Update GUI 2.5.0: Drone reboot

src/GUI/communication.py

@@ -1065,6 +1065,39 @@ class DroneMonitor(Node):
             traceback.print_exc()
             return False
 
+    async def reboot_drone(self, drone_id):
+        """使用 CommandLongClient 執行飛控重啟。"""
+        try:
+            parts = drone_id.split('_')
+            if len(parts) < 2:
+                _log("ERROR", f"[REBOOT] 無效的 drone_id 格式: {drone_id}")
+                return False
+            sysid = int(parts[-1])
+
+            _log("INFO", f"[REBOOT] {drone_id} -> 飛控重啟")
+
+            client = self.get_or_create_client(drone_id)
+            if not client:
+                _log("ERROR", "[REBOOT] CommandLongClient 無法初始化")
+                return False
+
+            result = await client.reboot_autopilot_async(
+                target_sysid=sysid,
+                target_compid=0,
+                timeout_sec=5.0,
+            )
+
+            if result and result.success:
+                _log("INFO", f"[REBOOT] {drone_id} 重啟命令已送出")
+                return True
+
+            _log("ERROR", f"[REBOOT] 重啟失敗 (message={result.message if result else 'None'})")
+            return False
+        except Exception as e:
+            _log("ERROR", f"[REBOOT] 例外錯誤: {e}")
+            traceback.print_exc()
+            return False
+
     def send_setpoint(self, drone_id, x, y, z):
         """Send setpoint position command"""
         if drone_id not in self.setpoint_pubs:

src/GUI/gui.py

@@ -4,7 +4,8 @@ from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout
                             QWidget, QLabel, QSplitter, QScrollArea,
                             QSizePolicy, QTabWidget, QTableWidget, QTableWidgetItem,
                             QHeaderView, QPushButton, QCheckBox, QLineEdit,
-                            QComboBox, QDialog, QPlainTextEdit, QSlider)
+                            QComboBox, QDialog, QPlainTextEdit, QSlider,
+                            QMessageBox)
 from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal, QEvent, QPropertyAnimation, pyqtProperty, QEasingCurve
 from PyQt6.QtGui import QColor, QFont, QPainter, QPen
 import sys
@@ -147,7 +148,7 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.4.1'
+    VERSION = '2.5.0'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
@@ -1102,6 +1103,7 @@ class ControlStationUI(QMainWindow):
         panel.mode_change_requested.connect(self._handle_group_mode_change)
         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.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)
@@ -1426,6 +1428,39 @@ class ControlStationUI(QMainWindow):
             future = self.monitor.takeoff_drone(drone_id, altitude)
             loop.create_task(self.handle_service_response(future, f"起飛 {drone_id} ({altitude}m)"))
 
+    def _handle_group_reboot(self, group_id):
+        """重啟群組內所有選中的飛控。"""
+        group = self.mission_groups.get(group_id)
+        if not group:
+            _log("WARN", f"找不到群組: {group_id}")
+            return
+
+        selected = list(group.selected_drone_ids)
+        if not selected:
+            self.statusBar().showMessage(f"群組 {group_id} 中沒有無人機", 3000)
+            return
+
+        reply = QMessageBox.warning(
+            self,
+            "確認重啟飛控",
+            f"即將透過 command long 重啟 Group {group_id} 的 {len(selected)} 台飛控：\n"
+            f"{', '.join(selected)}\n\n"
+            "這會中斷飛控連線，請確認無人機已在安全狀態。",
+            QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No,
+            QMessageBox.StandardButton.No,
+        )
+        if reply != QMessageBox.StandardButton.Yes:
+            _log("WARN", f"Group {group_id} 飛控重啟已取消")
+            return
+
+        _log("INFO", f"Group {group_id} 批次重啟飛控: {', '.join(selected)}")
+        self.statusBar().showMessage(f"Group {group_id}: 正在送出重啟命令", 3000)
+
+        loop = asyncio.get_event_loop()
+        for drone_id in selected:
+            future = self.monitor.reboot_drone(drone_id)
+            loop.create_task(self.handle_service_response(future, f"重啟飛控 {drone_id}"))
+
     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

src/GUI/map_layout.py

@@ -369,6 +369,16 @@ class DroneMap:
                 var drawStartPoint = null;
                 var mapDragStarted = false;
                 var clickStartPos = null;
+                var lastManualMapMoveAt = 0;
+                var autoCenteringMap = false;
+
+                function markManualMapMove() {
+                    if (!autoCenteringMap) {
+                        lastManualMapMoveAt = Date.now();
+                    }
+                }
+
+                map.on('dragstart drag dragend zoomstart zoomend', markManualMapMove);
                 
                 // 路徑標記變量 (跟隨模式用)
                 var routePoints = [];
@@ -715,13 +725,20 @@ class DroneMap:
                     if (!markers[id]) return;
                     focusedId = id;
                     var latlng = markers[id].getLatLng();
+                    autoCenteringMap = true;
                     map.flyTo(latlng, map.getZoom());
+                    setTimeout(() => { autoCenteringMap = false; }, 500);
                 }
 
                 setInterval(() => {
                     if (focusedId && markers[focusedId]) {
+                        if (Date.now() - lastManualMapMoveAt < 1000) {
+                            return;
+                        }
                         var latlng = markers[focusedId].getLatLng();
+                        autoCenteringMap = true;
                         map.panTo(latlng);
+                        setTimeout(() => { autoCenteringMap = false; }, 300);
                     }
                 }, 1000);
 

src/GUI/mission_group.py

@@ -156,6 +156,7 @@ class GroupPanel(QWidget):
     mode_change_requested = pyqtSignal(str, str)       # group_id, mode
     arm_requested = pyqtSignal(str)                    # group_id
     takeoff_requested = pyqtSignal(str, float)         # group_id, altitude
+    reboot_requested = pyqtSignal(str)                 # group_id
     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
@@ -370,6 +371,23 @@ class GroupPanel(QWidget):
 
         right.addStretch()
 
+        # ============================
+        # 飛控操作
+        # ============================
+        reboot_col = QVBoxLayout()
+        reboot_col.setSpacing(3)
+
+        reboot_title = QLabel("飛控操作")
+        reboot_title.setStyleSheet(TITLE)
+        reboot_col.addWidget(reboot_title)
+
+        reboot_btn = QPushButton("重啟飛控")
+        reboot_btn.setStyleSheet(BTN.format(bg='#8A3A3A', fg='#FFF', hover='#A84646'))
+        reboot_btn.clicked.connect(
+            lambda: self.reboot_requested.emit(self.group.group_id))
+        reboot_col.addWidget(reboot_btn)
+        reboot_col.addStretch()
+
         # ============================
         # 第四欄：任務參數
         # ============================
@@ -453,7 +471,7 @@ 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)
 
-        # ── 組裝四欄：控制指令 > 任務規劃 > 任務參數 > 選取與分組 ──
+        # ── 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 ──
         # 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())
@@ -462,7 +480,9 @@ class GroupPanel(QWidget):
         cols.addLayout(param_col, 0)
         cols.addWidget(self._make_sep())
         cols.addLayout(right, 0)
-        cols.addStretch()  # 填充剩餘空間，使四列置左
+        cols.addWidget(self._make_sep())
+        cols.addLayout(reboot_col, 0)
+        cols.addStretch()  # 填充剩餘空間，使欄位置左
 
         layout.addLayout(cols)
 

src/fc_network_apps/longCommand.py

@@ -14,6 +14,7 @@ from fc_interfaces.srv import MavCommandLong
 COMMAND_DO_SET_MODE = 176
 COMMAND_NAV_LAND = 21
 COMMAND_NAV_TAKEOFF = 22
+COMMAND_PREFLIGHT_REBOOT_SHUTDOWN = 246
 COMMAND_COMPONENT_ARM_DISARM = 400
 
 DEFAULT_SERVICE_NAME = "/fc_network/vehicle/send_command_long"
@@ -191,6 +192,28 @@ class CommandLongClient(Node):
             timeout_sec=timeout_sec,
         )
 
+    def reboot_autopilot(
+        self,
+        *,
+        target_sysid: int,
+        target_compid: int = 0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        return self._send_command_long(
+            target_sysid=target_sysid,
+            target_compid=target_compid,
+            command=COMMAND_PREFLIGHT_REBOOT_SHUTDOWN,
+            confirmation=0,
+            param1=1.0,
+            param2=0.0,
+            param3=0.0,
+            param4=0.0,
+            param5=0.0,
+            param6=0.0,
+            param7=0.0,
+            timeout_sec=timeout_sec,
+        )
+
     # ============================================================================
     # 【新增】非阻塞 async 包裝方法（用於 GUI 的非阻塞調用）
     # 這些方法在 ThreadPoolExecutor 中運行同步版本，以避免阻塞事件循環
@@ -353,6 +376,29 @@ class CommandLongClient(Node):
             timeout_sec=timeout_sec,
         )
 
+    async def reboot_autopilot_async(
+        self,
+        *,
+        target_sysid: int,
+        target_compid: int = 0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 autopilot reboot."""
+        return await self._send_command_long_async(
+            target_sysid=target_sysid,
+            target_compid=target_compid,
+            command=COMMAND_PREFLIGHT_REBOOT_SHUTDOWN,
+            confirmation=0,
+            param1=1.0,
+            param2=0.0,
+            param3=0.0,
+            param4=0.0,
+            param5=0.0,
+            param6=0.0,
+            param7=0.0,
+            timeout_sec=timeout_sec,
+        )
+
     async def land_async(
         self,
         *,