Merge branch 'chiyu'

1. serialManager.py - AT command 支援與架構重整
2. mainOrchestrator.py - serial 介面功能開啟

.gitignore

@@ -26,3 +26,9 @@ Makefile
 **/*.pyc
 **/*.pyo
 **/.cursor/
+CLAUDE.md
+
+# 本地筆記與硬體 dump
+my_env_notes.md
+notes/
+**/eeprom.bin

README.md

@@ -1,7 +1,5 @@
 這是天雷系統的專案
 
-
-
 ===
 ## 功能簡介
 1. mavlink 多對多支援平台
@@ -97,8 +95,3 @@ python gui.py
 N. logs 是執行時期的記錄檔
 
 ===
-
-
-
-簡述0328
-主要是透過test_transform這隻程式執行fdm_switch_example_one_with_remote_forwarding這個副函式，透過UDP將封包轉接到Matlab，並在Matlab進行演算法迭代後，打包JSON檔，並再次透過port口傳回封包，傳回來的封包會在close_loop這隻程式被解析，並提取其中有關velocity的資料儲存成變數，以mavlink的方式打入Ardupilot，以實現封閉迴路的構思。

src/GUI/command_sender.py

@@ -3,10 +3,16 @@
 指令發送模組
 負責將目標位置轉成具體的通訊指令發送到飛控
 
-現階段: MavlinkSender (直接 pymavlink 發送)
+目前使用 Ros2CommandSender，經 fc_network_adapter 的
-未來:   替換為 ROS2Sender (發到 ROS2 topic，由 fc_network_adapter 轉發)
+/fc_network/vehicle/pos_global_int service 發送。
+
+MavlinkSender 保留作為直連 SITL 的 fallback 工具，但已不是預設路徑。
 """
+import asyncio
+import traceback
 from abc import ABC, abstractmethod
+
+from PyQt6.QtCore import QObject, pyqtSignal
 from pymavlink import mavutil
 
 
@@ -14,11 +20,12 @@ class CommandSender(ABC):
     """指令發送抽象介面"""
 
     @abstractmethod
-    def send_position_global(self, sysid, lat, lon, alt):
+    def send_position_global(self, drone_id, sysid, lat, lon, alt):
         """
         發送全球座標位置指令
 
         Args:
+            drone_id: GUI 用的 drone 識別字串 (如 's0_11')
             sysid: 目標無人機的 MAVLink system ID
             lat: 緯度 (度)
             lon: 經度 (度)
@@ -58,16 +65,8 @@ class MavlinkSender(CommandSender):
         self.mav = mavutil.mavlink_connection(connection_string)
         print(f"MavlinkSender 已建立連線: {connection_string}")
 
-    def send_position_global(self, sysid, lat, lon, alt):
+    def send_position_global(self, drone_id, sysid, lat, lon, alt):
-        """
+        """發送 SET_POSITION_TARGET_GLOBAL_INT。drone_id 未使用，保留為介面相容。"""
-        發送 SET_POSITION_TARGET_GLOBAL_INT
-
-        注意:
-            - coordinate_frame 使用 MAV_FRAME_GLOBAL_RELATIVE_ALT_INT
-              高度是相對起飛點的高度 (公尺)
-            - 如果 FormationPlanner 產出的 alt 是 AMSL 絕對高度，
-              需要在外部先減去起飛點高度再傳入
-        """
         self.mav.mav.set_position_target_global_int_send(
             0,                          # time_boot_ms (不使用)
             sysid,                      # target_system
@@ -88,3 +87,79 @@ class MavlinkSender(CommandSender):
             self.mav.close()
             self.mav = None
             print("MavlinkSender 已關閉")
+
+
+class Ros2CommandSender(QObject):
+    """
+    透過 fc_network_apps.PositionTargetGlobalIntClient 送 goto 指令。
+
+    設計重點:
+        - send_position_global 是同步介面，立刻回傳。結果透過 send_result signal 回報
+        - 每台 drone 維護自己的 asyncio.Task pipeline，新的目標會 cancel 掉舊的 in-flight
+        - client 由 DroneMonitor.get_or_create_position_client 管理，per-drone 獨立節點
+    """
+
+    # (drone_id, sysid, success, message)
+    send_result = pyqtSignal(str, int, bool, str)
+
+    DEFAULT_TIMEOUT_SEC = 2.0
+
+    def __init__(self, monitor, timeout_sec: float = DEFAULT_TIMEOUT_SEC):
+        super().__init__()
+        self._monitor = monitor
+        self._timeout_sec = timeout_sec
+        self._pending = {}  # drone_id -> asyncio.Task
+
+    def send_position_global(self, drone_id, sysid, lat, lon, alt):
+        """同步介面。立刻回，結果透過 send_result signal 回報。"""
+        # 取消該機上一個未完成的 task，避免舊指令覆蓋新指令
+        old = self._pending.get(drone_id)
+        if old is not None and not old.done():
+            old.cancel()
+
+        try:
+            loop = asyncio.get_event_loop()
+        except RuntimeError:
+            loop = asyncio.new_event_loop()
+            asyncio.set_event_loop(loop)
+
+        task = loop.create_task(
+            self._do_send(drone_id, int(sysid), float(lat), float(lon), float(alt))
+        )
+        self._pending[drone_id] = task
+
+    async def _do_send(self, drone_id, sysid, lat, lon, alt):
+        try:
+            client = self._monitor.get_or_create_position_client(drone_id)
+            if client is None:
+                self.send_result.emit(
+                    drone_id, sysid, False,
+                    "PositionTargetGlobalIntClient 無法建立"
+                )
+                return
+
+            result = await client.goto_position_only_async(
+                target_sysid=sysid,
+                target_compid=0,
+                latitude_deg=lat,
+                longitude_deg=lon,
+                alt=alt,
+                timeout_sec=self._timeout_sec,
+            )
+            self.send_result.emit(
+                drone_id, sysid, bool(result.success), str(result.message or "")
+            )
+        except asyncio.CancelledError:
+            # 被新的目標取代，正常狀況，不用回報
+            pass
+        except Exception as e:
+            traceback.print_exc()
+            self.send_result.emit(drone_id, sysid, False, f"exception: {e}")
+
+    def close(self):
+        """取消所有未完成的 task。PositionTargetGlobalIntClient 由 DroneMonitor 負責 destroy。"""
+        for task in self._pending.values():
+            if not task.done():
+                task.cancel()
+        self._pending.clear()
+        print("Ros2CommandSender 已關閉")

src/GUI/communication.py

@@ -13,10 +13,11 @@ import sys
 import os
 import traceback
 from pymavlink import mavutil
-from geometry_msgs.msg import Point, Vector3
+from geometry_msgs.msg import Point, Vector3, Vector3Stamped, PoseWithCovarianceStamped
 from sensor_msgs.msg import BatteryState, NavSatFix, Imu
 from std_msgs.msg import Float64, String
 from mavros_msgs.msg import State, VfrHud
+from nav_msgs.msg import Odometry
 from mavros_msgs.srv import CommandBool, CommandTOL
 
 # 確保 src 目錄在 Python 路徑中（用於 fc_network_apps 導入）
@@ -36,6 +37,16 @@ except ImportError as e:
     traceback.print_exc()
     CommandLongClient = None
 
+# 導入 fc_network_apps 的 navigation（PositionTargetGlobalInt / Offboard goto）
+try:
+    from fc_network_apps.navigation import PositionTargetGlobalIntClient
+except ImportError as e:
+    import traceback
+    print(f"⚠️  警告: 無法導入 PositionTargetGlobalIntClient")
+    print(f"   错误: {e}")
+    traceback.print_exc()
+    PositionTargetGlobalIntClient = None
+
 class DroneSignals(QObject):
     update_signal = pyqtSignal(str, str, object)  # (msg_type, drone_id, data)
 
@@ -467,14 +478,20 @@ class DroneMonitor(Node):
         self.serial_receivers = []
         
         # ================================================================================
-        # 【新增】初始化 CommandLongClient（持久化，不會每次調用都創建/銷毀）
+        # 【新增】初始化 CommandLongClient 字典（為每個 drone 維護獨立的 client）
         # ================================================================================
-        self.command_long_client = None
+        # 改為為每個 drone 創建獨立的 client，避免多機並行時的競態條件
-        try:
+        self.command_long_clients = {}  # {drone_id: CommandLongClient}
-            self.command_long_client = CommandLongClient()
+        self.client_lock = Lock()  # 保護 clients 字典的訪問
-        except Exception as e:
+        self.client_counter = 0  # 用於生成唯一的 client 節點名稱
-            print(f"⚠️ 警告: 無法初始化 CommandLongClient: {e}")
+        self.executor = None  # 將在 gui.py 中設置，用於添加新的 clients
-            self.command_long_client = None
+        # ================================================================================
+
+        # ================================================================================
+        # PositionTargetGlobalIntClient 字典（per-drone，用於 Offboard goto）
+        # ================================================================================
+        self.position_target_clients = {}  # {drone_id: PositionTargetGlobalIntClient}
+        self.pos_client_counter = 0
         # ================================================================================
         
         # 主题检测定时器
@@ -501,6 +518,58 @@ class DroneMonitor(Node):
             
             return self.socket_id_mapping[original_socket_id]
        
+    def get_or_create_client(self, drone_id):
+        """為每個 drone 獲取或創建獨立的 CommandLongClient，避免競態條件"""
+        with self.client_lock:
+            if drone_id not in self.command_long_clients:
+                try:
+                    # 生成唯一的 client 節點名稱
+                    self.client_counter += 1
+                    unique_name = f"cmd_long_client_{drone_id}_{self.client_counter}"
+                    client = CommandLongClient(node_name=unique_name)
+                    self.command_long_clients[drone_id] = client
+                    print(f"   ✓ 為 {drone_id} 創建新的 CommandLongClient (node={unique_name})")
+                    
+                    # 將新 client 添加到主執行器（這樣它的回調才能被處理）
+                    if self.executor:
+                        self.executor.add_node(client)
+                        print(f"   ✓ 將 {drone_id} 的 client 添加到主執行器")
+                    
+                except TypeError:
+                    # 舊版 CommandLongClient 不支持 node_name 參數，使用預設
+                    client = CommandLongClient()
+                    self.command_long_clients[drone_id] = client
+                    print(f"   ✓ 為 {drone_id} 創建新的 CommandLongClient (使用預設名稱)")
+                    
+                    if self.executor:
+                        self.executor.add_node(client)
+                        print(f"   ✓ 將 {drone_id} 的 client 添加到主執行器")
+                        
+                except Exception as e:
+                    print(f"⚠️  無法為 {drone_id} 創建 CommandLongClient: {e}")
+                    return None
+            return self.command_long_clients[drone_id]
+
+    def get_or_create_position_client(self, drone_id):
+        """為每個 drone 獲取或創建獨立的 PositionTargetGlobalIntClient。"""
+        if PositionTargetGlobalIntClient is None:
+            return None
+        with self.client_lock:
+            if drone_id not in self.position_target_clients:
+                try:
+                    self.pos_client_counter += 1
+                    unique_name = f"pos_target_client_{drone_id}_{self.pos_client_counter}"
+                    client = PositionTargetGlobalIntClient(node_name=unique_name)
+                    self.position_target_clients[drone_id] = client
+                    print(f"   ✓ 為 {drone_id} 創建新的 PositionTargetGlobalIntClient (node={unique_name})")
+                    if self.executor:
+                        self.executor.add_node(client)
+                        print(f"   ✓ 將 {drone_id} 的 position client 添加到主執行器")
+                except Exception as e:
+                    print(f"⚠️  無法為 {drone_id} 創建 PositionTargetGlobalIntClient: {e}")
+                    return None
+            return self.position_target_clients[drone_id]
+
     def scan_topics(self):
         topics = self.get_topic_names_and_types()
         drone_pattern = re.compile(r'/fc_network/vehicle/(sys\d+)/(\w+)')
@@ -520,8 +589,25 @@ class DroneMonitor(Node):
                 # 暂时所有 ROS2 topic 共享同一个 socket_id = 0
                 self.sys_to_socket_id[sys_id] = 0
             
-            if not hasattr(self, f'drone_{sys_id}_subs'):
+            subs_attr = f'drone_{sys_id}_subs'
+            if not hasattr(self, subs_attr):
                 self.setup_drone(sys_id)
+            else:
+                # 檢查既有訂閱是否包含 position_ned，如果不包含就添加（兼容舊訂閱）
+                subs = getattr(self, subs_attr, {})
+                if isinstance(subs, dict) and 'position_ned' not in subs:
+                    base_topic = f'/fc_network/vehicle/{sys_id}'
+                    try:
+                        pos_ned_sub = self.create_subscription(
+                            Odometry,
+                            f'{base_topic}/position_ned',
+                            lambda msg, sid=sys_id: self.position_ned_callback(sid, msg),
+                            10
+                        )
+                        subs['position_ned'] = pos_ned_sub
+                        setattr(self, subs_attr, subs)  # 明確保存更新後的字典
+                    except Exception as e:
+                        pass
     
     def setup_drone(self, sys_id):
         # sys_id 格式： sys11, sys12, ...
@@ -568,6 +654,12 @@ class DroneMonitor(Node):
                 f'{base_topic}/vfr_hud',
                 lambda msg, sid=sys_id: self.hud_callback(sid, msg),
                 10
+            ),
+            'position_ned': self.create_subscription(
+                Odometry,
+                f'{base_topic}/position_ned',
+                lambda msg, sid=sys_id: self.position_ned_callback(sid, msg),
+                10
             )
         }
         
@@ -619,17 +711,19 @@ class DroneMonitor(Node):
             
             print(f"\n📢 [SET_MODE] {drone_id} → {mode_name} (custom_mode={custom_mode})")
             
-            if not self.command_long_client:
+            # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
-                print(f"❌ [SET_MODE] CommandLongClient 未初始化")
+            client = self.get_or_create_client(drone_id)
+            if not client:
+                print(f"❌ [SET_MODE] CommandLongClient 無法初始化")
                 return False
             
             # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
-            result = await self.command_long_client.change_mode_async(
+            result = await client.change_mode_async(
                 target_sysid=sysid,
                 custom_mode=float(custom_mode),
                 target_compid=0,
                 base_mode=1.0,
-                timeout_sec=2.0,
+                timeout_sec=5.0,  # 增加超時時間以提高多機操作的可靠性
             )
             
             if result and result.success:
@@ -656,16 +750,18 @@ class DroneMonitor(Node):
             action_name = "解鎖" if arm else "上鎖"
             print(f"\n📢 [ARM] {drone_id} → {action_name}")
             
-            if not self.command_long_client:
+            # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
-                print(f"❌ [ARM] CommandLongClient 未初始化")
+            client = self.get_or_create_client(drone_id)
+            if not client:
+                print(f"❌ [ARM] CommandLongClient 無法初始化")
                 return False
             
             # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
-            result = await self.command_long_client.arm_disarm_async(
+            result = await client.arm_disarm_async(
                 target_sysid=sysid,
                 arm=arm,
                 target_compid=0,
-                timeout_sec=2.0,
+                timeout_sec=5.0,  # 增加超時時間以提高多機操作的可靠性
             )
             
             if result and result.success:
@@ -691,16 +787,18 @@ class DroneMonitor(Node):
             
             print(f"\n📢 [TAKEOFF] {drone_id} → 起飛 (高度={altitude}m)")
             
-            if not self.command_long_client:
+            # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
-                print(f"❌ [TAKEOFF] CommandLongClient 未初始化")
+            client = self.get_or_create_client(drone_id)
+            if not client:
+                print(f"❌ [TAKEOFF] CommandLongClient 無法初始化")
                 return False
             
             # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
-            result = await self.command_long_client.takeoff_async(
+            result = await client.takeoff_async(
                 target_sysid=sysid,
                 altitude_m=float(altitude),
                 target_compid=0,
-                timeout_sec=2.0,
+                timeout_sec=5.0,  # 增加超時時間以提高多機操作的可靠性
             )
             
             if result and result.success:
@@ -805,6 +903,7 @@ class DroneMonitor(Node):
                 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
+                print(f"[DEBUG] summary_callback: 已創建映射 {sys_id} -> {actual_drone_id} (使用 sys_num)")
             
             # 先發送連接類型資訊
             self.signals.update_signal.emit('connection_type', actual_drone_id, {
@@ -885,6 +984,45 @@ class DroneMonitor(Node):
             'climb': msg.climb
         }
 
+    def position_ned_callback(self, sys_id, msg):
+        """處理 position_ned topic (nav_msgs/msg/Odometry)
+        NED 座標系中的位置（在 msg.pose.pose.position）：
+        - x: 北向位移 (m)
+        - y: 東向位移 (m)
+        - z: 向下位移 (m) - 負值表示向下，轉換為高度需要 * (-1)
+        """
+        try:
+            # 使用映射獲取實際的 drone_id
+            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
+            
+            # 從 Odometry 消息中提取位置數據 (msg.pose.pose.position)
+            # Odometry 結構：header, child_frame_id, pose(包含PoseWithCovariance), twist
+            x = msg.pose.pose.position.y  # NED 座標系中交換 x/y（與 local_pose 對齐）
+            y = msg.pose.pose.position.x
+            z = -msg.pose.pose.position.z  # 將向下的 NED z 轉換為向上的高度（z 為負表示向下）
+            
+            # 儲存高度信息
+            self.latest_data[(actual_drone_id, 'altitude')] = {
+                'altitude': z
+            }
+            
+            # 儲存本地位置信息
+            self.latest_data[(actual_drone_id, 'local_pose')] = {
+                'x': x,
+                'y': y,
+                'z': z
+            }
+            
+            # 發送信號給 GUI 更新高度顯示
+            self.signals.update_signal.emit('altitude', actual_drone_id, {
+                'altitude': z
+            })
+        except Exception as e:
+            pass
+
     def loss_rate_callback(self, drone_id, msg):
         self.latest_data[(drone_id, 'loss_rate')] = {
             'loss_rate': msg.data

src/GUI/gui.py

@@ -25,7 +25,7 @@ from overview_table import OverviewTable
 # 導入任務規劃器、執行器、發送器、群組
 # ================================================================================
 from mission_planner import FormationPlanner, MissionType
-from command_sender import MavlinkSender
+from command_sender import MavlinkSender, Ros2CommandSender
 from mission_executor import MissionExecutor, MissionState
 from mission_group import (
     MissionGroup, GroupPanel, DroneAssignDialog, GROUP_COLORS
@@ -33,7 +33,7 @@ from mission_group import (
 # ================================================================================
 
 class ControlStationUI(QMainWindow):
-    VERSION = '2.0.6'
+    VERSION = '2.0.8'
     
     def __init__(self):
         super().__init__()
@@ -52,9 +52,8 @@ class ControlStationUI(QMainWindow):
         self.executor = rclpy.executors.SingleThreadedExecutor()
         self.executor.add_node(self.monitor)
         
-        # 添加 CommandLongClient 到執行器（這樣它的回調才能被處理）
+        # 將執行器註冊到 DroneMonitor，以便動態創建的 CommandLongClient 能被添加
-        if self.monitor.command_long_client:
+        self.monitor.executor = self.executor
-            self.executor.add_node(self.monitor.command_long_client)
         
         # 定时处理ROS事件
         self.timer = QTimer()
@@ -123,7 +122,8 @@ class ControlStationUI(QMainWindow):
         # ================================================================================
         # 初始化指令發送器（所有群組共用）
         # ================================================================================
-        self.command_sender = MavlinkSender("udpout:127.0.0.1:14550")  # 驗證階段寫死
+        # 走 ROS2 /fc_network/vehicle/pos_global_int service；per-drone client + asyncio polling
+        self.command_sender = Ros2CommandSender(monitor=self.monitor)
         # ================================================================================
 
         # ================================================================================
@@ -450,11 +450,17 @@ class ControlStationUI(QMainWindow):
         loop.create_task(self.handle_service_response(future, f"起飛 {drone_id}"))
 
     def handle_setpoint_selected(self):
+        """發送位置命令到 active group 的所有選中無人機"""
+        group = self._get_active_group()
+        if not group:
+            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            return
+        
         try:
             x = float(self.x_input.text() or '0')
             y = float(self.y_input.text() or '0')
             z = float(self.z_input.text() or '0')
-            for drone_id in self.monitor.selected_drones:
+            for drone_id in group.selected_drone_ids:
                 if self.monitor.send_setpoint(drone_id, x, y, z):
                     self.statusBar().showMessage(f"發送位置命令到 {drone_id}: ({x}, {y}, {z})", 3000)
                 else:
@@ -507,8 +513,18 @@ class ControlStationUI(QMainWindow):
             self.statusBar().showMessage(f"{action} 錯誤: {str(e)}", 3000)
 
     def handle_arm_selected(self):
+        """解鎖 active group 的所有選中無人機"""
+        group = self._get_active_group()
+        if not group:
+            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            return
+        
+        selected = list(group.selected_drone_ids)
+        if not selected:
+            self.statusBar().showMessage("⚠ 尚未選擇任何無人機", 3000)
+            return
+        
         print(f"\n📢 [GUI] handle_arm_selected 被調用")
-        selected = list(self.monitor.selected_drones)
         print(f"   已選擇的無人機: {selected}")
         loop = asyncio.get_event_loop()
         for drone_id in selected:
@@ -523,8 +539,19 @@ class ControlStationUI(QMainWindow):
         print(f"   handle_arm_selected 完成\n")
 
     def handle_takeoff_selected(self):
+        """起飛 active group 的所有選中無人機"""
+        group = self._get_active_group()
+        if not group:
+            self.statusBar().showMessage("⚠ 請先建立任務群組", 3000)
+            return
+        
+        selected = list(group.selected_drone_ids)
+        if not selected:
+            self.statusBar().showMessage("⚠ 尚未選擇任何無人機", 3000)
+            return
+        
         loop = asyncio.get_event_loop()
-        for drone_id in self.monitor.selected_drones:
+        for drone_id in selected:
             future = self.monitor.takeoff_drone(drone_id, 10.0)
             loop.create_task(self.handle_service_response(future, f"批次起飛 {drone_id}"))
 
@@ -584,22 +611,34 @@ class ControlStationUI(QMainWindow):
         scroll.setWidgetResizable(True)
         idx = self.group_tab_widget.addTab(scroll, f"Group {gid}")
         self.group_tab_widget.tabBar().setTabTextColor(idx, QColor(color))
+
+        # 切換到新 group 的 tab
         self.group_tab_widget.setCurrentIndex(idx)
-        self.active_group_id = gid
+
         self.statusBar().showMessage(f"已新增 Group {gid}", 2000)
 
+        # 更新刪除按鈕的啟用/禁用狀態
+        self._update_delete_buttons_state()
+
     def _on_group_tab_changed(self, index):
-        """Tab 切換時更新 active group 並同步地圖模式"""
+        """切換 group tab — 只需切換 active group 並刷新 UI"""
         if index < 0:
             self.active_group_id = None
             return
-        # tab 標題是 "Group X"
+
         tab_text = self.group_tab_widget.tabText(index)
         gid = tab_text.replace("Group ", "")
-        if gid in self.mission_groups:
+        if gid not in self.mission_groups:
-            self.active_group_id = gid
+            return
-            group = self.mission_groups[gid]
+
-            self.drone_map.set_mission_mode(group.mission_type)
+        self.active_group_id = gid
+        group = self.mission_groups[gid]
+
+        # 同步地圖的任務模式
+        self.drone_map.set_mission_mode(group.mission_type)
+
+        # 統一刷新所有 UI
+        self.refresh_selection_ui()
 
     def _get_active_group(self):
         """取得當前 active 的 MissionGroup"""
@@ -607,53 +646,140 @@ class ControlStationUI(QMainWindow):
             return self.mission_groups[self.active_group_id]
         return None
 
-    def _get_other_assigned(self, exclude_gid):
+    def refresh_selection_ui(self):
-        """取得其他群組已佔用的無人機 {drone_id: group_id}"""
+        """統一刷新所有 UI 元素：左側 drone 勾選、左側 socket 勾選、右側 group panel"""
-        assigned = {}
+        group = self._get_active_group()
-        for gid, group in self.mission_groups.items():
+        selected = group.selected_drone_ids if group else set()
-            if gid == exclude_gid:
+        current_group_id = group.group_id if group else None
-                continue
+
-            for did in group.drone_ids:
+        # 左側 drone checkbox
-                assigned[did] = gid
+        for drone_id, panel in self.drones.items():
-        return assigned
+            checkbox = panel.get_checkbox()
+            if checkbox:
+                blocked = (
+                    current_group_id is not None and
+                    self._is_drone_selected_by_other_group(drone_id, current_group_id)
+                )
+                checkbox.blockSignals(True)
+                checkbox.setStyleSheet(self._get_drone_checkbox_style(blocked))
+                checkbox.setChecked(drone_id in selected)
+                checkbox.setEnabled(not blocked or drone_id in selected)
+                checkbox.blockSignals(False)
+
+        # 左側 socket checkbox
+        for socket_id in self.socket_groups.keys():
+            self.refresh_socket_checkbox(socket_id, selected, current_group_id)
+
+        # 右側 group panel
+        if group:
+            panel = self.group_panels.get(group.group_id)
+            if panel:
+                panel.update_drone_list()
+                panel.update_status()
+
+    def _get_drone_checkbox_style(self, blocked=False):
+        """回傳 drone checkbox 樣式；被其他 group 佔用時顯示紅色填滿。"""
+        blocked_style = """
+            QCheckBox::indicator:disabled {
+                background-color: #D32F2F;
+                border: 2px solid #A32020;
+            }
+        """ if blocked else ""
+        return f"""
+            QCheckBox {{
+                color: #DDD;
+            }}
+            QCheckBox::indicator {{
+                width: 16px;
+                height: 16px;
+                border: 2px solid #888888;
+                border-radius: 3px;
+                background: transparent;
+            }}
+            QCheckBox::indicator:checked {{
+                background-color: #7FFFD4;
+                border: 2px solid #888888;
+            }}
+            {blocked_style}
+        """
+
+    def refresh_socket_checkbox(self, socket_id, selected_ids, current_group_id=None):
+        """根據 selected_ids 推導並更新 socket 的勾選狀態"""
+        drone_ids = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id]
+        if not drone_ids:
+            return
+
+        socket_widget = self.socket_groups.get(socket_id)
+        if not socket_widget:
+            return
+
+        checkbox = socket_widget.findChild(QCheckBox, f"socket_{socket_id}_checkbox")
+        if not checkbox:
+            return
+
+        effective_drone_ids = [
+            did for did in drone_ids
+            if current_group_id is None
+            or did in selected_ids
+            or not self._is_drone_selected_by_other_group(did, current_group_id)
+        ]
+        checked_count = sum(1 for did in effective_drone_ids if did in selected_ids)
+
+        checkbox.blockSignals(True)
+        if checked_count == 0:
+            checkbox.setCheckState(Qt.CheckState.Unchecked)
+        elif checked_count == len(effective_drone_ids):
+            checkbox.setCheckState(Qt.CheckState.Checked)
+        else:
+            checkbox.setCheckState(Qt.CheckState.PartiallyChecked)
+        checkbox.setEnabled(len(effective_drone_ids) > 0)
+        checkbox.blockSignals(False)
+
+
+    # 【已遷移至 refresh_socket_checkbox()】舊的 update_group_checkbox_state() 已廢棄
 
     def _handle_assign_drones(self, group_id):
-        """開啟無人機分配對話框（已勾選的 checkbox 會預先帶入）"""
+        """開啟無人機分配對話框 — 過濾被占用的drone"""
         group = self.mission_groups.get(group_id)
         if not group:
             return
         all_ids = list(self.drones.keys())
-        other_assigned = self._get_other_assigned(group_id)
 
-        # 將目前 checkbox 已勾選的無人機（且未被其他群組佔用）合併進 pre-selected
+        # 預先選中：目前 group 的 selected_drone_ids
-        currently_checked = self.get_selected_drones()
+        pre_selected = set(group.selected_drone_ids)
-        pre_selected = set(group.drone_ids)
-        for did in currently_checked:
-            if did not in other_assigned:
-                pre_selected.add(did)
 
-        dialog = DroneAssignDialog(self, all_ids, pre_selected, other_assigned)
+        dialog = DroneAssignDialog(self, all_ids, pre_selected, {})
         if dialog.exec() == QDialog.DialogCode.Accepted:
-            group.drone_ids = dialog.get_selected()
+            requested = dialog.get_selected()
+
+            allowed = set()
+            blocked = set()
+
+            for did in requested:
+                if self._is_drone_selected_by_other_group(did, group_id):
+                    blocked.add(did)
+                else:
+                    allowed.add(did)
+
+            group.selected_drone_ids = allowed
+
+            # 只有當操作目標組是 active 組時，才更新 UI
+            if group_id == self.active_group_id:
+                self.refresh_selection_ui()
+
             panel = self.group_panels.get(group_id)
             if panel:
                 panel.update_drone_list()
                 panel.update_status()
 
-            # 同步更新左側面板的 checkbox 狀態
+            if blocked:
-            self.monitor.selected_drones = group.drone_ids.copy()
+                self.statusBar().showMessage(
-            for drone_id in all_ids:
+                    f"⚠ Group {group_id}: {len(blocked)} 台已被其他 group 勾選，未加入", 4000
-                if drone_id in self.drones:
+                )
-                    checkbox = self.drones[drone_id].get_checkbox()
+            else:
-                    if checkbox:
+                self.statusBar().showMessage(
-                        checkbox.blockSignals(True)
+                    f"Group {group_id}: 已分配 {len(group.selected_drone_ids)} 台無人機", 3000
-                        checkbox.setChecked(drone_id in group.drone_ids)
+                )
-                        checkbox.blockSignals(False)
-                # 更新 socket 群組的 checkbox 狀態
-                self.update_group_checkbox_state(self.get_socket_id(drone_id))
-            
-            self.statusBar().showMessage(
-                f"Group {group_id}: 已分配 {len(group.drone_ids)} 台無人機", 3000)
 
     def _handle_mission_type_changed(self, group_id, mission_type):
         """群組任務類型切換"""
@@ -669,10 +795,12 @@ class ControlStationUI(QMainWindow):
         executor = MissionExecutor(
             sender=self.command_sender,
             drone_gps=self.monitor.drone_gps,
+            monitor=self.monitor,
             arrival_radius=2.0,
-            send_rate_hz=2.0
+            tick_rate_hz=2.0,
         )
         executor.drone_waypoint_reached.connect(self.on_drone_waypoint_reached)
+        executor.task_status_changed.connect(self._on_task_status_changed)
         executor.mission_completed.connect(
             lambda gid=group.group_id: self._on_group_mission_completed(gid))
         group.executor = executor
@@ -733,19 +861,19 @@ class ControlStationUI(QMainWindow):
             print(f"❌ 找不到群組: {group_id}", flush=True)
             return
         
-        if not group.drone_ids:
+        if not group.selected_drone_ids:
             print(f"⚠️  群組中沒有無人機", flush=True)
             self.statusBar().showMessage(f"群組 {group_id} 中沒有無人機", 3000)
             return
         
-        print(f"   準備為 {len(group.drone_ids)} 台無人機切換模式...", flush=True)
+        print(f"   準備為 {len(group.selected_drone_ids)} 台無人機切換模式...", flush=True)
         self.statusBar().showMessage(f"正在切換模式...", 1000)
         
         # 使用 asyncio 執行（通過事件循環）
         async def do_mode_changes_async():
             print(f"\n   【異步任務】開始執行模式切換", flush=True)
             
-            for drone_id in group.drone_ids:
+            for drone_id in group.selected_drone_ids:
                 print(f"\n   【切換】{drone_id} → {mode}", flush=True)
                 try:
                     result = await self.monitor.set_mode(drone_id, mode)
@@ -784,11 +912,11 @@ class ControlStationUI(QMainWindow):
         if not group:
             print(f"   ⚠️ 群組不存在，返回\n")
             return
-        print(f"   群組內無人機: {group.drone_ids}")
+        print(f"   群組內無人機: {group.selected_drone_ids}")
         loop = asyncio.get_event_loop()
         print(f"   事件循環: {loop}")
         
-        for drone_id in group.drone_ids:
+        for drone_id in group.selected_drone_ids:
             print(f"\n   ┌─ 處理無人機: {drone_id}")
             print(f"   ├─ 準備調用 arm_drone(drone_id={drone_id}, arm=True)")
             coro = self.monitor.arm_drone(drone_id, True)
@@ -812,7 +940,7 @@ class ControlStationUI(QMainWindow):
         if not group:
             return
         loop = asyncio.get_event_loop()
-        for drone_id in group.drone_ids:
+        for drone_id in group.selected_drone_ids:
             future = self.monitor.takeoff_drone(drone_id, altitude)
             loop.create_task(self.handle_service_response(future, f"起飛 {drone_id} ({altitude}m)"))
 
@@ -824,107 +952,106 @@ class ControlStationUI(QMainWindow):
             f"請在地圖上框選要分配到 Group {group_id} 的無人機", 5000)
 
     def _handle_drone_box_selected(self, drone_ids_json):
-        """地圖框選完成 — 直接分配到指定群組"""
         group_id = self._pending_box_assign
         self._pending_box_assign = None
         if not group_id:
             return
+
         group = self.mission_groups.get(group_id)
         if not group:
             return
+
         drone_ids = json.loads(drone_ids_json)
-        other = self._get_other_assigned(group_id)
+
-        valid = {did for did in drone_ids if did not in other}
+        allowed = set()
-        group.drone_ids = valid
+        blocked = set()
+        for did in drone_ids:
+            if self._is_drone_selected_by_other_group(did, group_id):
+                blocked.add(did)
+            else:
+                allowed.add(did)
+
+        group.selected_drone_ids = allowed
+
+        if group_id == self.active_group_id:
+            self.refresh_selection_ui()
+
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_drone_list()
             panel.update_status()
 
-        # 同步更新左側面板的 checkbox 狀態
+        if blocked:
-        self.monitor.selected_drones = group.drone_ids.copy()
+            self.statusBar().showMessage(
-        for drone_id in self.drones.keys():
+                f"⚠ Group {group_id}: 部分 drone 已被其他 group 勾選，僅加入 {len(allowed)} 台", 4000
-            checkbox = self.drones[drone_id].get_checkbox()
+            )
-            if checkbox:
+        else:
-                checkbox.blockSignals(True)
+            self.statusBar().showMessage(
-                checkbox.setChecked(drone_id in group.drone_ids)
+                f"Group {group_id}: 框選分配 {len(allowed)} 台無人機", 3000
-                checkbox.blockSignals(False)
+            )
-            self.update_group_checkbox_state(self.get_socket_id(drone_id))
-        
-        self.statusBar().showMessage(
-            f"Group {group_id}: 框選分配 {len(valid)} 台無人機", 3000)
             
     def _handle_select_all_for_group(self, group_id):
-        """全選/取消全選 - Toggle 邏輯"""
+        """全選/取消全選 — Toggle 邏輯"""
         group = self.mission_groups.get(group_id)
         if not group:
             return
 
-        other = self._get_other_assigned(group_id)
+        selectable_ids = self._get_selectable_drones_for_group(group_id) | set(group.selected_drone_ids)
-        available = {did for did in self.drones.keys() if did not in other}
 
         # Toggle 邏輯：如果已全選，則清空；否則全選
-        if group.drone_ids == available:
+        if group.selected_drone_ids == selectable_ids:
             # 已全選 → 清空
-            group.drone_ids = set()
+            group.selected_drone_ids.clear()
-            self.monitor.selected_drones.clear()
             msg_status = "已取消全選"
         else:
             # 未全選 → 全選
-            group.drone_ids = available
+            group.selected_drone_ids = set(selectable_ids)
-            self.monitor.selected_drones = group.drone_ids.copy()
+            msg_status = f"全選可用無人機 {len(selectable_ids)} 台"
-            msg_status = f"全選分配 {len(available)} 台無人機"
+
+        # 只有當操作目標組是 active 組時，才更新 UI
+        if group_id == self.active_group_id:
+            self.refresh_selection_ui()
 
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_drone_list()
             panel.update_status()
-            # 更新按鈕文本
-            panel.set_all_select_state(group.drone_ids == available)
-        
-        # 同步更新左側面板的 checkbox 狀態
-        for drone_id in self.drones.keys():
-            checkbox = self.drones[drone_id].get_checkbox()
-            if checkbox:
-                checkbox.blockSignals(True)
-                checkbox.setChecked(drone_id in group.drone_ids)
-                checkbox.blockSignals(False)
-            self.update_group_checkbox_state(self.get_socket_id(drone_id))
 
         self.statusBar().showMessage(
             f"Group {group_id}: {msg_status}", 3000)
 
     def _handle_clear_group(self, group_id):
-        """清除群組的無人機分配"""
+        """清除群組的無人機選擇"""
         group = self.mission_groups.get(group_id)
         if not group:
             return
-        group.drone_ids = set()
+
+        group.selected_drone_ids.clear()
         group.planned_waypoints = None
         if group.executor:
             group.executor.stop()
         self.drone_map.clear_mission_plan_for_group(group_id)
+
+        # 只有當操作目標組是 active 組時，才更新 UI
+        if group_id == self.active_group_id:
+            self.refresh_selection_ui()
+
         panel = self.group_panels.get(group_id)
         if panel:
             panel.update_drone_list()
             panel.update_status()
             panel.clear_mission_info()
 
-        # 同步更新左側面板的 checkbox 狀態（全部取消勾選）
-        self.monitor.selected_drones.clear()
-        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.update_group_checkbox_state(self.get_socket_id(drone_id))
-        
         self.statusBar().showMessage(
             f"Group {group_id}: 已清除分組", 3000)
 
     def _handle_delete_group(self, group_id):
         """刪除一個任務群組"""
+        # 檢查是否只有一個群組，如果是就禁止刪除
+        if len(self.mission_groups) <= 1:
+            self.statusBar().showMessage("⚠️ 至少需要保留一個群組！", 3000)
+            return
+        
         if group_id not in self.mission_groups:
             self.statusBar().showMessage(f"Group {group_id} 不存在", 3000)
             return
@@ -948,20 +1075,26 @@ class ControlStationUI(QMainWindow):
         if group_id in self.group_panels:
             del self.group_panels[group_id]
         
-        # 更新 active group
+        # 更新 active group — 讓 currentChanged signal 自動處理
         if self.active_group_id == group_id:
+            self.active_group_id = None
             if self.group_tab_widget.count() > 0:
                 self.group_tab_widget.setCurrentIndex(0)
-                # 更新 active_group_id 為當前 tab 的群組
+            # _on_group_tab_changed 會自動設定新的 active group
-                for gid, panel in self.group_panels.items():
-                    if panel == self.group_tab_widget.currentWidget().widget():
-                        self.active_group_id = gid
-                        break
-            else:
-                self.active_group_id = None
         
         self.statusBar().showMessage(f"已刪除 Group {group_id}", 3000)
         
+        # 更新刪除按鈕的啟用/禁用狀態
+        self._update_delete_buttons_state()
+
+    def _update_delete_buttons_state(self):
+        """根據群組數量，更新所有群組的刪除按鈕啟用/禁用狀態"""
+        # 如果只有一個群組，禁用該群組的刪除按鈕
+        # 如果有多個群組，啟用所有刪除按鈕
+        should_enable = len(self.mission_groups) > 1
+        for gid, panel in self.group_panels.items():
+            panel.set_delete_enabled(should_enable)
+
     def _on_group_mission_completed(self, group_id):
         """群組任務完成回呼"""
         panel = self.group_panels.get(group_id)
@@ -1002,173 +1135,143 @@ class ControlStationUI(QMainWindow):
     # ================================================================================
 
     def handle_group_selection(self, socket_id, state):
-        """處理 socket 群組 checkbox 的勾選/取消勾選
+        """Socket 群組勾選 — 更新該 socket 下所有 drone 的選擇狀態"""
+        group = self._get_active_group()
+        if not group:
+            return
 
-        這個方法在用戶點擊 socket 群組的 checkbox 時被調用。
+        drone_ids = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id]
-        需要同時更新：
+        selectable = []
-        1. 該 socket 下所有無人機的 checkbox
+        blocked = []
-        2. self.monitor.selected_drones（用於控制面板同步）
+        for did in drone_ids:
-        3. 右侧活躍群組的無人機分配（新增）
+            if self._is_drone_selected_by_other_group(did, group.group_id):
+                blocked.append(did)
+            else:
+                selectable.append(did)
 
-        參數：
+        if not selectable:
-            socket_id: socket ID (str)
+            if blocked:
-            state: Qt.CheckState 的整數值 (0=Unchecked, 1=PartiallyChecked, 2=Checked)
+                self.statusBar().showMessage(
+                    f"⚠ Socket {socket_id} 的 drone 已被其他 group 勾選，無法操作", 4000
+                )
+            self.refresh_selection_ui()
+            return
+
+        all_selectable_selected = all(did in group.selected_drone_ids for did in selectable)
+
+        if all_selectable_selected:
+            group.selected_drone_ids.difference_update(selectable)
+        else:
+            group.selected_drone_ids.update(selectable)
+            if blocked:
+                self.statusBar().showMessage(
+                    f"⚠ 以下 drone 已被其他 group 勾選，略過: {', '.join(blocked)}", 4000
+                )
+
+        self.refresh_selection_ui()
+
+    def _is_drone_selected_by_other_group(self, drone_id, current_group_id):
         """
-        print(f"\n📢 [GUI] handle_group_selection 被調用", flush=True)
+        檢查該 drone 是否已被其他 group 勾選
-        print(f"   socket_id: {socket_id}, state: {state}", flush=True)
-        print(f"   state 類型: {type(state)}", flush=True)
         
-        # 獲取該 socket 下所有無人機
+        Args:
-        group_drones = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id]
+            drone_id: 無人機 ID
-        print(f"   該 socket 下的無人機: {group_drones}", flush=True)
+            current_group_id: 當前 group 的 ID
             
-        # 判斷是否勾選（只有 state == 2 時才是 Checked）
+        Returns:
-        is_checked = (state == 2)  # Qt.CheckState.Checked.value == 2
+            True 如果 drone 已被其他 group 選擇，否則 False
-        print(f"   is_checked: {is_checked}", flush=True)
+        """
+        for gid, group in self.mission_groups.items():
+            # 跳過當前 group
+            if gid == current_group_id:
+                continue
+            # 檢查該 drone 是否在其他 group 中被勾選
+            if drone_id in group.selected_drone_ids:
+                return True
+        return False
 
-        # 更新該 socket 下所有無人機的 checkbox 狀態
+    def _get_selectable_drones_for_group(self, group_id):
-        for drone_id in group_drones:
+        """
-            checkbox = self.drones[drone_id].get_checkbox()
+        取得指定 group 可以選擇的 drone 清單（不被其他 group 佔用的）
-            if checkbox:
-                print(f"   └─ 更新 {drone_id}: setChecked({is_checked})", flush=True)
-                checkbox.blockSignals(True)
-                checkbox.setChecked(is_checked)
-                checkbox.blockSignals(False)
         
-                # 同時更新 monitor.selected_drones 以同步控制面板
+        Args:
-                if is_checked:
+            group_id: group 的 ID
-                    self.monitor.selected_drones.add(drone_id)
-                else:
-                    self.monitor.selected_drones.discard(drone_id)
             
-        # 👇 新增：同步更新右侧活躍群組的無人機分配
+        Returns:
-        if self.active_group_id:
+            set: 可選擇的 drone ID 集合
-            group = self.mission_groups.get(self.active_group_id)
+        """
-            panel = self.group_panels.get(self.active_group_id)
+        selectable = set()
-            if group and panel:
+        for did in self.drones.keys():
-                print(f"   ├─ 同步右侧群組 {self.active_group_id}", flush=True)
+            if not self._is_drone_selected_by_other_group(did, group_id):
-                if is_checked:
+                selectable.add(did)
-                    # 勾選時：將該 socket 下的無人機添加到活躍群組
+        return selectable
-                    for drone_id in group_drones:
-                        group.drone_ids.add(drone_id)
-                    print(f"   │  └─ 添加到群組: {group_drones}", flush=True)
-                else:
-                    # 取消勾選時：從活躍群組移除該 socket 下的無人機
-                    for drone_id in group_drones:
-                        group.drone_ids.discard(drone_id)
-                    print(f"   │  └─ 從群組移除: {group_drones}", flush=True)
-                
-                # 更新右側群組面板的顯示
-                panel.update_drone_list()
-                panel.update_status()
-                print(f"   │  └─ 已更新右侧群組面板", flush=True)
-        
-        print(f"   最終 selected_drones: {self.monitor.selected_drones}", flush=True)
-        print(f"✓ handle_group_selection 完成\n", flush=True)
 
     def handle_drone_selection(self, drone_id, state):
-        is_checked = state == Qt.CheckState.Checked.value
+        """單台 drone 勾選 — 只修改 active group 的 selected_drone_ids"""
+        group = self._get_active_group()
+        if not group:
+            return
+
+        is_checked = (state == Qt.CheckState.Checked.value)
+
         if is_checked:
-            self.monitor.selected_drones.add(drone_id)
+            if self._is_drone_selected_by_other_group(drone_id, group.group_id):
+                self.statusBar().showMessage(
+                    f"⚠ {drone_id} 已被其他 group 勾選，無法加入 Group {group.group_id}", 3000
+                )
+                self.refresh_selection_ui()
+                return
+            group.selected_drone_ids.add(drone_id)
         else:
-            self.monitor.selected_drones.discard(drone_id)
+            group.selected_drone_ids.discard(drone_id)
-        self.update_group_checkbox_state(self.get_socket_id(drone_id))
 
-        # 同步更新任務群組的無人機分配狀態
+        self.refresh_selection_ui()
-        # 遍歷所有任務群組，更新已分配的無人機列表顯示
-        if not is_checked:
-            # 取消勾選時：從所有包含該無人機的群組中移除
-            for group_id, group in self.mission_groups.items():
-                if drone_id in group.drone_ids:
-                    group.drone_ids.discard(drone_id)
-                    panel = self.group_panels.get(group_id)
-                    if panel:
-                        panel.update_drone_list()
-                        panel.update_status()
-                        # 更新全選按鈕狀態
-                        other = self._get_other_assigned(group_id)
-                        available = {did for did in self.drones.keys() if did not in other}
-                        panel.set_all_select_state(group.drone_ids == available)
-        else:
-            # 勾選時：檢查該無人機是否已分配給其他群組，若未分配則添加到當前活躍群組
-            is_already_assigned = any(
-                drone_id in group.drone_ids 
-                for group in self.mission_groups.values()
-            )
-            if not is_already_assigned and self.active_group_id:
-                # 無人機未被分配給任何群組，可以添加到當前活躍群組
-                group = self.mission_groups.get(self.active_group_id)
-                panel = self.group_panels.get(self.active_group_id)
-                if group and panel:
-                    group.drone_ids.add(drone_id)
-                    panel.update_drone_list()
-                    panel.update_status()
-                    # 更新全選按鈕狀態
-                    other = self._get_other_assigned(self.active_group_id)
-                    available = {did for did in self.drones.keys() if did not in other}
-                    panel.set_all_select_state(group.drone_ids == available)
-
-    def update_group_checkbox_state(self, socket_id):
-        group_drones = [did for did in self.drones.keys() if self.get_socket_id(did) == socket_id]
-        if not group_drones: return
-        checked_count = sum(1 for did in group_drones if self.drones[did].is_checked())
-        if socket_id in self.socket_groups:
-            group_checkbox = self.socket_groups[socket_id].findChild(QCheckBox, f"socket_{socket_id}_checkbox")
-            if group_checkbox:
-                group_checkbox.blockSignals(True)
-                if checked_count == 0: group_checkbox.setCheckState(Qt.CheckState.Unchecked)
-                elif checked_count == len(group_drones): group_checkbox.setCheckState(Qt.CheckState.Checked)
-                else: group_checkbox.setCheckState(Qt.CheckState.PartiallyChecked)
-                group_checkbox.blockSignals(False)
-
-    def handle_select_all(self):
-        all_selected = all(self.drones[did].is_checked() for did in self.drones)
-        new_state = not all_selected
-        for drone_id in self.drones:
-            self.drones[drone_id].set_checked(new_state)
-        for socket_id in self.socket_groups:
-            group_checkbox = self.socket_groups[socket_id].findChild(QCheckBox, f"socket_{socket_id}_checkbox")
-            if group_checkbox:
-                group_checkbox.blockSignals(True)
-                group_checkbox.setChecked(new_state)
-                group_checkbox.blockSignals(False)
 
     def handle_drone_clicked(self, drone_id):
-        if drone_id in self.drones:
+        """地圖上點擊 drone — 切換其選擇狀態"""
-            checkbox = self.drones[drone_id].get_checkbox()
+        group = self._get_active_group()
-            checkbox.setChecked(not checkbox.isChecked())
+        if not group:
+            return
 
-    def handle_clear_all_drone_selection(self):
+        if drone_id in group.selected_drone_ids:
-        for drone_id in self.drones.keys():
+            group.selected_drone_ids.remove(drone_id)
-            checkbox = self.drones[drone_id].get_checkbox()
+        else:
-            if checkbox:
+            # 嘗試勾選前先檢查是否被其他 group 使用
-                checkbox.blockSignals(True)
+            if self._is_drone_selected_by_other_group(drone_id, group.group_id):
-                checkbox.setChecked(False)
+                self.statusBar().showMessage(
-                checkbox.blockSignals(False)
+                    f"⚠ {drone_id} 已被其他 group 勾選，無法加入 Group {group.group_id}", 3000
-        self.monitor.selected_drones.clear()
+                )
-        for socket_id in self.socket_groups.keys():
+                self.refresh_selection_ui()
-            self.update_group_checkbox_state(socket_id)
+                return
+            group.selected_drone_ids.add(drone_id)
+
+        self.refresh_selection_ui()
     
     def handle_toggle_select_all_drones(self):
-        all_selected = all(self.drones[did].get_checkbox().isChecked() for did in self.drones.keys())
+        """全選 / 清空 — 切換 active group 的所有 drone"""
-        if all_selected:
+        group = self._get_active_group()
-            for drone_id in self.drones.keys():
+        if not group:
-                checkbox = self.drones[drone_id].get_checkbox()
+            return
-                if checkbox:
+
-                    checkbox.blockSignals(True)
+        selectable_ids = self._get_selectable_drones_for_group(group.group_id) | set(group.selected_drone_ids)
-                    checkbox.setChecked(False)
+
-                    checkbox.blockSignals(False)
+        if group.selected_drone_ids == selectable_ids:
-            self.monitor.selected_drones.clear()
+            # 已全選 → 清空
+            group.selected_drone_ids.clear()
         else:
-            for drone_id in self.drones.keys():
+            # 未全選 → 全選
-                checkbox = self.drones[drone_id].get_checkbox()
+            group.selected_drone_ids = set(selectable_ids)
-                if checkbox:
+
-                    checkbox.blockSignals(True)
+        self.refresh_selection_ui()
-                    checkbox.setChecked(True)
+
-                    checkbox.blockSignals(False)
+    def handle_clear_all_drone_selection(self):
-                    self.monitor.selected_drones.add(drone_id)
+        """清除 active group 的所有無人機選擇"""
-        for socket_id in self.socket_groups.keys():
+        group = self._get_active_group()
-            self.update_group_checkbox_state(socket_id)
+        if not group:
+            return
+        group.selected_drone_ids.clear()
+        self.refresh_selection_ui()
+        self.statusBar().showMessage("已清除所有選擇", 2000)
 
     # ================================================================================
     # 任務規劃 — 點擊地圖（路由到 active group）
@@ -1176,7 +1279,7 @@ class ControlStationUI(QMainWindow):
 
     def _get_group_drones(self, group):
         """取得群組的無人機 ID 列表（排序後）"""
-        return sorted(group.drone_ids, key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
+        return sorted(group.selected_drone_ids, key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
 
     def handle_map_click(self, lat, lon):
         """處理地圖點擊事件 — 根據 active group 的任務類型規劃"""
@@ -1211,11 +1314,15 @@ class ControlStationUI(QMainWindow):
             if drone_gps_positions is None:
                 return
 
-            waypoints_per_drone, center_origin = self.mission_planner.plan_formation_mission(
+            waypoints_per_drone, center_origin, rendezvous_indices = self.mission_planner.plan_formation_mission(
                 drone_gps_positions, target_gps, mission_type, params=params
             )
 
-            group.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
+            group.planned_waypoints = {
+                'drone_ids': selected_drones,
+                'waypoints': waypoints_per_drone,
+                'rendezvous_indices': rendezvous_indices,
+            }
             group.center_origin = center_origin
             self.show_planned_waypoints(group)
 
@@ -1282,12 +1389,16 @@ class ControlStationUI(QMainWindow):
             target_gps = (target_lat, target_lon, base_alt)
 
             params['rect_corners'] = rect_corners
-            waypoints_per_drone, center_origin = self.mission_planner.plan_formation_mission(
+            waypoints_per_drone, center_origin, rendezvous_indices = self.mission_planner.plan_formation_mission(
                 drone_gps_positions, target_gps, MissionType.GRID_SWEEP,
                 params=params
             )
 
-            group.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
+            group.planned_waypoints = {
+                'drone_ids': selected_drones,
+                'waypoints': waypoints_per_drone,
+                'rendezvous_indices': rendezvous_indices,
+            }
             group.center_origin = center_origin
             self.show_planned_waypoints(group)
 
@@ -1331,6 +1442,11 @@ class ControlStationUI(QMainWindow):
             self.statusBar().showMessage(f"⚠ Group {group.group_id}: 請先分配無人機", 3000)
             return
 
+        # LEADER_FOLLOWER：把指定的領隊放到 rank 0
+        leader = getattr(group, 'leader_drone_id', None)
+        if leader and leader in selected_drones:
+            selected_drones = [leader] + [d for d in selected_drones if d != leader]
+
         print(f"路徑確認 → Group {group.group_id}: {points_json}")
         try:
             route_points = json.loads(points_json)
@@ -1359,12 +1475,16 @@ class ControlStationUI(QMainWindow):
             target_gps = (target_lat, target_lon, base_alt)
 
             params['route_waypoints'] = route_waypoints
-            waypoints_per_drone, center_origin = self.mission_planner.plan_formation_mission(
+            waypoints_per_drone, center_origin, rendezvous_indices = self.mission_planner.plan_formation_mission(
                 drone_gps_positions, target_gps, MissionType.LEADER_FOLLOWER,
                 params=params
             )
 
-            group.planned_waypoints = {'drone_ids': selected_drones, 'waypoints': waypoints_per_drone}
+            group.planned_waypoints = {
+                'drone_ids': selected_drones,
+                'waypoints': waypoints_per_drone,
+                'rendezvous_indices': rendezvous_indices,
+            }
             group.center_origin = center_origin
             self.show_planned_waypoints(group)
 
@@ -1403,6 +1523,17 @@ class ControlStationUI(QMainWindow):
         else:
             self.statusBar().showMessage(f"📍 {drone_id} → WP {wp_index}/{total}", 2000)
 
+    def _on_task_status_changed(self, drone_id, status, message):
+        """MissionExecutor.task_status_changed slot：把 goto 失敗/重試/fallback/barrier 丟到 status bar"""
+        if status == "retrying":
+            self.statusBar().showMessage(f"⚠ {drone_id} {message}", 4000)
+        elif status == "fallback_loiter":
+            self.statusBar().showMessage(f"❌ {drone_id} {message}", 8000)
+        elif status == "waiting_at_barrier":
+            self.statusBar().showMessage(f"⏸ {drone_id} {message}", 3000)
+        elif status == "normal":
+            self.statusBar().showMessage(f"▶ {drone_id} {message or '已恢復'}", 2000)
+
     # ================================================================================
     # 輔助方法
     # ================================================================================
@@ -1469,9 +1600,6 @@ class ControlStationUI(QMainWindow):
                 print(f"  WP{j}: ({wp[0]:.6f}°, {wp[1]:.6f}°, {wp[2]:.1f}m)")
         print(f"\n{'=' * 60}")
     
-    def get_selected_drones(self):
-        return [did for did, panel in self.drones.items() if hasattr(panel, 'checkbox') and panel.checkbox.isChecked()]
-
     def update_field(self, panel, drone_id, field, text, color=None):
         if isinstance(panel, DronePanel):
             panel.update_field(field, text, color)
@@ -1495,8 +1623,9 @@ class ControlStationUI(QMainWindow):
             self.socket_groups[socket_id] = self.create_socket_group_panel(socket_id)
         self.socket_groups[socket_id].drones_layout.addWidget(panel)
         self.reorganize_socket_groups()
-        self.update_group_checkbox_state(socket_id)
         self.update_overview_table()
+        # 同步新 drone 到 UI
+        self.refresh_selection_ui()
 
     def reorganize_socket_groups(self):
         while self.drone_panel_layout.count():
@@ -1723,10 +1852,16 @@ class ControlStationUI(QMainWindow):
             # Clean up serial receivers
             for receiver in self.monitor.serial_receivers:
                 receiver.stop()
-            # Clean up CommandLongClient
+            # Clean up all CommandLongClient instances
-            if self.monitor.command_long_client:
+            for drone_id, client in self.monitor.command_long_clients.items():
                 try:
-                    self.monitor.command_long_client.destroy_node()
+                    client.destroy_node()
+                except:
+                    pass
+            # Clean up all PositionTargetGlobalIntClient instances
+            for drone_id, client in getattr(self.monitor, 'position_target_clients', {}).items():
+                try:
+                    client.destroy_node()
                 except:
                     pass
             self.monitor.destroy_node()

src/GUI/mission_executor.py

@@ -6,11 +6,15 @@
 設計:
     - 每架無人機持有一個航點序列，逐點推進
     - 各自到達就各自切換到下一個航點
-    - 用 QTimer 驅動，在 Qt 主線程執行
+    - 事件驅動發送：航點切換時送一次，收到 send_result 才決定重送/前進
-    - 暫停 = 停止發送 setpoint，飛控自動懸停
+    - 失敗策略 (b)：單機重試 MAX_RETRY 次仍失敗 → 該機 fallback LOITER，其他機繼續
-    - 相容舊的 2 階段任務與新的多航點任務 (Grid Sweep)
+    - Rendezvous barrier：在指定 wp index 等所有活著的機到齊才一起推進，有 timeout 保護
+    - 用 QTimer 驅動到達判定，在 Qt 主線程執行
+    - 暫停 = 停止到達判定 + 停止新指令
 """
+import asyncio
 import math
+import time
 from enum import Enum
 from PyQt6.QtCore import QObject, QTimer, pyqtSignal
 
@@ -22,22 +26,31 @@ class MissionState(Enum):
     PAUSED = "paused"
 
 
+class TaskStatus(Enum):
+    """單機任務狀態"""
+    NORMAL = "normal"
+    RETRYING = "retrying"
+    WAITING_AT_BARRIER = "waiting_at_barrier"
+    FALLBACK_LOITER = "fallback_loiter"
+
+
 class DroneTask:
     """單架無人機的任務資料"""
-    __slots__ = ('drone_id', 'sysid', 'waypoints', 'wp_index', 'done')
+    __slots__ = (
+        'drone_id', 'sysid', 'waypoints', 'wp_index', 'done',
+        'sent_current_wp', 'fail_count', 'status', 'waiting_since',
+    )
 
     def __init__(self, drone_id, sysid, waypoints):
-        """
-        Args:
-            drone_id: GUI 用的 ID (如 's0_11')
-            sysid: MAVLink system ID (如 11)
-            waypoints: 航點序列 [(lat, lon, alt), ...]
-        """
         self.drone_id = drone_id
         self.sysid = sysid
         self.waypoints = waypoints
         self.wp_index = 0
         self.done = len(waypoints) == 0
+        self.sent_current_wp = False
+        self.fail_count = 0
+        self.status = TaskStatus.NORMAL
+        self.waiting_since = 0.0  # monotonic time 進入 WAITING_AT_BARRIER 的瞬間
 
     @property
     def current_target(self):
@@ -52,7 +65,7 @@ class DroneTask:
 
 class MissionExecutor(QObject):
     """
-    任務執行器
+    任務執行器 (事件驅動版 + rendezvous barrier)
 
     planned_waypoints 格式:
         {
@@ -60,31 +73,41 @@ class MissionExecutor(QObject):
             'waypoints': [
                 [(lat,lon,alt), ...],   # drone 0
                 [(lat,lon,alt), ...],   # drone 1
-            ]
+            ],
+            'rendezvous_indices': [3, 7, ...],   # 選填；缺省 = 全程不同步（各自跑）
         }
     """
 
-    # 信號
+    MAX_RETRY = 3
-    drone_waypoint_reached = pyqtSignal(str, int, int)  # (drone_id, wp_index, total)
+
+    drone_waypoint_reached = pyqtSignal(str, int, int)   # (drone_id, wp_index, total)
+    task_status_changed = pyqtSignal(str, str, str)       # (drone_id, status, message)
     mission_completed = pyqtSignal()
 
-    def __init__(self, sender, drone_gps,
+    def __init__(self, sender, drone_gps, monitor=None,
-                 arrival_radius=2.0, send_rate_hz=2.0):
+                 arrival_radius=2.0, tick_rate_hz=2.0,
+                 barrier_timeout_sec=20.0):
         super().__init__()
         self.sender = sender
         self.drone_gps = drone_gps
+        self.monitor = monitor  # 用於失敗 fallback 到 LOITER
         self.arrival_radius = arrival_radius
+        self.barrier_timeout_sec = barrier_timeout_sec
         self.state = MissionState.IDLE
         self.tasks = {}
+        self.rendezvous_indices = set()
 
-        self._interval_ms = int(1000 / send_rate_hz)
+        self._interval_ms = int(1000 / tick_rate_hz)
         self._timer = QTimer()
         self._timer.timeout.connect(self._tick)
 
+        # 只有 Ros2CommandSender 有 send_result signal；MavlinkSender 沒有
+        if hasattr(sender, 'send_result'):
+            sender.send_result.connect(self._on_send_result)
+
     # ------------------------------------------------------------------ 公開方法
 
     def start(self, planned_waypoints):
-        """啟動任務"""
         if self.state == MissionState.RUNNING:
             print("任務已在執行中")
             return
@@ -93,6 +116,9 @@ class MissionExecutor(QObject):
 
         drone_ids = planned_waypoints['drone_ids']
         waypoints_list = planned_waypoints['waypoints']
+        self.rendezvous_indices = set(
+            planned_waypoints.get('rendezvous_indices', []) or []
+        )
 
         for i, drone_id in enumerate(drone_ids):
             sysid = int(drone_id.split('_')[1])
@@ -102,87 +128,232 @@ class MissionExecutor(QObject):
         self._timer.start(self._interval_ms)
 
         total_wps = sum(t.total_waypoints for t in self.tasks.values())
+        rv_info = (
+            f"rendezvous WP={sorted(self.rendezvous_indices)}"
+            if self.rendezvous_indices else "無 rendezvous (各自跑)"
+        )
         print(f"任務啟動: {len(self.tasks)} 架無人機, "
               f"共 {total_wps} 個航點, "
               f"到達半徑={self.arrival_radius}m, "
-              f"發送週期={self._interval_ms}ms")
+              f"tick 週期={self._interval_ms}ms, "
+              f"barrier timeout={self.barrier_timeout_sec}s, "
+              f"{rv_info}")
 
     def pause(self):
-        """暫停任務"""
         if self.state == MissionState.RUNNING:
             self._timer.stop()
             self.state = MissionState.PAUSED
             print("任務暫停")
 
     def resume(self):
-        """恢復任務"""
         if self.state == MissionState.PAUSED:
             self._timer.start(self._interval_ms)
             self.state = MissionState.RUNNING
             print("任務恢復")
 
     def stop(self):
-        """停止任務"""
         self._timer.stop()
         self.tasks.clear()
+        self.rendezvous_indices = set()
         self.state = MissionState.IDLE
         print("任務停止")
 
     # ------------------------------------------------------------------ 控制迴圈
 
     def _tick(self):
-        """控制迴圈"""
+        """
-        all_done = True
+        控制 tick：
+            Phase 1: 每台機做到達判定；非 barrier 點直接推進，barrier 點改成 WAITING
+            Phase 2: 檢查 barrier 能不能釋放（全員到齊或 timeout）
+            Phase 3: 每台未送過當前航點的機送一次
+            Phase 4: 全部完成檢查
+        """
+        now = time.monotonic()
 
+        # ---- Phase 1: 到達判定 ----
         for task in self.tasks.values():
-            if task.done:
+            if task.done or task.status == TaskStatus.FALLBACK_LOITER:
+                continue
+            # 已在 barrier 等待的不再跑到達判定
+            if task.status == TaskStatus.WAITING_AT_BARRIER:
                 continue
 
-            all_done = False
             target = task.current_target
             if target is None:
                 continue
 
-            # 讀取當前 GPS
             gps = self.drone_gps.get(task.drone_id)
             if gps is None:
                 continue
 
-            tgt_lat, tgt_lon, tgt_alt = target
+            tgt_lat, tgt_lon, _ = target
             distance = _haversine(gps['lat'], gps['lon'], tgt_lat, tgt_lon)
+            if distance >= self.arrival_radius:
+                continue
 
-            # 到達判定
+            # 到達當前 wp_index
-            if distance < self.arrival_radius:
+            if (task.wp_index in self.rendezvous_indices
-                task.wp_index += 1
+                    and task.wp_index < task.total_waypoints - 1):
-                if task.wp_index >= task.total_waypoints:
+                # rendezvous 點 → 不推進，進入 barrier 等待
-                    task.done = True
+                task.status = TaskStatus.WAITING_AT_BARRIER
-                    self.drone_waypoint_reached.emit(
+                task.waiting_since = now
-                        task.drone_id, task.wp_index, task.total_waypoints
+                print(f"  {task.drone_id} → 抵達 barrier WP {task.wp_index}，等待同伴")
-                    )
+                self.task_status_changed.emit(
-                    print(f"  {task.drone_id} → DONE "
+                    task.drone_id, task.status.value,
-                          f"({task.total_waypoints}/{task.total_waypoints})")
+                    f"waiting at WP {task.wp_index}"
-                    continue
+                )
-                else:
+                continue
-                    self.drone_waypoint_reached.emit(
-                        task.drone_id, task.wp_index, task.total_waypoints
-                    )
-                    print(f"  {task.drone_id} → WP {task.wp_index}/{task.total_waypoints} "
-                          f"(距離: {distance:.1f}m)")
-                    # 更新目標
-                    tgt_lat, tgt_lon, tgt_alt = task.current_target
 
-            # 發送 setpoint
+            # 一般點 → 直接推進
+            self._advance_waypoint(task, distance)
+
+        # ---- Phase 2: barrier 釋放檢查 ----
+        self._check_barriers(now)
+
+        # ---- Phase 3: 發送未送過的目標 ----
+        for task in self.tasks.values():
+            if task.done or task.status in (
+                TaskStatus.FALLBACK_LOITER, TaskStatus.WAITING_AT_BARRIER
+            ):
+                continue
+            if task.sent_current_wp:
+                continue
+            target = task.current_target
+            if target is None:
+                continue
+            tgt_lat, tgt_lon, tgt_alt = target
+            task.sent_current_wp = True
             self.sender.send_position_global(
-                task.sysid, tgt_lat, tgt_lon, tgt_alt
+                task.drone_id, task.sysid, tgt_lat, tgt_lon, tgt_alt
             )
 
-        # 全部完成檢查
+        # ---- Phase 4: 完成檢查 ----
+        all_done = all(
+            t.done or t.status == TaskStatus.FALLBACK_LOITER
+            for t in self.tasks.values()
+        )
         if all_done and self.tasks:
             self._timer.stop()
             self.state = MissionState.IDLE
             self.mission_completed.emit()
             print("===== 任務全部完成 =====")
 
+    def _advance_waypoint(self, task, arrived_distance):
+        """把 task 推進一個航點，重置發送旗標。不處理 barrier 邏輯。"""
+        task.wp_index += 1
+        task.sent_current_wp = False
+        task.fail_count = 0
+        if task.wp_index >= task.total_waypoints:
+            task.done = True
+            self.drone_waypoint_reached.emit(
+                task.drone_id, task.wp_index, task.total_waypoints
+            )
+            print(f"  {task.drone_id} → DONE "
+                  f"({task.total_waypoints}/{task.total_waypoints})")
+            return
+        self.drone_waypoint_reached.emit(
+            task.drone_id, task.wp_index, task.total_waypoints
+        )
+        print(f"  {task.drone_id} → WP {task.wp_index}/{task.total_waypoints} "
+              f"(到達距離: {arrived_distance:.1f}m)")
+
+    def _check_barriers(self, now):
+        """檢查每個有人在等的 barrier 能不能釋放。"""
+        # 蒐集目前有哪些 barrier 有人卡著
+        waiting_groups = {}  # barrier_idx -> [task, ...]
+        for task in self.tasks.values():
+            if task.status == TaskStatus.WAITING_AT_BARRIER:
+                waiting_groups.setdefault(task.wp_index, []).append(task)
+
+        if not waiting_groups:
+            return
+
+        for barrier_idx, waiting_tasks in waiting_groups.items():
+            # 判斷是否「全員到齊」：所有仍活著的機都要麼在此 barrier 等，要麼早已越過此 idx
+            everyone_arrived = True
+            for task in self.tasks.values():
+                if task.done or task.status == TaskStatus.FALLBACK_LOITER:
+                    continue  # 失敗機/完成機不擋
+                if (task.status == TaskStatus.WAITING_AT_BARRIER
+                        and task.wp_index == barrier_idx):
+                    continue  # 在這裡等
+                if task.wp_index > barrier_idx:
+                    continue  # 早已越過（barrier 先前已對他釋放）
+                # 還在路上
+                everyone_arrived = False
+                break
+
+            force_reason = None
+            if not everyone_arrived:
+                # 檢查 timeout：以該 barrier 上最早進入等待的時間為準
+                oldest_wait = min(t.waiting_since for t in waiting_tasks)
+                if now - oldest_wait >= self.barrier_timeout_sec:
+                    force_reason = f"timeout {self.barrier_timeout_sec:.0f}s"
+                    print(f"⚠️  barrier WP {barrier_idx} {force_reason}，強制放行")
+                else:
+                    continue  # 還沒到齊、也還沒 timeout → 繼續等
+
+            # 釋放：把所有在此 barrier 等待的機一起推進
+            tag = "全員到齊" if force_reason is None else force_reason
+            print(f"✅ barrier WP {barrier_idx} 釋放 ({tag})，"
+                  f"推進 {len(waiting_tasks)} 架")
+            for task in waiting_tasks:
+                task.status = TaskStatus.NORMAL
+                msg = f"barrier WP {barrier_idx} released ({tag})"
+                self.task_status_changed.emit(
+                    task.drone_id, task.status.value, msg
+                )
+                self._advance_waypoint(task, self.arrival_radius)
+
+    # ------------------------------------------------------------------ 結果回呼
+
+    def _on_send_result(self, drone_id, sysid, success, message):
+        """Ros2CommandSender.send_result 的 slot"""
+        task = self.tasks.get(drone_id)
+        if task is None or task.done:
+            return
+        # 若已在 barrier 等待，舊指令的遲到回應不要再觸發重試/fallback
+        if task.status == TaskStatus.WAITING_AT_BARRIER:
+            return
+
+        if success:
+            if task.fail_count > 0 or task.status == TaskStatus.RETRYING:
+                task.status = TaskStatus.NORMAL
+                self.task_status_changed.emit(drone_id, task.status.value, "recovered")
+            task.fail_count = 0
+            return
+
+        task.fail_count += 1
+        print(f"⚠️  {drone_id} 發送失敗 {task.fail_count}/{self.MAX_RETRY}: {message}")
+
+        if task.fail_count < self.MAX_RETRY:
+            task.status = TaskStatus.RETRYING
+            task.sent_current_wp = False  # 下個 tick 會重送
+            self.task_status_changed.emit(
+                drone_id, task.status.value,
+                f"retry {task.fail_count}/{self.MAX_RETRY}: {message}"
+            )
+        else:
+            task.status = TaskStatus.FALLBACK_LOITER
+            self.task_status_changed.emit(
+                drone_id, task.status.value,
+                f"fallback LOITER after {self.MAX_RETRY} fails: {message}"
+            )
+            print(f"❌ {drone_id} 連續失敗 {self.MAX_RETRY} 次 → 切換 LOITER")
+            self._fallback_to_loiter(drone_id)
+
+    def _fallback_to_loiter(self, drone_id):
+        """用 monitor.set_mode 切 LOITER。set_mode 是 coroutine，透過 event loop 派送。"""
+        if self.monitor is None:
+            print(f"⚠️  無 monitor，無法將 {drone_id} 切到 LOITER")
+            return
+        try:
+            loop = asyncio.get_event_loop()
+        except RuntimeError:
+            loop = asyncio.new_event_loop()
+            asyncio.set_event_loop(loop)
+        loop.create_task(self.monitor.set_mode(drone_id, "LOITER"))
+
 
 # ------------------------------------------------------------------ 工具函式
 

src/GUI/mission_group.py

@@ -28,13 +28,18 @@ class MissionGroup:
     """單一任務群組的資料"""
 
     def __init__(self, group_id, color):
-        self.group_id = group_id          # 'A', 'B', 'C', ...
+        self.group_id = group_id             # 'A', 'B', 'C', ...
-        self.color = color                # 顏色 hex
+        self.color = color                   # 顏色 hex
-        self.drone_ids = set()            # 已分配的無人機 ID
+        
-        self.mission_type = 'M_FORMATION' # 預設任務類型
+        # 唯一真實資料來源：該 group 選中的 drone ID
-        self.planned_waypoints = None     # 規劃結果 dict
+        # 代表：group 擁有的 drone、被選中的 drone、可以操作的 drone
-        self.executor = None              # MissionExecutor 實例（延遲建立）
+        self.selected_drone_ids = set()
-        self.center_origin = None         # 規劃原點
+        
+        self.mission_type = 'M_FORMATION'    # 預設任務類型
+        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.leader_drone_id = None          # LEADER_FOLLOWER 專用：指定的領隊無人機 ID
 
     @property
     def state(self):
@@ -50,13 +55,13 @@ class MissionGroup:
 class DroneAssignDialog(QDialog):
     """無人機分配對話框"""
 
-    def __init__(self, parent, all_drone_ids, current_assigned, other_assigned):
+    def __init__(self, parent, all_drone_ids, current_assigned, other_assigned=None):
         """
         Args:
             parent: 父 widget
             all_drone_ids: 所有可用無人機 ID 列表
             current_assigned: 當前群組已分配的無人機 set
-            other_assigned: 其他群組已佔用的無人機 dict {drone_id: group_id}
+            other_assigned: (忽略 — 現在允許多 group 分配)
         """
         super().__init__(parent)
         self.setWindowTitle("分配無人機")
@@ -66,7 +71,6 @@ class DroneAssignDialog(QDialog):
             QLabel { color: #DDD; }
             QCheckBox { color: #DDD; spacing: 8px; padding: 4px; }
             QCheckBox::indicator { width: 16px; height: 16px; }
-            QCheckBox:disabled { color: #666; }
         """)
 
         layout = QVBoxLayout(self)
@@ -89,12 +93,9 @@ class DroneAssignDialog(QDialog):
         for drone_id in sorted_ids:
             cb = QCheckBox(drone_id)
 
+            # 所有 drone 都能被選摘（支持多 group 分配）
             if drone_id in current_assigned:
                 cb.setChecked(True)
-            elif drone_id in other_assigned:
-                cb.setEnabled(False)
-                cb.setToolTip(f"已分配到 Group {other_assigned[drone_id]}")
-                cb.setText(f"{drone_id}  (Group {other_assigned[drone_id]})")
 
             self.checkboxes[drone_id] = cb
             scroll_layout.addWidget(cb)
@@ -159,7 +160,6 @@ class GroupPanel(QWidget):
     def __init__(self, group: MissionGroup, parent=None):
         super().__init__(parent)
         self.group = group
-        self._is_all_selected = False  # 追蹤全選狀態
         self.all_btn_ref = None  # 保存全選按鈕的參考
         self._build_ui()
 
@@ -344,13 +344,13 @@ class GroupPanel(QWidget):
         clear_btn.setStyleSheet(BTN.format(bg='#777', fg='white', hover='#888'))
         clear_btn.clicked.connect(
             lambda: self.clear_group_requested.emit(self.group.group_id))
-        delete_group_btn = QPushButton("刪除群組")
+        self.delete_group_btn = QPushButton("刪除群組")
-        delete_group_btn.setStyleSheet(BTN.format(bg='#EF5350', fg='white', hover='#E53935'))
+        self.delete_group_btn.setStyleSheet(BTN.format(bg='#EF5350', fg='white', hover='#E53935'))
-        delete_group_btn.clicked.connect(
+        self.delete_group_btn.clicked.connect(
             lambda: self.delete_group_requested.emit(self.group.group_id))
         grid_r2.addWidget(assign_btn)
         grid_r2.addWidget(clear_btn)
-        grid_r2.addWidget(delete_group_btn)
+        grid_r2.addWidget(self.delete_group_btn)
         right.addLayout(grid_r2)
 
         right.addStretch()
@@ -415,6 +415,21 @@ class GroupPanel(QWidget):
                 self._param_widgets[key] = (row_w, inp)
                 self._param_rows.append(row_w)
 
+        # LEADER_FOLLOWER 專用：領隊下拉選單
+        self._leader_row = QWidget()
+        leader_layout = QHBoxLayout(self._leader_row)
+        leader_layout.setContentsMargins(0, 0, 0, 0)
+        leader_layout.setSpacing(3)
+        leader_lbl = QLabel("領隊")
+        leader_lbl.setStyleSheet(LBL)
+        self._leader_combo = QComboBox()
+        self._leader_combo.setStyleSheet(COMBO)
+        self._leader_combo.setFixedWidth(70)
+        self._leader_combo.currentTextChanged.connect(self._on_leader_changed)
+        leader_layout.addWidget(leader_lbl, 1)
+        leader_layout.addWidget(self._leader_combo)
+        param_col.addWidget(self._leader_row)
+
         param_col.addStretch()
 
         # 初始顯示對應的參數
@@ -438,15 +453,36 @@ class GroupPanel(QWidget):
 
     def update_drone_list(self):
         """更新無人機列表顯示"""
-        if not self.group.drone_ids:
+        if not self.group.selected_drone_ids:
             self.drone_list_label.setText("尚未分配")
             self.drone_list_label.setStyleSheet("color: #888; font-size: 11px;")
         else:
-            sorted_ids = sorted(self.group.drone_ids,
+            sorted_ids = sorted(self.group.selected_drone_ids,
                                 key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
             self.drone_list_label.setText("、".join(sorted_ids))
             self.drone_list_label.setStyleSheet(
                 f"color: {self.group.color}; font-size: 11px; font-weight: bold;")
+        self._refresh_leader_options()
+
+    def _refresh_leader_options(self):
+        """依目前群組成員重新填充領隊下拉選單，保留目前選擇若仍有效"""
+        sorted_ids = sorted(self.group.selected_drone_ids,
+                            key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
+        current = self.group.leader_drone_id
+        self._leader_combo.blockSignals(True)
+        self._leader_combo.clear()
+        self._leader_combo.addItems(sorted_ids)
+        if current and current in sorted_ids:
+            self._leader_combo.setCurrentText(current)
+        elif sorted_ids:
+            self._leader_combo.setCurrentText(sorted_ids[0])
+            self.group.leader_drone_id = sorted_ids[0]
+        else:
+            self.group.leader_drone_id = None
+        self._leader_combo.blockSignals(False)
+
+    def _on_leader_changed(self, drone_id):
+        self.group.leader_drone_id = drone_id if drone_id else None
 
     def update_status(self):
         """更新任務狀態顯示"""
@@ -461,7 +497,7 @@ class GroupPanel(QWidget):
             self.status_label.setText("⏸ 已暫停")
             self.status_label.setStyleSheet("color: #FFA000; font-size: 11px; font-weight: bold;")
         else:
-            n = len(self.group.drone_ids)
+            n = len(self.group.selected_drone_ids)
             total_wps = sum(len(wps) for wps in self.group.planned_waypoints['waypoints'])
             self.status_label.setText(f"● 已規劃 ({n}架/{total_wps}點)")
             self.status_label.setStyleSheet(
@@ -471,9 +507,9 @@ class GroupPanel(QWidget):
         """全選按鈕點擊 - 發送信號給 gui.py 處理 toggle 邏輯"""
         self.select_all_requested.emit(self.group.group_id)
     
-    def set_all_select_state(self, is_selected):
+    def set_delete_enabled(self, enabled):
-        """外部設置全選狀態（按鈕文本保持「全選/取消」）"""
+        """啟用或禁用刪除群組按鈕"""
-        self._is_all_selected = is_selected
+        self.delete_group_btn.setEnabled(enabled)
 
     def _update_param_visibility(self, _=None):
         """根據當前任務類型，顯示/隱藏對應的參數列"""
@@ -481,6 +517,7 @@ class GroupPanel(QWidget):
         visible_keys = {d[0] for d in self._param_defs.get(mission_type, [])}
         for key, (row_w, _inp) in self._param_widgets.items():
             row_w.setVisible(key in visible_keys)
+        self._leader_row.setVisible(mission_type == 'LEADER_FOLLOWER')
 
     def get_mission_params(self):
         """讀取當前顯示的參數值，回傳 dict"""

src/GUI/mission_planner.py

@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 """
 飛行任務規劃模組
-支援: M-Formation, Circle, Leader-Follower (Bezier 轉彎), Grid Sweep
+支援: M-Formation, Circle, Leader-Follower (arc-length virtual leader), Grid Sweep
 """
 import math
 from typing import List, Tuple, Optional, Dict, Any
@@ -72,7 +72,12 @@ class FormationPlanner:
                                mission_type: MissionType = MissionType.M_FORMATION,
                                params: Optional[Dict[str, Any]] = None
                                ) -> Tuple[List[List[Tuple[float, float, float]]],
-                                          Tuple[float, float, float]]:
+                                          Tuple[float, float, float],
+                                          List[int]]:
+        """
+        回傳 (waypoints_gps, origin, rendezvous_indices)。
+        rendezvous_indices：航點序列裡該群組需要等全員到齊才推進的 index 清單。
+        """
         if len(drone_gps_positions) == 0:
             raise ValueError("無人機位置列表不能為空")
 
@@ -89,10 +94,14 @@ class FormationPlanner:
         if mission_type == MissionType.M_FORMATION:
             s1, s2 = self._calculate_m_formation(drone_local, target_local, params)
             waypoints_local = [[s1[i], s2[i]] for i in range(len(drone_local))]
+            # 起點集合後一起出發到 stage2
+            rendezvous_indices = [0]
 
         elif mission_type == MissionType.CIRCLE_FORMATION:
             s1, s2 = self._calculate_circle_formation(drone_local, target_local, params)
             waypoints_local = [[s1[i], s2[i]] for i in range(len(drone_local))]
+            # 半程集合後一起進最終圓環位置
+            rendezvous_indices = [0]
 
         elif mission_type == MissionType.LEADER_FOLLOWER:
             params = params or {}
@@ -103,7 +112,9 @@ class FormationPlanner:
                 self.converter.gps_to_local(wp[0], wp[1], 0)[:2]
                 for wp in route_wps_gps
             ]
-            waypoints_local = self._calculate_leader_follower(drone_local, route_wps_local, params)
+            waypoints_local, rendezvous_indices = self._calculate_leader_follower(
+                drone_local, route_wps_local, params
+            )
 
         elif mission_type == MissionType.GRID_SWEEP:
             params = params or {}
@@ -114,7 +125,9 @@ class FormationPlanner:
                 self.converter.gps_to_local(c[0], c[1], 0)[:2]
                 for c in rect_corners_gps
             ]
-            waypoints_local = self._calculate_grid_sweep(drone_local, rect_corners_local, params)
+            waypoints_local, rendezvous_indices = self._calculate_grid_sweep(
+                drone_local, rect_corners_local, params
+            )
         else:
             raise ValueError(f"不支援的任務類型: {mission_type}")
 
@@ -123,7 +136,7 @@ class FormationPlanner:
             gps_wps = [self.converter.local_to_gps(*wp) for wp in drone_wps]
             waypoints_gps.append(gps_wps)
 
-        return waypoints_gps, self.current_origin
+        return waypoints_gps, self.current_origin, rendezvous_indices
 
     # ------------------------------------------------------------------ M-Formation
 
@@ -189,177 +202,321 @@ class FormationPlanner:
 
         return stage1_positions, stage2_positions
 
-    # ------------------------------------------------------------------ 路徑跟隨 (Bezier 轉彎)
+    # ------------------------------------------------------------------ 路徑跟隨 (虛擬領隊)
 
     def _calculate_leader_follower(self, drone_positions, route_wps_local, params):
         """
-        路徑跟隨編隊 — Bezier 曲線轉彎版
+        路徑跟隨編隊 — 虛擬領隊 / 弧長參數化版 (virtual leader / arc-length)
 
-        步驟:
+        核心想法：
-            1. _build_center_path: 在轉折 WP 處用二次 Bezier 曲線平滑轉彎
+            - center_path 建好後計算每個 sample 的累積弧長 s
-            2. 固定排序，每架無人機沿中心路徑套用橫向+縱向偏移
+            - 每架 drone 給 (lat_k, lon_k) 的隊形偏移
+            - 把 leader 想成沿 s 參數化的點，follower k 的目標 s = s_leader - lon_k
+            - follower k 第 i 個 waypoint = lookup(s_list[i] - lon_k) + lat_k × perp(tangent)
+            - 超過 path 起點/終點以 clip 處理，避免倒退或衝出
 
-        隊形 (俯視):
+        解決前版「空間偏移」的三個 bug：
-            |     (前進方向)         |
+            1. 起點暴衝：s<0 clip → follower 起點就是 start 加橫向偏移，不往後倒退
-            |           D1          |  ← 左偏移, 後 0m
+            2. 弧段角度爆炸：lon 不再換算成弧度，直接沿 polyline lookup
-            |                D2     |  ← 右偏移, 後 5m
+            3. straight/arc 切換不連續：統一走 polyline 線性內插與 segment 切線
-            |           D3          |  ← 左偏移, 後 10m
+
-            |                D4     |  ← 右偏移, 後 15m
+        Rank 定序規則：
+            **以 drone_positions 的輸入順序為準**（= GUI 選取順序）。
+            drone_positions[0] = rank 0 = leader (lon=0)，
+            drone_positions[1] = rank 1 (lon=5)，依此類推。
+            刻意「不」用位置投影自動排序，避免浮點噪音造成 run-to-run
+            leader 漂移，以確保整個 mission 像軍隊縱隊那樣順序固定。
+
+        隊形 (俯視, 以路徑行進方向為前):
+            D0 (lat=-L, lon=0)   ← front-right (leader)
+                D1 (lat=+L, lon=5)
+            D2 (lat=-L, lon=10)
+                D3 (lat=+L, lon=15)
         """
         N = len(drone_positions)
         lateral_offset = params.get('lateral_offset', 3.0)
         longitudinal_spacing = params.get('longitudinal_spacing', 5.0)
         altitude = params.get('altitude', self.base_altitude)
-        turn_margin = params.get('turn_margin', 0.35)      # 轉彎切入距離佔段長比例
+        min_inner_radius = params.get('min_inner_radius', 3.0)
-        curve_resolution = params.get('curve_resolution', 8)  # 每個彎道的插值點數
+        arc_resolution = params.get('arc_resolution', 12)
+        sharp_turn_cos = params.get('sharp_turn_cos_threshold', 0.0)  # cos(90°)=0
 
-        # Step 1: 建立帶 Bezier 轉彎的中心路徑
+        # Step 1: 建立中心路徑（含圓弧、銳角單點；每點帶累積 s）
-        center_path = self._build_center_path(
+        center_path, barrier_indices = self._build_center_path(
-            route_wps_local, turn_margin, curve_resolution
+            route_wps_local,
+            formation_max_lateral=lateral_offset,
+            min_inner_radius=min_inner_radius,
+            arc_resolution=arc_resolution,
+            sharp_turn_cos_threshold=sharp_turn_cos,
         )
 
-        # Step 2: 固定排序
+        s_list = [pt['s'] for pt in center_path]
-        first_dir = (center_path[0][2], center_path[0][3])
+        s_max = s_list[-1]
-        first_perp = (-first_dir[1], first_dir[0])
+        n_pts = len(center_path)
-        C_x = sum(p[0] for p in drone_positions) / N
-        C_y = sum(p[1] for p in drone_positions) / N
 
-        projections = [
+        def lookup(s_target):
-            ((pos[0] - C_x) * first_perp[0] + (pos[1] - C_y) * first_perp[1], i)
+            """
-            for i, pos in enumerate(drone_positions)
+            在 center path 上以弧長 s 回傳 (x, y, tangent_dir)。
-        ]
+            s<0 → clip 到 start；s>s_max → clip 到 end。
-        projections.sort()
+            tangent 方向取當前 polyline segment 的切線，避免對不連續的 dir 做插值。
+            """
+            if n_pts == 1:
+                pt = center_path[0]
+                return pt['x'], pt['y'], pt['dir']
 
-        # Step 3: 偏移
+            if s_target <= 0.0:
+                a = center_path[0]
+                b = center_path[1]
+                sdx, sdy = b['x'] - a['x'], b['y'] - a['y']
+                slen = math.hypot(sdx, sdy)
+                if slen > 1e-6:
+                    return a['x'], a['y'], (sdx / slen, sdy / slen)
+                return a['x'], a['y'], a['dir']
+
+            if s_target >= s_max:
+                a = center_path[-2]
+                b = center_path[-1]
+                sdx, sdy = b['x'] - a['x'], b['y'] - a['y']
+                slen = math.hypot(sdx, sdy)
+                if slen > 1e-6:
+                    return b['x'], b['y'], (sdx / slen, sdy / slen)
+                return b['x'], b['y'], b['dir']
+
+            # Binary search：s_list[lo] <= s_target < s_list[hi]
+            lo, hi = 0, n_pts - 1
+            while lo + 1 < hi:
+                mid = (lo + hi) // 2
+                if s_list[mid] <= s_target:
+                    lo = mid
+                else:
+                    hi = mid
+            a = center_path[lo]
+            b = center_path[hi]
+            ds = s_list[hi] - s_list[lo]
+            if ds < 1e-9:
+                return a['x'], a['y'], a['dir']
+            t = (s_target - s_list[lo]) / ds
+            x = a['x'] + t * (b['x'] - a['x'])
+            y = a['y'] + t * (b['y'] - a['y'])
+            sdx, sdy = b['x'] - a['x'], b['y'] - a['y']
+            slen = math.hypot(sdx, sdy)
+            if slen > 1e-6:
+                return x, y, (sdx / slen, sdy / slen)
+            return x, y, a['dir']
+
+        # Step 2: rank = 輸入順序（GUI 選取順序），不再做 projection sort
+        # 避免浮點噪音在投影值相近時翻轉 leader，保證 run-to-run 穩定
         all_waypoints = [None] * N
 
-        for rank, (_, original_idx) in enumerate(projections):
+        # 預先算好路徑終點的切線（給收尾點用）
+        end = center_path[-1]
+        end_dx, end_dy = end['dir']
+        if n_pts >= 2:
+            a = center_path[-2]
+            sdx, sdy = end['x'] - a['x'], end['y'] - a['y']
+            slen = math.hypot(sdx, sdy)
+            if slen > 1e-6:
+                end_dx, end_dy = sdx / slen, sdy / slen
+
+        for rank in range(N):
             lat_sign = -1 if rank % 2 == 0 else 1
             lat = lat_sign * lateral_offset
             lon = rank * longitudinal_spacing
 
             waypoints = []
-            for (cx, cy, dx, dy) in center_path:
+            for i in range(n_pts):
+                s_follower = s_list[i] - lon
+                x, y, (dx, dy) = lookup(s_follower)
                 perp_x, perp_y = -dy, dx
-                ox = cx + lat * perp_x - lon * dx
+                waypoints.append((
-                oy = cy + lat * perp_y - lon * dy
+                    x + lat * perp_x,
-                waypoints.append((ox, oy, altitude))
+                    y + lat * perp_y,
+                    altitude,
+                ))
 
-            all_waypoints[original_idx] = waypoints
+            # 收尾：全員到 path 終點的 rank 位置（lon 歸零）
+            waypoints.append((
+                end['x'] + lat * (-end_dy),
+                end['y'] + lat * end_dx,
+                altitude,
+            ))
 
-        return all_waypoints
+            all_waypoints[rank] = waypoints
 
-    def _build_center_path(self, waypoints, turn_margin, curve_resolution):
+        # barrier 索引仍指向 center_path 內 (range [0, n_pts-1])，
+        # 不觸及末尾收尾點，直接沿用即可
+        return all_waypoints, barrier_indices
+
+    def _build_center_path(self, waypoints,
+                           formation_max_lateral,
+                           min_inner_radius,
+                           arc_resolution,
+                           sharp_turn_cos_threshold):
         """
-        建立帶 Bezier 曲線轉彎的中心路徑
+        建立以「圓弧」連接直線段的中心路徑。
 
-        在每個轉折 WP 處:
+        每個中間 waypoint 的處理：
-            1. 計算 pre_turn = WP - d_in × T
+            1. 計算入向 u_in、出向 u_out 的夾角 β = acos(u_in·u_out)
-            2. 計算 post_turn = WP + d_out × T
+            2. 若 cos β < sharp_turn_cos_threshold → 銳角：只插單點 (hover + 原地轉向)，
-            3. 用二次 Bezier 曲線: B(t) = (1-t)²·pre + 2t(1-t)·WP + t²·post
+               barrier 放在該點，讓隊伍整體停下再繼續
-            4. 方向從導數得到: B'(t) = 2(1-t)(WP-pre) + 2t(post-WP)
+            3. 否則 → 平滑弧：
+                  R_base = formation_max_lateral + min_inner_radius
+                  d = R_base × tan(β/2)，並以相鄰段長的 45% 為上限
+                  R_actual = d / tan(β/2)
+                  tangent points T_in = WP - u_in·d, T_out = WP + u_out·d
+                  arc center = T_in + R_actual·sign·n_left，其中 sign=+1 左轉/CCW，-1 右轉/CW
+                  arc 由 theta_in 到 theta_out 以 arc_resolution 等分
+               path 內容: [T_in(straight,u_in), arc_samples..., T_out(straight,u_out)]
+               barrier 放在 T_out (轉完彎後的集合點)
 
-        Args:
+        path 是一個 list[dict]，每個 dict 至少含:
-            waypoints: 路徑航點 [(x, y), ...]
+            {'seg': 'straight' | 'arc',
-            turn_margin: 轉彎切入距離佔相鄰段長的比例 (0~0.5)
+             'x': float, 'y': float,
-            curve_resolution: 每個彎道的 Bezier 插值點數
+             'dir': (dx, dy)}
+        'arc' 類型額外含: 'arc_center', 'arc_R', 'arc_sign', 'theta'
 
         Returns:
-            [(x, y, dir_x, dir_y), ...] 中心路徑點 + 單位方向
+            (path, barrier_indices)
         """
         num_wps = len(waypoints)
 
         if num_wps < 2:
-            return [(waypoints[0][0], waypoints[0][1], 0.0, 1.0)]
+            return [{
+                'seg': 'straight',
+                'x': waypoints[0][0], 'y': waypoints[0][1],
+                'dir': (0.0, 1.0),
+            }], []
 
-        # 計算每段方向和長度
         segments = []
         for i in range(num_wps - 1):
             dx = waypoints[i + 1][0] - waypoints[i][0]
             dy = waypoints[i + 1][1] - waypoints[i][1]
-            length = math.sqrt(dx ** 2 + dy ** 2)
+            length = math.hypot(dx, dy)
             if length < 0.01:
-                segments.append((0.0, 1.0, length))
+                segments.append(((0.0, 1.0), length))
             else:
-                segments.append((dx / length, dy / length, length))
+                segments.append(((dx / length, dy / length), length))
 
+        R_base = formation_max_lateral + min_inner_radius
         path = []
+        barrier_indices = []
 
-        # 第一個航點
+        # 起點
-        path.append((waypoints[0][0], waypoints[0][1],
+        path.append({
-                      segments[0][0], segments[0][1]))
+            'seg': 'straight',
+            'x': waypoints[0][0], 'y': waypoints[0][1],
+            'dir': segments[0][0],
+        })
 
-        # 中間航點 (轉彎處)
         for i in range(1, num_wps - 1):
-            d_in_x, d_in_y, len_in = segments[i - 1]
+            u_in, len_in = segments[i - 1]
-            d_out_x, d_out_y, len_out = segments[i]
+            u_out, len_out = segments[i]
+            wp = waypoints[i]
 
-            # 切入距離 T: 取相鄰兩段中較短的 × turn_margin
+            dot = u_in[0] * u_out[0] + u_in[1] * u_out[1]
-            T = min(len_in, len_out) * turn_margin
+            dot = max(-1.0, min(1.0, dot))
 
-            if T < 0.5:
+            # 銳角：hover + 原地轉向
-                # 段太短，不插彎，直接加一個平均方向點
+            if dot < sharp_turn_cos_threshold:
-                avg_dx = d_in_x + d_out_x
+                avg_dx = u_in[0] + u_out[0]
-                avg_dy = d_in_y + d_out_y
+                avg_dy = u_in[1] + u_out[1]
-                avg_len = math.sqrt(avg_dx ** 2 + avg_dy ** 2)
+                avg_len = math.hypot(avg_dx, avg_dy)
                 if avg_len > 0.01:
-                    avg_dx /= avg_len
+                    avg_dir = (avg_dx / avg_len, avg_dy / avg_len)
-                    avg_dy /= avg_len
                 else:
-                    avg_dx, avg_dy = d_in_x, d_in_y
+                    avg_dir = u_in
-                path.append((waypoints[i][0], waypoints[i][1], avg_dx, avg_dy))
+                path.append({
+                    'seg': 'straight',
+                    'x': wp[0], 'y': wp[1],
+                    'dir': avg_dir,
+                })
+                barrier_indices.append(len(path) - 1)
                 continue
 
-            # P0 = pre_turn (弧線起始)
+            # 平滑弧
-            p0_x = waypoints[i][0] - d_in_x * T
+            beta = math.acos(dot)
-            p0_y = waypoints[i][1] - d_in_y * T
+            if beta < 1e-4:
+                # 幾乎直線，不插弧
+                path.append({
+                    'seg': 'straight',
+                    'x': wp[0], 'y': wp[1],
+                    'dir': u_in,
+                })
+                continue
 
-            # P1 = WP 本身 (控制點)
+            half_tan = math.tan(beta / 2.0)
-            p1_x = waypoints[i][0]
+            d_ideal = R_base * half_tan
-            p1_y = waypoints[i][1]
+            d_max = 0.45 * min(len_in, len_out)
+            d = min(d_ideal, d_max)
+            R_actual = d / half_tan
 
-            # P2 = post_turn (弧線結束)
+            T_in = (wp[0] - u_in[0] * d, wp[1] - u_in[1] * d)
-            p2_x = waypoints[i][0] + d_out_x * T
+            T_out = (wp[0] + u_out[0] * d, wp[1] + u_out[1] * d)
-            p2_y = waypoints[i][1] + d_out_y * T
 
-            # 加入 pre_turn 點 (方向 = incoming)
+            # +1 CCW (左轉) / -1 CW (右轉)
-            path.append((p0_x, p0_y, d_in_x, d_in_y))
+            cross = u_in[0] * u_out[1] - u_in[1] * u_out[0]
+            sign = 1 if cross > 0 else -1
 
-            # 加入 Bezier 插值點
+            # 入向左法線
-            for j in range(1, curve_resolution):
+            n_left = (-u_in[1], u_in[0])
-                t = j / curve_resolution
+            center = (
+                T_in[0] + R_actual * sign * n_left[0],
+                T_in[1] + R_actual * sign * n_left[1],
+            )
 
-                # B(t) = (1-t)²·P0 + 2t(1-t)·P1 + t²·P2
+            theta_in = math.atan2(T_in[1] - center[1], T_in[0] - center[0])
-                one_minus_t = 1.0 - t
-                bx = one_minus_t * one_minus_t * p0_x + \
-                     2 * t * one_minus_t * p1_x + \
-                     t * t * p2_x
-                by = one_minus_t * one_minus_t * p0_y + \
-                     2 * t * one_minus_t * p1_y + \
-                     t * t * p2_y
 
-                # B'(t) = 2(1-t)(P1-P0) + 2t(P2-P1) → 切線方向
+            # T_in (straight, 方向 u_in)
-                tdx = 2 * one_minus_t * (p1_x - p0_x) + 2 * t * (p2_x - p1_x)
+            path.append({
-                tdy = 2 * one_minus_t * (p1_y - p0_y) + 2 * t * (p2_y - p1_y)
+                'seg': 'straight',
+                'x': T_in[0], 'y': T_in[1],
+                'dir': u_in,
+            })
 
-                # 正規化
+            # 弧段採樣 k=1..arc_resolution-1（不含兩端）
-                t_len = math.sqrt(tdx ** 2 + tdy ** 2)
+            for k in range(1, arc_resolution):
-                if t_len > 0.01:
+                t = k / arc_resolution
-                    tdx /= t_len
+                theta = theta_in + sign * beta * t
-                    tdy /= t_len
+                px = center[0] + R_actual * math.cos(theta)
-                else:
+                py = center[1] + R_actual * math.sin(theta)
-                    tdx, tdy = d_in_x, d_in_y
+                # 切線: sign × (-sin θ, cos θ)
+                tx = sign * (-math.sin(theta))
+                ty = sign * math.cos(theta)
+                path.append({
+                    'seg': 'arc',
+                    'x': px, 'y': py,
+                    'dir': (tx, ty),
+                    'arc_center': center,
+                    'arc_R': R_actual,
+                    'arc_sign': sign,
+                    'theta': theta,
+                })
 
-                path.append((bx, by, tdx, tdy))
+            # T_out (straight, 方向 u_out)，barrier 放這
+            path.append({
+                'seg': 'straight',
+                'x': T_out[0], 'y': T_out[1],
+                'dir': u_out,
+            })
+            barrier_indices.append(len(path) - 1)
 
-            # 加入 post_turn 點 (方向 = outgoing)
+        # 終點
-            path.append((p2_x, p2_y, d_out_x, d_out_y))
+        path.append({
+            'seg': 'straight',
+            'x': waypoints[-1][0], 'y': waypoints[-1][1],
+            'dir': segments[-1][0],
+        })
 
-        # 最後一個航點
+        # 後處理：為每個 sample 加上累積 polyline 弧長 s
-        path.append((waypoints[-1][0], waypoints[-1][1],
+        path[0]['s'] = 0.0
-                      segments[-1][0], segments[-1][1]))
+        for i in range(1, len(path)):
+            prev = path[i - 1]
+            cur = path[i]
+            cur['s'] = prev['s'] + math.hypot(
+                cur['x'] - prev['x'], cur['y'] - prev['y']
+            )
 
-        return path
+        return path, barrier_indices
 
     # ------------------------------------------------------------------ 柵狀掃描
 
@@ -474,7 +631,15 @@ class FormationPlanner:
 
             all_waypoints[original_idx] = waypoints_list
 
-        return all_waypoints
+        # 每一條掃描線的「起點」都做一次同步：
+        #   wp 0 = gather, wp 1 = 第一條線起點, wp 2 = 第一條線終點,
+        #   wp 3 = 第二條線起點, wp 4 = 第二條線終點, ...
+        # 每條線的「起點 index」= 1, 3, 5, ... = 2*i + 1（i 從 0 開始）
+        # 所有 drone 的 waypoint 數量相同（num_lines 對所有 strip 都一致），
+        # 所以用同一份 rendezvous_indices
+        rendezvous_indices = [2 * i + 1 for i in range(num_lines)]
+
+        return all_waypoints, rendezvous_indices
 
 
 # ================================================================================
@@ -492,12 +657,12 @@ if __name__ == "__main__":
     target = (24.12400, 120.56795, 10.0)
 
     # M-Formation
-    wps, origin = planner.plan_formation_mission(drones, target, MissionType.M_FORMATION)
+    wps, origin, rv = planner.plan_formation_mission(drones, target, MissionType.M_FORMATION)
     print("M-Formation:")
     for i, wp_list in enumerate(wps):
         print(f"  Drone {i}: {len(wp_list)} waypoints")
 
-    # Leader-Follower (Bezier 轉彎)
+    # Leader-Follower (虛擬領隊 / 弧長參數化)
     route = [
         (24.12345, 120.56780),
         (24.12370, 120.56800),
@@ -505,18 +670,18 @@ if __name__ == "__main__":
         (24.12400, 120.56800),
         (24.12420, 120.56790),
     ]
-    wps_lf, origin_lf = planner.plan_formation_mission(
+    wps_lf, origin_lf, rv_lf = planner.plan_formation_mission(
         drones, target, MissionType.LEADER_FOLLOWER,
         params={
             'route_waypoints': route,
             'lateral_offset': 3.0,
             'longitudinal_spacing': 5.0,
-            'turn_margin': 0.35,
+            'min_inner_radius': 3.0,
-            'curve_resolution': 8,
+            'arc_resolution': 8,
             'altitude': 10.0
         }
     )
-    print(f"\nLeader-Follower (Bezier turns):")
+    print(f"\nLeader-Follower (arc-length virtual leader):")
     for i, wp_list in enumerate(wps_lf):
         print(f"  Drone {i}: {len(wp_list)} waypoints")
         for j, wp in enumerate(wp_list):
@@ -529,7 +694,7 @@ if __name__ == "__main__":
         (24.1240, 120.5683),
         (24.1240, 120.5679)
     ]
-    wps2, origin2 = planner.plan_formation_mission(
+    wps2, origin2, rv2 = planner.plan_formation_mission(
         drones, target, MissionType.GRID_SWEEP,
         params={'rect_corners': rect, 'line_spacing': 5.0, 'altitude': 10.0}
     )

src/GUI/overview_table.py

@@ -7,7 +7,7 @@ class OverviewTable(QTableWidget):
     
     # 默認的資訊類型和映射
     DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "XY位置", "XY速度", "地速", "航向",
-                          "空速", "油門", "HUD ALT", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
+                          "空速", "油門", "海拔高度", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
     
     DEFAULT_INFO_TYPE_MAP = {
         "mode": 0,

src/GUI/validation/test_mission.py

@@ -210,7 +210,7 @@ def main():
         target_gps = (target_lat, target_lon, BASE_ALTITUDE)
         print(f"  目標點: ({target_lat:.6f}, {target_lon:.6f})")
 
-        waypoints_per_drone, origin = planner.plan_formation_mission(
+        waypoints_per_drone, origin, _ = planner.plan_formation_mission(
             drone_gps_positions, target_gps, MissionType.M_FORMATION
         )
 
@@ -232,7 +232,7 @@ def main():
         target_gps = (rect_center_lat, rect_center_lon, BASE_ALTITUDE)
         print(f"  矩形中心: ({rect_center_lat:.6f}, {rect_center_lon:.6f})")
 
-        waypoints_per_drone, origin = planner.plan_formation_mission(
+        waypoints_per_drone, origin, _ = planner.plan_formation_mission(
             drone_gps_positions, target_gps, MissionType.GRID_SWEEP,
             params={
                 'rect_corners': rect_corners,

src/GUI/validation/verify_waypoints.py

@@ -365,7 +365,7 @@ def visualize_standalone():
     fig.suptitle('Mission Planner Verification (standalone)', fontsize=14, fontweight='bold')
 
     # M-Formation
-    wps_m, origin_m = planner.plan_formation_mission(drones, target, MissionType.M_FORMATION)
+    wps_m, origin_m, _ = planner.plan_formation_mission(drones, target, MissionType.M_FORMATION)
     conv_m = CoordinateConverter(origin_m[0], origin_m[1], 0)
     data_m = {
         'drone_ids': [f's0_{i + 1}' for i in range(len(drones))],
@@ -380,7 +380,7 @@ def visualize_standalone():
     # Grid Sweep 5m
     target_gs = (sum(c[0] for c in rect_corners) / 4,
                  sum(c[1] for c in rect_corners) / 4, 10.0)
-    wps_g, origin_g = planner.plan_formation_mission(
+    wps_g, origin_g, _ = planner.plan_formation_mission(
         drones, target_gs, MissionType.GRID_SWEEP,
         params={'rect_corners': rect_corners, 'line_spacing': 5.0, 'altitude': 10.0}
     )
@@ -403,7 +403,7 @@ def visualize_standalone():
         (24.12410, 120.56800),
         (24.12420, 120.56790),
     ]
-    wps_lf, origin_lf = planner.plan_formation_mission(
+    wps_lf, origin_lf, _ = planner.plan_formation_mission(
         drones, target, MissionType.LEADER_FOLLOWER,
         params={'route_waypoints': route, 'lateral_offset': 3.0,
                 'longitudinal_spacing': 5.0, 'altitude': 10.0}

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -29,7 +29,7 @@ from .utils import acquireSerial, acquirePort
 from .utils.acquirePort import find_available_port
 
 logger = setup_logger(os.path.basename(__file__))
-PROJECT_VER = "v0.61"
+PROJECT_VER = "v0.70"
 
 class PanelState:
     def __init__(self):
@@ -45,7 +45,7 @@ class PanelState:
 
         # 關於創建通道時的暫存資訊
         self.udp_info_temp = {"IP": "127.0.0.1", "Port": "", "Direction": ""} # 暫存 UDP 設定資訊
-        self.serial_info_temp = {"Port": "", "Baud": 115200, "CommunicationType": "", "Go2Middleware": False} # 暫存 Serial 設定資訊
+        self.serial_info_temp = {"Port": "", "Baud": 115200, "CommunicationType": "", "Go2Middleware": True} # 暫存 Serial 設定資訊
 
         # 關於顯示通道資訊
         self.socket_info_single = {
@@ -426,7 +426,7 @@ class ControlPanel:
                         menu_stack.pop()
                         idx_stack.pop()
                     elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
-                        state.serial_info_temp["CommunicationType"] = "XBee(AT-AT)"
+                        state.serial_info_temp["CommunicationType"] = "TELEMETRY"
                         menu_stack.pop()
                         idx_stack.pop()
 
@@ -767,7 +767,7 @@ class ControlPanel:
                 port_menu = MenuNode(f"{port}", children=[
                     MenuNode("Set Comm Type", "設定通訊形態", "SET_SERIAL_COMM", children=[
                         MenuNode("XBee(API-AT)", "XBee 模式", "SET_SERIAL_COMM_XBEE"),
-                        # MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
+                        MenuNode("Telemetry", "數傳模式", "SET_SERIAL_COMM_TELEMETRY"),
                     ]),
                     MenuNode("Set Baud", "設定 Baud", "TEXT_BAUD_SERIAL"),
                     MenuNode("Link to MW", "直接建立 Middleware UDP", "LINK_SERIAL_TO_MIDDLEWARE_UDP", children=[
@@ -1058,11 +1058,15 @@ class ControlPanel:
 
             # MAVLink 訊息名稱對應（縮寫版本）
             MSG_NAMES = {
-                0: "HB", 1: "SYS_ST", 24: "GPS_RAW", 27: "RAW_IMU",
+                0: "HB", 1: "S_STAT", 2: "S_TIME", 24: "GPS_RAW", 27: "RAW_IMU",
                 30: "ATT", 32: "LOC_POS", 33: "GLB_POS", 62: "NAV_CTL",
-                74: "VFR_HUD", 147: "BATT_ST"
+                74: "VFR_HUD", 147: "BATT_ST", 136: "TERRAIN", 241: "VIBRAT",
+                125: "POW_STA",
             }
 
+            # ardupilot mega 
+            # 178: "AHRS2", 163: "AHRS", 193: "EKF_STAT", 
+
             # 顯示前 12 個最常見的訊息類型（兩列各 6 個）
             msg_items = list(msg_counts.items())[:12]
             line = 13
@@ -1134,6 +1138,7 @@ class Orchestrator:
         self.bridge = mo.mavlink_bridge()
 
         # === 3) serial_manager 部分的準備 ===
+        sm.rx_module_ack.clear()
         self.plumber = sm.serial_manager()
 
         # === 4) ros 部分的準備 ===
@@ -1243,7 +1248,7 @@ class Orchestrator:
                             if serial_obj:
                                 self.panelState.serial_info_single["serial_port"] = serial_obj.serial_port
                                 self.panelState.serial_info_single["baudrate"] = serial_obj.baudrate
-                                self.panelState.serial_info_single["receiver_type"] = serial_obj.receiver_type.name
+                                self.panelState.serial_info_single["receiver_type"] = serial_obj.serial_mode.name
                                 self.panelState.serial_info_single["target_port"] = serial_obj.target_port
                                 self.panelState.serial_info_single["InfoReady"] = True # 標記資訊已準備好
                         elif action == "REMOVE_LINKED_SERIAL":
@@ -1516,8 +1521,8 @@ class Orchestrator:
 
         # 定義通訊類型映射表
         COMM_TYPE_MAP = {
-            "XBee(API-AT)": sm.SerialReceiverType.XBEEAPI2AT,
+            "XBee(API-AT)": sm.SerialMode.XBEEAPI2AT,
-            # "XBee(AT-AT)": sm.SerialReceiverType.TELEMETRY,  # TODO: 之後再弄
+            "TELEMETRY": sm.SerialMode.STRAIGHT,
             # 新增區
         }
 
@@ -1541,7 +1546,7 @@ class Orchestrator:
             serial_port=self.panelState.serial_info_temp['Port'],
             baudrate=self.panelState.serial_info_temp['Baud'],
             target_port=udp_port_tmp,
-            receiver_type=comm_type_tmp,
+            serial_mode=comm_type_tmp,
         )
 
         if not ret:
@@ -1572,7 +1577,7 @@ def main():
     if mvv.MODULE_VER != "1.00":
         print("Module Version Error! : mavlinkVehicleView")
         version_check = False
-    if sm.MODULE_VER != "0.60":
+    if sm.MODULE_VER != "0.80":
         print("Module Version Error! : serialManager")
         version_check = False
     if version_check == False:

src/fc_network_adapter/fc_network_adapter/mavlinkObject.py

@@ -230,6 +230,7 @@ class mavlink_bridge:
             'vx': msg.vx, 'vy': msg.vy, 'vz': msg.vz
         }
 
+
     def _handle_global_position(self, vehicle, component, msg, timestamp):
         """處理 GLOBAL_POSITION_INT 訊息 (msg_id: 33)"""
         component.status.position.latitude = msg.lat / 1e7  # 轉換為度

src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py

@@ -210,7 +210,9 @@ class VehicleStatusPublisher(Node):
         if pos.latitude is None or pos.longitude is None:
             return
         
-        publisher = self._get_or_create_publisher(sysid, 'position', sensor_msgs.msg.NavSatFix)
+        publisher = self._get_or_create_publisher(
+            sysid, 'position', sensor_msgs.msg.NavSatFix
+            )
         
         # 檢查是否有訂閱者
         if publisher.get_subscription_count() == 0:
@@ -243,7 +245,7 @@ class VehicleStatusPublisher(Node):
 
         publisher = self._get_or_create_publisher(
             sysid, 'position_ned', nav_msgs.msg.Odometry
-        )
+            )
 
         if publisher.get_subscription_count() == 0:
             return

src/fc_network_adapter/fc_network_adapter/serialManager.py

@@ -16,19 +16,22 @@ import threading
 import struct
 from enum import Enum, auto
 from abc import ABC, abstractmethod
+from dataclasses import dataclass
 
 # # XBee 模組
 # from xbee.frame import APIFrame
 
 # 自定義的 import
-from .utils import setup_logger
+from .utils import RingBuffer, setup_logger
 
 # ====================== 分割線 =====================
 
 logger = setup_logger(os.path.basename(__file__))
-MODULE_VER = "0.60"
+MODULE_VER = "0.80"
 
-# ====================== 分割線 =====================
+rx_module_ack = RingBuffer(capacity=64, buffer_id=253)
+
+# ====================== State DEFINITION =====================
 
 # 定義 serial 連線的模式
 class SerialMode(Enum):
@@ -38,7 +41,29 @@ class SerialMode(Enum):
     NOT_USE = auto()       # 不使用
 
 
-# ====================== Frame Processor 基類與實現 =====================
+# ====================== AT Frame Data Classes =====================
+
+@dataclass
+class ATRequest:
+    """送往 dongle 的 AT 指令"""
+    command: bytes      # 例如 b'DB'
+    parameter: bytes    # 寫入用指令的參數，讀取型通常為空
+    frame_id: int       # XBee frame id；0x00 表示不要求回應
+
+
+@dataclass
+class ATResponse:
+    """dongle 回傳的 AT Response (0x88)"""
+    frame_id: int
+    command: bytes
+    status: int
+    data: bytes
+
+    @property
+    def is_ok(self) -> bool:
+        return self.status == 0x00
+
+# ====================== Frame Processor Base and Implementation =====================
 
 class FrameProcessor(ABC):
     """協議處理器基類"""
@@ -47,10 +72,10 @@ class FrameProcessor(ABC):
         self.buffer = bytearray()
     
     @abstractmethod
-    def process_incoming(self, data: bytes):
+    def process_incoming(self, data: bytes) -> bytes:
         """
         處理接收到的數據
-        返回：已完整解析的 payload 列表
+        返回：已完整解析的 payload 列表 後續要丟到 UDP 去
         """
         pass
     
@@ -66,7 +91,7 @@ class FrameProcessor(ABC):
 class RawFrameProcessor(FrameProcessor):
     """原始數據直通處理器"""
     
-    def process_incoming(self, data: bytes):
+    def process_incoming(self, data: bytes) -> bytes:
         """直接返回原始數據，不進行緩衝"""
         return [data] if data else []
     
@@ -76,110 +101,108 @@ class RawFrameProcessor(FrameProcessor):
 
 
 class XBeeFrameProcessor(FrameProcessor):
-    """XBee API 協議處理器"""
+    """
+    XBee API 協議處理器
 
-    def process_incoming(self, data: bytes):
+    職責：
+    - XBee API frame 的拆幀 / 組幀
+    - 0x90 (RX Packet)   -> 解出 payload 回傳
+    - 0x88 (AT Response) -> 轉交 at_handler 處理（若有注入）
+    - 0x8B (TX Status)   -> 目前忽略
+    - 其他 frame type    -> 記 warning 忽略
+
+    若未來要做變化型 XBee（例如 API2 escape mode、不同 addressing），
+    繼承此類並覆寫 _encapsulate / _decapsulate / _try_extract_frame 即可。
+    """
+
+    # XBee API frame type
+    FRAME_TYPE_TX_REQUEST  = 0x10
+    FRAME_TYPE_AT_RESPONSE = 0x88
+    FRAME_TYPE_TX_STATUS   = 0x8B
+    FRAME_TYPE_RX_PACKET   = 0x90
+
+    def __init__(self, at_handler: "ATCommandHandler" = None):
+        super().__init__()
+        self.at_handler = at_handler
+
+    # ---- 對外契約 ----
+    def process_incoming(self, data: bytes) -> bytes:
         """處理 XBee API 幀並提取 payload"""
         self.buffer.extend(data)
         payloads = []
 
-        while len(self.buffer) >= 3:
+        while True:
-            # 尋找幀頭
+            frame = self._try_extract_frame()
-            if self.buffer[0] != 0x7E:
+            if frame is None:
-                self.buffer.pop(0)
-                continue
-            
-            # 讀取 payload 長度
-            length = (self.buffer[1] << 8) | self.buffer[2]
-            full_length = 3 + length + 1  # 起始符(1) + 長度(2) + payload + 校驗和(1)
-            
-            # 等待完整幀
-            if len(self.buffer) < full_length:
                 break
-            
+            payload = self._dispatch_frame(frame)
-            # 提取完整 frame 並從緩衝區移除
+            if payload:
-            frame = bytes(self.buffer[:full_length])
+                payloads.append(payload)
-            del self.buffer[:full_length]
-            
-            # 判斷 frame 類型並處理
-            frame_type = frame[3]
-            
-            if frame_type == 0x90:  # RX Packet
-                payload = XBeeFrameHandler.decapsulate_data(frame)
-                if payload:
-                    payloads.append(payload)
-            elif frame_type == 0x88:  # AT Response
-                # 可以在這裡處理 AT 指令回應
-                # response = XBeeFrameHandler.parse_at_command_response(frame)
-                # 目前忽略
-                pass
-            elif frame_type == 0x8B:  # Transmit Status
-                # 傳輸狀態，目前忽略
-                pass
-            else:
-                logger.warning(f"Unknown XBee frame type: 0x{frame_type:02X}")
 
         return payloads
 
     def process_outgoing(self, data: bytes) -> bytes:
         """將數據封裝為 XBee API 傳輸幀"""
-        return XBeeFrameProcessor.encapsulate_data(data)
+        return self._encapsulate(data)
 
+    # ---- 內部：拆幀與分派 ----
+    def _try_extract_frame(self) -> bytes:
+        """
+        從 buffer 嘗試抓一個完整 frame
+        - 對齊幀頭 0x7E
+        - 長度不足時等待下次進 buffer
+        - 成功則從 buffer 切掉並回傳整個 frame bytes
+        """
+        while len(self.buffer) >= 3:
+            if self.buffer[0] != 0x7E:
+                self.buffer.pop(0)
+                continue
 
-# ====================== XBee Frame Handler =====================
+            length = (self.buffer[1] << 8) | self.buffer[2]
+            full_length = 3 + length + 1  # 起始符(1) + 長度(2) + payload + 校驗和(1)
 
-class XBeeFrameHandler:
+            if len(self.buffer) < full_length:
-    """XBee API Frame 處理器"""
+                return None
 
-    @staticmethod
+            # TODO: 驗證 checksum：(sum(frame[3:]) & 0xFF) 應為 0xFF；不通過則丟棄此 frame 並從 buffer pop 1 byte 再重新對齊
-    def parse_at_command_response(frame: bytes) -> dict:
-        """解析 AT Command Response (0x88)"""
-        if len(frame) < 8:
-            return None
 
-        frame_type = frame[3]
+            frame = bytes(self.buffer[:full_length])
-        if frame_type != 0x88:
+            del self.buffer[:full_length]
-            return None
+            return frame
 
-        frame_id = frame[4]
-        at_command = frame[5:7]
-        status = frame[7]
-        data = frame[8:] if len(frame) > 8 else b''
-        
-        return {
-            'frame_id': frame_id,
-            'command': at_command,
-            'status': status,
-            'data': data,
-            'is_ok': status == 0x00
-        }
-    
-    @staticmethod
-    def parse_receive_packet(frame: bytes) -> dict:
-        """解析 RX Packet (0x90) - 未來擴展用"""
-        # if len(frame) < 15 or frame[3] != 0x90:
-        #     return None
-        
-        # return {
-        #     'source_addr': frame[4:12],
-        #     'reserved': frame[12:14],
-        #     'options': frame[14],
-        #     'data': frame[15:-1]
-        # }
-        pass
         return None
 
-    @staticmethod
+    def _dispatch_frame(self, frame: bytes) -> bytes:
-    def encapsulate_data(data: bytes, dest_addr64: bytes = b'\x00\x00\x00\x00\x00\x00\xFF\xFF', frame_id = 0x01) -> bytes:
+        """根據 frame type 分派；若是 RX payload 回傳 bytes，其餘回傳 None"""
-        """
+        frame_type = frame[3]
-        將數據封裝為 XBee API 傳輸幀
 
-        使用 XBee API 格式封裝數據:
+        if frame_type == self.FRAME_TYPE_RX_PACKET:
-        - 傳輸請求幀 (0x10)
+            return self._decapsulate(frame)
+
+        if frame_type == self.FRAME_TYPE_AT_RESPONSE:
+            if self.at_handler is not None:
+                self.at_handler.handle_frame(frame)
+            return None
+
+        if frame_type == self.FRAME_TYPE_TX_STATUS:
+            return None
+
+        logger.warning(f"Unknown XBee frame type: 0x{frame_type:02X}")
+        return None
+
+    # ---- 內部：編解碼 ----
+    @staticmethod
+    def _encapsulate(
+        data: bytes,
+        dest_addr64: bytes = b'\x00\x00\x00\x00\x00\x00\xFF\xFF',
+        frame_id: int = 0x01,
+    ) -> bytes:
+        """
+        將 payload 包成 XBee TX Request (0x10)
         - 使用廣播地址
         - 添加適當的頭部和校驗和
         """
-        frame_type = 0x10
+        frame_type = XBeeFrameProcessor.FRAME_TYPE_TX_REQUEST
         dest_addr16 = b'\xFF\xFE'
         broadcast_radius = 0x00
         options = 0x00
@@ -191,20 +214,33 @@ class XBeeFrameHandler:
         return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
 
     @staticmethod
-    def decapsulate_data(data: bytes):
+    def _decapsulate(frame: bytes) -> bytes:
-        
+        """從 RX Packet (0x90) 取出 payload"""
-        # 獲取數據長度 (不包括校驗和)
+        length = (frame[1] << 8) | frame[2]
-        length = (data[1] << 8) | data[2]
-
         rf_data_start = 3 + 12
-        return data[rf_data_start:3 + length]
+        return frame[rf_data_start:3 + length]
 
 
+# ====================== Dongle Command Handler =====================
+
 class ATCommandHandler:
-    """AT 指令回應處理器"""
+    """
+    XBee AT 指令處理器
+
+    職責：
+    - 組 AT Command Request frame (0x08) 並透過注入的 writer 送出
+    - 解析 AT Response frame (0x88)
+    - 依 AT 指令分派到對應的 handler
+
+    writer 由 SerialHandler 在連線建立後 (connection_made) 注入，
+    型別為 Callable[[bytes], None]（通常就是 serial transport.write）。
+    """
+
+    FRAME_TYPE_AT_COMMAND = 0x08
 
     def __init__(self, serial_port: str):
         self.serial_port = serial_port
+        self.writer = None
         self.handlers = {
             b'DB': self._handle_rssi,
             b'SH': self._handle_serial_high,
@@ -212,25 +248,96 @@ class ATCommandHandler:
             # 可擴展其他 AT 指令
         }
 
-    def handle_response(self, response: dict):
+    # ---- 發送端 ----
-        """根據 AT 指令類型分派處理"""
+    def set_writer(self, writer):
-        if not response or not response['is_ok']:
+        """由 SerialHandler 注入實際寫入 serial 的 callable"""
-            if response:
+        self.writer = writer
-                logger.warning(f"[{self.serial_port}] AT {response['command'].decode()} 失敗，狀態碼: {response['status']}")
+
+    def send_command(self, request: ATRequest):
+        """發送一筆 AT 指令給 dongle"""
+        if self.writer is None:
+            logger.warning(
+                f"[{self.serial_port}] AT writer 尚未就緒，指令 {request.command!r} 丟棄"
+            )
             return
 
-        command = response['command']
+        self.writer(self._build_at_request(request))
-        handler = self.handlers.get(command)
+        # logger.debug(
+        #     f"[{self.serial_port}] send AT {request.command.decode(errors='replace')} "
+        #     f"(frame_id=0x{request.frame_id:02X})"
+        # ) # dev
 
+    @staticmethod
+    def _build_at_request(request: ATRequest) -> bytes:
+        """將 ATRequest 組成 XBee API AT Command Request frame (0x08) bytes"""
+        frame_type = ATCommandHandler.FRAME_TYPE_AT_COMMAND
+
+        frame = struct.pack(">B", frame_type) + struct.pack(">B", request.frame_id)
+        frame += request.command + request.parameter
+        checksum = 0xFF - (sum(frame) & 0xFF)
+        return b'\x7E' + struct.pack(">H", len(frame)) + frame + struct.pack("B", checksum)
+
+    # ---- 接收端 ----
+    def handle_frame(self, frame: bytes) -> None:
+        """
+        接收一整個 AT Response frame：
+        1. 解析成 ATResponse
+        2. 推進 rx_module_ack 供其他模組消費
+        3. 本地 dispatch 給對應的 _handle_xxx
+        """
+        parsed = self._parse(frame)
+        if parsed is None:
+            return
+
+        if not rx_module_ack.put(parsed):
+            logger.warning(
+                f"[{self.serial_port}] rx_module_ack overflow, drop {parsed.command!r}"
+            )
+
+        self._dispatch(parsed)
+
+    @staticmethod
+    def _parse(frame: bytes) -> ATResponse:
+        """解析 AT Command Response (0x88)；不符格式回傳 None"""
+        if len(frame) < 8:
+            return None
+
+        if frame[3] != 0x88:
+            return None
+
+        return ATResponse(
+            frame_id=frame[4],
+            command=frame[5:7],
+            status=frame[7],
+            data=frame[8:] if len(frame) > 8 else b'',
+        )
+
+    def _dispatch(self, response: ATResponse) -> None:
+        """根據 AT 指令類型分派處理"""
+        # print(f"[{self.serial_port}] AT Response: {response}")  # dev
+
+        if not response.is_ok:
+            logger.warning(
+                f"[{self.serial_port}] AT {response.command.decode()} "
+                f"失敗，狀態碼: {response.status}"
+            )
+            return
+
+        handler = self.handlers.get(response.command)
         if handler:
-            handler(response['data'])
+            handler(response.data)
         else:
-            logger.debug(f"[{self.serial_port}] 未處理的 AT 指令: {command.decode()}")
+            logger.debug(
+                f"[{self.serial_port}] 未處理的 AT 指令: "
+                f"{response.command.decode()}"
+            )
 
     def _handle_rssi(self, data: bytes):
-        """處理 DB (RSSI) 回應"""
+        """處理 DB (RSSI) 回應：單 byte 無號值，單位 dBm"""
-        # 未來可實現 RSSI 處理邏輯
         pass
+        # if data:
+            # print(f"[{self.serial_port}] RSSI = -{data[0]} dBm")  # dev
+            # logger.debug(f"[{self.serial_port}] RSSI = -{data[0]} dBm") # dev
         
     def _handle_serial_high(self, data: bytes):
         """處理 SH (Serial Number High)"""
@@ -241,8 +348,7 @@ class ATCommandHandler:
         pass
 
 
-# ====================== Serial Handler =====================
+# ================ Serial UDP Socket Object ==============
-
 class SerialHandler(asyncio.Protocol):
     """asyncio.Protocol 用於處理 Serial 收發"""
 
@@ -252,28 +358,29 @@ class SerialHandler(asyncio.Protocol):
         self.serial_mode = serial_mode
         self.transport = None  # Serial 自己的傳輸物件
 
-        # 根據模式創建對應的 processor
+        # 根據模式建立 processor（需要 AT handler 時一併在工廠內建好注入）
-        self.processor = self._create_processor(serial_mode)
+        self.processor = self._create_processor()
 
-        # AT 指令處理器（僅 XBee 模式使用）
+    def _create_processor(self) -> FrameProcessor:
-        if serial_mode == SerialMode.XBEEAPI2AT:
+        """工廠方法：根據 self.serial_mode 建立對應的 processor，必要時一併注入 AT handler"""
-            self.at_handler = ATCommandHandler(serial_port_str)
+        if self.serial_mode == SerialMode.STRAIGHT:
-        else:
+            return RawFrameProcessor()
-            self.at_handler = None
 
-    def _create_processor(self, serial_mode: SerialMode) -> FrameProcessor:
+        if self.serial_mode == SerialMode.XBEEAPI2AT:
-        """工廠方法：根據模式創建處理器"""
+            at_handler = ATCommandHandler(self.serial_port_str)
-        if serial_mode == SerialMode.STRAIGHT:
+            return XBeeFrameProcessor(at_handler=at_handler)
-            return RawFrameProcessor()
+
-        elif serial_mode == SerialMode.XBEEAPI2AT:
+        logger.warning(f"Unknown serial mode: {self.serial_mode}, using Raw")
-            return XBeeFrameProcessor()
+        return RawFrameProcessor()
-        else:
-            logger.warning(f"Unknown serial mode: {serial_mode}, using Raw")
-            return RawFrameProcessor()
 
     def connection_made(self, transport):
         """連接建立時的回調"""
         self.transport = transport
+
+        # XBee 模式下，將 transport.write 注入給 AT handler，讓它能送指令
+        if self.serial_mode == SerialMode.XBEEAPI2AT:
+            self.processor.at_handler.set_writer(self.transport.write)
+
         if hasattr(self.udp_handler, 'set_serial_handler'):
             self.udp_handler.set_serial_handler(self)
         logger.debug(f"Serial port {self.serial_port_str} connected")
@@ -291,8 +398,6 @@ class SerialHandler(asyncio.Protocol):
             )
 
 
-# ====================== UDP Handler =====================
-
 class UDPHandler(asyncio.DatagramProtocol):
     """asyncio.DatagramProtocol 用於處理 UDP 收發"""
     
@@ -561,6 +666,33 @@ class serial_manager:
             ret[key] = obj.serial_port
         return ret
 
+    def send_at_command(self, serial_id, request: ATRequest) -> bool:
+        """
+        對指定 serial_id 的 XBee dongle 發送一筆 AT 指令（thread-safe）
+        - serial_id: create_serial_link 取得的編號
+        - request: ATRequest 物件，攜帶 command / parameter / frame_id
+        回傳是否成功排進事件圈
+        """
+        if not self.running or not self.loop:
+            logger.error("Event loop not running, cannot send AT command")
+            return False
+
+        if serial_id not in self.serial_objects:
+            logger.error(f"Serial object {serial_id} not found")
+            return False
+
+        serial_obj = self.serial_objects[serial_id]
+        if serial_obj.serial_mode != SerialMode.XBEEAPI2AT:
+            logger.error(
+                f"Serial {serial_id} mode is {serial_obj.serial_mode.name}, "
+                f"AT command only supported in XBEEAPI2AT mode"
+            )
+            return False
+
+        at_handler = serial_obj.serial_handler.processor.at_handler
+        self.loop.call_soon_threadsafe(at_handler.send_command, request)
+        return True
+
     @staticmethod
     def check_serial_port(serial_port, baudrate):
         """檢查串口是否存在與可用"""
@@ -598,20 +730,42 @@ if __name__ == '__main__':
     sm = serial_manager()
     sm.start()
 
-    SERIAL_PORT = '/dev/ttyUSB0'  # 手動指定
-    SERIAL_BAUDRATE = 115200
-    UDP_REMOTE_PORT = 14571
-    sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialMode.XBEEAPI2AT)
-
     # SERIAL_PORT = '/dev/ttyACM0'  # 手動指定
     # SERIAL_BAUDRATE = 115200
     # UDP_REMOTE_PORT = 14571
     # sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialMode.STRAIGHT)
 
+    SERIAL_PORT = '/dev/ttyUSB0'  # 手動指定
+    SERIAL_BAUDRATE = 115200
+    UDP_REMOTE_PORT = 14561
+    sm.create_serial_link(SERIAL_PORT, SERIAL_BAUDRATE, UDP_REMOTE_PORT, SerialMode.XBEEAPI2AT)
+
     linked_serial = sm.get_serial_link()
     print(linked_serial)
-    time.sleep(60)
+
+    # 等 connection_made 完成 writer 注入，再發一筆 AT 指令測試
+    time.sleep(5)
+    rssi_request = ATRequest(command=b'DB', parameter=b'', frame_id=0x52)
+    for i in range(60):
+        sm.send_at_command(1, rssi_request)
+        time.sleep(1)
 
     sm.remove_serial_link(1)
     time.sleep(3)
     sm.shutdown()
+
+
+
+'''
+================= 改版記錄 ============================
+2026.4.20
+1. XBeeFrameHandler 結構移除
+2. XBeeFrameProcessor 新增 _encapsulate, _decapsulate 編碼解碼 xbee 封包的功能 (原來在 XBeeFrameHandler 中)
+3. XBeeFrameProcessor 新增 _try_extract_frame 處理被可能截斷的 UART 封包
+4. XBeeFrameProcessor 新增 _dispatch_frame 分配封包到 UDP 或者 Dongle Command Handler 
+5. ATCommandHandler 新增 _parse 去拆解 0x88 AT Command Response
+6. ATCommandHandler 新增 _dispatch 把拆解的結果 分配到 _handle_XXX
+7. ATCommandHandler 新增各項 _handle_XXX (未實作)
+
+'''
+

src/fc_network_apps/longCommand.py

@@ -29,10 +29,14 @@ class CommandLongResult:
 class CommandLongClient(Node):
     """ROS2 client : 對同一個 send_command_long service 發送各種 MAV_CMD_*。"""
 
-    def __init__(self, service_name: str = DEFAULT_SERVICE_NAME) -> None:
+    def __init__(self, service_name: str = DEFAULT_SERVICE_NAME, node_name: str = None) -> None:
         if not rclpy.ok():
             rclpy.init(args=None)
-        super().__init__("fc_command_long_client")
+        # 使用提供的 node_name，或使用帶時間戳的預設名稱以避免名稱衝突
+        if node_name is None:
+            import time
+            node_name = f"fc_command_long_client_{int(time.time() * 1000) % 100000}"
+        super().__init__(node_name)
         self._client = self.create_client(MavCommandLong, service_name)
 
     def wait_for_service(self, timeout_sec: float = 3.0) -> bool:
@@ -192,6 +196,83 @@ class CommandLongClient(Node):
     # 這些方法在 ThreadPoolExecutor 中運行同步版本，以避免阻塞事件循環
     # ============================================================================
 
+    # ============================================================================
+    # 【重新實現】正確的非阻塞 async 方法（不使用 ThreadPoolExecutor）
+    # 使用 asyncio 的 polling 機制，避免在線程中調用 spin_until_future_complete
+    # ============================================================================
+
+    async def _send_command_long_async(
+        self,
+        *,
+        target_sysid: int,
+        target_compid: int,
+        command: int,
+        confirmation: int,
+        param1: float,
+        param2: float,
+        param3: float,
+        param4: float,
+        param5: float,
+        param6: float,
+        param7: float,
+        timeout_sec: float,
+    ) -> CommandLongResult:
+        """非阻塞的 async 版本 - 使用 asyncio polling 而非 spin"""
+        req = MavCommandLong.Request()
+        req.target_sysid = target_sysid
+        req.target_compid = target_compid
+        req.command = command
+        req.confirmation = confirmation
+        req.param1 = param1
+        req.param2 = param2
+        req.param3 = param3
+        req.param4 = param4
+        req.param5 = param5
+        req.param6 = param6
+        req.param7 = param7
+        req.timeout_sec = float(timeout_sec)
+
+        # 發送異步調用
+        future = self._client.call_async(req)
+        
+        # 使用 asyncio.sleep 進行 polling，而非 spin_until_future_complete
+        # 使用 10ms 輪詢間隔以匹配 GUI 執行器的 spin_once() 頻率
+        timeout = timeout_sec + 1.0
+        elapsed = 0.0
+        poll_interval = 0.01  # 10ms - 與 GUI timer 頻率一致
+        
+        while elapsed < timeout:
+            if future.done():
+                try:
+                    response = future.result()
+                    if response is None:
+                        return CommandLongResult(
+                            success=False,
+                            message="Service returned None.",
+                            ack_result=-1,
+                        )
+                    return CommandLongResult(
+                        success=response.success,
+                        message=response.message,
+                        ack_result=response.ack_result,
+                    )
+                except Exception as e:
+                    return CommandLongResult(
+                        success=False,
+                        message=f"Error getting result: {e}",
+                        ack_result=-1,
+                    )
+            
+            # 讓出控制權給事件循環，允許 GUI executor 執行
+            await asyncio.sleep(poll_interval)
+            elapsed += poll_interval
+        
+        return CommandLongResult(
+            success=False,
+            message=f"Service timeout after {timeout}s.",
+            ack_result=-1,
+        )
+
     async def change_mode_async(
         self,
         *,
@@ -202,20 +283,20 @@ class CommandLongClient(Node):
         confirmation: int = 0,
         timeout_sec: float = DEFAULT_TIMEOUT_SEC,
     ) -> CommandLongResult:
-        """非阻塞 async 版本的 change_mode（在 ThreadPoolExecutor 中運行）"""
+        """非阻塞 async 版本的 change_mode"""
-        from concurrent.futures import ThreadPoolExecutor
+        return await self._send_command_long_async(
-        loop = asyncio.get_event_loop()
+            target_sysid=target_sysid,
-        executor = ThreadPoolExecutor(max_workers=1)
+            target_compid=target_compid,
-        return await loop.run_in_executor(
+            command=COMMAND_DO_SET_MODE,
-            executor,
+            confirmation=confirmation,
-            lambda: self.change_mode(
+            param1=float(base_mode),
-                target_sysid=target_sysid,
+            param2=float(custom_mode),
-                custom_mode=custom_mode,
+            param3=0.0,
-                target_compid=target_compid,
+            param4=0.0,
-                base_mode=base_mode,
+            param5=0.0,
-                confirmation=confirmation,
+            param6=0.0,
-                timeout_sec=timeout_sec,
+            param7=0.0,
-            )
+            timeout_sec=timeout_sec,
         )
 
     async def arm_disarm_async(
@@ -228,20 +309,20 @@ class CommandLongClient(Node):
         param2: float = 0.0,
         timeout_sec: float = DEFAULT_TIMEOUT_SEC,
     ) -> CommandLongResult:
-        """非阻塞 async 版本的 arm_disarm（在 ThreadPoolExecutor 中運行）"""
+        """非阻塞 async 版本的 arm_disarm"""
-        from concurrent.futures import ThreadPoolExecutor
+        return await self._send_command_long_async(
-        loop = asyncio.get_event_loop()
+            target_sysid=target_sysid,
-        executor = ThreadPoolExecutor(max_workers=1)
+            target_compid=target_compid,
-        return await loop.run_in_executor(
+            command=COMMAND_COMPONENT_ARM_DISARM,
-            executor,
+            confirmation=confirmation,
-            lambda: self.arm_disarm(
+            param1=1.0 if arm else 0.0,
-                target_sysid=target_sysid,
+            param2=float(param2),
-                arm=arm,
+            param3=0.0,
-                target_compid=target_compid,
+            param4=0.0,
-                confirmation=confirmation,
+            param5=0.0,
-                param2=param2,
+            param6=0.0,
-                timeout_sec=timeout_sec,
+            param7=0.0,
-            )
+            timeout_sec=timeout_sec,
         )
 
     async def takeoff_async(
@@ -256,22 +337,20 @@ class CommandLongClient(Node):
         longitude: Optional[float] = None,
         timeout_sec: float = DEFAULT_TIMEOUT_SEC,
     ) -> CommandLongResult:
-        """非阻塞 async 版本的 takeoff（在 ThreadPoolExecutor 中運行）"""
+        """非阻塞 async 版本的 takeoff"""
-        from concurrent.futures import ThreadPoolExecutor
+        return await self._send_command_long_async(
-        loop = asyncio.get_event_loop()
+            target_sysid=target_sysid,
-        executor = ThreadPoolExecutor(max_workers=1)
+            target_compid=target_compid,
-        return await loop.run_in_executor(
+            command=COMMAND_NAV_TAKEOFF,
-            executor,
+            confirmation=0,
-            lambda: self.takeoff(
+            param1=float(min_pitch_deg),
-                target_sysid=target_sysid,
+            param2=0.0,
-                altitude_m=altitude_m,
+            param3=0.0,
-                target_compid=target_compid,
+            param4=float(yaw_deg),
-                min_pitch_deg=min_pitch_deg,
+            param5=float(latitude) if latitude is not None else 0.0,
-                yaw_deg=yaw_deg,
+            param6=float(longitude) if longitude is not None else 0.0,
-                latitude=latitude,
+            param7=float(altitude_m),
-                longitude=longitude,
+            timeout_sec=timeout_sec,
-                timeout_sec=timeout_sec,
-            )
         )
 
     async def land_async(
@@ -285,19 +364,18 @@ class CommandLongClient(Node):
         altitude_m: float = 0.0,
         timeout_sec: float = DEFAULT_TIMEOUT_SEC,
     ) -> CommandLongResult:
-        """非阻塞 async 版本的 land（在 ThreadPoolExecutor 中運行）"""
+        """非阻塞 async 版本的 land"""
-        from concurrent.futures import ThreadPoolExecutor
+        return await self._send_command_long_async(
-        loop = asyncio.get_event_loop()
+            target_sysid=target_sysid,
-        executor = ThreadPoolExecutor(max_workers=1)
+            target_compid=target_compid,
-        return await loop.run_in_executor(
+            command=COMMAND_NAV_LAND,
-            executor,
+            confirmation=0,
-            lambda: self.land(
+            param1=0.0,
-                target_sysid=target_sysid,
+            param2=0.0,
-                target_compid=target_compid,
+            param3=0.0,
-                yaw_deg=yaw_deg,
+            param4=float(yaw_deg),
-                latitude=latitude,
+            param5=float(latitude) if latitude is not None else 0.0,
-                longitude=longitude,
+            param6=float(longitude) if longitude is not None else 0.0,
-                altitude_m=altitude_m,
+            param7=float(altitude_m),
-                timeout_sec=timeout_sec,
+            timeout_sec=timeout_sec,
-            )
         )

src/fc_network_apps/navigation.py

@@ -2,6 +2,7 @@
 
 from __future__ import annotations
 
+import asyncio
 import math
 from dataclasses import dataclass
 
@@ -122,10 +123,13 @@ class PositionTargetGlobalIntClient(Node):
     並等待 POSITION_TARGET_GLOBAL_INT (msg 87) 回應（由 server 端處理）。
     """
 
-    def __init__(self, service_name: str = DEFAULT_SERVICE_NAME) -> None:
+    def __init__(self, service_name: str = DEFAULT_SERVICE_NAME, node_name: str = None) -> None:
         if not rclpy.ok():
             rclpy.init(args=None)
-        super().__init__("fc_position_target_global_int_client")
+        if node_name is None:
+            import time
+            node_name = f"fc_position_target_global_int_client_{int(time.time() * 1000) % 100000}"
+        super().__init__(node_name)
         self._client = self.create_client(MavPositionTargetGlobalInt, service_name)
 
     def wait_for_service(self, timeout_sec: float = 3.0) -> bool:
@@ -260,3 +264,155 @@ class PositionTargetGlobalIntClient(Node):
             yaw_rate=0,
             timeout_sec=timeout_sec,
         )
+
+    # ============================================================================
+    # 非阻塞 async 版本（asyncio polling，對齊 longCommand.py 的模板）
+    # 避免在 Qt 事件迴圈或主執行緒中呼叫 spin_until_future_complete
+    # ============================================================================
+
+    async def _send_position_target_global_int_async(
+        self,
+        *,
+        target_sysid: int,
+        target_compid: int,
+        time_boot_ms: int,
+        coordinate_frame: int,
+        type_mask: int,
+        lat_int: int,
+        lon_int: int,
+        alt: float,
+        vx: float,
+        vy: float,
+        vz: float,
+        afx: float,
+        afy: float,
+        afz: float,
+        yaw: float,
+        yaw_rate: float,
+        timeout_sec: float,
+    ) -> PositionTargetGlobalIntResult:
+        """非阻塞 async 版本 - 使用 asyncio polling 而非 spin"""
+        req = MavPositionTargetGlobalInt.Request()
+        req.target_sysid = target_sysid
+        req.target_compid = target_compid
+        req.time_boot_ms = time_boot_ms
+        req.coordinate_frame = coordinate_frame
+        req.type_mask = type_mask
+        req.lat_int = lat_int
+        req.lon_int = lon_int
+        req.alt = float(alt)
+        req.vx = float(vx)
+        req.vy = float(vy)
+        req.vz = float(vz)
+        req.afx = float(afx)
+        req.afy = float(afy)
+        req.afz = float(afz)
+        req.yaw = float(yaw)
+        req.yaw_rate = float(yaw_rate)
+        req.timeout_sec = float(timeout_sec)
+
+        future = self._client.call_async(req)
+
+        timeout = float(timeout_sec) + 1.0
+        elapsed = 0.0
+        poll_interval = 0.01  # 10ms - 與 GUI timer 頻率一致
+
+        while elapsed < timeout:
+            if future.done():
+                try:
+                    resp = future.result()
+                    if resp is None:
+                        return PositionTargetGlobalIntResult(
+                            success=False,
+                            message="Service returned None.",
+                            ack_result=-1,
+                        )
+                    if resp.ack_result != 0:
+                        return PositionTargetGlobalIntResult(
+                            success=False,
+                            message=resp.message,
+                            ack_result=resp.ack_result,
+                        )
+                    echo_ok, echo_detail = _echo_position_target_matches(
+                        type_mask=type_mask,
+                        lat_int=lat_int,
+                        lon_int=lon_int,
+                        alt=alt,
+                        vx=vx,
+                        vy=vy,
+                        vz=vz,
+                        afx=afx,
+                        afy=afy,
+                        afz=afz,
+                        yaw=yaw,
+                        yaw_rate=yaw_rate,
+                        time_boot_ms=time_boot_ms,
+                        resp=resp,
+                    )
+                    return PositionTargetGlobalIntResult(
+                        success=echo_ok,
+                        message=echo_detail,
+                        ack_result=resp.ack_result,
+                        r_time_boot_ms=int(resp.r_time_boot_ms),
+                        r_type_mask=int(resp.r_type_mask),
+                        r_lat_int=int(resp.r_lat_int),
+                        r_lon_int=int(resp.r_lon_int),
+                        r_alt=float(resp.r_alt),
+                        r_vx=float(resp.r_vx),
+                        r_vy=float(resp.r_vy),
+                        r_vz=float(resp.r_vz),
+                        r_afx=float(resp.r_afx),
+                        r_afy=float(resp.r_afy),
+                        r_afz=float(resp.r_afz),
+                        r_yaw=float(resp.r_yaw),
+                        r_yaw_rate=float(resp.r_yaw_rate),
+                    )
+                except Exception as e:
+                    return PositionTargetGlobalIntResult(
+                        success=False,
+                        message=f"Error getting result: {e}",
+                        ack_result=-1,
+                    )
+
+            await asyncio.sleep(poll_interval)
+            elapsed += poll_interval
+
+        return PositionTargetGlobalIntResult(
+            success=False,
+            message=f"Service timeout after {timeout}s.",
+            ack_result=-1,
+        )
+
+    async def goto_position_only_async(
+        self,
+        *,
+        target_sysid: int,
+        target_compid: int = 0,
+        latitude_deg: float,
+        longitude_deg: float,
+        alt: float = 0.0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> PositionTargetGlobalIntResult:
+        """非阻塞 async 版本的 goto_position_only"""
+        lat_int = int(round(latitude_deg * 1e7))
+        lon_int = int(round(longitude_deg * 1e7))
+
+        return await self._send_position_target_global_int_async(
+            target_sysid=target_sysid,
+            target_compid=target_compid,
+            time_boot_ms=0,
+            coordinate_frame=MAV_FRAME_GLOBAL_RELATIVE_ALT_INT,
+            type_mask=POSITION_ONLY,
+            lat_int=lat_int,
+            lon_int=lon_int,
+            alt=alt,
+            vx=0,
+            vy=0,
+            vz=0,
+            afx=0,
+            afy=0,
+            afz=0,
+            yaw=0,
+            yaw_rate=0,
+            timeout_sec=timeout_sec,
+        )

src/unitdev02/unitdev02/lifecycle_node.py

@@ -1,45 +0,0 @@
-
-
-
-import rclpy
-from rclpy.node import Node
-from std_msgs.msg import String
-import time
-
-# import mavros_msgs.srv
-
-class TalkerNode(Node):
-    def __init__(self):
-        start_time = time.time()
-        super().__init__('talker_node')
-        end_time = time.time()
-        print(f"Node initialization took {end_time - start_time:.2f} seconds")
-
-        self.publisher_ = self.create_publisher(String, 'hahatest/_1', 10)
-        self.timer = self.create_timer(1.0, self.timer_callback)  # 每秒執行一次
-        self.get_logger().info('TalkerNode has been started.')
-
-    def timer_callback(self):
-        msg = String()
-        msg.data = 'Hello, ROS 2!'
-        self.publisher_.publish(msg)
-        self.get_logger().info(f'Published: "{msg.data}"')
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = TalkerNode()
-
-    print("Before sleep")
-    time.sleep(5)  # 等待 5 秒鐘
-    print("After sleep")
-    try:
-        start_time = time.time()
-        while time.time() - start_time < 10:  # 持續 10 秒鐘
-            rclpy.spin_once(node)
-            time.sleep(1)  # 每秒執行一次
-    finally:
-        node.destroy_node()
-        rclpy.shutdown()
-
-if __name__ == '__main__':
-    main()

src/unitdev02/unitdev02/ping_test.py

@@ -0,0 +1,188 @@
+import time
+from pymavlink import mavutil
+
+# # 強制 source_system=255
+# master = mavutil.mavlink_connection('udpout:localhost:14561', source_system=255)
+
+# print("Starting Force-Ping Test...")
+
+# while True:
+#     # 1. 發送 Heartbeat (證明連線活著)
+#     master.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS, 
+#                              mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
+    
+#     # 2. 強制發送 PING (target 1, 1)
+#     # 我們加一個計數器，方便在 tcpdump 裡辨識
+#     ping_seq = int(time.time()) % 100
+#     master.mav.ping_send(int(time.time() * 1e6), ping_seq, 1, 1)
+    
+#     print(f"Sent Heartbeat and PING (seq {ping_seq})")
+    
+#     # 3. 非阻塞讀取，避免卡死
+#     msg = master.recv_match(blocking=False)
+#     if msg:
+#         print(f"--> Received something: {msg.get_type()}")
+        
+#     time.sleep(1) # 每秒噴一次
+
+# -------------------------------------------------------------------
+
+# # 改成 udpin，這會讓你的程式守在 14561 等模擬器送資料進來
+# # 這樣你就能收到模擬器的 Heartbeat，建立連線後再發 PING
+# master = mavutil.mavlink_connection('udpin:localhost:14561', source_system=255)
+
+# print("Waiting for simulator heartbeat...")
+# # 這一行很重要：先收到 Heartbeat，pymavlink 才會設定好 target 地址
+# master.wait_heartbeat()
+# print(f"Heartbeat from system {master.target_system} component {master.target_component}")
+
+# while True:
+#     # 既然收到了，現在發 PING 就會順著原路回去
+#     master.mav.ping_send(int(time.time() * 1e6), 1, master.target_system, master.target_component)
+#     print("PING sent!")
+    
+#     msg = master.recv_match(type='PING', blocking=True, timeout=2)
+#     if msg:
+#         print(f"Got PING response: {msg}")
+#     time.sleep(1)
+
+
+# -------------------------------------------------------------------
+
+# import time
+# from pymavlink import mavutil
+
+# # 核心修改：因為 MAVProxy 正在往 14561 噴資料，我們必須「接住」它
+# # 使用 udpin 會讓你的程式在 14561 監聽
+# master = mavutil.mavlink_connection('udpin:localhost:14561', source_system=254)
+
+# print("正在等待 MAVProxy 轉發的 Heartbeat...")
+
+# # 只要這行跑過，代表你跟 MAVProxy 握手成功了
+# master.wait_heartbeat()
+# print(f"成功連線到系統 {master.target_system}！")
+
+# while True:
+#     # 1. 務必發送 Heartbeat，讓 MAVProxy 知道要把回應送回這個 Port
+#     master.mav.heartbeat_send(
+#         mavutil.mavlink.MAV_TYPE_GCS, 
+#         mavutil.mavlink.MAV_AUTOPILOT_INVALID, 
+#         0, 0, 0
+#     )
+
+#     # 2. 修改 target_component 為 1 (飛控核心)
+#     # 注意：這裡刻意將 seq 設為動態，方便你在 watch PING 裡觀察
+#     p_seq = int(time.time()) % 255
+#     master.mav.ping_send(
+#         int(time.time() * 1e6), 
+#         p_seq, 
+#         1, 
+#         1  # <--- 改成 1 試試看！
+#     )
+#     print(f"Sent PING seq {p_seq} to 1/1")
+
+#     # 3. 讀取所有訊息，看看有沒有 PING 回來
+#     # 有時候回應的 target_system 可能是 255 (你的 ID)
+#     msg = master.recv_match(type='PING', blocking=True, timeout=1.0)
+#     if msg:
+#         print(f"🎉 成功！收到回應: {msg}")
+    
+#     time.sleep(1)
+
+
+
+# -------------------------------------------------------------------
+
+
+# import time
+# from pymavlink import mavutil
+
+# # 建議一樣用 udpin 監聽 MAVProxy 的輸出
+# master = mavutil.mavlink_connection('udpin:localhost:14561', source_system=255)
+
+# def get_time_ns():
+#     return int(time.time() * 1e9) # 轉為奈秒
+
+# print("開始測試 TIMESYNC 響應...")
+
+# while True:
+#     now_ns = get_time_ns()
+    
+#     # 發送 TIMESYNC 請求
+#     # tc1=0 代表這是請求，ts1=當前時間
+#     master.mav.timesync_send(0, now_ns)
+    
+#     # 等待回應
+#     msg = master.recv_match(type='TIMESYNC', blocking=True, timeout=1.0)
+    
+#     if msg and msg.tc1 != 0:
+#         # 收到回應，msg.tc1 應該等於我們剛才送出的 now_ns
+#         rtt_ms = (get_time_ns() - msg.tc1) / 1e6
+#         print(f"🕒 TIMESYNC RTT: {rtt_ms:.3f} ms")
+#         break # 測試一次就好
+#     else:
+#         print("等待 TIMESYNC 回應中...")
+        
+#     time.sleep(1)
+
+# -------------------------------------------------------------------
+
+import time
+import statistics
+from pymavlink import mavutil
+
+# 連接到 MAVProxy 轉發的端口
+master = mavutil.mavlink_connection('udpin:localhost:14561', source_system=255)
+
+# 測試設定
+TARGET_SYS = 2  # 你想測試的載具 ID
+SAMPLES = 20    # 取 20 次樣本來算平均和抖動
+rtt_history = []
+
+print(f"開始測試對 System {TARGET_SYS} 的通道品質...")
+
+def get_time_ns():
+    return int(time.time() * 1e9)
+
+try:
+    while len(rtt_history) < SAMPLES:
+        ts1_send = get_time_ns()
+        
+        # 發送 TIMESYNC (V1/V2 格式相容)
+        # 針對特定系統發送
+        master.mav.timesync_send(0, ts1_send)
+        
+        # 等待回應 (過濾目標系統的訊息)
+        msg = master.recv_match(type='TIMESYNC', blocking=True, timeout=1.0)
+        
+        if msg and msg.get_srcSystem() == TARGET_SYS and msg.tc1 != 0:
+            ts1_recv = get_time_ns()
+            rtt_ns = ts1_recv - msg.tc1
+            rtt_ms = rtt_ns / 1e6
+            rtt_history.append(rtt_ms)
+            print(f"Sample {len(rtt_history)}: RTT = {rtt_ms:.3f} ms")
+        else:
+            print("Request timeout or mismatched ID...")
+            
+        time.sleep(0.1) # 快速採樣
+
+    # 4. 計算統計數據
+    avg_latency = statistics.mean(rtt_history)
+    std_dev = statistics.stdev(rtt_history) # 這就是 Jitter 的一種表現
+    max_rtt = max(rtt_history)
+    min_rtt = min(rtt_history)
+
+    print("\n--- 物理通道品質分析報告 ---")
+    print(f"目標載具  : System {TARGET_SYS}")
+    print(f"平均延遲 (Avg) : {avg_latency:.3f} ms")
+    print(f"最小延遲 (Min) : {min_rtt:.3f} ms")
+    print(f"最大延遲 (Max) : {max_rtt:.3f} ms")
+    print(f"抖動幅度 (Jitter): {std_dev:.3f} ms (標準差)")
+    
+    if std_dev > 10:
+        print("警告：網路抖動過高，可能影響控制穩定性！")
+    else:
+        print("通道品質：良好")
+
+except KeyboardInterrupt:
+    print("測試終止。")

src/unitdev02/unitdev02/pymav_nullbuffer.py

@@ -0,0 +1,46 @@
+from pymavlink.dialects.v20 import common as mavlink
+
+class NullBuffer:
+    def write(self, data): pass
+    def seek(self, pos): pass
+    def tell(self): return 0
+
+class CapturingBuffer:
+    def __init__(self):
+        self.last_data = b''
+    def write(self, data):
+        self.last_data = bytes(data)
+    def seek(self, pos): pass
+    def tell(self): return 0
+
+# 1. 初始化（僅作為編碼器）
+# file 參數可以是任何擁有 write() 方法的物件，這裡用 BytesIO 模擬
+# 初始化方法一：使用 BytesIO
+# import io
+# out_buf = io.BytesIO()
+# mav = mavlink.MAVLink(out_buf, srcSystem=1, srcComponent=191)
+
+# 初始化方法二：使用自定義的 NullBuffer
+mav = mavlink.MAVLink(NullBuffer(), srcSystem=1, srcComponent=191)
+mav.seq = 254
+
+# 2. 建立心跳包並取得二進制數據
+# 連續產出「不同」的訊息物件
+for i in range(3):
+    msg = mav.heartbeat_encode(mavlink.MAV_TYPE_GCS, 0, 0, 0, 0)
+    data = msg.pack(mav)
+    mav.seq = (mav.seq + 1) & 0xFF
+    # MAVLink 2 的序列號在第 3 個 Byte (Index 2)
+    print(f"第 {i} 次發送, Seq: {data[4]}, Raw: {data.hex()}")
+
+
+
+print("分隔線")
+
+buf = CapturingBuffer()
+mav_buf2 = mavlink.MAVLink(buf, srcSystem=1, srcComponent=191)
+
+for i in range(3):
+    mav_buf2.heartbeat_send(mavlink.MAV_TYPE_GCS, 0, 0, 0, 0)
+    data = buf.last_data
+    print(f"第 {i} 次發送, Seq: {data[4]}, Raw: {data.hex()}")

src/unitdev02/unitdev02/serial_udp_ad.py

@@ -0,0 +1,71 @@
+import asyncio
+import serial_asyncio
+
+SERIAL_PORT = '/dev/ttyUSB0'   # 修改為你的 serial port
+SERIAL_BAUDRATE = 115200       # 修改為你的 baudrate
+UDP_REMOTE_IP = '192.168.1.100' # 修改為目標 IP
+UDP_REMOTE_PORT = 5005         # 修改為目標 port
+UDP_LOCAL_PORT = 5006          # 本地 UDP 監聽 port
+
+class SerialToUDP(asyncio.Protocol):
+    def __init__(self, udp_transport):
+        self.udp_transport = udp_transport
+
+    def connection_made(self, transport):
+        self.transport = transport
+
+    def data_received(self, data):
+        # Serial 收到資料，轉發到 UDP
+        self.udp_transport.sendto(data, (UDP_REMOTE_IP, UDP_REMOTE_PORT))
+
+    def write_to_serial(self, data):
+        self.transport.write(data)
+
+class UDPToSerial(asyncio.DatagramProtocol):
+    def __init__(self, serial_proto):
+        self.serial_proto = serial_proto
+
+    def datagram_received(self, data, addr):
+        # UDP 收到資料，轉發到 Serial
+        self.serial_proto.write_to_serial(data)
+
+async def main():
+    loop = asyncio.get_running_loop()
+
+    # 定義協議工廠函數
+    def create_empty_protocol():
+        return asyncio.DatagramProtocol()
+
+    # 建立 UDP1 傳輸
+    udp_transport, _ = await loop.create_datagram_endpoint(
+        create_empty_protocol,
+        local_addr=('0.0.0.0', UDP_LOCAL_PORT)
+    )
+
+    # 建立 Serial 傳輸
+    serial_proto = SerialToUDP(udp_transport)
+    def get_serial_protocol():
+        return serial_proto
+
+    _, serial_transport = await serial_asyncio.create_serial_connection(
+        loop, get_serial_protocol, SERIAL_PORT, baudrate=SERIAL_BAUDRATE
+    )
+
+    # 建立 UDP2 監聽
+    udp_proto = UDPToSerial(serial_proto)
+    def get_udp_protocol():
+        return udp_proto
+
+    udp_listen_transport, _ = await loop.create_datagram_endpoint(
+        get_udp_protocol,
+        local_addr=('0.0.0.0', UDP_LOCAL_PORT)
+    )
+
+    # 保持運行
+    try:
+        await asyncio.Future()
+    except asyncio.CancelledError:
+        pass
+
+if __name__ == '__main__':
+    asyncio.run(main())

src/unitdev02/unitdev02/sslChech.sh

@@ -1,27 +0,0 @@
-#!/bin/bash
-
-# 網站清單
-DOMAINS=("google.com" "smarter.nchu.edu.tw")
-
-echo "網站 SSL 憑證剩餘天數："
-echo "---------------------------"
-
-for domain in "${DOMAINS[@]}"; do
-    end_date=$(echo | openssl s_client -servername "$domain" -connect "$domain:443" 2>/dev/null |
-        openssl x509 -noout -enddate | cut -d= -f2)
-
-    end_timestamp=$(date -d "$end_date" +%s)
-    now_timestamp=$(date +%s)
-
-    remaining_days=$(( (end_timestamp - now_timestamp) / 86400 ))
-
-    if [ $remaining_days -lt 0 ]; then
-        status="已過期 ❌"
-    elif [ $remaining_days -lt 15 ]; then
-        status="即將到期 ⚠️"
-    else
-        status="正常 ✅"
-    fi
-
-    printf "%-20s 到期日：%-25s 剩餘天數：%3d 天 %s\n" "$domain" "$end_date" "$remaining_days" "$status"
-done

src/unitdev02/unitdev02/udp_unix_ad.py

@@ -0,0 +1,40 @@
+import socket
+import sys
+import select
+
+# 設定來源 IP 與 Port
+SRC_IP = '127.0.0.1'    # 監聽所有介面
+SRC_PORT = 16661      # 請自行修改
+
+# 建立 UDP 監聽 socket
+src_sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+src_sock.setsockopt(socket.SOL_SOCKET, socket.SO_REUSEADDR, 1)
+src_sock.bind((SRC_IP, SRC_PORT))
+print(f"Listening for UDP on {SRC_IP}:{SRC_PORT}")
+
+# 設定目標 Unix socket 路徑
+UNIX_SOCKET_PATH = '/tmp/unix_socket_mavlink.sock'  # 請自行修改
+
+# 建立 Unix socket 連線
+unix_sock = socket.socket(socket.AF_UNIX, socket.SOCK_STREAM)
+try:
+    unix_sock.connect(UNIX_SOCKET_PATH)
+except Exception as e:
+    print(f"Failed to connect to unix socket: {e}")
+    sys.exit(1)
+
+while True:
+    # 使用 select 監聽兩個 socket
+    readable, _, _ = select.select([src_sock, unix_sock], [], [])
+    for sock in readable:
+        if sock is src_sock:
+            data, addr = src_sock.recvfrom(4096)
+            if data:
+                unix_sock.sendall(data)
+                # print(f"Received UDP data from {addr}: {data}") # debug
+                # break # debug
+        elif sock is unix_sock:
+            data = unix_sock.recv(4096)
+            if data:
+                # 回送到最近收到資料的 UDP client
+                src_sock.sendto(data, addr)