspeed': groundspeed
+                    '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')
+            system_id = data.get('system_id')
-            drone_id = f"s9_{drone_id}" if drone_id else None
+            if not system_id:
-            if not drone_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
+                found_drones.add(sys_id)
-                drone_num = sys_id.replace('sys', '')
-                drone_id = f's0_{drone_num}'
-                found_drones.add(drone_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:
+        for sys_id in found_drones:
-            if not hasattr(self, f'drone_{drone_id}_subs'):
+            # 為每個 sys_id 分配 socket_id（如果還沒有分配）
-                self.setup_drone(drone_id)
+            # 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):
+            if not hasattr(self, f'drone_{sys_id}_subs'):
-        # 從 s0_11 轉換回 sys11 格式
+                self.setup_drone(sys_id)
-        sys_id = drone_id.replace('s0_', 'sys')
+    
+    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
+            # 從 summary 獲取原始 socket_id，並映射到分配的 socket_id
-            socket_id = data.get('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:
+            if sysid is not None:
-                # 使用 socket_id 作為前綴
+                actual_drone_id = f's{assigned_socket_id}_{sysid}'
-                actual_drone_id = f's{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_id] = actual_drone_id
-                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
                 # ================================================================================
             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/gui.py

@@ -276,7 +276,7 @@ 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 +299,7 @@ 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
@@ -845,10 +845,13 @@ 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)
+        match = re.match(r's(\d+)_(\d+)', drone_id)
-        return match.group(1) if match else 'unknown'
+        if not match:
+            return 'unknown'
+        
+        return match.group(1)
 
     def add_drone(self, drone_id):
         if drone_id in self.drones:

src/GUI/map_layout.py

@@ -32,15 +32,27 @@ 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;
                 }
+                .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;
@@ -49,7 +61,88 @@ class DroneMap:
                     box-shadow: 0 2px 5px rgba(0,0,0,0.2);
                 }
                 .control-button:hover {
-                    background-color: #d32f2f;
+                    background-color: #D32F2F;
+                }
+                .map-toggle-button {
+                    padding: 8px 12px;
+                    background-color: #2E7D32;
+                    color: white;
+                    border: none;
+                    border-radius: 4px;
+                    cursor: pointer;
+                    font-size: 12px;
+                    box-shadow: 0 2px 5px rgba(0,0,0,0.2);
+                }
+                .map-toggle-button:hover {
+                    background-color: #1B5E20;
+                }
+                .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: 250px;
+                }
+                .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 {
+                    width: 100%;
+                    padding: 8px;
+                    background-color: #64B5F6;
+                    color: white;
+                    border: none;
+                    border-radius: 4px;
+                    cursor: pointer;
+                    font-size: 11px;
+                    transition: background-color 0.2s;
+                }
+                .selection-button:hover {
+                    background-color: #42A5F5;
+                }
+                .selection-button.active {
+                    background-color: #1976D2;
                 }
             </style>
             </head>
@@ -58,6 +151,25 @@ class DroneMap:
             <div class="map-controls">
                 <button class="control-button" onclick="clearAllTrajectories()">清除軌跡</button>
             </div>
+            <div class="map-controls-bottom">
+                <button class="map-toggle-button" onclick="toggleMapLayer()">地圖：預設</button>
+            </div>
+            <div class="mission-info-panel">
+                <div class="selection-buttons">
+                    <button class="selection-button" id="select-drones-btn" onclick="toggleDroneSelection()">框選無人機</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-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>
+            </div>
 
             <script>
                 var bridge;
@@ -66,17 +178,84 @@ 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'
+                });
+                
+                // 默認使用街道圖
+                var currentLayer = streetLayer;
+                currentLayer.addTo(map);
+                var isSatellite = false;
+                
+                // 切換地圖圖層函數
+                function toggleMapLayer() {
+                    if (isSatellite) {
+                        map.removeLayer(satelliteLayer);
+                        streetLayer.addTo(map);
+                        isSatellite = false;
+                        document.querySelector('.map-toggle-button').textContent = '地圖：預設';
+                    } else {
+                        map.removeLayer(streetLayer);
+                        satelliteLayer.addTo(map);
+                        isSatellite = true;
+                        document.querySelector('.map-toggle-button').textContent = '地圖：衛星';
+                    }
+                }
 
                 // 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) {
+                    if (selectionMode === 'rect' || selectionMode === 'drones') {
+                        isDrawing = true;
+                        drawStartPoint = e.latlng;
+                        L.DomEvent.preventDefault(e.originalEvent);
+                        L.DomEvent.stopPropagation(e);
+                    }
+                });
+                
+                map.on('mousemove', function(e) {
+                    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: 0.2
+                        }).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;
+                    }
                 });
 
                 function createArrowIcon(color) {
@@ -150,6 +329,251 @@ 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
+                // ================================================================================
+                
+                // 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 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
+                        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);
+                    }
+                }
                 // ================================================================================
 
                 function initTrajectory(id) {
@@ -256,6 +680,11 @@ 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',
@@ -342,6 +771,11 @@ class DroneMap:
                         missionLine = null;
                     }
                     
+                    // 清除位置資訊
+                    centerPosition = null;
+                    targetPosition = null;
+                    updateMissionInfo();
+                    
                     console.log('任務規劃已清除');
                 }
                 // ================================================================================
@@ -433,10 +867,25 @@ class DroneMap:
         """獲取無人機點擊信號"""
         return self.bridge.drone_clicked
     
+    def get_start_mission_signal(self):
+        """獲取開始任務信號"""
+        return self.bridge.start_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
+    start_mission_signal = pyqtSignal(float, float, float, float)  # center_lat, center_lon, target_lat, target_lon
+    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 +899,21 @@ 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(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(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}")