Ignore logs

.gitignore

@@ -24,3 +24,5 @@ Makefile
 **/*.class
 **/*.pyc
 **/*.pyo
+logs/
+src/logs/

src/GUI/drone_panel.py

@@ -43,12 +43,8 @@ class DronePanel(QWidget):
         # 左側資訊區域
         info_widget = self._create_info_section()
         
-        # 右側控制按鈕區域
-        control_widget = self._create_control_section()
-        
-        # 將 info 和 control 加入內容容器
+        # 將 info 加入內容容器
         content_layout.addWidget(info_widget)
-        content_layout.addWidget(control_widget)
         
         # 將內容容器加入主佈局
         main_layout.addWidget(content_widget)
@@ -205,58 +201,6 @@ class DronePanel(QWidget):
         
         return nav_row
     
-    def _create_control_section(self):
-        """創建控制按鈕區域"""
-        control_widget = QWidget()
-        control_layout = QVBoxLayout(control_widget)
-        control_layout.setContentsMargins(0, 0, 0, 0)
-        control_layout.setSpacing(6)
-        
-        control_widget.setFixedWidth(80)
-        
-        btn_style = """
-	        QPushButton {
-                background-color: #444;
-                color: #DDD;
-                border: none;
-                border-radius: 4px;
-                font-size: 11px;
-            }
-            QPushButton:hover {
-                background-color: #555;
-            }
-        """
-        # 模式切換按鈕
-        mode_btn = QPushButton("切換模式")
-        mode_btn.setStyleSheet(btn_style)
-        mode_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
-        mode_btn.clicked.connect(lambda: self.mode_change_requested.emit(self.drone_id))
-        
-        # 解鎖按鈕
-        arm_btn = QPushButton("解鎖")
-        arm_btn.setStyleSheet(btn_style)
-        arm_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
-        arm_btn.clicked.connect(lambda: self.arm_requested.emit(self.drone_id))
-        
-        # 起飛按鈕
-        takeoff_btn = QPushButton("起飛")
-        takeoff_btn.setStyleSheet(btn_style)
-        takeoff_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
-        takeoff_btn.clicked.connect(lambda: self.takeoff_requested.emit(self.drone_id))
-        
-        # Setpoint 按鈕
-        setpoint_btn = QPushButton("Setpoint")
-        setpoint_btn.setStyleSheet(btn_style)
-        setpoint_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
-        setpoint_btn.clicked.connect(lambda: self.setpoint_requested.emit(self.drone_id))
-        
-        control_layout.addWidget(mode_btn)
-        control_layout.addWidget(arm_btn)
-        control_layout.addWidget(takeoff_btn)
-        control_layout.addWidget(setpoint_btn)
-        
-        return control_widget
-    
     def update_field(self, field, text, color=None):
         """更新指定欄位的值"""
         label = self.findChild(QLabel, f"{self.drone_id}_{field}")

src/GUI/gui.py

@@ -143,16 +143,11 @@ class ControlStationUI(QMainWindow):
         """)
         batch_control_layout.addWidget(batch_title)
 
-        # 上方按鈕區域
-        upper_buttons = QHBoxLayout()
+        # 第一行：全選按鈕
+        first_row = QHBoxLayout()
         select_all_btn = QPushButton("全選")
         select_all_btn.clicked.connect(self.handle_select_all)
-        arm_all_btn = QPushButton("解鎖")
-        arm_all_btn.clicked.connect(self.handle_arm_selected)
-        takeoff_all_btn = QPushButton("起飛")
-        takeoff_all_btn.clicked.connect(self.handle_takeoff_selected)
-        for btn in [select_all_btn, arm_all_btn, takeoff_all_btn]:
-            btn.setStyleSheet("""
+        select_all_btn.setStyleSheet("""
             QPushButton {
                 background-color: #444;
                 color: #DDD;
@@ -163,10 +158,10 @@ class ControlStationUI(QMainWindow):
             }
             QPushButton:hover { background-color: #555; }
         """)
-            upper_buttons.addWidget(btn)
-        upper_buttons.addStretch()
+        first_row.addWidget(select_all_btn)
+        first_row.addStretch()
 
-        # 模式切換區域
+        # 第二行：模式切換
         mode_layout = QHBoxLayout()
         mode_label = QLabel("模式：")
         mode_label.setStyleSheet("color: #DDD; min-width: 40px;")
@@ -197,17 +192,30 @@ class ControlStationUI(QMainWindow):
         mode_layout.addWidget(batch_mode_btn)
         mode_layout.addStretch()
 
-        # 座標輸入區域
-        coord_widget = QWidget()
-        coord_layout = QHBoxLayout(coord_widget)
+        # 第三行：解鎖按鈕
+        third_row = QHBoxLayout()
+        arm_all_btn = QPushButton("解鎖")
+        arm_all_btn.clicked.connect(self.handle_arm_selected)
+        arm_all_btn.setStyleSheet("""
+            QPushButton {
+                background-color: #444;
+                color: #DDD;
+                border: none;
+                padding: 8px 12px;
+                border-radius: 4px;
+                min-width: 80px;
+            }
+            QPushButton:hover { background-color: #555; }
+        """)
+        third_row.addWidget(arm_all_btn)
+        third_row.addStretch()
+
+        # 第四行：高度輸入和起飛按鈕
+        fourth_row = QHBoxLayout()
         
-        self.x_input = QLineEdit()
-        self.y_input = QLineEdit()
         self.z_input = QLineEdit()
-        
-        for input_field in [self.x_input, self.y_input, self.z_input]:
-            input_field.setFixedWidth(60)
-            input_field.setStyleSheet("""
+        self.z_input.setFixedWidth(60)
+        self.z_input.setStyleSheet("""
             QLineEdit {
                 background-color: #333;
                 color: #DDD;
@@ -217,16 +225,9 @@ class ControlStationUI(QMainWindow):
             }
         """)
         
-        coord_layout.addWidget(QLabel("X:", styleSheet="color: #DDD;"))
-        coord_layout.addWidget(self.x_input)
-        coord_layout.addWidget(QLabel("Y:", styleSheet="color: #DDD;"))
-        coord_layout.addWidget(self.y_input)
-        coord_layout.addWidget(QLabel("Z:", styleSheet="color: #DDD;"))
-        coord_layout.addWidget(self.z_input)
-
-        setpoint_btn = QPushButton("Setpoint")
-        setpoint_btn.clicked.connect(self.handle_setpoint_selected)
-        setpoint_btn.setStyleSheet("""
+        takeoff_all_btn = QPushButton("起飛")
+        takeoff_all_btn.clicked.connect(self.handle_takeoff_selected)
+        takeoff_all_btn.setStyleSheet("""
             QPushButton {
                 background-color: #444;
                 color: #DDD;
@@ -238,15 +239,16 @@ class ControlStationUI(QMainWindow):
             QPushButton:hover { background-color: #555; }
         """)
         
-        lower_control = QHBoxLayout()
-        lower_control.addWidget(coord_widget)
-        lower_control.addWidget(setpoint_btn)
-        lower_control.addStretch()
+        fourth_row.addWidget(QLabel("高度:", styleSheet="color: #DDD;"))
+        fourth_row.addWidget(self.z_input)
+        fourth_row.addWidget(takeoff_all_btn)
+        fourth_row.addStretch()
 
         # 組裝批次控制 layout
-        batch_control_layout.addLayout(upper_buttons)
+        batch_control_layout.addLayout(first_row)
         batch_control_layout.addLayout(mode_layout)
-        batch_control_layout.addLayout(lower_control)
+        batch_control_layout.addLayout(third_row)
+        batch_control_layout.addLayout(fourth_row)
 
         # 將批次控制 layout 添加到右側容器
         right_layout.addLayout(batch_control_layout)
@@ -255,6 +257,8 @@ class ControlStationUI(QMainWindow):
         right_layout.addWidget(self.drone_map.get_widget())
         self.drone_map.get_gps_signal().connect(self.handle_map_click)
         self.drone_map.get_drone_clicked_signal().connect(self.handle_drone_clicked)
+        self.drone_map.get_clear_all_drone_selection_signal().connect(self.handle_clear_all_drone_selection)
+        self.drone_map.get_toggle_select_all_drones_signal().connect(self.handle_toggle_select_all_drones)
 
             
         # Add widgets to splitter
@@ -1048,6 +1052,55 @@ class ControlStationUI(QMainWindow):
             # 切換勾選狀態
             checkbox.setChecked(not checkbox.isChecked())
     
+    def handle_clear_all_drone_selection(self):
+        """清除所有無人機的勾選狀態"""
+        print("清除所有無人機選擇")
+        
+        for drone_id in self.drones.keys():
+            checkbox = self.drones[drone_id].get_checkbox()
+            if checkbox:
+                checkbox.blockSignals(True)
+                checkbox.setChecked(False)
+                checkbox.blockSignals(False)
+        
+        # 清除選中集合
+        self.monitor.selected_drones.clear()
+        
+        # 更新所有分組的勾選框狀態
+        for socket_id in self.socket_groups.keys():
+            self.update_group_checkbox_state(socket_id)
+    
+    def handle_toggle_select_all_drones(self):
+        """切換全選/取消全選所有無人機"""
+        # 檢查是否已經全選
+        all_selected = all(self.drones[drone_id].get_checkbox().isChecked() 
+                          for drone_id in self.drones.keys())
+        
+        if all_selected:
+            # 已全選，則取消全選
+            print("取消全選所有無人機")
+            for drone_id in self.drones.keys():
+                checkbox = self.drones[drone_id].get_checkbox()
+                if checkbox:
+                    checkbox.blockSignals(True)
+                    checkbox.setChecked(False)
+                    checkbox.blockSignals(False)
+            self.monitor.selected_drones.clear()
+        else:
+            # 未全選，則全選
+            print("全選所有無人機")
+            for drone_id in self.drones.keys():
+                checkbox = self.drones[drone_id].get_checkbox()
+                if checkbox:
+                    checkbox.blockSignals(True)
+                    checkbox.setChecked(True)
+                    checkbox.blockSignals(False)
+                    self.monitor.selected_drones.add(drone_id)
+        
+        # 更新所有分組的勾選框狀態
+        for socket_id in self.socket_groups.keys():
+            self.update_group_checkbox_state(socket_id)
+    
     def show_planned_waypoints(self):
         """
         顯示規劃的航點（在終端輸出）

src/GUI/map_layout.py

@@ -43,6 +43,14 @@ class DroneMap:
                     top: 10px;
                     right: 10px;
                     z-index: 1000;
+                    background-color: rgba(255, 255, 255, 0.95);
+                    padding: 10px;
+                    border-radius: 6px;
+                    box-shadow: 0 2px 8px rgba(0,0,0,0.3);
+                    display: flex;
+                    flex-direction: column;
+                    gap: 5px;
+                    min-width: 150px;
                 }
                 .map-controls-bottom {
                     position: absolute;
@@ -64,20 +72,6 @@ class DroneMap:
                 .control-button:hover {
                     background-color: #D32F2F;
                 }
-                .map-toggle-button {
-                    padding: 8px 12px;
-                    background-color: #2E7D32;
-                    color: white;
-                    border: none;
-                    border-radius: 4px;
-                    cursor: pointer;
-                    font-size: 13px;
-                    font-weight: bold;
-                    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;
@@ -128,8 +122,7 @@ class DroneMap:
                     margin-bottom: 10px;
                     padding-bottom: 10px;
                     border-bottom: 1px solid #ddd;
-                }
-                .selection-button {
+                }                .selection-button-blue {
                     width: 100%;
                     padding: 8px;
                     background-color: #64B5F6;
@@ -141,11 +134,46 @@ class DroneMap:
                     font-weight: bold;
                     transition: background-color 0.2s;
                 }
-                .selection-button:hover {
+                .selection-button-blue:hover {
                     background-color: #42A5F5;
                 }
-                .selection-button.active {
+                .selection-button-blue.active {
                     background-color: #1976D2;
+                }                .selection-button-blue {
+                    width: 100%;
+                    padding: 8px;
+                    background-color: #64B5F6;
+                    color: white;
+                    border: none;
+                    border-radius: 4px;
+                    cursor: pointer;
+                    font-size: 13px;
+                    font-weight: bold;
+                    transition: background-color 0.2s;
+                }
+                .selection-button-blue:hover {
+                    background-color: #42A5F5;
+                }
+                .selection-button-blue.active {
+                    background-color: #1976D2;
+                }
+                .selection-button {
+                    width: 100%;
+                    padding: 8px;
+                    background-color: #F44336;
+                    color: white;
+                    border: none;
+                    border-radius: 4px;
+                    cursor: pointer;
+                    font-size: 13px;
+                    font-weight: bold;
+                    transition: background-color 0.2s;
+                }
+                .selection-button:hover {
+                    background-color: #D32F2F;
+                }
+                .selection-button.active {
+                    background-color: #C62828;
                 }
             </style>
             </head>
@@ -153,15 +181,13 @@ class DroneMap:
             <div id="map"></div>
             <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>
+                <button class="selection-button" id="select-rect-btn" onclick="toggleRectSelection()">框選方形區域</button>
+                <button class="selection-button" id="select-polygon-btn" onclick="togglePolygonSelection()">多點選擇區域</button>
             </div>
             <div class="mission-info-panel">
                 <div class="selection-buttons">
-                    <button class="selection-button" 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>
+                    <button class="selection-button-blue" onclick="toggleSelectAllDrones()">全選無人機</button>
+                    <button class="selection-button-blue" id="select-drones-btn" onclick="toggleDroneSelection()">框選無人機</button>
                 </div>
                 <div class="mission-info-row">
                     <span class="mission-info-label">中心點: </span>
@@ -172,6 +198,7 @@ class DroneMap:
                     <span class="mission-info-value" id="target-position">未設定</span>
                 </div>
                 <button class="mission-start-button" id="start-mission-btn" onclick="startMission()" disabled>開始任務</button>
+                <button class="mission-start-button" id="pause-mission-btn" onclick="pauseMission()">暫停任務</button>
             </div>
 
             <script>
@@ -193,25 +220,11 @@ class DroneMap:
                     attribution: 'Tiles © Esri'
                 });
                 
-                // 默認使用街道圖
-                var currentLayer = streetLayer;
+                // 默認使用衛星圖
+                var currentLayer = satelliteLayer;
                 currentLayer.addTo(map);
-                var isSatellite = false;
+                var isSatellite = true;
 
-                // 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) {
@@ -229,6 +242,9 @@ class DroneMap:
                 
                 // 地圖拖曳事件（用於矩形選擇）
                 map.on('mousedown', function(e) {
+                    mapDragStarted = false;
+                    clickStartPos = {x: e.originalEvent.clientX, y: e.originalEvent.clientY};
+                    
                     if (selectionMode === 'rect' || selectionMode === 'drones') {
                         isDrawing = true;
                         drawStartPoint = e.latlng;
@@ -238,6 +254,15 @@ class DroneMap:
                 });
                 
                 map.on('mousemove', function(e) {
+                    // 檢測地圖拖移
+                    if (clickStartPos && !selectionMode) {
+                        var dx = Math.abs(e.originalEvent.clientX - clickStartPos.x);
+                        var dy = Math.abs(e.originalEvent.clientY - clickStartPos.y);
+                        if (dx > 5 || dy > 5) {
+                            mapDragStarted = true;
+                        }
+                    }
+                    
                     if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
                         // 更新臨時矩形
                         if (tempRectangle) {
@@ -260,6 +285,12 @@ class DroneMap:
                         finishRectSelection(bounds);
                         drawStartPoint = null;
                     }
+                    
+                    // 重置拖移狀態
+                    clickStartPos = null;
+                    setTimeout(function() {
+                        mapDragStarted = false;
+                    }, 100);
                 });
 
                 function createArrowIcon(color) {
@@ -344,6 +375,8 @@ class DroneMap:
                 var tempRectangle = null;  // 臨時矩形
                 var isDrawing = false;  // 是否正在繪製
                 var drawStartPoint = null;  // 繪製起點
+                var mapDragStarted = false;  // 地圖是否正在拖移
+                var clickStartPos = null;  // 記錄點擊開始位置
                 // ================================================================================
                 
                 // 更新任務信息面板
@@ -375,6 +408,14 @@ class DroneMap:
                 // ================================================================================
                 // 選擇工具函數
                 // ================================================================================
+                function toggleSelectAllDrones() {
+                    // 切換全選/取消全選無人機
+                    if (bridge) {
+                        bridge.toggleSelectAllDrones();
+                        console.log('切換全選無人機');
+                    }
+                }
+                
                 function toggleDroneSelection() {
                     clearSelectionMode();
                     if (selectionMode === 'drones') {
@@ -506,7 +547,11 @@ class DroneMap:
                     }
                     
                     if (selectionMode === 'drones') {
-                        // 框選無人機模式
+                        // 框選無人機模式：先清除全選
+                        if (bridge) {
+                            bridge.clearAllDroneSelection();
+                        }
+                        
                         Object.keys(markers).forEach(droneId => {
                             var pos = markers[droneId].getLatLng();
                             if (bounds.contains(pos)) {
@@ -578,6 +623,14 @@ class DroneMap:
                         console.log('開始任務:', centerPosition, targetPosition);
                     }
                 }
+                
+                // 暫停任務
+                function pauseMission() {
+                    if (bridge) {
+                        bridge.pauseMissionSignal();
+                        console.log('暫停任務');
+                    }
+                }
                 // ================================================================================
 
                 function initTrajectory(id) {
@@ -642,6 +695,9 @@ class DroneMap:
                             rotationOrigin: 'center'
                         })
                         .on('click', function () {
+                            if (mapDragStarted) {
+                                return;  // 如果是拖移地圖，不處理點擊
+                            }
                             if (bridge) {
                                 bridge.emitDroneClicked(id);
                             }
@@ -654,6 +710,9 @@ class DroneMap:
                             zIndexOffset: 1000
                         })
                         .on('click', function() {
+                            if (mapDragStarted) {
+                                return;  // 如果是拖移地圖，不處理點擊
+                            }
                             if (bridge) {
                                 bridge.emitDroneClicked(id);
                             }
@@ -662,7 +721,8 @@ class DroneMap:
                         .addTo(map);
 
                         if (!initialized || id < focusedId) {
-                            focusOn(id);
+                            focusedId = id;
+                            map.setView([lat, lon], 19);  // 第一台無人機：重置並放大到最大
                             initialized = true;
                         }
                     }
@@ -741,18 +801,6 @@ class DroneMap:
                         zIndexOffset: 2000
                     }).addTo(missionPlanGroup);
                     
-                    // 繪製中心點到目標點的虛線
-                    missionLine = L.polyline(
-                        [[centerLat, centerLon], [targetLat, targetLon]], 
-                        {
-                            color: '#FF4444',
-                            weight: 3,
-                            opacity: 0.8,
-                            dashArray: '10, 10',  // 虛線樣式
-                            smoothFactor: 1
-                        }
-                    ).addTo(missionPlanGroup);
-                    
                     console.log('任務規劃已繪製: C(' + centerLat + ', ' + centerLon + ') -> T(' + targetLat + ', ' + targetLon + ')');
                 }
                 
@@ -769,12 +817,6 @@ class DroneMap:
                         targetMarker = null;
                     }
                     
-                    // 清除任務線
-                    if (missionLine) {
-                        missionPlanGroup.removeLayer(missionLine);
-                        missionLine = null;
-                    }
-                    
                     // 清除位置資訊
                     centerPosition = null;
                     targetPosition = null;
@@ -871,10 +913,26 @@ class DroneMap:
         """獲取無人機點擊信號"""
         return self.bridge.drone_clicked
     
+    def get_clear_all_drone_selection_signal(self):
+        """獲取清除所有無人機選擇信號"""
+        return self.bridge.clear_all_drone_selection
+    
+    def get_toggle_select_all_drones_signal(self):
+        """獲取切換全選所有無人機信號"""
+        return self.bridge.select_all_drones
+    
+    def get_select_all_drones_signal(self):
+        """獲取全選所有無人機信號"""
+        return self.bridge.select_all_drones
+    
     def get_start_mission_signal(self):
         """獲取開始任務信號"""
         return self.bridge.start_mission_signal
     
+    def get_pause_mission_signal(self):
+        """獲取暫停任務信號"""
+        return self.bridge.pause_mission_signal
+    
     def get_rectangle_selected_signal(self):
         """獲取矩形選擇信號"""
         return self.bridge.rectangle_selected
@@ -887,7 +945,10 @@ class MapBridge(QObject):
     """JavaScript 和 Python 之間的橋接類"""
     gps_signal = pyqtSignal(float, float)  # lat, lon
     drone_clicked = pyqtSignal(str)  # drone_id
+    clear_all_drone_selection = pyqtSignal()  # clear all drone selection
+    select_all_drones = pyqtSignal()  # select all drones
     start_mission_signal = pyqtSignal(float, float, float, float)  # center_lat, center_lon, target_lat, target_lon
+    pause_mission_signal = pyqtSignal()  # pause mission
     rectangle_selected = pyqtSignal(str)  # JSON string of rectangle points
     polygon_selected = pyqtSignal(str)  # JSON string of polygon points
     
@@ -904,12 +965,30 @@ class MapBridge(QObject):
         """供 JavaScript 調用的方法 - 當無人機被點擊時"""
         self.drone_clicked.emit(drone_id)
     
+    @pyqtSlot()
+    def clearAllDroneSelection(self):
+        """供 JavaScript 調用的方法 - 清除所有無人機選擇"""
+        self.clear_all_drone_selection.emit()
+        print("🗑️ 清除所有無人機選擇")
+    
+    @pyqtSlot()
+    def toggleSelectAllDrones(self):
+        """供 JavaScript 調用的方法 - 切換全選/取消全選所有無人機"""
+        self.select_all_drones.emit()
+        print("🔄 切換全選無人機")
+    
     @pyqtSlot(float, float, float, float)
     def startMissionSignal(self, center_lat, center_lon, target_lat, target_lon):
         """供 JavaScript 調用的方法 - 開始任務"""
         self.start_mission_signal.emit(center_lat, center_lon, target_lat, target_lon)
         print(f"🚀 開始任務信號已發出: C({center_lat}, {center_lon}) -> T({target_lat}, {target_lon})")
     
+    @pyqtSlot()
+    def pauseMissionSignal(self):
+        """供 JavaScript 調用的方法 - 暫停任務"""
+        self.pause_mission_signal.emit()
+        print("⏸️ 暫停任務信號已發出")
+    
     @pyqtSlot(str)
     def rectangleSelected(self, points_json):
         """供 JavaScript 調用的方法 - 矩形選擇完成"""