tmpCommit

src/GUI/command_sender.py

@@ -106,11 +106,7 @@ class Ros2CommandSender(QObject):
     # (drone_id, sysid, success, message)
     send_result = pyqtSignal(str, int, bool, str)
 
-    # 閉環設計：goto setpoint 由 mission_executor 週期性重送、換點靠 GPS 到達判定，
+    DEFAULT_TIMEOUT_SEC = 2.0
-    # 所以這裡的 timeout 只影響「echo 驗證要等多久」，不影響指令是否送達飛控
-    # （adapter 是先送 setpoint 再等 echo）。故意設短，讓 adapter 序列化的 service
-    # 在 echo miss 時快速放棄、換下一台，避免多機時排隊塞爆 client poll。
-    DEFAULT_TIMEOUT_SEC = 0.5
 
     def __init__(self, monitor, timeout_sec: float = DEFAULT_TIMEOUT_SEC):
         super().__init__()

src/GUI/communication.py

@@ -69,18 +69,6 @@ except ImportError as e:
     _log("ERROR", f"錯誤: {e}")
     GnssRaw = None
 
-try:
-    from fc_interfaces.msg import SystemDiagnosticsRaw
-except ImportError as e:
-    _log("WARN", f"SystemDiagnosticsRaw 尚不可用，略過 sys_diags 訂閱: {e}")
-    SystemDiagnosticsRaw = None
-
-try:
-    from fc_interfaces.msg import FcNetworkLog
-except ImportError as e:
-    _log("WARN", f"FcNetworkLog 尚不可用，略過 FC Network 紀錄訂閱: {e}")
-    FcNetworkLog = None
-
 class DroneSignals(QObject):
     update_signal = pyqtSignal(str, str, object)  # (msg_type, drone_id, data)
 
@@ -794,34 +782,25 @@ class DroneMonitor(Node):
         self.serial_receivers = []
         
         # ================================================================================
-        # 共用 command / position client（各一個節點，靠 request 的 target_sysid 路由）
+        # 【新增】初始化 CommandLongClient 字典（為每個 drone 維護獨立的 client）
         # ================================================================================
-        # 兩個 client 都只打到單一 service（send_command_long / pos_global_int），
+        # 改為為每個 drone 創建獨立的 client，避免多機並行時的競態條件
-        # 沒有任何 per-drone 狀態，故不需要 per-drone 節點。改成「啟動時各預建一個、
+        self.command_long_clients = {}  # {drone_id: CommandLongClient}
-        # 執行期只重用」，避免：
+        self.client_lock = Lock()  # 保護 clients 字典的訪問
-        #   (1) 切 mode / 首次 goto 時於執行期新建 ROS2 node = 新 DDS participant，
+        self.client_counter = 0  # 用於生成唯一的 client 節點名稱
-        #       其 discovery handshake 撞到壞掉的外來 participant → FastRTPS bad_alloc → OOM。
+        self.executor = None  # 將在 gui.py 中設置，用於添加新的 clients
-        #   (2) 從 asyncio/Qt 執行緒對「正在被 _ros_spin_thread spin 的 executor」
+        # ================================================================================
-        #       跨執行緒 add_node → wait set 損毀 → CPU 空轉 100%。
+
-        self.command_long_client = None      # CommandLongClient（共用）
+        # ================================================================================
-        self.position_target_client = None   # PositionTargetGlobalIntClient（共用）
+        # PositionTargetGlobalIntClient 字典（per-drone，用於 Offboard goto）
-        self.client_lock = Lock()            # 保護共用 client 的建立
+        # ================================================================================
-        self.executor = None                 # 將在 gui.py 中設置，用於 add_node
+        self.position_target_clients = {}  # {drone_id: PositionTargetGlobalIntClient}
+        self.pos_client_counter = 0
         # ================================================================================
         
         # 主题检测定时器
         self.create_timer(1.0, self.scan_topics)
     
-        # FC Network 使用專用結構化紀錄 topic，不再解析 /rosout。
-        self.fc_network_log_sub = None
-        if FcNetworkLog is not None:
-            self.fc_network_log_sub = self.create_subscription(
-                FcNetworkLog,
-                '/fc_network/logs',
-                self.fc_network_log_callback,
-                200
-            )
-    
     def get_next_socket_id(self):
         """取得目前最小的未使用 socket_id（從 0 開始）。"""
         with self.socket_id_lock:
@@ -875,69 +854,57 @@ class DroneMonitor(Node):
             
             return self.socket_id_mapping[original_socket_id]
        
-    def init_shared_command_clients(self):
+    def get_or_create_client(self, drone_id):
-        """啟動時預建共用的 command / position client（各一個節點）。
+        """為每個 drone 獲取或創建獨立的 CommandLongClient，避免競態條件"""
-
-        必須在 _ros_spin_thread 啟動「之前」於主執行緒呼叫：此時 executor 已建立
-        但尚未被 spin，add_node 不會與 spin_once 跨執行緒競爭。之後執行期送指令
-        一律重用這兩個節點，不再於飛行中新建 DDS participant。"""
         with self.client_lock:
-            if self.command_long_client is None and CommandLongClient is not None:
+            if drone_id not in self.command_long_clients:
                 try:
-                    self.command_long_client = CommandLongClient(node_name="cmd_long_client_shared")
+                    # 生成唯一的 client 節點名稱
-                    if self.executor:
+                    self.client_counter += 1
-                        self.executor.add_node(self.command_long_client)
+                    unique_name = f"cmd_long_client_{drone_id}_{self.client_counter}"
-                    _log("INFO", "已預建共用 CommandLongClient (node=cmd_long_client_shared)")
+                    client = CommandLongClient(node_name=unique_name)
-                except Exception as e:
+                    self.command_long_clients[drone_id] = client
-                    _log("WARN", f"預建 CommandLongClient 失敗: {e}")
+                    _log("INFO", f"已為 {drone_id} 建立 CommandLongClient (node={unique_name})")
-            if self.position_target_client is None and PositionTargetGlobalIntClient is not None:
-                try:
-                    self.position_target_client = PositionTargetGlobalIntClient(node_name="pos_target_client_shared")
-                    if self.executor:
-                        self.executor.add_node(self.position_target_client)
-                    _log("INFO", "已預建共用 PositionTargetGlobalIntClient (node=pos_target_client_shared)")
-                except Exception as e:
-                    _log("WARN", f"預建 PositionTargetGlobalIntClient 失敗: {e}")
                     
-    def get_or_create_client(self, drone_id=None):
+                    # 將新 client 添加到主執行器（這樣它的回調才能被處理）
-        """回傳共用的 CommandLongClient（單一節點，靠 request 的 target_sysid 路由）。
-
-        正常情況已於啟動時由 init_shared_command_clients() 預建；此處僅保留一次性
-        lazy fallback（例如 init 尚未被呼叫），不會在執行期重複新建 participant。
-        drone_id 參數保留以相容既有呼叫端，實際不影響路由（路由在 request 內）。"""
-        if self.command_long_client is not None:
-            return self.command_long_client
-        with self.client_lock:
-            if self.command_long_client is None and CommandLongClient is not None:
-                try:
-                    self.command_long_client = CommandLongClient(node_name="cmd_long_client_shared")
                     if self.executor:
-                        self.executor.add_node(self.command_long_client)
+                        self.executor.add_node(client)
-                    _log("INFO", "已建立共用 CommandLongClient (lazy fallback)")
+                        _log("INFO", f"已將 {drone_id} 的 CommandLongClient 加入主執行器")
+                    
+                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
+                    _log("INFO", f"已為 {drone_id} 建立 CommandLongClient (使用預設名稱)")
+                    
+                    if self.executor:
+                        self.executor.add_node(client)
+                        _log("INFO", f"已將 {drone_id} 的 CommandLongClient 加入主執行器")
+                        
                 except Exception as e:
-                    _log("WARN", f"無法建立共用 CommandLongClient: {e}")
+                    _log("WARN", f"無法為 {drone_id} 建立 CommandLongClient: {e}")
                     return None
-            return self.command_long_client
+            return self.command_long_clients[drone_id]
 
-    def get_or_create_position_client(self, drone_id=None):
+    def get_or_create_position_client(self, drone_id):
-        """回傳共用的 PositionTargetGlobalIntClient（單一節點，靠 target_sysid 路由）。
+        """為每個 drone 獲取或創建獨立的 PositionTargetGlobalIntClient。"""
-
-        同 get_or_create_client：正常已於啟動預建，此處僅一次性 lazy fallback。"""
-        if self.position_target_client is not None:
-            return self.position_target_client
         if PositionTargetGlobalIntClient is None:
             return None
         with self.client_lock:
-            if self.position_target_client is None:
+            if drone_id not in self.position_target_clients:
                 try:
-                    self.position_target_client = PositionTargetGlobalIntClient(node_name="pos_target_client_shared")
+                    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
+                    _log("INFO", f"已為 {drone_id} 建立 PositionTargetGlobalIntClient (node={unique_name})")
                     if self.executor:
-                        self.executor.add_node(self.position_target_client)
+                        self.executor.add_node(client)
-                    _log("INFO", "已建立共用 PositionTargetGlobalIntClient (lazy fallback)")
+                        _log("INFO", f"已將 {drone_id} 的 PositionTargetGlobalIntClient 加入主執行器")
                 except Exception as e:
-                    _log("WARN", f"無法建立共用 PositionTargetGlobalIntClient: {e}")
+                    _log("WARN", f"無法為 {drone_id} 建立 PositionTargetGlobalIntClient: {e}")
                     return None
-            return self.position_target_client
+            return self.position_target_clients[drone_id]
 
     def scan_topics(self):
         topics = self.get_topic_names_and_types()
@@ -1002,32 +969,6 @@ class DroneMonitor(Node):
                         setattr(self, subs_attr, subs)
                     except Exception:
                         pass
-                if isinstance(subs, dict) and 'sys_diags' not in subs and SystemDiagnosticsRaw is not None:
-                    base_topic = f'/fc_network/vehicle/{sys_id}'
-                    try:
-                        sys_diags_sub = self.create_subscription(
-                            SystemDiagnosticsRaw,
-                            f'{base_topic}/sys_diags',
-                            lambda msg, sid=sys_id: self.sys_diags_callback(sid, msg),
-                            10
-                        )
-                        subs['sys_diags'] = sys_diags_sub
-                        setattr(self, subs_attr, subs)
-                    except Exception:
-                        pass
-                if isinstance(subs, dict) and 'status_text' not in subs:
-                    base_topic = f'/fc_network/vehicle/{sys_id}'
-                    try:
-                        status_text_sub = self.create_subscription(
-                            String,
-                            f'{base_topic}/status_text',
-                            lambda msg, sid=sys_id: self.status_text_callback(sid, msg),
-                            10
-                        )
-                        subs['status_text'] = status_text_sub
-                        setattr(self, subs_attr, subs)
-                    except Exception:
-                        pass
     
     def setup_drone(self, sys_id):
         # sys_id 格式： sys11, sys12, ...
@@ -1100,21 +1041,6 @@ class DroneMonitor(Node):
                 10
             )
         
-        if SystemDiagnosticsRaw is not None:
-            subs['sys_diags'] = self.create_subscription(
-                SystemDiagnosticsRaw,
-                f'{base_topic}/sys_diags',
-                lambda msg, sid=sys_id: self.sys_diags_callback(sid, msg),
-                10
-            )
-
-        subs['status_text'] = self.create_subscription(
-            String,
-            f'{base_topic}/status_text',
-            lambda msg, sid=sys_id: self.status_text_callback(sid, msg),
-            10
-        )
-        
         setattr(self, f'drone_{sys_id}_subs', subs)
 
     # ================================================================================
@@ -1163,8 +1089,7 @@ class DroneMonitor(Node):
             
             _log("INFO", f"[SET_MODE] {drone_id} -> {mode_name} (custom_mode={custom_mode})")
             
-            # 取得共用 command_long client（OOM 修復後已非 per-drone，靠 request 的
+            # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
-            # target_sysid 路由；drone_id 僅用於一次性 lazy fallback，無 per-drone 狀態）
             client = self.get_or_create_client(drone_id)
             if not client:
                 _log("ERROR", "[SET_MODE] CommandLongClient 無法初始化")
@@ -1190,50 +1115,6 @@ class DroneMonitor(Node):
             traceback.print_exc()
             return False
 
-    async def set_speed(self, drone_id, speed_mps, speed_type=1):
-        """對指定無人機下 DO_CHANGE_SPEED(178) 設定/限制最大速度（非阻塞 async）。
-
-        speed_type: 0=Airspeed, 1=Ground Speed（Copter 用 1）, 2=Climb, 3=Descent。
-        speed_mps: 目標速度 (m/s)。DO_CHANGE_SPEED 常數定義在 scope 外的 longCommand.py，
-        故此處用共用 client 的泛用方法 _send_command_long_async 直接發 command=178，
-        不修改 fc_network_apps（維持 GUI-only scope）。"""
-        try:
-            parts = drone_id.split('_')
-            if len(parts) < 2:
-                _log("ERROR", f"[SET_SPEED] 無效的 drone_id 格式: {drone_id}")
-                return False
-            sysid = int(parts[-1])
-
-            client = self.get_or_create_client(drone_id)
-            if not client:
-                _log("ERROR", "[SET_SPEED] CommandLongClient 無法初始化")
-                return False
-
-            _log("INFO", f"[SET_SPEED] {drone_id} -> {speed_mps} m/s (type={speed_type})")
-            result = await client._send_command_long_async(
-                target_sysid=sysid,
-                target_compid=0,
-                command=178,          # MAV_CMD_DO_CHANGE_SPEED
-                confirmation=0,
-                param1=float(speed_type),
-                param2=float(speed_mps),
-                param3=-1.0,          # throttle 不變
-                param4=0.0,           # 0=absolute
-                param5=0.0,
-                param6=0.0,
-                param7=0.0,
-                timeout_sec=5.0,
-            )
-            if result and result.success:
-                _log("INFO", f"[SET_SPEED] {drone_id} 速度設定成功")
-                return True
-            _log("ERROR", f"[SET_SPEED] 速度設定失敗 (message={result.message if result else 'None'})")
-            return False
-        except Exception as e:
-            _log("ERROR", f"[SET_SPEED] 例外錯誤: {e}")
-            traceback.print_exc()
-            return False
-
     async def arm_drone(self, drone_id, arm):
         """使用 CommandLongClient 執行 ARM/DISARM（使用非阻塞的 async 方法）"""
         try:
@@ -1247,8 +1128,7 @@ class DroneMonitor(Node):
             action_name = "解鎖" if arm else "上鎖"
             _log("INFO", f"[ARM] {drone_id} -> {action_name}")
             
-            # 取得共用 command_long client（OOM 修復後已非 per-drone，靠 request 的
+            # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
-            # target_sysid 路由；drone_id 僅用於一次性 lazy fallback，無 per-drone 狀態）
             client = self.get_or_create_client(drone_id)
             if not client:
                 _log("ERROR", "[ARM] CommandLongClient 無法初始化")
@@ -1285,8 +1165,7 @@ class DroneMonitor(Node):
             
             _log("INFO", f"[TAKEOFF] {drone_id} -> 起飛 (高度={altitude}m)")
             
-            # 取得共用 command_long client（OOM 修復後已非 per-drone，靠 request 的
+            # 獲取或創建該 drone 專用的 client（避免多機並行時的競態條件）
-            # target_sysid 路由；drone_id 僅用於一次性 lazy fallback，無 per-drone 狀態）
             client = self.get_or_create_client(drone_id)
             if not client:
                 _log("ERROR", "[TAKEOFF] CommandLongClient 無法初始化")
@@ -1420,67 +1299,6 @@ class DroneMonitor(Node):
             'voltage': msg.voltage
         }
 
-    def sys_diags_callback(self, sys_id, msg):
-        """轉送 /fc_network/vehicle/sysN/sys_diags 到 GUI 紀錄區。"""
-        stamp = getattr(msg, 'stamp', None)
-        data = {
-            'stamp': {
-                'sec': getattr(stamp, 'sec', 0),
-                'nanosec': getattr(stamp, 'nanosec', 0),
-            },
-            'sensors_install_mask': int(msg.sensors_install_mask),
-            'sensors_enabled_mask': int(msg.sensors_enabled_mask),
-            'sensors_health_mask': int(msg.sensors_health_mask),
-            'mcu_load': int(msg.mcu_load),
-            'mcu_load_percent': float(msg.mcu_load) / 10.0,
-            'bus_error_rate': int(msg.bus_error_rate),
-            'bus_error_rate_percent': float(msg.bus_error_rate) / 10.0,
-            'bus_error_count': int(msg.bus_error_count),
-            'errors_count1': int(msg.errors_count1),
-            'errors_count2': int(msg.errors_count2),
-            'errors_count3': int(msg.errors_count3),
-            'errors_count4': int(msg.errors_count4),
-        }
-        self.signals.update_signal.emit('sys_diags', sys_id, data)
-
-    def status_text_callback(self, sys_id, msg):
-        """轉送飛控 STATUSTEXT（飛行檢查、警告與錯誤）。"""
-        raw = msg.data.strip()
-        if not raw:
-            return
-
-        match = re.match(r'^\[([\d.]+)\]\s*\[(-?\d+)\]\s*(.*)$', raw)
-        if match:
-            vehicle_timestamp = float(match.group(1))
-            severity = int(match.group(2))
-            text = match.group(3)
-        else:
-            vehicle_timestamp = None
-            severity = -1
-            text = raw
-
-        self.signals.update_signal.emit('status_text', sys_id, {
-            'severity': severity,
-            'text': text,
-            'vehicle_timestamp': vehicle_timestamp,
-            'raw': raw,
-        })
-
-    def fc_network_log_callback(self, msg):
-        """接收 /fc_network/logs 的結構化紀錄。"""
-        stamp = getattr(msg, 'stamp', None)
-        self.signals.update_signal.emit('fc_network_log', msg.source or 'fc_network', {
-            'stamp': {
-                'sec': getattr(stamp, 'sec', 0),
-                'nanosec': getattr(stamp, 'nanosec', 0),
-            },
-            'level': int(msg.level),
-            'source': msg.source,
-            'event_code': msg.event_code,
-            'sysid': int(msg.sysid),
-            'message': msg.message,
-        })
-
     def state_callback(self, drone_id, msg):
         mode = msg.mode
         if mode in self.filtered_modes:

src/GUI/gui.py

@@ -18,9 +18,11 @@ import re
 import threading
 from concurrent.futures import ThreadPoolExecutor
 
+
 def _log(level, message):
     print(f"[{level}] {message}", flush=True)
 
+
 # 導入分離的類別
 from communication import DroneMonitor, UDPMavlinkReceiver, WebSocketMavlinkReceiver
 from map_layout import DroneMap
@@ -38,7 +40,6 @@ from mission_group import (
     MissionGroup, GroupPanel, DroneAssignDialog, GROUP_COLORS,
     DEFAULT_MISSION_PARAM_VALUES
 )
-from mission_orchestrator import EngagementPanel, MissionOrchestrator, MissionPhase
 # ================================================================================
 
 
@@ -147,7 +148,7 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.7.1'
+    VERSION = '2.6.0'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
@@ -170,14 +171,9 @@ class ControlStationUI(QMainWindow):
         self.executor = rclpy.executors.SingleThreadedExecutor()
         self.executor.add_node(self.monitor)
         
-        # 將執行器註冊到 DroneMonitor，以便共用 command/position client 能被添加
+        # 將執行器註冊到 DroneMonitor，以便動態創建的 CommandLongClient 能被添加
         self.monitor.executor = self.executor
         
-        # 啟動時先預建共用 command/position client（必須在 spin thread 啟動前、主執行緒），
-        # 避免執行期（切 mode / 首次 goto）新建 DDS participant 觸發 discovery 風暴(OOM)
-        # 與跨執行緒 add_node race(CPU 100%)。
-        self.monitor.init_shared_command_clients()
-
         # 在背景執行緒處理 ROS2 spin，避免佔用 Qt 主執行緒時間
         self.ros_thread_running = True
         self.ros_thread = threading.Thread(target=self._ros_spin_thread, daemon=True)
@@ -215,15 +211,8 @@ class ControlStationUI(QMainWindow):
         self._attitude_cache = {}
         self._overview_cache = {}
         self._map_dirty_drones = set()
-        # 「紀錄」分頁分成三個獨立來源；message_history 保留為 GUI 操作紀錄的
+        self.message_history = []
-        # 相容別名，避免既有程式仍存取舊屬性時失效。
-        self.drone_message_history = []
-        self.gui_operation_history = []
-        self.fcnetwork_history = []
-        self.message_history = self.gui_operation_history
         self.max_message_history = 500
-        self._sys_diags_warning_signatures = {}
-        self._suppressed_status_message = None
         
         # 初始化UI
         self.drones = {}
@@ -260,11 +249,6 @@ class ControlStationUI(QMainWindow):
         self.overview_timer.timeout.connect(self._flush_overview_table)
         self.overview_timer.start(200)
 
-        # 交戰面板：敵機↔最近友機距離讀數（5Hz）
-        self.engagement_timer = QTimer()
-        self.engagement_timer.timeout.connect(self._update_engagement_panel)
-        self.engagement_timer.start(200)
-
         # 初始化連接列表
         self.udp_receivers = []
         self.udp_connections = []
@@ -357,17 +341,6 @@ class ControlStationUI(QMainWindow):
         self.settings_tab = self._create_settings_tab()
         self.left_tab.addTab(self.settings_tab, "設定")
 
-        # — 分頁 6：交戰（敵機選擇 + 即時距離 + 階段狀態機）
-        self.engagement_panel = EngagementPanel()
-        self.engagement_panel.enemy_changed.connect(self._on_enemy_changed)
-        self.engagement_panel.confirm_requested.connect(self._on_engagement_confirm)
-        self.engagement_panel.stop_requested.connect(self._on_engagement_stop)
-        self.engagement_panel.groups_changed.connect(self._on_engagement_groups_changed)
-        self.engagement_panel.apply_speed_requested.connect(self._on_engagement_apply_speed)
-        self.engagement_panel.alt_offset_changed.connect(self._on_engagement_alt_offset)
-        self.left_tab.addTab(self.engagement_panel, "交戰")
-        self._init_orchestrator()
-
         # 右侧容器
         right_container = QWidget()
         right_layout = QVBoxLayout(right_container)
@@ -475,19 +448,19 @@ class ControlStationUI(QMainWindow):
         self.statusBar().messageChanged.connect(self._on_status_bar_message_changed)
 
     def _create_message_history_tab(self):
-        """建立上、中、下三區的紀錄分頁。"""
+        """建立左側訊息歷史分頁。"""
         widget = QWidget()
         layout = QVBoxLayout(widget)
         layout.setContentsMargins(10, 10, 10, 10)
         layout.setSpacing(8)
 
         header_layout = QHBoxLayout()
-        title = QLabel("訊息與操作紀錄")
+        title = QLabel("操作與訊息歷史")
         title.setStyleSheet("color: #DDD; font-size: 14px; font-weight: bold;")
         header_layout.addWidget(title)
         header_layout.addStretch()
 
-        clear_btn = QPushButton("全部清空")
+        clear_btn = QPushButton("清空")
         clear_btn.setStyleSheet("""
             QPushButton { background-color: #555; color: white; border: none;
                 padding: 5px 10px; border-radius: 4px; font-size: 12px; }
@@ -497,7 +470,9 @@ class ControlStationUI(QMainWindow):
         header_layout.addWidget(clear_btn)
         layout.addLayout(header_layout)
 
-        history_style = """
+        self.message_history_view = QPlainTextEdit()
+        self.message_history_view.setReadOnly(True)
+        self.message_history_view.setStyleSheet("""
             QPlainTextEdit {
                 background-color: #1E1E1E;
                 color: #DDD;
@@ -507,67 +482,9 @@ class ControlStationUI(QMainWindow):
                 font-family: monospace;
                 font-size: 12px;
             }
-        """
+        """)
-
+        self.message_history_view.setPlaceholderText("左下角狀態訊息會顯示在這裡...")
-        def create_section(section_title, category):
+        layout.addWidget(self.message_history_view)
-            section = QWidget()
-            section_layout = QVBoxLayout(section)
-            section_layout.setContentsMargins(0, 0, 0, 0)
-            section_layout.setSpacing(4)
-
-            section_header = QHBoxLayout()
-            section_label = QLabel(section_title)
-            section_label.setStyleSheet(
-                "color: #CCC; font-size: 12px; font-weight: bold;")
-            section_header.addWidget(section_label)
-            section_header.addStretch()
-
-            section_clear_btn = QPushButton("清空")
-            section_clear_btn.setStyleSheet("""
-                QPushButton { background-color: #444; color: #DDD; border: none;
-                    padding: 3px 8px; border-radius: 3px; font-size: 11px; }
-                QPushButton:hover { background-color: #555; }
-            """)
-            section_clear_btn.clicked.connect(
-                lambda _checked=False, name=category:
-                    self._clear_message_history(name)
-            )
-            section_header.addWidget(section_clear_btn)
-            section_layout.addLayout(section_header)
-
-            view = QPlainTextEdit()
-            view.setReadOnly(True)
-            view.setStyleSheet(history_style)
-            view.document().setMaximumBlockCount(self.max_message_history)
-            section_layout.addWidget(view)
-            return section, view
-
-        history_splitter = QSplitter(Qt.Orientation.Vertical)
-        history_splitter.setChildrenCollapsible(False)
-
-        gui_section, self.gui_operation_history_view = create_section(
-            "操作紀錄", "gui")
-        drone_section, self.drone_message_history_view = create_section(
-            "無人機狀態", "drone")
-        fcnetwork_section, self.fcnetwork_history_view = create_section(
-            "FC Network", "fcnetwork")
-
-        history_splitter.addWidget(gui_section)
-        history_splitter.addWidget(drone_section)
-        history_splitter.addWidget(fcnetwork_section)
-        history_splitter.setStretchFactor(0, 1)
-        history_splitter.setStretchFactor(1, 1)
-        history_splitter.setStretchFactor(2, 1)
-        history_splitter.setSizes([220, 220, 220])
-        layout.addWidget(history_splitter)
-
-        self._history_views = {
-            'drone': self.drone_message_history_view,
-            'gui': self.gui_operation_history_view,
-            'fcnetwork': self.fcnetwork_history_view,
-        }
-        # 舊名稱指向 GUI 操作紀錄，保留向後相容性。
-        self.message_history_view = self.gui_operation_history_view
 
         return widget
 
@@ -824,113 +741,26 @@ class ControlStationUI(QMainWindow):
 
         return super().eventFilter(obj, event)
 
-    def _history_list(self, category):
+    def _clear_message_history(self):
-        return {
+        """清空訊息歷史。"""
-            'drone': self.drone_message_history,
+        self.message_history.clear()
-            'gui': self.gui_operation_history,
+        if hasattr(self, 'message_history_view'):
-            'fcnetwork': self.fcnetwork_history,
+            self.message_history_view.clear()
-        }.get(category)
-
-    def _append_history(self, category, message):
-        """加入指定來源的紀錄並讓畫面保持在最新一筆。"""
-        if not message:
-            return
-
-        timestamp = time.strftime("%H:%M:%S")
-        entry = f"[{timestamp}] {message}"
-        history = self._history_list(category)
-        if history is None:
-            return
-        history.append(entry)
-        if len(history) > self.max_message_history:
-            del history[:-self.max_message_history]
-
-        view = getattr(self, '_history_views', {}).get(category)
-        if view is not None:
-            view.appendPlainText(entry)
-            scrollbar = view.verticalScrollBar()
-            scrollbar.setValue(scrollbar.maximum())
-
-    def _clear_message_history(self, category=None):
-        """清空單一來源；未指定來源時清空全部。"""
-        categories = (category,) if category else ('drone', 'gui', 'fcnetwork')
-        for name in categories:
-            history = self._history_list(name)
-            if history is not None:
-                history.clear()
-            view = getattr(self, '_history_views', {}).get(name)
-            if view is not None:
-                view.clear()
-
-    def _record_drone_status(self, sys_id, data):
-        """顯示由 status_text topic 收到的飛行檢查與報錯。"""
-        severity_labels = {
-            0: 'EMERGENCY', 1: 'ALERT', 2: 'CRITICAL', 3: 'ERROR',
-            4: 'WARNING', 5: 'NOTICE', 6: 'INFO', 7: 'DEBUG'
-        }
-        severity = data.get('severity', -1)
-        label = severity_labels.get(severity, 'STATUS')
-        self._append_history(
-            'drone', f"/fc_network/vehicle/{sys_id}/status_text "
-                     f"[{label}] {data.get('text', '')}")
-
-    def _record_sys_diags_warning(self, sys_id, data):
-        """sys_diags 只在診斷值異常或內容改變時顯示警告。"""
-        installed = int(data.get('sensors_install_mask', 0))
-        enabled = int(data.get('sensors_enabled_mask', 0))
-        healthy = int(data.get('sensors_health_mask', 0))
-        unhealthy_mask = installed & enabled & ~healthy
-        load = float(data.get('mcu_load_percent', 0.0))
-        bus_rate = float(data.get('bus_error_rate_percent', 0.0))
-        error_counts = tuple(int(data.get(f'errors_count{i}', 0)) for i in range(1, 5))
-
-        warnings = []
-        if unhealthy_mask:
-            warnings.append(f"感測器異常 mask=0x{unhealthy_mask:08X}")
-        if load >= 90.0:
-            warnings.append(f"MCU 負載過高 {load:.1f}%")
-        if bus_rate > 0.0 or int(data.get('bus_error_count', 0)) > 0:
-            warnings.append(
-                f"匯流排錯誤率 {bus_rate:.1f}% / "
-                f"count={int(data.get('bus_error_count', 0))}")
-        if any(error_counts):
-            warnings.append(f"錯誤計數={error_counts}")
-
-        signature = tuple(warnings)
-        if not signature:
-            self._sys_diags_warning_signatures.pop(sys_id, None)
-            return
-        if self._sys_diags_warning_signatures.get(sys_id) == signature:
-            return
-        self._sys_diags_warning_signatures[sys_id] = signature
-        self._append_history(
-            'drone', f"/fc_network/vehicle/{sys_id}/sys_diags [WARNING] "
-                     + "；".join(warnings))
-
-    def _record_fcnetwork_log(self, logger_name, data):
-        """顯示 /fc_network/logs 的結構化 FC Network 紀錄。"""
-        level_labels = {
-            10: 'DEBUG', 20: 'INFO', 30: 'WARN', 40: 'ERROR', 50: 'FATAL'
-        }
-        level = level_labels.get(data.get('level'), str(data.get('level', '')))
-        context = []
-        if data.get('event_code'):
-            context.append(data['event_code'])
-        if data.get('sysid', -1) >= 0:
-            context.append(f"sys{data['sysid']}")
-        context_text = f" [{' / '.join(context)}]" if context else ''
-        self._append_history(
-            'fcnetwork', f"/fc_network/logs [{level}] [{logger_name}]"
-                         f"{context_text} {data.get('message', '')}")
 
     def _on_status_bar_message_changed(self, message):
-        """同步 GUI 狀態列訊息到操作紀錄。"""
+        """同步狀態列訊息到歷史紀錄。"""
         if not message:
             return
-        if message == self._suppressed_status_message:
+        timestamp = time.strftime("%H:%M:%S")
-            self._suppressed_status_message = None
+        entry = f"[{timestamp}] {message}"
-            return
+        self.message_history.append(entry)
-        self._append_history('gui', message)
+        if len(self.message_history) > self.max_message_history:
+            self.message_history = self.message_history[-self.max_message_history:]
+
+        if hasattr(self, 'message_history_view'):
+            self.message_history_view.appendPlainText(entry)
+            scrollbar = self.message_history_view.verticalScrollBar()
+            scrollbar.setValue(scrollbar.maximum())
 
     def _setup_stream_redirector(self):
         """將 stdout/stderr 同步到左下角狀態列與訊息紀錄。"""
@@ -953,14 +783,10 @@ class ControlStationUI(QMainWindow):
             sys.stderr = self._original_stderr
 
     def show_in_bottom_left(self, text):
-        """背景輸出只短暫顯示在狀態列，不混入三類紀錄。"""
+        """將重導向的輸出顯示在左下角狀態列。"""
         if not text:
             return
-        # 背景輸出仍沿用既有狀態列提示，但避免又被當成 GUI 操作紀錄。
-        self._suppressed_status_message = text
         self.statusBar().showMessage(text, 5000)
-        if self._suppressed_status_message == text:
-            self._suppressed_status_message = None
     
 
     # ================================================================================
@@ -1497,7 +1323,6 @@ class ControlStationUI(QMainWindow):
             arrival_radius=exec_params.get('arrival_radius', 4.0),
             hover_stable_sec=exec_params.get('hover_stable_sec', 2.0),
             tick_rate_hz=2.0,
-            resend_interval_sec=exec_params.get('resend_interval_sec', 2.5),
         )
         executor.drone_waypoint_reached.connect(self.on_drone_waypoint_reached)
         executor.task_status_changed.connect(self._on_task_status_changed)
@@ -1574,29 +1399,26 @@ class ControlStationUI(QMainWindow):
         _log("INFO", f"Group {group_id} 準備切換模式為 {mode}")
         self.statusBar().showMessage("正在切換模式", 1000)
         
-        # 使用 asyncio 執行（通過事件循環）。
+        # 使用 asyncio 執行（通過事件循環）
-        # 並發：每台各自 set_mode + 各自等自己的 ACK，用 gather 同時發，
-        # 避免逐台 await 造成序列化（最壞情況 N×timeout 一路卡著）。
-        async def _change_one(drone_id):
-            try:
-                result = await self.monitor.set_mode(drone_id, mode)
-                if result:
-                    msg = f"{drone_id} 切換成功"
-                    _log("INFO", msg)
-                else:
-                    msg = f"{drone_id} 切換失敗"
-                    _log("WARN", msg)
-                self.message_queue.put((msg, 2000))
-            except Exception as e:
-                msg = f"{drone_id} 錯誤: {str(e)}"
-                _log("ERROR", msg)
-                traceback.print_exc()
-                self.message_queue.put((msg, 2000))
-
         async def do_mode_changes_async():
-            await asyncio.gather(
+            for drone_id in group.selected_drone_ids:
-                *(_change_one(did) for did in group.selected_drone_ids)
+                try:
-            )
+                    result = await self.monitor.set_mode(drone_id, mode)
+                    
+                    if result:
+                        msg = f"{drone_id} 切換成功"
+                        _log("INFO", msg)
+                        self.message_queue.put((msg, 2000))
+                    else:
+                        msg = f"{drone_id} 切換失敗"
+                        _log("WARN", msg)
+                        self.message_queue.put((msg, 2000))
+                
+                except Exception as e:
+                    msg = f"{drone_id} 錯誤: {str(e)}"
+                    _log("ERROR", msg)
+                    traceback.print_exc()
+                    self.message_queue.put((msg, 2000))
         
         # 通過事件循環提交異步任務
         loop = asyncio.get_event_loop()
@@ -1838,15 +1660,6 @@ class ControlStationUI(QMainWindow):
 
     def update_ui(self, msg_type, drone_id, data):
         """只做數據快取，不在這裡更新 UI"""
-        if msg_type == 'status_text':
-            self._record_drone_status(drone_id, data)
-            return
-        if msg_type == 'sys_diags':
-            self._record_sys_diags_warning(drone_id, data)
-            return
-        if msg_type == 'fc_network_log':
-            self._record_fcnetwork_log(drone_id, data)
-            return
         if msg_type == 'connection_type':
             conn_type = data.get('type', 'Unknown')
             parts = drone_id.split('_')
@@ -2320,40 +2133,14 @@ class ControlStationUI(QMainWindow):
     # 任務執行回呼
     # ================================================================================
 
-    # 任務狀態列的通訊狀態短標籤（對應 MissionExecutor 的 TaskStatus.value）
-    _MISSION_COMM_LABELS = {
-        "normal": "送出OK",
-        "retrying": "送出未驗證",
-        "waiting_at_barrier": "等待同伴",
-        "fallback_loiter": "LOITER",
-    }
-
-    def _set_overview_mission(self, drone_id, wp=None, comm=None):
-        """組合 WP 進度 + 通訊狀態，寫進總覽表『任務狀態』列（每台一格，實飛一眼看全部）。"""
-        cache = getattr(self, '_mission_ui', None)
-        if cache is None:
-            cache = self._mission_ui = {}
-        slot = cache.setdefault(drone_id, {'wp': '', 'comm': ''})
-        if wp is not None:
-            slot['wp'] = wp
-        if comm is not None:
-            slot['comm'] = comm
-        text = ' · '.join(p for p in (slot['wp'], slot['comm']) if p) or '--'
-        self.update_overview_table(drone_id, 'mission', text)
-
     def on_drone_waypoint_reached(self, drone_id, wp_index, total):
         if wp_index >= total:
             self.statusBar().showMessage(f"{drone_id} 已完成所有航點", 3000)
-            self._set_overview_mission(drone_id, wp=f"完成 {total}/{total}")
         else:
             self.statusBar().showMessage(f"{drone_id} 到達 WP {wp_index}/{total}", 2000)
-            self._set_overview_mission(drone_id, wp=f"WP {wp_index}/{total}")
 
     def _on_task_status_changed(self, drone_id, status, message):
-        """MissionExecutor.task_status_changed slot：狀態列提示 + 更新總覽表『任務狀態』列"""
+        """MissionExecutor.task_status_changed slot：把 goto 失敗/重試/fallback/barrier 丟到 status bar"""
-        comm = self._MISSION_COMM_LABELS.get(status)
-        if comm is not None:
-            self._set_overview_mission(drone_id, comm=comm)
         if status == "retrying":
             self.statusBar().showMessage(f"{drone_id} {message}", 4000)
         elif status == "fallback_loiter":
@@ -2488,152 +2275,6 @@ class ControlStationUI(QMainWindow):
         match = re.match(r's(\d+)_(\d+)', drone_id)
         return match.group(1) if match else 'unknown'
 
-    # ================================================================
-    # 交戰任務編排器（MissionOrchestrator）接線
-    # ================================================================
-    _PHASE_LABELS = {
-        MissionPhase.IDLE.value: "待機（尚未設定敵機/A 組）",
-        MissionPhase.WATCH.value: "監看偵測中",
-        MissionPhase.DETECTED.value: "已偵測到敵機 — 等待確認重編隊",
-        MissionPhase.PURSUE.value: "前進中（4 機 leader-follow）",
-        MissionPhase.ENCIRCLE.value: "包圍中",
-    }
-
-    def _init_orchestrator(self):
-        """建立 MissionOrchestrator，用 callback 與 GUI 解耦。"""
-        self.orchestrator = MissionOrchestrator(
-            make_executor=self._make_orchestrator_executor,
-            gps_provider=lambda: self.monitor.drone_gps,
-            # 敵機相對 home 高度（local_pose z，與 setpoint 同座標系）；勿用 drone_gps.alt（AMSL）
-            rel_alt_provider=lambda did: (
-                getattr(self.monitor, 'drone_local', {}).get(did) or {}).get('z'),
-            stop_groups_fn=self._stop_engagement_group_missions,
-        )
-        self._engagement_a_group = None
-        self._engagement_b_group = None
-        self.orchestrator.phase_changed.connect(self._on_orchestrator_phase_changed)
-        self.orchestrator.detection_prompt.connect(self._on_orchestrator_detection)
-        self.orchestrator.status_message.connect(
-            lambda msg: self.statusBar().showMessage(msg, 4000))
-
-    def _make_orchestrator_executor(self):
-        """為編排器建立 MissionExecutor（hover-hold：到達不自動結束，靠瞬時 slot 持續更新）。"""
-        ex = MissionExecutor(
-            sender=self.command_sender,
-            drone_gps=self.monitor.drone_gps,
-            monitor=self.monitor,
-            tick_rate_hz=2.0,
-            complete_stops=False,
-        )
-        ex.task_status_changed.connect(self._on_task_status_changed)
-        return ex
-
-    def _engagement_group_drone_ids(self, group_id):
-        """回傳指定 group 已分派的無人機清單（排序，穩定 rank）。"""
-        group = self.mission_groups.get(group_id)
-        if not group:
-            return []
-        return sorted(group.selected_drone_ids)
-
-    def _stop_engagement_group_missions(self):
-        """重編隊時，停掉 A/B 群組的掃描/待機任務，避免與合併 executor 雙重送點。"""
-        for gid in (self._engagement_a_group, self._engagement_b_group):
-            if gid and gid in self.mission_groups:
-                self._handle_group_stop(gid)
-
-    def _sync_orchestrator_config(self):
-        """把面板上的敵機 + A/B 組同步進 orchestrator（監看階段可連續更新）。"""
-        if not hasattr(self, 'orchestrator'):
-            return
-        a_ids = self._engagement_group_drone_ids(self._engagement_a_group) \
-            if self._engagement_a_group else []
-        b_ids = self._engagement_group_drone_ids(self._engagement_b_group) \
-            if self._engagement_b_group else []
-        enemy = self.engagement_panel.current_enemy()
-        self.orchestrator.configure(a_ids, b_ids, enemy)
-
-    def _update_engagement_panel(self):
-        """交戰面板週期更新：刷新群組清單、距離讀數、同步設定、驅動 orchestrator tick。"""
-        if not hasattr(self, 'engagement_panel'):
-            return
-        labels = [(gid, g.display_name) for gid, g in self.mission_groups.items()]
-        self.engagement_panel.refresh_group_list(labels)  # 內部只在變動時重建
-        self.engagement_panel.tick(self.drone_positions)
-        if hasattr(self, 'orchestrator'):
-            self._sync_orchestrator_config()
-            self.orchestrator.tick()
-
-    def _on_enemy_changed(self, enemy_id):
-        """敵機選擇改變的回呼。"""
-        self._sync_orchestrator_config()
-        if enemy_id:
-            self.statusBar().showMessage(f"已指定敵機：{enemy_id}", 3000)
-        else:
-            self.statusBar().showMessage("已清除敵機指定", 3000)
-
-    def _on_engagement_groups_changed(self, a_id, b_id):
-        """A/B 組指派改變 → 同步到 orchestrator。"""
-        self._engagement_a_group = a_id or None
-        self._engagement_b_group = b_id or None
-        self._sync_orchestrator_config()
-
-    def _on_engagement_apply_speed(self, friendly_speed, enemy_ratio):
-        """套用速度比例：友方 A+B 各機下 DO_CHANGE_SPEED = V，敵機 = ratio×V。
-        同步 orchestrator.friendly_speed，讓前置攔截 lead_time 用同一速度基準。"""
-        enemy_speed = friendly_speed * enemy_ratio
-        friendly_ids = []
-        for gid in (self._engagement_a_group, self._engagement_b_group):
-            friendly_ids.extend(self._engagement_group_drone_ids(gid) if gid else [])
-        enemy_id = self.engagement_panel.current_enemy()
-        if not friendly_ids and not enemy_id:
-            self.statusBar().showMessage("尚未指派 A/B 組或敵機，無法套用速度", 3000)
-            return
-        if hasattr(self, 'orchestrator'):
-            self.orchestrator.friendly_speed = float(friendly_speed)
-
-        async def _apply_one(did, speed, label):
-            try:
-                await self.monitor.set_speed(did, speed)
-            except Exception as e:
-                _log("ERROR", f"[套用速度] {label} {did} 失敗: {e}")
-
-        async def do_apply():
-            # 並發：友機各自 + 敵機，用 gather 同時發，各自等各自 ACK
-            tasks = [_apply_one(did, friendly_speed, "友機") for did in friendly_ids]
-            if enemy_id:
-                tasks.append(_apply_one(enemy_id, enemy_speed, "敵機"))
-            await asyncio.gather(*tasks)
-
-        asyncio.run_coroutine_threadsafe(do_apply(), asyncio.get_event_loop())
-        self.statusBar().showMessage(
-            f"套用速度：友機 {friendly_speed:.1f} m/s ({len(friendly_ids)} 台)、"
-            f"敵機 {enemy_speed:.1f} m/s", 4000)
-
-    def _on_engagement_alt_offset(self, offset):
-        """高度分層偏移即時生效：A=敵機高度+offset、B=敵機高度−offset。
-        下個 tick 的瞬時 slot 就會套用（PURSUE/ENCIRCLE 中調整也立即反映）。"""
-        if hasattr(self, 'orchestrator'):
-            self.orchestrator.alt_layer_offset = float(offset)
-            self.statusBar().showMessage(f"高度分層 ±{offset:.1f} m（A 上層 / B 下層）", 3000)
-
-    def _on_engagement_confirm(self):
-        if hasattr(self, 'orchestrator'):
-            self.orchestrator.confirm_detection()
-
-    def _on_engagement_stop(self):
-        if hasattr(self, 'orchestrator'):
-            self.orchestrator.stop()
-
-    def _on_orchestrator_phase_changed(self, phase_value):
-        """階段變更：更新面板文字與『確認重編隊』按鈕致能。"""
-        self.engagement_panel.set_phase_text(
-            self._PHASE_LABELS.get(phase_value, phase_value))
-        self.engagement_panel.set_confirm_enabled(
-            phase_value == MissionPhase.DETECTED.value)
-
-    def _on_orchestrator_detection(self, message):
-        self.statusBar().showMessage(message, 6000)
-
     def add_drone(self, drone_id):
         if drone_id in self.drones: return
         socket_id = self.get_socket_id(drone_id)
@@ -2646,9 +2287,6 @@ class ControlStationUI(QMainWindow):
         self.update_overview_table()
         # 同步新 drone 到 UI
         self.refresh_selection_ui()
-        # 同步敵機下拉選單（保留當前選擇）
-        if hasattr(self, 'engagement_panel'):
-            self.engagement_panel.refresh_drone_list(list(self.drones.keys()))
 
     def reorganize_socket_groups(self):
         while self.drone_panel_layout.count():
@@ -2746,10 +2384,9 @@ class ControlStationUI(QMainWindow):
                     
                     elif msg_type == 'local_pose':
                         x, y = data.get('x', 0), data.get('y', 0)
-                        z = data.get('z', 0)  # 相對 home 高度（正向朝上），供交戰高度分層用
                         if not hasattr(self.monitor, 'drone_local'):
                             self.monitor.drone_local = {}
-                        self.monitor.drone_local[drone_id] = {'x': x, 'y': y, 'z': z}
+                        self.monitor.drone_local[drone_id] = {'x': x, 'y': y}
                         self.queue_overview_update(drone_id, 'local', f"{x:.1f}, {y:.1f}")
                     
                     elif msg_type == 'loss_rate':
@@ -2956,14 +2593,18 @@ class ControlStationUI(QMainWindow):
             # Clean up serial receivers
             for receiver in self.monitor.serial_receivers:
                 receiver.stop()
-            # Clean up shared CommandLongClient / PositionTargetGlobalIntClient
+            # Clean up all CommandLongClient instances
-            for client in (getattr(self.monitor, 'command_long_client', None),
+            for drone_id, client in self.monitor.command_long_clients.items():
-                           getattr(self.monitor, 'position_target_client', None)):
+                try:
-                if client is not None:
+                    client.destroy_node()
-                    try:
+                except:
-                        client.destroy_node()
+                    pass
-                    except:
+            # Clean up all PositionTargetGlobalIntClient instances
-                        pass
+            for drone_id, client in getattr(self.monitor, 'position_target_clients', {}).items():
+                try:
+                    client.destroy_node()
+                except:
+                    pass
             self.monitor.destroy_node()
             self.executor.shutdown()
         except Exception as e:

src/GUI/map_layout.py

@@ -377,8 +377,6 @@ class DroneMap:
                 var clickStartPos = null;
                 var lastManualMapMoveAt = 0;
                 var autoCenteringMap = false;
-                const autoFollowPanThresholdRatio = 0.25;
-                var lastAutoFollowPanAt = 0;
 
                 function markManualMapMove() {
                     if (!autoCenteringMap) {
@@ -388,42 +386,6 @@ class DroneMap:
 
                 map.on('dragstart drag dragend zoomstart zoomend', markManualMapMove);
                 
-                function isOutsideAutoFollowWindow(latlng) {
-                    if (!latlng) {
-                        return false;
-                    }
-
-                    var size = map.getSize();
-                    if (!size || size.x <= 0 || size.y <= 0) {
-                        return false;
-                    }
-
-                    var centerPoint = map.latLngToContainerPoint(map.getCenter());
-                    var targetPoint = map.latLngToContainerPoint(latlng);
-                    var dx = Math.abs(targetPoint.x - centerPoint.x);
-                    var dy = Math.abs(targetPoint.y - centerPoint.y);
-
-                    return dx >= size.x * autoFollowPanThresholdRatio ||
-                           dy >= size.y * autoFollowPanThresholdRatio;
-                }
-
-                function autoFollowPanTo(latlng) {
-                    if (!isOutsideAutoFollowWindow(latlng)) {
-                        return;
-                    }
-                    if (Date.now() - lastManualMapMoveAt < 1000) {
-                        return;
-                    }
-                    if (Date.now() - lastAutoFollowPanAt < 250) {
-                        return;
-                    }
-
-                    lastAutoFollowPanAt = Date.now();
-                    autoCenteringMap = true;
-                    map.panTo(latlng, {animate: true});
-                    setTimeout(() => { autoCenteringMap = false; }, 300);
-                }
-                
                 // 路徑標記變量 (跟隨模式用)
                 var routePoints = [];
                 var routeMarkers = [];
@@ -776,8 +738,13 @@ class DroneMap:
 
                 setInterval(() => {
                     if (focusedId && markers[focusedId]) {
+                        if (Date.now() - lastManualMapMoveAt < 1000) {
+                            return;
+                        }
                         var latlng = markers[focusedId].getLatLng();
-                        autoFollowPanTo(latlng);
+                        autoCenteringMap = true;
+                        map.panTo(latlng);
+                        setTimeout(() => { autoCenteringMap = false; }, 300);
                     }
                 }, 1000);
 
@@ -793,9 +760,6 @@ class DroneMap:
                             .setLatLng([lat, lon])
                             .setRotationAngle(heading);
                         idLabels[id].setLatLng([lat, lon]);
-                        if (id === focusedId) {
-                            autoFollowPanTo(markers[id].getLatLng());
-                        }
                     } else {
                         initTrajectory(id);
                         addTrajectoryPoint(id, lat, lon);

src/GUI/mission_executor.py

@@ -3,19 +3,14 @@
 任務執行模組
 管理多架無人機的 GUIDED 模式飛行控制迴圈
 
-設計 (閉環 / closed-loop):
+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
-    - 閉環發送：以固定週期「持續重送」當前目標 setpoint（GUIDED 位置目標冪等），
+    - 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
-      掉包會在下個週期自癒；換點完全靠 GPS 到達判定驅動，不依賴通訊 ACK
+    - 失敗策略 (b)：單機重試 MAX_RETRY 次仍失敗 → 該機 fallback LOITER，其他機繼續
-    - send_result（echo 驗證）僅作觀測/UI 顯示，不影響飛行控制：
-      驗證失敗不會 fallback LOITER，指令其實已送達飛控，交給 GPS 續飛
     - 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
-
-背景：adapter 的 pos_global_int service 被序列化 + 阻塞等 msg87 echo，實飛慢速鏈路下
-多機會只有一台在 client timeout 內拿到回應。閉環設計繞過此瓶頸（見專案記憶）。
 """
 import asyncio
 import math
@@ -47,7 +42,7 @@ class DroneTask:
     """單架無人機的任務資料"""
     __slots__ = (
         'drone_id', 'sysid', 'waypoints', 'wp_index', 'done',
-        'last_sent_at', 'fail_count', 'status', 'waiting_since',
+        'sent_current_wp', 'fail_count', 'status', 'waiting_since',
         'entered_radius_at', 'last_log_at',
     )
 
@@ -57,8 +52,7 @@ class DroneTask:
         self.waypoints = waypoints
         self.wp_index = 0
         self.done = len(waypoints) == 0
-        # 上次送出當前目標的 monotonic 時間；0.0 = 尚未送過（下個 tick 立即送）
+        self.sent_current_wp = False
-        self.last_sent_at = 0.0
         self.fail_count = 0
         self.status = TaskStatus.NORMAL
         self.waiting_since = 0.0  # monotonic time 進入 WAITING_AT_BARRIER 的瞬間
@@ -91,7 +85,7 @@ class MissionExecutor(QObject):
         }
     """
 
-    MAX_RETRY = 3  # 已停用：閉環下 echo 驗證失敗不再累計切 LOITER（保留常數以防外部引用）
+    MAX_RETRY = 3
 
     drone_waypoint_reached = pyqtSignal(str, int, int)   # (drone_id, wp_index, total)
     task_status_changed = pyqtSignal(str, str, str)       # (drone_id, status, message)
@@ -101,20 +95,12 @@ class MissionExecutor(QObject):
                  arrival_radius=4.0, tick_rate_hz=2.0,
                  barrier_timeout_sec=20.0,
                  hover_stable_sec=2.0,
-                 progress_log_interval_sec=3.0,
+                 progress_log_interval_sec=3.0):
-                 resend_interval_sec=2.5,
-                 complete_stops=True):
         super().__init__()
         self.sender = sender
-        # complete_stops=False：全員到達也不停（hover-hold 持續重送），供
-        # orchestrator 的瞬時隊形追蹤使用（靠 update_plan 持續餵新 slot）。
-        self.complete_stops = complete_stops
         self.drone_gps = drone_gps
-        self.monitor = monitor  # 保留：僅供外部手動 fallback 使用，閉環下不自動切 LOITER
+        self.monitor = monitor  # 用於失敗 fallback 到 LOITER
         self.arrival_radius = arrival_radius
-        # 閉環重送週期：每隔這麼久重送一次當前目標 setpoint（掉包自癒）。
-        # 注意：需 > N架 × client_timeout，否則多機序列化會塞不完（見 command_sender）。
-        self.resend_interval_sec = resend_interval_sec
         self.barrier_timeout_sec = barrier_timeout_sec
         # hover-stable 判定：進入 radius 後須穩定停留 hover_stable_sec 秒才算到達，
         # 容忍 GPS 抖動跨越邊界（用 radius * 1.5 作 hysteresis）
@@ -166,51 +152,10 @@ class MissionExecutor(QObject):
             f"共 {total_wps} 個航點, "
             f"到達半徑={self.arrival_radius}m (hover-stable {self.hover_stable_sec}s), "
             f"tick 週期={self._interval_ms}ms, "
-            f"重送週期={self.resend_interval_sec}s (閉環，GPS 驅動換點), "
             f"barrier timeout={self.barrier_timeout_sec}s, "
             f"{rv_info}",
         )
 
-    def update_plan(self, planned_waypoints):
-        """
-        熱替換航點（moving-target 用）。保留 RUNNING 狀態與 timer 不中斷，
-        只換各機的目標座標並重置到達/送出狀態，讓下個 tick 立即朝新目標。
-
-        - 未在執行中 → 等同 start()
-        - 沿用 start() 的 planned_waypoints 格式
-        - drone 集合可變動：新機補 task、消失的機移除；FALLBACK_LOITER 的機不強制復原
-        """
-        if self.state != MissionState.RUNNING:
-            self.start(planned_waypoints)
-            return
-
-        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):
-            wps = waypoints_list[i]
-            task = self.tasks.get(drone_id)
-            if task is None:
-                sysid = int(drone_id.split('_')[1])
-                self.tasks[drone_id] = DroneTask(drone_id, sysid, wps)
-                continue
-            task.waypoints = wps
-            task.wp_index = 0
-            task.done = (len(wps) == 0)
-            task.last_sent_at = 0.0       # 下個 tick 立即重送新目標
-            task.entered_radius_at = 0.0
-            if task.status != TaskStatus.FALLBACK_LOITER:
-                task.status = TaskStatus.NORMAL
-
-        # 移除不在新計畫中的機
-        keep = set(drone_ids)
-        for drone_id in list(self.tasks.keys()):
-            if drone_id not in keep:
-                del self.tasks[drone_id]
-
     def pause(self):
         if self.state == MissionState.RUNNING:
             self._timer.stop()
@@ -304,28 +249,24 @@ class MissionExecutor(QObject):
         # ---- Phase 2: barrier 釋放檢查 ----
         self._check_barriers(now)
 
-        # ---- Phase 3: 週期性重送當前目標（閉環）----
+        # ---- Phase 3: 發送未送過的目標 ----
-        # 每 resend_interval_sec 重送一次目前 wp 的 setpoint，不靠 send_result 決定前進。
-        # GUIDED 位置目標冪等，重送安全；掉包會在下個週期自癒。first send: last_sent_at=0 → 立即送。
         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
-            if now - task.last_sent_at < self.resend_interval_sec:
-                continue
             tgt_lat, tgt_lon, tgt_alt = target
-            task.last_sent_at = now
+            task.sent_current_wp = True
             self.sender.send_position_global(
                 task.drone_id, task.sysid, tgt_lat, tgt_lon, tgt_alt
             )
 
         # ---- Phase 4: 完成檢查 ----
-        if not self.complete_stops:
-            return  # hover-hold 模式：不自動結束，持續重送（Phase 3 已處理）
         all_done = all(
             t.done or t.status == TaskStatus.FALLBACK_LOITER
             for t in self.tasks.values()
@@ -352,14 +293,12 @@ class MissionExecutor(QObject):
         )
 
     def _advance_waypoint(self, task, arrived_distance):
-        """把 task 推進一個航點，重置發送計時。不處理 barrier 邏輯。"""
+        """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.last_sent_at = 0.0  # 新 wp 下個 tick 立即送
+        task.sent_current_wp = False
         task.fail_count = 0
         task.entered_radius_at = 0.0
         task.last_log_at = 0.0
-        if task.status == TaskStatus.RETRYING:
-            task.status = TaskStatus.NORMAL  # 清掉上個 wp 殘留的「送出未驗證」狀態
         if task.wp_index >= task.total_waypoints:
             task.done = True
             self.drone_waypoint_reached.emit(
@@ -430,46 +369,42 @@ class MissionExecutor(QObject):
     # ------------------------------------------------------------------ 結果回呼
 
     def _on_send_result(self, drone_id, sysid, success, message):
-        """
+        """Ros2CommandSender.send_result 的 slot"""
-        Ros2CommandSender.send_result 的 slot（閉環：僅觀測，不影響飛行控制）。
-
-        指令在 adapter 端等 echo 前就已送達飛控，echo 驗證失敗不代表沒送到；
-        因此這裡不再累計失敗切 LOITER，只更新 UI 狀態。真正的前進由 GPS 到達判定驅動，
-        重送由 Phase 3 的週期性重送負責。
-        """
         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干擾狀態
+        # 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, "send verified")
+                self.task_status_changed.emit(drone_id, task.status.value, "recovered")
             task.fail_count = 0
             return
 
-        # echo 驗證失敗：僅記錄 + UI 提示，不改變飛行（交給 GPS 續飛、下個週期重送）
         task.fail_count += 1
-        task.status = TaskStatus.RETRYING  # 純觀測用途，Phase 1/3 不會因此停飛
+        _log("WARN", f"{drone_id} 發送失敗 {task.fail_count}/{self.MAX_RETRY}: {message}")
-        _log(
+
-            "WARN",
+        if task.fail_count < self.MAX_RETRY:
-            f"{drone_id} 送出未驗證 x{task.fail_count}（指令已送達飛控，由 GPS 續飛）: {message}",
+            task.status = TaskStatus.RETRYING
-        )
+            task.sent_current_wp = False  # 下個 tick 會重送
-        self.task_status_changed.emit(
+            self.task_status_changed.emit(
-            drone_id, task.status.value,
+                drone_id, task.status.value,
-            f"send unverified x{task.fail_count} (GPS 續飛): {message}"
+                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}"
+            )
+            _log("ERROR", f"{drone_id} 連續失敗 {self.MAX_RETRY} 次，切換至 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。"""
-        用 monitor.set_mode 切 LOITER。set_mode 是 coroutine，透過 event loop 派送。
-
-        閉環改版後不再由 _on_send_result 自動呼叫（送指令失敗不代表沒送到）；
-        保留此方法供外部（例如 GUI 手動安全按鈕）需要時使用。
-        """
         if self.monitor is None:
             _log("WARN", f"無 monitor，無法將 {drone_id} 切換至 LOITER")
             return

src/GUI/mission_orchestrator.py

@@ -1,752 +0,0 @@
-#!/usr/bin/env python3
-"""
-任務編排器 (MissionOrchestrator) —— ABC 對抗任務的階段狀態機。
-
-角色：坐在既有 MissionExecutor 之上的「任務大腦」。偵察飛行由操作員用既有的
-群組執行按鈕控制（A 組 GRID_SWEEP、B 組待機）；orchestrator 只做兩件事：
-  1. 被動監看「A↔敵機」距離，達 R_detect 持續 dwell → latch，提示操作員。
-  2. 操作員按「重編隊」→ 接管 A+B 四機，用「瞬時隊形」追移動敵機、足夠近時展開包圍。
-
-追蹤採「瞬時隊形」而非路徑跟隨：每 tick 給每台一個目標點（此刻該站的隊形位置），
-敵機移動就更新。避免了路徑跟隨在移動目標下 index 歸零/往後外推造成的往返振盪。
-
-階段：IDLE → WATCH（監看偵測）→ DETECTED（latch，等確認）
-      → PURSUE（4 機瞬時 leader-follow 朝敵，B 在後方 slot 自然追上會合）
-      → ENCIRCLE（形心距敵 ≤ R_engage 展開包圍，圓心追敵；逃出 R_engage_exit 退回）
-
-設計定案見 memory: design_mission_orchestrator。修改限定 src/GUI/（scope_gui_only）。
-"""
-import math
-import time
-from enum import Enum
-
-from PyQt6.QtWidgets import (
-    QWidget, QVBoxLayout, QHBoxLayout, QLabel, QComboBox, QFrame, QPushButton,
-    QDoubleSpinBox
-)
-from PyQt6.QtCore import Qt, QObject, pyqtSignal
-
-
-def _log(level, message):
-    print(f"[{level}] {message}", flush=True)
-
-
-def _haversine(lat1, lon1, lat2, lon2):
-    """兩經緯度間的水平地面距離 (m)。"""
-    R = 6371000.0
-    p1 = math.radians(lat1)
-    p2 = math.radians(lat2)
-    dphi = math.radians(lat2 - lat1)
-    dlam = math.radians(lon2 - lon1)
-    a = (math.sin(dphi / 2) ** 2
-         + math.cos(p1) * math.cos(p2) * math.sin(dlam / 2) ** 2)
-    return 2 * R * math.asin(min(1.0, math.sqrt(a)))
-
-
-def _ll_to_m(lat, lon, ref_lat, ref_lon):
-    """經緯度 → 以 ref 為原點的本地平面公尺 (x=東, y=北)。等距近似，小範圍夠用。"""
-    x = math.radians(lon - ref_lon) * 6371000.0 * math.cos(math.radians(ref_lat))
-    y = math.radians(lat - ref_lat) * 6371000.0
-    return x, y
-
-
-def _m_to_ll(x, y, ref_lat, ref_lon):
-    """本地平面公尺 → 經緯度。"""
-    lat = ref_lat + math.degrees(y / 6371000.0)
-    lon = ref_lon + math.degrees(x / (6371000.0 * math.cos(math.radians(ref_lat))))
-    return lat, lon
-
-
-# 預設參數
-DEFAULT_R_DETECT = 40.0        # 偵測範圍 (m)
-DEFAULT_DETECT_DWELL = 1.0     # 偵測 dwell (s)
-DEFAULT_R_ENGAGE = 15.0        # 接戰半徑 (m)：形心↔敵 ≤ 此值 → 切包圍
-DEFAULT_R_ENGAGE_EXIT = 20.0   # 包圍退出半徑 (m)：> 此值 → 退回前進（hysteresis）
-DEFAULT_REPLAN_MOVE_M = 2.0    # 敵機位移 ≥ 此值即重算（moving target）
-DEFAULT_REPLAN_CAP_SEC = 1.0   # 重算週期上限 (s)
-DEFAULT_CIRCLE_RADIUS = 10.0   # 包圍半徑 (m)
-DEFAULT_LON_SPACING = 5.0      # 隊形縱向間距 (m)
-DEFAULT_LAT_OFFSET = 3.0       # 隊形橫向錯開 (m)
-DEFAULT_FORMATION_ALT = 10.0   # fallback 隊形基準高度 (m，相對 home)：敵機相對高度都讀不到時才用
-DEFAULT_ALT_LAYER_OFFSET = 5.0 # A/B 相對敵機高度的上下偏移 (m)：A=敵高+offset、B=敵高−offset
-DEFAULT_MIN_ALT_FLOOR = 5.0    # 相對 home 的最低安全高度 (m)：B 下層不得低於此值
-DEFAULT_LEAD_TIME_CAP = 4.0    # 前置攔截 lead_time 上限 (s)
-DEFAULT_FRIENDLY_SPEED = 5.0   # 友機假設水平速度 (m/s)：估 lead_time = gap/此值
-DEFAULT_ENEMY_VEL_WINDOW = 1.0 # 敵速估計的 GPS 差分視窗 (s)
-
-_NONE_LABEL = "（未選擇）"
-
-
-class MissionPhase(Enum):
-    IDLE = "idle"          # 未設定敵機/A 組
-    WATCH = "watch"        # 監看偵測（偵察飛行由操作員的群組任務負責）
-    DETECTED = "detected"  # 偵測 latch，等操作員確認重編隊
-    PURSUE = "pursue"      # 4 機瞬時 leader-follow 朝敵機
-    ENCIRCLE = "encircle"  # 4 機包圍敵機
-
-
-class MissionOrchestrator(QObject):
-    """
-    階段狀態機。透過注入的 callback 與 GUI 解耦（便於 headless 測試）：
-      make_executor()  -> MissionExecutor（complete_stops=False，hover-hold）
-      gps_provider()   -> {drone_id: {'lat','lon','alt'}}（alt 是 AMSL，勿當相對高度用）
-      rel_alt_provider(drone_id) -> 該機相對 home 的高度 z（local_pose，正向朝上）或 None
-      stop_groups_fn() -> 停掉操作員的 A/B 群組任務（重編隊時避免雙重送點）
-    """
-
-    phase_changed = pyqtSignal(str)      # MissionPhase.value
-    detection_prompt = pyqtSignal(str)   # 偵測提示（含最近友機/距離）
-    status_message = pyqtSignal(str)
-
-    def __init__(self, make_executor, gps_provider, stop_groups_fn=None,
-                 rel_alt_provider=None,
-                 r_detect=DEFAULT_R_DETECT,
-                 detect_dwell_sec=DEFAULT_DETECT_DWELL,
-                 r_engage=DEFAULT_R_ENGAGE,
-                 r_engage_exit=DEFAULT_R_ENGAGE_EXIT,
-                 replan_move_m=DEFAULT_REPLAN_MOVE_M,
-                 replan_cap_sec=DEFAULT_REPLAN_CAP_SEC,
-                 circle_radius=DEFAULT_CIRCLE_RADIUS,
-                 lon_spacing=DEFAULT_LON_SPACING,
-                 lat_offset=DEFAULT_LAT_OFFSET,
-                 formation_alt=DEFAULT_FORMATION_ALT,
-                 alt_layer_offset=DEFAULT_ALT_LAYER_OFFSET,
-                 min_alt_floor=DEFAULT_MIN_ALT_FLOOR,
-                 lead_time_cap_sec=DEFAULT_LEAD_TIME_CAP,
-                 friendly_speed=DEFAULT_FRIENDLY_SPEED,
-                 enemy_vel_window_sec=DEFAULT_ENEMY_VEL_WINDOW,
-                 parent=None):
-        super().__init__(parent)
-        self._make_executor = make_executor
-        self._gps_provider = gps_provider
-        self._rel_alt_provider = rel_alt_provider
-        self._stop_groups_fn = stop_groups_fn
-        self.r_detect = float(r_detect)
-        self.detect_dwell_sec = float(detect_dwell_sec)
-        self.r_engage = float(r_engage)
-        self.r_engage_exit = float(r_engage_exit)
-        self.replan_move_m = float(replan_move_m)
-        self.replan_cap_sec = float(replan_cap_sec)
-        self.circle_radius = float(circle_radius)
-        self.lon_spacing = float(lon_spacing)
-        self.lat_offset = float(lat_offset)
-        self.formation_alt = float(formation_alt)
-        self.alt_layer_offset = float(alt_layer_offset)
-        self.min_alt_floor = float(min_alt_floor)
-        self.lead_time_cap_sec = float(lead_time_cap_sec)
-        self.friendly_speed = float(friendly_speed)
-        self.enemy_vel_window_sec = float(enemy_vel_window_sec)
-
-        self.phase = MissionPhase.IDLE
-        self.a_drone_ids = []   # 偵察組
-        self.b_drone_ids = []   # 待機組
-        self.enemy_id = None
-
-        self._detect_since = 0.0
-        self._merged_ids = []           # PURSUE/ENCIRCLE 的 4 機（領隊優先，固定順序）
-        self._merged_ex = None          # 合併 executor（hover-hold）
-        self._last_replan_at = 0.0
-        self._last_plan_enemy = None    # 上次重算用的敵機 (lat, lon)
-        self._last_heading = (0.0, 1.0)  # 上次隊形朝向（敵機太近時沿用，避免抖動）
-        self._enemy_hist = []           # [(t, lat, lon)] 敵機軌跡（估速用）
-        self._enemy_vel = (0.0, 0.0)    # 估得的敵速 (east, north) m/s
-        self._last_enemy_rel_z = None   # 上次有效的敵機相對高度（provider 暫讀不到時沿用）
-
-    # ------------------------------------------------------------- 設定（可連續呼叫）
-    def configure(self, a_drone_ids, b_drone_ids, enemy_id):
-        """設定 A/B 組與敵機。監看/待機階段可隨時更新；進入 PURSUE 後鎖定不受影響。"""
-        if self.phase in (MissionPhase.PURSUE, MissionPhase.ENCIRCLE):
-            return False
-        self.a_drone_ids = list(a_drone_ids)
-        self.b_drone_ids = list(b_drone_ids)
-        new_enemy = enemy_id or None
-        if new_enemy != self.enemy_id:
-            self._detect_since = 0.0  # 換敵機重置 dwell
-        self.enemy_id = new_enemy
-        return True
-
-    def _configured(self):
-        return bool(self.enemy_id) and bool(self.a_drone_ids) \
-            and self.enemy_id not in set(self.a_drone_ids) | set(self.b_drone_ids) \
-            and not (set(self.a_drone_ids) & set(self.b_drone_ids))
-
-    # ------------------------------------------------------------- 重編隊 / 停止
-    def confirm_detection(self):
-        """DETECTED → PURSUE：操作員手動確認。停掉群組掃描，接管 4 機瞬時追蹤。"""
-        if self.phase != MissionPhase.DETECTED:
-            self.status_message.emit("目前不在待確認狀態")
-            return
-        gps = self._gps_provider()
-        epos = gps.get(self.enemy_id)
-        if not epos:
-            self.status_message.emit("敵機定位遺失，無法重編隊")
-            return
-        merged = self._merged_ids_leader_first(gps, epos)
-        if self._positions_for(merged, gps) is None:
-            self.status_message.emit("有無人機尚未定位，無法重編隊")
-            return
-
-        # 先停掉操作員的 A/B 群組任務，避免與合併 executor 雙重送點塞爆 adapter
-        if self._stop_groups_fn:
-            try:
-                self._stop_groups_fn()
-            except Exception as e:
-                _log("WARN", f"[orchestrator] 停止群組任務失敗: {e}")
-
-        self._merged_ids = merged
-        self._last_heading = (0.0, 1.0)
-        self._enemy_hist = []
-        self._enemy_vel = (0.0, 0.0)
-        self._update_enemy_velocity(epos)
-        slots = self._pursue_slots(gps, epos)
-        self._merged_ex = self._make_executor()
-        self._merged_ex.start(self._slots_to_plan(slots))
-        self._mark_replanned(epos)
-        self._set_phase(MissionPhase.PURSUE)
-        self.status_message.emit("重編隊確認：4 機前進中（B 追上會合）")
-
-    def stop(self):
-        """全體停止，回 IDLE。"""
-        if self._merged_ex is not None:
-            try:
-                self._merged_ex.stop()
-            except Exception:
-                pass
-            self._merged_ex = None
-        self._merged_ids = []
-        self._detect_since = 0.0
-        self._enemy_hist = []
-        self._enemy_vel = (0.0, 0.0)
-        self._set_phase(MissionPhase.IDLE)
-        self.status_message.emit("任務已停止")
-
-    # ------------------------------------------------------------- tick
-    def tick(self):
-        """GUI 週期呼叫。"""
-        # 自動進出監看（偵察飛行由操作員群組任務負責，這裡只監看偵測）
-        if self.phase == MissionPhase.IDLE and self._configured():
-            self._set_phase(MissionPhase.WATCH)
-        elif self.phase == MissionPhase.WATCH and not self._configured():
-            self._detect_since = 0.0
-            self._set_phase(MissionPhase.IDLE)
-
-        if self.phase == MissionPhase.WATCH:
-            self._tick_watch()
-        elif self.phase == MissionPhase.PURSUE:
-            self._tick_pursue()
-        elif self.phase == MissionPhase.ENCIRCLE:
-            self._tick_encircle()
-
-    def _tick_watch(self):
-        gps = self._gps_provider()
-        epos = gps.get(self.enemy_id)
-        if not epos:
-            self._detect_since = 0.0
-            return
-        nearest_id, nearest_d = None, None
-        for did in self.a_drone_ids:
-            pos = gps.get(did)
-            if not pos:
-                continue
-            d = _haversine(epos['lat'], epos['lon'], pos['lat'], pos['lon'])
-            if nearest_d is None or d < nearest_d:
-                nearest_id, nearest_d = did, d
-
-        now = time.monotonic()
-        if nearest_d is not None and nearest_d <= self.r_detect:
-            if self._detect_since == 0.0:
-                self._detect_since = now
-            elif now - self._detect_since >= self.detect_dwell_sec:
-                self._set_phase(MissionPhase.DETECTED)  # latch，等操作員手動確認
-                self.detection_prompt.emit(
-                    f"偵測到敵機（{nearest_id} 距 {nearest_d:.1f} m）— 請確認重編隊")
-        else:
-            self._detect_since = 0.0
-
-    def _tick_pursue(self):
-        gps = self._gps_provider()
-        epos = gps.get(self.enemy_id)
-        if not epos:
-            return  # 敵機定位遺失（S4 加 stale-timeout hold）
-        self._update_enemy_velocity(epos)
-        d = self._centroid_dist(gps, epos)
-        if d is None:
-            return
-        if d <= self.r_engage:
-            self._apply_slots(self._circle_slots(gps, epos), epos)
-            self._set_phase(MissionPhase.ENCIRCLE)
-            self.status_message.emit("進入包圍")
-            return
-        if self._should_replan(time.monotonic(), epos):
-            self._apply_slots(self._pursue_slots(gps, epos), epos)
-
-    def _tick_encircle(self):
-        gps = self._gps_provider()
-        epos = gps.get(self.enemy_id)
-        if not epos:
-            return
-        self._update_enemy_velocity(epos)
-        d = self._centroid_dist(gps, epos)
-        if d is None:
-            return
-        if d > self.r_engage_exit:
-            self._apply_slots(self._pursue_slots(gps, epos), epos)
-            self._set_phase(MissionPhase.PURSUE)
-            self.status_message.emit("敵機逃離，退回前進")
-            return
-        if self._should_replan(time.monotonic(), epos):
-            self._apply_slots(self._circle_slots(gps, epos), epos)
-
-    # ------------------------------------------------------------- 高度分層
-    def _enemy_base_alt(self):
-        """分層基準 = 敵機當下『相對 home』高度（來自 local_pose z，與 setpoint 同座標系）。
-        provider 暫讀不到（None）時沿用上一次有效值；連一次都沒有才退回 formation_alt。
-        注意：不可用 gps_provider 的 alt（那是 AMSL 海拔，座標系不同會炸高）。"""
-        z = None
-        if self._rel_alt_provider is not None and self.enemy_id is not None:
-            try:
-                z = self._rel_alt_provider(self.enemy_id)
-            except Exception:
-                z = None
-        if z is not None:
-            self._last_enemy_rel_z = float(z)
-            return float(z)
-        if self._last_enemy_rel_z is not None:
-            return self._last_enemy_rel_z
-        return self.formation_alt
-
-    def _alt_for(self, did, base):
-        """S3 高度分層：以敵機高度 base 為中心，A 組（含領隊）走上層 base+offset、
-        B 組走下層 base−offset（不低於地面下限）。分層後 A/B 垂直錯開避免同高交叉撞機。"""
-        if did in set(self.b_drone_ids):
-            return max(self.min_alt_floor, base - self.alt_layer_offset)
-        return base + self.alt_layer_offset
-
-    # ------------------------------------------------------------- 前置攔截（估敵速）
-    def _update_enemy_velocity(self, epos):
-        """用敵機 GPS 差分估水平速度 (east, north) m/s，視窗 enemy_vel_window_sec。"""
-        now = time.monotonic()
-        self._enemy_hist.append((now, epos['lat'], epos['lon']))
-        while (len(self._enemy_hist) >= 2
-               and now - self._enemy_hist[0][0] > self.enemy_vel_window_sec):
-            self._enemy_hist.pop(0)
-        if len(self._enemy_hist) >= 2:
-            t0, la0, lo0 = self._enemy_hist[0]
-            t1, la1, lo1 = self._enemy_hist[-1]
-            dt = t1 - t0
-            if dt > 1e-3:
-                dx, dy = _ll_to_m(la1, lo1, la0, lo0)  # sample0→sample1 位移 (m)
-                self._enemy_vel = (dx / dt, dy / dt)
-
-    def enemy_speed(self):
-        """估得的敵機水平速率 (m/s)。"""
-        return math.hypot(*self._enemy_vel)
-
-    def _aim_point(self, gps, epos):
-        """前置攔截點：敵位 + 敵速×lead_time。lead_time = gap/friendly_speed（封頂
-        lead_time_cap_sec）。敵速尚未估到時退化為瞄當下位置（等同原純追尾）。"""
-        evx, evy = self._enemy_vel
-        lp = gps.get(self._merged_ids[0]) if self._merged_ids else None
-        gap = (_haversine(lp['lat'], lp['lon'], epos['lat'], epos['lon'])
-               if lp else 0.0)
-        lead_t = min(self.lead_time_cap_sec, gap / max(self.friendly_speed, 0.1))
-        return _m_to_ll(evx * lead_t, evy * lead_t, epos['lat'], epos['lon'])
-
-    # ------------------------------------------------------------- 瞬時隊形
-    def _pursue_slots(self, gps, epos):
-        """朝『前置攔截點』的瞬時 leader-follow：領隊朝攔截點，僚機沿隊軸後方 rank×間距、左右錯開。"""
-        ids = self._merged_ids
-        tlat, tlon = self._aim_point(gps, epos)  # 前置攔截點取代敵機當下位置
-        lp = gps.get(ids[0])
-        if lp is None:
-            return None
-        lx, ly = _ll_to_m(lp['lat'], lp['lon'], tlat, tlon)  # 領隊相對攔截點
-        hx, hy = -lx, -ly                                    # 領隊 → 攔截點
-        n = math.hypot(hx, hy)
-        if n < 1.0:
-            h = self._last_heading  # 太近，沿用上次朝向避免抖動
-        else:
-            h = (hx / n, hy / n)
-        self._last_heading = h
-        px, py = -h[1], h[0]  # 左垂直
-        base = self._enemy_base_alt()  # 高度分層基準：敵機相對高度（每 tick 取一次）
-        slots = {}
-        for rank, d in enumerate(ids):
-            lat_sign = -1 if rank % 2 == 0 else 1
-            # 領隊(rank0)目標≈攔截點；僚機沿 -h 後退 rank×間距，並左右錯開
-            sx = -h[0] * (rank * self.lon_spacing) + px * (lat_sign * self.lat_offset)
-            sy = -h[1] * (rank * self.lon_spacing) + py * (lat_sign * self.lat_offset)
-            lat, lon = _m_to_ll(sx, sy, tlat, tlon)
-            slots[d] = (lat, lon, self._alt_for(d, base))
-        return slots
-
-    def _circle_slots(self, gps, epos):
-        """繞敵機的瞬時包圍：N 機均分在半徑 circle_radius 的圓周上。"""
-        ids = self._merged_ids
-        elat, elon = epos['lat'], epos['lon']
-        n = len(ids)
-        base = self._enemy_base_alt()  # 高度分層基準：敵機相對高度（每 tick 取一次）
-        slots = {}
-        for i, d in enumerate(ids):
-            theta = 2.0 * math.pi * i / max(1, n)
-            x = self.circle_radius * math.cos(theta)
-            y = self.circle_radius * math.sin(theta)
-            lat, lon = _m_to_ll(x, y, elat, elon)
-            slots[d] = (lat, lon, self._alt_for(d, base))
-        return slots
-
-    def _apply_slots(self, slots, epos):
-        """把瞬時 slot 熱替換給合併 executor 並更新重算基準。"""
-        if slots is None or self._merged_ex is None:
-            return
-        self._merged_ex.update_plan(self._slots_to_plan(slots))
-        self._mark_replanned(epos)
-
-    def _slots_to_plan(self, slots):
-        return {
-            'drone_ids': list(self._merged_ids),
-            'waypoints': [[slots[d]] for d in self._merged_ids],
-            'rendezvous_indices': [],
-        }
-
-    # ------------------------------------------------------------- 內部
-    def _centroid_dist(self, gps, epos):
-        m_pos = self._positions_for(self._merged_ids, gps)
-        if m_pos is None:
-            return None
-        cen_lat = sum(p[0] for p in m_pos) / len(m_pos)
-        cen_lon = sum(p[1] for p in m_pos) / len(m_pos)
-        return _haversine(cen_lat, cen_lon, epos['lat'], epos['lon'])
-
-    def _positions_for(self, drone_ids, gps):
-        out = []
-        for did in drone_ids:
-            p = gps.get(did)
-            if not p:
-                return None
-            out.append((p['lat'], p['lon'], p.get('alt', 0.0)))
-        return out
-
-    def _merged_ids_leader_first(self, gps, epos):
-        """A+B 合併；A 中離敵最近者當領隊(rank0)，其餘 A 維持原序，再接 B。"""
-        def dist(did):
-            p = gps.get(did)
-            return float('inf') if not p else _haversine(
-                epos['lat'], epos['lon'], p['lat'], p['lon'])
-        if not self.a_drone_ids:
-            return list(self.b_drone_ids)
-        leader = min(self.a_drone_ids, key=dist)
-        rest_a = [d for d in self.a_drone_ids if d != leader]
-        return [leader] + rest_a + list(self.b_drone_ids)
-
-    def _mark_replanned(self, epos):
-        self._last_replan_at = time.monotonic()
-        self._last_plan_enemy = (epos['lat'], epos['lon'])
-
-    def _should_replan(self, now, epos):
-        if self._last_plan_enemy is None:
-            return True
-        moved = _haversine(self._last_plan_enemy[0], self._last_plan_enemy[1],
-                           epos['lat'], epos['lon'])
-        return (moved >= self.replan_move_m
-                or (now - self._last_replan_at) >= self.replan_cap_sec)
-
-    def _set_phase(self, phase):
-        if phase == self.phase:
-            return
-        self.phase = phase
-        _log("INFO", f"[orchestrator] phase → {phase.value}")
-        self.phase_changed.emit(phase.value)
-
-
-class EngagementPanel(QWidget):
-    """
-    交戰控制面板。
-
-    - 敵機下拉 + 即時「敵機↔最近友機」距離
-    - A/B 組指派下拉
-    - 階段顯示、重編隊 / 停止 按鈕
-
-    偵察飛行用既有的群組執行按鈕控制，這裡不含「開始」。面板只發訊號，邏輯在 GUI/orchestrator。
-    """
-
-    enemy_changed = pyqtSignal(str)        # drone_id（未選擇=空字串）
-    confirm_requested = pyqtSignal()       # 重編隊
-    stop_requested = pyqtSignal()
-    groups_changed = pyqtSignal(str, str)  # (a_group_id, b_group_id)
-    apply_speed_requested = pyqtSignal(float, float)  # (friendly_speed, enemy_ratio)
-    alt_offset_changed = pyqtSignal(float)  # A/B 相對敵機高度的上下偏移 (m)
-
-    def __init__(self, parent=None, r_detect=DEFAULT_R_DETECT,
-                 friendly_speed=DEFAULT_FRIENDLY_SPEED,
-                 alt_offset=DEFAULT_ALT_LAYER_OFFSET):
-        super().__init__(parent)
-        self.r_detect = float(r_detect)
-        self._init_friendly_speed = float(friendly_speed)
-        self._init_alt_offset = float(alt_offset)
-        self._enemy_id = ""
-        self._suppress_enemy = False
-        self._suppress_group = False
-        self._group_sig = None  # 目前下拉內容的簽章，變了才重建（避免 5Hz 狂刷）
-        self._build_ui()
-
-    # ------------------------------------------------------------------ UI
-    def _build_ui(self):
-        root = QVBoxLayout(self)
-        root.setContentsMargins(12, 12, 12, 12)
-        root.setSpacing(10)
-        root.setAlignment(Qt.AlignmentFlag.AlignTop)
-
-        title = QLabel("交戰設定")
-        title.setStyleSheet(
-            "color: #DDD; font-size: 14px; font-weight: bold; padding: 2px;")
-        root.addWidget(title)
-
-        combo_css = (
-            "QComboBox { background-color: #333; color: #EEE; border: 1px solid #555;"
-            " border-radius: 3px; padding: 3px 6px; font-size: 12px; min-width: 120px; }")
-
-        enemy_row = QHBoxLayout()
-        enemy_row.setSpacing(8)
-        el = QLabel("敵機 sysid：")
-        el.setStyleSheet("color: #CCC; font-size: 12px;")
-        self.enemy_combo = QComboBox()
-        self.enemy_combo.setStyleSheet(combo_css)
-        self.enemy_combo.addItem(_NONE_LABEL)
-        self.enemy_combo.currentTextChanged.connect(self._on_enemy_changed)
-        enemy_row.addWidget(el)
-        enemy_row.addWidget(self.enemy_combo)
-        enemy_row.addStretch()
-        root.addLayout(enemy_row)
-
-        a_row = QHBoxLayout()
-        a_row.setSpacing(8)
-        al = QLabel("偵察組 A：")
-        al.setStyleSheet("color: #CCC; font-size: 12px;")
-        self.a_group_combo = QComboBox()
-        self.a_group_combo.setStyleSheet(combo_css)
-        self.a_group_combo.addItem(_NONE_LABEL, None)
-        self.a_group_combo.currentTextChanged.connect(self._on_group_changed)
-        a_row.addWidget(al)
-        a_row.addWidget(self.a_group_combo)
-        a_row.addStretch()
-        root.addLayout(a_row)
-
-        b_row = QHBoxLayout()
-        b_row.setSpacing(8)
-        bl = QLabel("待機組 B：")
-        bl.setStyleSheet("color: #CCC; font-size: 12px;")
-        self.b_group_combo = QComboBox()
-        self.b_group_combo.setStyleSheet(combo_css)
-        self.b_group_combo.addItem(_NONE_LABEL, None)
-        self.b_group_combo.currentTextChanged.connect(self._on_group_changed)
-        b_row.addWidget(bl)
-        b_row.addWidget(self.b_group_combo)
-        b_row.addStretch()
-        root.addLayout(b_row)
-
-        # 速度比例限速：友方 V、敵方 r×V，按鈕一次套用（DO_CHANGE_SPEED）
-        spin_css = (
-            "QDoubleSpinBox { background-color: #333; color: #EEE;"
-            " border: 1px solid #555; border-radius: 3px; padding: 2px 4px;"
-            " font-size: 12px; min-width: 70px; }")
-        speed_row = QHBoxLayout()
-        speed_row.setSpacing(8)
-        sl = QLabel("友機速度：")
-        sl.setStyleSheet("color: #CCC; font-size: 12px;")
-        self.friendly_speed_spin = QDoubleSpinBox()
-        self.friendly_speed_spin.setStyleSheet(spin_css)
-        self.friendly_speed_spin.setRange(0.5, 20.0)
-        self.friendly_speed_spin.setSingleStep(0.5)
-        self.friendly_speed_spin.setDecimals(1)
-        self.friendly_speed_spin.setSuffix(" m/s")
-        self.friendly_speed_spin.setValue(self._init_friendly_speed)
-        rl = QLabel("敵/友比例：")
-        rl.setStyleSheet("color: #CCC; font-size: 12px;")
-        self.enemy_ratio_spin = QDoubleSpinBox()
-        self.enemy_ratio_spin.setStyleSheet(spin_css)
-        self.enemy_ratio_spin.setRange(0.1, 1.0)
-        self.enemy_ratio_spin.setSingleStep(0.05)
-        self.enemy_ratio_spin.setDecimals(2)
-        self.enemy_ratio_spin.setValue(0.6)
-        speed_row.addWidget(sl)
-        speed_row.addWidget(self.friendly_speed_spin)
-        speed_row.addWidget(rl)
-        speed_row.addWidget(self.enemy_ratio_spin)
-        speed_row.addStretch()
-        root.addLayout(speed_row)
-
-        apply_speed_row = QHBoxLayout()
-        self.apply_speed_btn = QPushButton("套用速度")
-        self.apply_speed_btn.setStyleSheet(
-            "QPushButton { background-color: #00796B; color: white; border: none;"
-            " padding: 6px 14px; border-radius: 4px; font-weight: bold; }"
-            " QPushButton:hover { background-color: #00897B; }")
-        self.apply_speed_btn.clicked.connect(self._on_apply_speed)
-        self.enemy_speed_hint = QLabel("")
-        self.enemy_speed_hint.setStyleSheet("color: #777; font-size: 11px;")
-        self._refresh_enemy_speed_hint()
-        self.friendly_speed_spin.valueChanged.connect(self._refresh_enemy_speed_hint)
-        self.enemy_ratio_spin.valueChanged.connect(self._refresh_enemy_speed_hint)
-        apply_speed_row.addWidget(self.apply_speed_btn)
-        apply_speed_row.addWidget(self.enemy_speed_hint)
-        apply_speed_row.addStretch()
-        root.addLayout(apply_speed_row)
-
-        # 高度分層：A=敵機高度+offset、B=敵機高度−offset（即時生效，不需重編隊）
-        alt_row = QHBoxLayout()
-        alt_row.setSpacing(8)
-        altl = QLabel("高度分層 ±：")
-        altl.setStyleSheet("color: #CCC; font-size: 12px;")
-        self.alt_offset_spin = QDoubleSpinBox()
-        self.alt_offset_spin.setStyleSheet(spin_css)
-        self.alt_offset_spin.setRange(0.0, 30.0)
-        self.alt_offset_spin.setSingleStep(0.5)
-        self.alt_offset_spin.setDecimals(1)
-        self.alt_offset_spin.setSuffix(" m")
-        self.alt_offset_spin.setValue(self._init_alt_offset)
-        self.alt_offset_spin.valueChanged.connect(
-            lambda v: self.alt_offset_changed.emit(float(v)))
-        alt_hint = QLabel("（A 走上層 / B 走下層，繞敵機高度）")
-        alt_hint.setStyleSheet("color: #777; font-size: 11px;")
-        alt_row.addWidget(altl)
-        alt_row.addWidget(self.alt_offset_spin)
-        alt_row.addWidget(alt_hint)
-        alt_row.addStretch()
-        root.addLayout(alt_row)
-
-        sep = QFrame()
-        sep.setFrameShape(QFrame.Shape.HLine)
-        sep.setStyleSheet("color: #444;")
-        root.addWidget(sep)
-
-        self.distance_label = QLabel("敵機 ↔ 最近友機：—")
-        self.distance_label.setStyleSheet(
-            "color: #AAA; font-size: 13px; padding: 4px 2px;")
-        root.addWidget(self.distance_label)
-
-        hint = QLabel(f"（偵測範圍 R_detect = {self.r_detect:.0f} m）")
-        hint.setStyleSheet("color: #777; font-size: 11px;")
-        root.addWidget(hint)
-
-        self.phase_label = QLabel("階段：待機")
-        self.phase_label.setStyleSheet(
-            "color: #64B5F6; font-size: 13px; font-weight: bold; padding: 4px 2px;")
-        root.addWidget(self.phase_label)
-
-        btn_css = ("QPushButton {{ background-color: {bg}; color: {fg}; border: none;"
-                   " padding: 8px 16px; border-radius: 4px; font-weight: bold; }}"
-                   " QPushButton:hover {{ background-color: {hover}; }}"
-                   " QPushButton:disabled {{ background-color: #444; color: #888; }}")
-        btn_row = QHBoxLayout()
-        btn_row.setSpacing(8)
-        self.confirm_btn = QPushButton("重編隊")
-        self.confirm_btn.setStyleSheet(btn_css.format(bg='#F57C00', fg='white', hover='#FB8C00'))
-        self.confirm_btn.clicked.connect(lambda: self.confirm_requested.emit())
-        self.confirm_btn.setEnabled(False)
-        self.stop_btn = QPushButton("停止")
-        self.stop_btn.setStyleSheet(btn_css.format(bg='#555', fg='#DDD', hover='#666'))
-        self.stop_btn.clicked.connect(lambda: self.stop_requested.emit())
-        btn_row.addWidget(self.confirm_btn)
-        btn_row.addWidget(self.stop_btn)
-        btn_row.addStretch()
-        root.addLayout(btn_row)
-
-    # -------------------------------------------------------------- 對外 API
-    def current_enemy(self):
-        return self._enemy_id or None
-
-    def refresh_drone_list(self, drone_ids):
-        items = [_NONE_LABEL] + sorted(drone_ids)
-        current = self._enemy_id if self._enemy_id in drone_ids else ""
-        self._suppress_enemy = True
-        self.enemy_combo.clear()
-        self.enemy_combo.addItems(items)
-        idx = self.enemy_combo.findText(current) if current else 0
-        self.enemy_combo.setCurrentIndex(idx if idx >= 0 else 0)
-        self._suppress_enemy = False
-        if current != self._enemy_id:
-            self._enemy_id = current
-            self.enemy_changed.emit(self._enemy_id)
-
-    def refresh_group_list(self, group_labels):
-        """group_labels: list[(group_id, display_text)]。只有內容變動才重建，避免 5Hz 狂刷。"""
-        sig = tuple(group_labels)
-        if sig == self._group_sig:
-            return
-        self._group_sig = sig
-        self._suppress_group = True
-        for combo in (self.a_group_combo, self.b_group_combo):
-            prev = combo.currentData()
-            combo.clear()
-            combo.addItem(_NONE_LABEL, None)
-            for gid, text in group_labels:
-                combo.addItem(text, gid)
-            if prev is not None:
-                i = combo.findData(prev)
-                combo.setCurrentIndex(i if i >= 0 else 0)
-        self._suppress_group = False
-
-    def selected_group_ids(self):
-        return self.a_group_combo.currentData(), self.b_group_combo.currentData()
-
-    def set_phase_text(self, text):
-        self.phase_label.setText(f"階段：{text}")
-
-    def set_confirm_enabled(self, enabled):
-        self.confirm_btn.setEnabled(enabled)
-
-    def tick(self, drone_positions):
-        """{drone_id: (lat, lon)} 更新距離讀數。"""
-        enemy = self._enemy_id
-        base = "color: #AAA; font-size: 13px; padding: 4px 2px;"
-        if not enemy:
-            self.distance_label.setText("敵機 ↔ 最近友機：（尚未選擇敵機）")
-            self.distance_label.setStyleSheet(base)
-            return
-        epos = drone_positions.get(enemy)
-        if not epos:
-            self.distance_label.setText(f"敵機 {enemy} ↔ 最近友機：（等待敵機定位）")
-            self.distance_label.setStyleSheet(base)
-            return
-        nearest_id, nearest_d = None, None
-        for did, pos in drone_positions.items():
-            if did == enemy or not pos:
-                continue
-            d = _haversine(epos[0], epos[1], pos[0], pos[1])
-            if nearest_d is None or d < nearest_d:
-                nearest_id, nearest_d = did, d
-        if nearest_id is None:
-            self.distance_label.setText(f"敵機 {enemy} ↔ 最近友機：（無友機定位）")
-            self.distance_label.setStyleSheet(base)
-            return
-        color = "#E57373" if nearest_d <= self.r_detect else "#81C784"
-        self.distance_label.setText(
-            f"敵機 {enemy} ↔ 最近友機 {nearest_id}：{nearest_d:.1f} m")
-        self.distance_label.setStyleSheet(
-            f"color: {color}; font-size: 13px; font-weight: bold; padding: 4px 2px;")
-
-    # ----------------------------------------------------------------- 內部
-    def _on_enemy_changed(self, text):
-        if self._suppress_enemy:
-            return
-        self._enemy_id = "" if text == _NONE_LABEL else text
-        _log("INFO", f"[交戰] 敵機選擇：{self._enemy_id or '（未選擇）'}")
-        self.enemy_changed.emit(self._enemy_id)
-
-    def _on_group_changed(self, _text):
-        if self._suppress_group:
-            return
-        a_id, b_id = self.selected_group_ids()
-        self.groups_changed.emit(a_id or "", b_id or "")
-
-    def _refresh_enemy_speed_hint(self, *_):
-        v = self.friendly_speed_spin.value()
-        r = self.enemy_ratio_spin.value()
-        self.enemy_speed_hint.setText(f"→ 友機 {v:.1f} m/s、敵機 {v * r:.1f} m/s")
-
-    def _on_apply_speed(self):
-        v = self.friendly_speed_spin.value()
-        r = self.enemy_ratio_spin.value()
-        _log("INFO", f"[交戰] 套用速度：友機 {v:.1f} m/s、敵機 {v * r:.1f} m/s (比例 {r:.2f})")
-        self.apply_speed_requested.emit(v, r)

src/GUI/overview_table.py

@@ -6,38 +6,34 @@ class OverviewTable(QTableWidget):
     """總覽表格，顯示所有無人機的狀態資訊"""
     
     # 默認的資訊類型和映射
-    # 「任務狀態」放最上面：閉環跑點時一眼看每台的 WP 進度 + 通訊(送出)狀態。
+    DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "FixType", "衛星數", "EPH", "EPV",
-    # 此列不來自遙測 QLabel，由 MissionExecutor 訊號經 update_table(field='mission') 餵入。
-    DEFAULT_INFO_TYPES = ["任務狀態",
-                          "模式", "ARM", "電壓", "經度", "緯度", "FixType", "衛星數", "EPH", "EPV",
                           "高度", "XY位置", "XY速度", "地速", "航向", "空速", "油門", "海拔高度",
                           "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
     
     DEFAULT_INFO_TYPE_MAP = {
-        "mission": 0,
+        "mode": 0,
-        "mode": 1,
+        "armed": 1,
-        "armed": 2,
+        "battery": 2,
-        "battery": 3,
+        "longitude": 3,
-        "longitude": 4,
+        "latitude": 4,
-        "latitude": 5,
+        "fix_type": 5,
-        "fix_type": 6,
+        "satellites_visible": 6,
-        "satellites_visible": 7,
+        "eph": 7,
-        "eph": 8,
+        "epv": 8,
-        "epv": 9,
+        "altitude": 9,
-        "altitude": 10,
+        "local": 10,
-        "local": 11,
+        "velocity": 11,
-        "velocity": 12,
+        "groundspeed": 12,
-        "groundspeed": 13,
+        "heading": 13,
-        "heading": 14,
+        "airspeed": 14,
-        "airspeed": 15,
+        "throttle": 15,
-        "throttle": 16,
+        "hud_alt": 16,
-        "hud_alt": 17,
+        "climb": 17,
-        "climb": 18,
+        "roll": 18,
-        "roll": 19,
+        "pitch": 19,
-        "pitch": 20,
+        "yaw": 20,
-        "yaw": 21,
+        "loss_rate": 21,
-        "loss_rate": 22,
+        "ping": 22
-        "ping": 23
     }
     
     def __init__(self, info_types=None, info_type_map=None, parent=None):
@@ -47,8 +43,6 @@ class OverviewTable(QTableWidget):
         self.info_types = info_types if info_types is not None else self.DEFAULT_INFO_TYPES
         self.info_type_map = info_type_map if info_type_map is not None else self.DEFAULT_INFO_TYPE_MAP
         self.drones = {}  # 存儲無人機面板的引用
-        # 任務狀態不是遙測，不在 panel QLabel 內；獨立保存，避免 refresh_all 用遙測把它蓋掉
-        self.mission_status = {}  # drone_id -> 任務狀態文字
         
         # 初始化表格
         self.setColumnCount(1)
@@ -82,10 +76,6 @@ class OverviewTable(QTableWidget):
             if drone_id not in self.drones:
                 return
                 
-            # 任務狀態另存一份，讓 refresh_all（用遙測重繪）不會把它清掉
-            if field == 'mission':
-                self.mission_status[drone_id] = value
-
             col = 1 + list(self.drones.keys()).index(drone_id)
             row = self.info_type_map.get(field, -1)
 
@@ -114,12 +104,8 @@ class OverviewTable(QTableWidget):
         for col, did in enumerate(self.drones, start=1):
             panel = self.drones[did]
             for field, row in self.info_type_map.items():
-                if field == 'mission':
+                lbl = panel.findChild(QLabel, f"{did}_{field}")
-                    # 任務狀態非遙測，取自獨立保存，避免被 "--" 蓋掉
+                val = lbl.text() if lbl else "--"
-                    val = self.mission_status.get(did, "--")
-                else:
-                    lbl = panel.findChild(QLabel, f"{did}_{field}")
-                    val = lbl.text() if lbl else "--"
                 val_item = QTableWidgetItem(val)
                 val_item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
                 self.setItem(row, col, val_item)

src/fc_interfaces/CMakeLists.txt

@@ -15,7 +15,6 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AttitudeRaw.msg"
   "msg/GnssRaw.msg"
   "msg/SystemDiagnosticsRaw.msg"
-  "msg/FcNetworkLog.msg"
   "msg/ServiceAckResult.msg"
   "srv/MavPing.srv"
   "srv/MavCommandLong.srv"

src/fc_interfaces/msg/FcNetworkLog.msg

@@ -1,12 +0,0 @@
-uint8 DEBUG=10
-uint8 INFO=20
-uint8 WARN=30
-uint8 ERROR=40
-uint8 FATAL=50
-
-builtin_interfaces/Time stamp
-uint8 level
-string source
-string event_code
-int32 sysid
-string message

src/fc_network_adapter/fc_network_adapter/mainOrchestrator.py

@@ -436,7 +436,7 @@ class ControlPanel:
                         menu_stack.pop()
                         idx_stack.pop()
                     elif selected.action == "SET_SERIAL_COMM_XBEE_ESP":
-                        state.serial_info_temp["CommunicationType"] = "XBee(API-API) espv1"
+                        state.serial_info_temp["CommunicationType"] = "XBee(API-API)espv1"
                         menu_stack.pop()
                         idx_stack.pop()
                     elif selected.action == "SET_SERIAL_COMM_TELEMETRY":
@@ -491,6 +491,10 @@ class ControlPanel:
                                 menu_stack.pop()
                                 idx_stack.pop()
                     
+                    elif selected.action == "DO_DISCOVERY_PANEL":
+                        if hasattr(selected, 'serial_id'):
+                            cmd_q.put(("DO_DISCOVERY", selected.serial_id))
+
                     # related with -> 列表選單
                     elif selected.action in ("PREV_PAGE", "NEXT_PAGE"):
                         if hasattr(selected, 'page'):
@@ -868,6 +872,7 @@ class ControlPanel:
                 obj_menu = MenuNode(f"Serial #{serial_id}", f"連結口 {serial_id}", None, children=[
                     MenuNode("Info", "查看詳細資訊", "INSPECT_LINKED_SERIAL"),
                     MenuNode("Remove", "移除此連結口", "REMOVE_LINKED_SERIAL"),
+                    MenuNode("Discovery", "搜尋遠端RF(Only XBEE-ESP32)", "DO_DISCOVERY_PANEL"),
                     # MenuNode("Change UDP Target", "變更目標 UDP (工程)", "CHANGE_LINKED_SERIAL_TARGET"),
                     MenuNode("GoUp", "回到列表", "BACK"),
                 ])
@@ -1319,6 +1324,11 @@ class Orchestrator:
                         elif action == "REMOVE_LINKED_SERIAL":
                             serial_id = cmd[1]
                             self.plumber.remove_serial_link(serial_id)
+                        elif action == "DO_DISCOVERY":
+                            serial_id = cmd[1]
+                            processor = self.plumber.get_espv1_processor(serial_id)
+                            if processor:
+                                processor.request_discovery()
 
                         elif action == "INSPECT_VEHICLE":
                             sysid, compid = cmd[1], cmd[2]
@@ -1600,7 +1610,7 @@ class Orchestrator:
         # 定義通訊類型映射表
         COMM_TYPE_MAP = {
             "XBee(API-AT)": sm.SerialMode.XBEEAPI2AT,
-            "XBee(API-AT)": sm.SerialMode.XBEEAPI_espv1,
+            "XBee(API-API)espv1": sm.SerialMode.XBEEAPI_espv1,
             "TELEMETRY": sm.SerialMode.STRAIGHT,
             # 新增區
         }

src/fc_network_adapter/fc_network_adapter/mavlinkROS2Nodes.py

@@ -1,6 +1,6 @@
 """
 MAVLink ROS2 Nodes
-主要包含四個獨立的 ROS2 Node :
+主要包含三個獨立的 ROS2 Node :
 1. VehicleStatusPublisher - 發布載具狀態到 ROS2 topics
     從 vehicle_registry 讀取狀態數據，頻率控制，模組化設計
 2. MavlinkCommandService - 提供 MAVLink 指令 service 介面
@@ -8,7 +8,6 @@ MAVLink ROS2 Nodes
     並不會包含額外的功能
 3. RtcmRelay - 訂閱 RTCM topic 並轉發為 MAVLink GPS_RTCM_DATA 給所有載具
     過期丟棄、去重、節流、分片
-4. FcNetworkLogPublisher - 將 FC Network logging queue 發布到 /fc_network/logs
 
 與一個節點管理器
 - fc_ros_manager
@@ -19,7 +18,6 @@ import os
 import time
 import math
 import hashlib
-import queue
 import threading
 from typing import Dict, Optional
 
@@ -44,7 +42,7 @@ from fc_interfaces.msg import ServiceAckResult
 # 自定義 imports
 from . import mavlinkVehicleView as mvv
 from . import mavlinkObject as mo
-from .utils import get_ros_log_queue, setup_logger
+from .utils import setup_logger
 
 logger = setup_logger(os.path.basename(__file__))
 MODULE_VER = "2.50"
@@ -1181,58 +1179,6 @@ class RtcmRelay(Node):
         # logger.info("RtcmRelay stopped")
 
 
-# ============================================================================
-#                    FC Network Log Publisher Node
-# ============================================================================
-
-class FcNetworkLogPublisher(Node):
-    """從 Python logging queue 發布結構化 /fc_network/logs 訊息。"""
-
-    def __init__(self):
-        super().__init__('fc_network_log_publisher')
-        qos = QoSProfile(
-            history=HistoryPolicy.KEEP_LAST,
-            depth=200,
-            reliability=ReliabilityPolicy.RELIABLE,
-            durability=DurabilityPolicy.VOLATILE,
-        )
-        self.publisher = self.create_publisher(
-            fcmsg.FcNetworkLog, '/fc_network/logs', qos)
-        self.log_queue = get_ros_log_queue()
-        self.running = True
-        self.timer = self.create_timer(0.05, self._drain_queue)
-
-    def _drain_queue(self):
-        if not self.running:
-            return
-
-        for _ in range(100):
-            try:
-                item = self.log_queue.get_nowait()
-            except queue.Empty:
-                break
-
-            created = max(0.0, float(item.get('created', 0.0)))
-            seconds = int(created)
-            nanoseconds = int((created - seconds) * 1_000_000_000)
-
-            msg = fcmsg.FcNetworkLog()
-            msg.stamp.sec = seconds
-            msg.stamp.nanosec = min(max(nanoseconds, 0), 999_999_999)
-            msg.level = min(max(int(item.get('level', 20)), 0), 255)
-            msg.source = str(item.get('source', 'fc_network'))
-            msg.event_code = str(item.get('event_code', ''))
-            msg.sysid = min(
-                max(int(item.get('sysid', -1)), -2_147_483_648),
-                2_147_483_647
-            )
-            msg.message = str(item.get('message', ''))
-            self.publisher.publish(msg)
-
-    def stop(self):
-        self.running = False
-
-
 # ============================================================================
 #                         ROS2 節點管理器
 # ============================================================================
@@ -1246,11 +1192,10 @@ class fc_ros_manager:
     stop 是停下止 ROS2 nodes 的運行，但不銷毀節點實例，允許後續再次 start。
     shutdown 是完全關閉 ROS2 並銷毀節點實例。
 
-    管理四個獨立的 ROS2 Node :
+    管理三個獨立的 ROS2 Node :
     - VehicleStatusPublisher
     - MavlinkCommandService
     - RtcmRelay
-    - FcNetworkLogPublisher
     
     提供統一的啟動/停止介面給 mainOrchestrator
 
@@ -1270,7 +1215,6 @@ class fc_ros_manager:
         self.status_publisher: Optional[VehicleStatusPublisher] = None
         self.command_service: Optional[MavlinkCommandService] = None
         self.rtcm_relay: Optional[RtcmRelay] = None
-        self.log_publisher: Optional[FcNetworkLogPublisher] = None
         
         # Executor & Thread
         self.spin_thread: Optional[threading.Thread] = None
@@ -1291,19 +1235,12 @@ class fc_ros_manager:
             self.status_publisher = VehicleStatusPublisher()
             self.command_service = MavlinkCommandService()
             self.rtcm_relay = RtcmRelay()
-            if hasattr(fcmsg, 'FcNetworkLog'):
-                self.log_publisher = FcNetworkLogPublisher()
-            else:
-                logger.warning(
-                    "FcNetworkLog interface unavailable; /fc_network/logs disabled")
     
             # 創建執行者 MultiThreadedExecutor 並把 node 加入其中
             self.executor = MultiThreadedExecutor()
             self.executor.add_node(self.status_publisher)
             self.executor.add_node(self.command_service)
             self.executor.add_node(self.rtcm_relay)
-            if self.log_publisher:
-                self.executor.add_node(self.log_publisher)
             
             self.initialized = True
             # logger.info("fc_ros_manager initialized")
@@ -1329,8 +1266,6 @@ class fc_ros_manager:
             self.status_publisher.running = True
             self.command_service.running = True
             self.rtcm_relay.running = True
-            if self.log_publisher:
-                self.log_publisher.running = True
             
             self.spin_thread = threading.Thread(
                 target=self._spin_executor,
@@ -1456,8 +1391,6 @@ class fc_ros_manager:
                 self.command_service.stop()
             if self.rtcm_relay:
                 self.rtcm_relay.stop()
-            if self.log_publisher:
-                self.log_publisher.stop()
             
             # 等待 spin 執行緒結束
             if self.spin_thread and self.spin_thread.is_alive():
@@ -1484,8 +1417,6 @@ class fc_ros_manager:
                     self.command_service.destroy_node()
                 if self.rtcm_relay:
                     self.rtcm_relay.destroy_node()
-                if self.log_publisher:
-                    self.log_publisher.destroy_node()
                 
                 # 關閉 ROS2
                 if rclpy.ok():
@@ -1504,7 +1435,6 @@ class fc_ros_manager:
             'status_publisher_active': self.status_publisher is not None and self.status_publisher.running,
             'command_service_active': self.command_service is not None,
             'rtcm_relay_active': self.rtcm_relay is not None and self.rtcm_relay.running,
-            'log_publisher_active': self.log_publisher is not None and self.log_publisher.running,
         }
 
     
@@ -1559,3 +1489,4 @@ TODO
 1. service 部分會需要跟 mavlinkobject 大量互動 也許需要考慮對方的生命週期
 
 '''
+

src/fc_network_adapter/fc_network_adapter/mavlinkVehicleView.py

@@ -37,6 +37,7 @@ class ComponentType(Enum):
 class RFModuleType(Enum):
     """RF模組類型"""
     XBEE = "xbee"
+    XBEE_ESP = "xbee_esp"
     UDP = "udp"
     TCP = "tcp"
     OTHER = "other"
@@ -181,6 +182,7 @@ class RFStatus:
     at_response: Optional[str] = None  # AT 命令回應
     link_quality: Optional[int] = None  # 連接品質
     timestamp: Optional[float] = None  # 時間戳記
+    avg_bandwidth: Optional[float] = None # 量測到的傳輸速度 bytes/ms
     custom_status: Dict[str, Any] = field(default_factory=dict)  # 其他自定義狀態
 
 
@@ -275,6 +277,17 @@ class RFModule:
         self.status = RFStatus()
         self.socket_info = SocketInfo()
 
+        self.poll_data_times: deque[int] = deque([0] * N,maxlen=N) # ms
+        self.poll_data_sizes: deque[int] = deque([0] * N, maxlen=N) # num
+        self.poll_total_time = 0 # ms
+        self.poll_total_size = 0 # num
+        self.remain_bytes = 0 # num
+
+    def update_avg_bandwidth(self, bandwidth: float, timestamp: Optional[float] = None) -> None:
+        self.status.avg_bandwidth = bandwidth
+        if timestamp:
+            self.status.timestamp = timestamp
+    
     def update_rssi(self, rssi: int, timestamp: Optional[float] = None) -> None:
         """更新RSSI"""
         self.status.rssi = rssi

src/fc_network_adapter/fc_network_adapter/utils/__init__.py

@@ -2,6 +2,6 @@
 共用工具模組
 """
 from .ringBuffer import RingBuffer
-from .theLogger import get_ros_log_queue, setup_logger
+from .theLogger import setup_logger
 
-__all__ = ['RingBuffer', 'get_ros_log_queue', 'setup_logger']
+__all__ = ['RingBuffer', 'setup_logger']

src/fc_network_adapter/fc_network_adapter/utils/pollStrategy.py

@@ -7,42 +7,54 @@ POLL 輪詢策略，供 XBeeFrameProcessor_ESPv1 使用。
 from dataclasses import dataclass
 from typing import List
 
+MIN_TRIGGER_INTERVAL_MS = 5
 
 @dataclass(frozen=True)
 class PollDevice:
     """從 esp32AddrMapping 抽出的唯讀快照。"""
     address_64: bytes
-    # system_id: int
     remain_bytes: int
-    last_done_time: float
+    last_poll_time: float
 
 
-@dataclass
+def pick_next(devices: List[PollDevice], now_time):
-class PollSchedulerState:
-    """每條 serial link 一份，保存 round-robin 索引。"""
-    round_robin_index: int = 0
-
-
-def pick_next(
-    devices: List[PollDevice],
-    scheduler_state: PollSchedulerState
-):
     """
     選下一個 POLL 目標。
 
     回傳 (target_address_64, grant_bytes)；devices 為空時回傳 (None, 0)。
+
+    poll time = 0.2305 * grant_bytes + 58.094 (R平方為0.979 高線性相關)  @-40db 
     """
     if not devices:
         return None, 0
 
-    device_count = len(devices)
-    selected_index = scheduler_state.round_robin_index % device_count
-    selected_device = devices[selected_index]
-    scheduler_state.round_robin_index += 1
-
     grant_bytes = 0
-    if selected_device.remain_bytes > 0:
+    device_count = len(devices)
-        grant_bytes = min( 65535, max(0, selected_device.remain_bytes))
+    weights = [0] * device_count
+
+    for i in range(device_count):
+        gap = int((now_time - devices[i].last_poll_time)*1000)
+        # # 時間大於觸發間隔 才會計算
+        # if gap >= MIN_TRIGGER_INTERVAL_MS:
+        #     weights[i] += devices[i].remain_bytes
+        #     weights[i] += gap
+
+        weights[i] += devices[i].remain_bytes
+        weights[i] += gap
+
+    maxarg = weights.index(max(weights))
+
+    if weights[maxarg] == 0:
+        return None, 0
+    
+    selected_device = devices[maxarg]
+
+    if selected_device.remain_bytes < 500:
+        grant_bytes = 170  # 這個大概是 100 ms 總傳輸時間
+    elif selected_device.remain_bytes < 1200:
+        grant_bytes = 610  # 這個大概是 200 ms 總傳輸時間
+    else:
+        grant_bytes = 1050 # 這個大概是 300 ms 總傳輸時間
 
     return selected_device.address_64, grant_bytes
 

src/fc_network_adapter/fc_network_adapter/utils/theLogger.py

@@ -1,47 +1,9 @@
 import logging
 import os
-import queue
 from logging.handlers import TimedRotatingFileHandler
 
 # 全域 Logger 實例
 _global_logger = None
-_ros_log_queue = queue.Queue(maxsize=2000)
-
-
-class RosTopicQueueHandler(logging.Handler):
-    """將 FC Network log record 非阻塞地排入 ROS publisher 佇列。"""
-
-    def emit(self, record: logging.LogRecord) -> None:
-        try:
-            sysid = int(getattr(record, 'sysid', -1))
-        except (TypeError, ValueError):
-            sysid = -1
-
-        item = {
-            'created': float(record.created),
-            'level': int(record.levelno),
-            'source': str(record.name),
-            'event_code': str(getattr(record, 'event_code', '')),
-            'sysid': sysid,
-            'message': record.getMessage(),
-        }
-        try:
-            _ros_log_queue.put_nowait(item)
-        except queue.Full:
-            # GUI 不應反過來拖慢通訊；滿載時淘汰最舊一筆。
-            try:
-                _ros_log_queue.get_nowait()
-            except queue.Empty:
-                return
-            try:
-                _ros_log_queue.put_nowait(item)
-            except queue.Full:
-                pass
-
-
-def get_ros_log_queue():
-    """供 ROS publisher node 取得共用、thread-safe 的紀錄佇列。"""
-    return _ros_log_queue
 
 def setup_logger(name: str, log_dir: str = "logs", level=logging.DEBUG) -> logging.Logger:
     global _global_logger
@@ -75,10 +37,6 @@ def setup_logger(name: str, log_dir: str = "logs", level=logging.DEBUG) -> loggi
         console_handler.setFormatter(formatter)
         _global_logger.addHandler(console_handler)
 
-        ros_queue_handler = RosTopicQueueHandler()
-        ros_queue_handler.setLevel(logging.INFO)
-        _global_logger.addHandler(ros_queue_handler)
-
     # 為每個模組建立子 Logger，並設定名稱
     module_logger = _global_logger.getChild(name)
     module_logger.name = name  # 修改子 Logger 的名稱，僅保留子 Logger 名稱

src/unitdev02/unitdev02/devnote.txt

@@ -27,6 +27,7 @@
 python -m fc_network_adapter.tests.test_vehicleStatusPublisher
 python -m fc_network_adapter.tests.test_ringBuffer
 python -m fc_network_adapter.fc_network_adapter.mainOrchestrator
+python -m fc_network_adapter.fc_network_adapter.serialManager
 
 python -m someotherpkg.src.example_takeoff_land
 python -m someotherpkg.src.example_change_mode

src/unitdev02/unitdev02/esp32.py

@@ -0,0 +1,641 @@
+from machine import UART
+import time
+import struct
+import gc
+
+# =========================================================
+# ESP32 / MicroPython：UAV 端 XBee <-> Flight Controller Bridge
+# Packet-size TDMA + DONE + SYSID / GCS address 自動學習版
+#
+# 本版已刪除「一般 DISC / 強制 DSCF」雙模式。
+# 現在只保留一種 discovery 封包，名稱統一叫 DISC。
+#
+# 重要：
+# - DISC 的功能等同於原本的 DSCF，也就是「強制 discovery」。
+# - UAV 收到 DISC 後，只要已知 MY_SYSID 與 DEST_64，就會重新回 HELO。
+# - 若收到 DISC 時 MY_SYSID 尚未學到，會設定 DISC_PENDING；
+#   之後一旦從飛控 MAVLink 學到 SYSID，就自動補送 HELO。
+#
+# 封包格式：
+# GCS -> UAV:
+#   DISC
+#   POLL + target_sysid(1) + grant_bytes(2)
+#
+# UAV -> GCS:
+#   HELO + sysid(1)
+#   DONE + sysid(1) + sent_len(2) + remain_len(2)
+#
+# 注意：
+# - HELO 不帶 remain。
+# - DONE 保留 remain。
+# - MY_SYSID 不寫死，由飛控 MAVLink 自動學。
+# - DEST_64 不寫死，由 GCS 封包的 XBee 0x90 src64 自動學。
+# =========================================================
+
+
+# ================= 設定區 =================
+FC_BAUDRATE = 115200
+XB_BAUDRATE = 115200
+
+DEST_64 = None
+MY_SYSID = None
+
+SYSID_LEARN_CONFIRM_COUNT = 3
+_sysid_candidate = None
+_sysid_candidate_count = 0
+
+# 若收到 DISC 時還沒學到 MY_SYSID，就先記住。
+# 等之後從 FC MAVLink 學到 MY_SYSID 後，自動補送 HELO。
+DISC_PENDING = False
+
+XBEE_MAX_PAYLOAD = 100
+
+# Discovery：只保留 DISC；功能等同原本 DSCF，收到後強制回 HELO。
+DISC_MAGIC = b'DISC'
+
+# UAV -> GCS hello：
+# HELO + sysid(1)
+HELLO_MAGIC = b'HELO'
+
+HELLO_MIN_INTERVAL_MS = 1000
+_last_hello_ms = 0
+
+# 保留此變數只作狀態記錄；本版 DISC 會 force=True，所以不會被 HELLO_SENT 擋掉。
+HELLO_SENT = False
+
+POLL_MAGIC = b'POLL'
+DEFAULT_GRANT_BYTES = 600
+
+DONE_MAGIC = b'DONE'
+
+MAX_BUF_SIZE = 6144
+READ_FC_BYTES = 250
+
+FC_UART_ID = 1
+FC_TX_PIN = 32
+FC_RX_PIN = 33
+
+XB_UART_ID = 2
+XB_TX_PIN = 25
+XB_RX_PIN = 26
+# =========================================
+
+
+uart_fc = UART(FC_UART_ID, baudrate=FC_BAUDRATE, tx=FC_TX_PIN, rx=FC_RX_PIN, rxbuf=4096)
+uart_xb = UART(XB_UART_ID, baudrate=XB_BAUDRATE, tx=XB_TX_PIN, rx=XB_RX_PIN, rxbuf=4096)
+
+tx_buf = bytearray()  # FC -> GCS 等待 TDMA poll 的 MAVLink stream
+rx_buf = bytearray()  # XBee API frame parser buffer
+
+
+# =========================================================
+# 基本工具函式
+# =========================================================
+
+def get_checksum(data):
+    return 0xFF - (sum(data) & 0xFF)
+
+
+def is_valid_addr64(addr):
+    if addr is None:
+        return False
+    if len(addr) != 8:
+        return False
+    if addr == b'\x00\x00\x00\x00\x00\x00\x00\x00':
+        return False
+    return True
+
+
+def learn_dest64_from_src64(src64):
+    """
+    UAV 收到 GCS 的 XBee 0x90 frame 時，
+    0x90 裡面的 src64 就是 GCS / coordinator XBee 的 64-bit address。
+    """
+    global DEST_64
+    global HELLO_SENT
+    global DISC_PENDING
+
+    if not is_valid_addr64(src64):
+        return False
+
+    src64 = bytes(src64)
+
+    if DEST_64 is None:
+        DEST_64 = src64
+        HELLO_SENT = False
+        return True
+
+    if DEST_64 != src64:
+        DEST_64 = src64
+        HELLO_SENT = False
+        DISC_PENDING = False
+        return True
+
+    return False
+
+
+def build_api_tx_frame(payload):
+    """
+    建立 XBee API frame type 0x10，把 payload 送到 DEST_64。
+    若 DEST_64 尚未學到，回傳 None。
+    """
+    if DEST_64 is None:
+        return None
+
+    frame_content = bytearray()
+    frame_content.append(0x10)
+    frame_content.append(0x00)
+    frame_content.extend(DEST_64)
+    frame_content.extend(b'\xFF\xFE')
+    frame_content.append(0x00)
+    frame_content.append(0x00)
+    frame_content.extend(payload)
+
+    length = len(frame_content)
+
+    packet = bytearray()
+    packet.append(0x7E)
+    packet.append((length >> 8) & 0xFF)
+    packet.append(length & 0xFF)
+    packet.extend(frame_content)
+    packet.append(get_checksum(frame_content))
+
+    return packet
+
+
+def send_to_xbee_chunked(payload):
+    """
+    把 payload 依 XBEE_MAX_PAYLOAD 切成多個 XBee API TX frame 送出。
+    """
+    if DEST_64 is None:
+        return False
+
+    total_len = len(payload)
+    sent_len = 0
+
+    while sent_len < total_len:
+        end_len = min(sent_len + XBEE_MAX_PAYLOAD, total_len)
+        chunk = payload[sent_len:end_len]
+        sent_len = end_len
+
+        pkt = build_api_tx_frame(chunk)
+        if pkt is None:
+            return False
+
+        uart_xb.write(pkt)
+        time.sleep_ms(1)
+
+    return True
+
+
+# =========================================================
+# HELO / DONE 回報
+# =========================================================
+
+def send_hello_report(force=False):
+    """
+    UAV 回報自己存在：
+        HELO + MY_SYSID
+
+    本版 DISC 預設以 force=True 呼叫，因此每次收到 DISC 都會重新回 HELO。
+    """
+    global _last_hello_ms
+    global HELLO_SENT
+
+    if MY_SYSID is None:
+        return False
+    if DEST_64 is None:
+        return False
+
+    if HELLO_SENT and not force:
+        return False
+
+    now = time.ticks_ms()
+    if not force:
+        if time.ticks_diff(now, _last_hello_ms) < HELLO_MIN_INTERVAL_MS:
+            return False
+
+    payload = HELLO_MAGIC + struct.pack('>B', MY_SYSID)
+    pkt = build_api_tx_frame(payload)
+    if pkt is None:
+        return False
+
+    uart_xb.write(pkt)
+    _last_hello_ms = now
+    HELLO_SENT = True
+
+    time.sleep_ms(1)
+    return True
+
+
+def try_send_pending_hello():
+    """
+    若先收到 DISC、後學到 MY_SYSID，這裡會自動補送 HELO。
+    """
+    global DISC_PENDING
+
+    if DISC_PENDING and MY_SYSID is not None and DEST_64 is not None:
+        delay_ms = 20 + (((MY_SYSID * 37) + (time.ticks_ms() & 0xFF)) % 180)
+        time.sleep_ms(delay_ms)
+
+        if send_hello_report(force=True):
+            DISC_PENDING = False
+
+
+def send_done_report(sent_len, remain_len):
+    """
+    DONE payload:
+        b'DONE' + sysid(1) + sent_len(2) + remain_len(2)
+    """
+    if MY_SYSID is None:
+        return False
+    if DEST_64 is None:
+        return False
+
+    if sent_len > 65535:
+        sent_len = 65535
+    if remain_len > 65535:
+        remain_len = 65535
+
+    payload = DONE_MAGIC + struct.pack('>BHH', MY_SYSID, sent_len, remain_len)
+    pkt = build_api_tx_frame(payload)
+    if pkt is None:
+        return False
+
+    uart_xb.write(pkt)
+    time.sleep_ms(1)
+    return True
+
+
+# =========================================================
+# MAVLink frame 解析與 MY_SYSID 自動學習
+# =========================================================
+
+def find_first_mavlink_magic(buf):
+    pos_fe = buf.find(b'\xFE')
+    pos_fd = buf.find(b'\xFD')
+
+    if pos_fe == -1:
+        return pos_fd
+    if pos_fd == -1:
+        return pos_fe
+    return pos_fe if pos_fe < pos_fd else pos_fd
+
+
+def mavlink_frame_length(buf, start_idx):
+    if start_idx >= len(buf):
+        return None
+
+    magic = buf[start_idx]
+
+    if magic == 0xFE:
+        if len(buf) - start_idx < 2:
+            return None
+        payload_len = buf[start_idx + 1]
+        total_len = payload_len + 8
+        if len(buf) - start_idx < total_len:
+            return None
+        return total_len
+
+    if magic == 0xFD:
+        if len(buf) - start_idx < 3:
+            return None
+        payload_len = buf[start_idx + 1]
+        incompat_flags = buf[start_idx + 2]
+        signed = (incompat_flags & 0x01) != 0
+        total_len = payload_len + 12 + (13 if signed else 0)
+        if len(buf) - start_idx < total_len:
+            return None
+        return total_len
+
+    return None
+
+
+def get_mavlink_sysid(buf, start_idx):
+    if start_idx >= len(buf):
+        return None
+
+    magic = buf[start_idx]
+
+    if magic == 0xFE:
+        if len(buf) - start_idx >= 6:
+            return buf[start_idx + 3]
+
+    if magic == 0xFD:
+        if len(buf) - start_idx >= 10:
+            return buf[start_idx + 5]
+
+    return None
+
+
+def learn_my_sysid_from_tx_buf():
+    """
+    從 FC -> ESP32 的 tx_buf 中找完整 MAVLink frame，
+    並自動學習飛控的 MAVLink SYSID。
+
+    若更改飛控 SYSID，建議重新上電 ESP32，讓 MY_SYSID 重新學習。
+    """
+    global MY_SYSID
+    global _sysid_candidate
+    global _sysid_candidate_count
+    global HELLO_SENT
+    global tx_buf
+
+    if len(tx_buf) == 0:
+        return
+
+    idx = 0
+    checked = 0
+
+    while idx < len(tx_buf) and checked < 8:
+        sub = tx_buf[idx:]
+        rel_start = find_first_mavlink_magic(sub)
+        if rel_start == -1:
+            return
+
+        start = idx + rel_start
+        frame_len = mavlink_frame_length(tx_buf, start)
+        if frame_len is None:
+            return
+
+        sysid = get_mavlink_sysid(tx_buf, start)
+
+        if sysid is not None and sysid > 0:
+            if MY_SYSID is not None:
+                return
+
+            if _sysid_candidate == sysid:
+                _sysid_candidate_count += 1
+            else:
+                _sysid_candidate = sysid
+                _sysid_candidate_count = 1
+
+            if _sysid_candidate_count >= SYSID_LEARN_CONFIRM_COUNT:
+                MY_SYSID = _sysid_candidate
+                HELLO_SENT = False
+                return
+
+        idx = start + frame_len
+        checked += 1
+
+
+# =========================================================
+# tx_buf MAVLink frame 取出與裁切
+# =========================================================
+
+def pop_mavlink_frames_by_quota(quota_bytes):
+    global tx_buf
+
+    if quota_bytes <= 0 or len(tx_buf) == 0:
+        return b''
+
+    start = find_first_mavlink_magic(tx_buf)
+    if start == -1:
+        tx_buf = bytearray()
+        return b''
+
+    if start > 0:
+        tx_buf = tx_buf[start:]
+
+    out = bytearray()
+
+    while len(tx_buf) > 0:
+        if tx_buf[0] not in (0xFE, 0xFD):
+            start = find_first_mavlink_magic(tx_buf)
+            if start == -1:
+                tx_buf = bytearray()
+                break
+            tx_buf = tx_buf[start:]
+
+        frame_len = mavlink_frame_length(tx_buf, 0)
+        if frame_len is None:
+            break
+
+        if len(out) > 0 and (len(out) + frame_len) > quota_bytes:
+            break
+
+        if len(out) == 0 and frame_len > quota_bytes:
+            out.extend(tx_buf[:frame_len])
+            tx_buf = tx_buf[frame_len:]
+            break
+
+        out.extend(tx_buf[:frame_len])
+        tx_buf = tx_buf[frame_len:]
+
+        if len(out) >= quota_bytes:
+            break
+
+    return bytes(out)
+
+
+def trim_tx_buffer_if_needed():
+    global tx_buf
+
+    if len(tx_buf) <= MAX_BUF_SIZE:
+        return
+
+    target_size = MAX_BUF_SIZE // 2
+
+    while len(tx_buf) > target_size:
+        start = find_first_mavlink_magic(tx_buf)
+        if start == -1:
+            tx_buf = bytearray()
+            return
+
+        if start > 0:
+            tx_buf = tx_buf[start:]
+            continue
+
+        frame_len = mavlink_frame_length(tx_buf, 0)
+        if frame_len is None:
+            if len(tx_buf) > target_size:
+                tx_buf = tx_buf[-target_size:]
+            return
+
+        tx_buf = tx_buf[frame_len:]
+
+
+def flush_tx_buffer(grant_bytes):
+    global tx_buf
+
+    if MY_SYSID is None: # TODO 這個重複判斷了 應該刪 不要浪費效率
+        return
+
+    if DEST_64 is None:
+        return
+
+    if grant_bytes <= 0:
+        send_done_report(0, len(tx_buf))
+        return
+
+    data_to_send = pop_mavlink_frames_by_quota(grant_bytes)
+    sent_len = len(data_to_send)
+
+    if sent_len > 0:
+        send_to_xbee_chunked(data_to_send)
+
+    send_done_report(sent_len, len(tx_buf))
+
+
+# =========================================================
+# GCS control payload 解析
+# =========================================================
+
+def parse_poll_payload(real_data):
+    if not real_data.startswith(POLL_MAGIC):
+        return None, None
+
+    if len(real_data) == 5:
+        return real_data[4], DEFAULT_GRANT_BYTES
+
+    if len(real_data) == 7:
+        target_sysid = real_data[4]
+        grant_bytes = (real_data[5] << 8) | real_data[6]
+        return target_sysid, grant_bytes
+
+    return None, None
+
+
+def is_discovery_payload(real_data):
+    return real_data.startswith(DISC_MAGIC)
+
+
+# =========================================================
+# XBee API RX parser
+# =========================================================
+
+def process_xbee_buffer():
+    global rx_buf
+    global DISC_PENDING
+
+    while True:
+        start_pos = rx_buf.find(b'\x7E')
+        if start_pos == -1:
+            rx_buf = bytearray()
+            return
+
+        if start_pos > 0:
+            rx_buf = rx_buf[start_pos:]
+
+        if len(rx_buf) < 3:
+            return
+
+        pkt_len = (rx_buf[1] << 8) | rx_buf[2]
+        total_len = pkt_len + 4
+
+        if pkt_len > 300:
+            rx_buf = rx_buf[1:]
+            continue
+
+        if len(rx_buf) < total_len:
+            return
+
+        packet = rx_buf[3:3 + pkt_len]
+        checksum_recv = rx_buf[3 + pkt_len]
+
+        if get_checksum(packet) == checksum_recv:
+            if len(packet) > 0 and packet[0] == 0x90:
+                # XBee Receive Packet 0x90:
+                # packet = 90 | src64(8) | src16(2) | options(1) | RF data
+                if len(packet) >= 12:
+                    src64 = bytes(packet[1:9])
+                    real_data = packet[12:]
+
+                    # -------------------------------------------------
+                    # DISC：本版唯一 discovery 封包。
+                    # 功能等同原本 DSCF：收到後強制回 HELO。
+                    # -------------------------------------------------
+                    if is_discovery_payload(real_data):
+                        learn_dest64_from_src64(src64)
+                        learn_my_sysid_from_tx_buf() # TODO 加一個 if MY_SYSID is None
+
+                        if MY_SYSID is not None and DEST_64 is not None:
+                            delay_ms = 20 + ((MY_SYSID * 37) + (time.ticks_ms() & 0xFF)) % 180 # TODO 這邊會有多少秒延遲? 為啥是37? 不能21或者17? 20 ~ 199  210 / 30000
+                            time.sleep_ms(delay_ms)
+                            send_hello_report(force=True)
+                            DISC_PENDING = False
+                        else:
+                            DISC_PENDING = True
+
+                    # -------------------------------------------------
+                    # 判斷是不是 POLL
+                    # -------------------------------------------------
+                    else: # TODO 這邊要用 elif 去判斷 POLL
+                        target_sysid, grant_bytes = parse_poll_payload(real_data)
+
+                        if target_sysid is not None:
+                            learn_dest64_from_src64(src64)
+                            learn_my_sysid_from_tx_buf()
+                            try_send_pending_hello() # TODO 這邊三行怪怪的 GCS 下 poll 然後會回應 HELO 這個很怪 然後為何要每次重做上面兩行 拖效率
+
+                            if MY_SYSID is not None and target_sysid == MY_SYSID:
+                                flush_tx_buffer(grant_bytes)
+
+                        else: 
+                            # 一般 GCS -> FC MAVLink 下行資料
+                            if DEST_64 is None: # TODO 這個概念不對 隨便一個 poll 就把本來有做過 DISC 的權限搶走了 危險!!!
+                                learn_dest64_from_src64(src64)
+
+                            if DEST_64 is not None and src64 == DEST_64: # TODO 從 GCS 到 FC 的 mavlink 封包 切開不要跟 POLL 放在同一個判斷
+                                uart_fc.write(real_data)
+
+            rx_buf = rx_buf[total_len:]
+
+        else:
+            rx_buf = rx_buf[1:]
+
+
+
+# =========================================================
+# 初始清理
+# =========================================================
+
+try:
+    gc.collect()
+except Exception:
+    pass
+
+
+# =========================================================
+# 主迴圈
+# =========================================================
+
+while True:
+    try:
+        # -------------------------------------------------
+        # FC -> ESP32 tx buffer
+        # -------------------------------------------------
+        if uart_fc.any():
+            data = uart_fc.read(READ_FC_BYTES)
+            if data:
+                tx_buf.extend(data)
+
+                learn_my_sysid_from_tx_buf()
+                try_send_pending_hello()
+                trim_tx_buffer_if_needed()
+
+        # -------------------------------------------------
+        # XBee -> ESP32
+        # -------------------------------------------------
+        if uart_xb.any():
+            chunk = uart_xb.read()
+            if chunk:
+                rx_buf.extend(chunk)
+
+            process_xbee_buffer()
+
+        time.sleep_ms(1)
+
+    except MemoryError:
+        tx_buf = bytearray()
+        rx_buf = bytearray()
+
+        try:
+            gc.collect()
+        except Exception:
+            pass
+
+        time.sleep_ms(10)
+
+    except Exception:
+        time.sleep_ms(2)

src/unitdev02/unitdev02/ntrip_dev.py

@@ -0,0 +1,209 @@
+# import socket
+
+# def get_rtk2go_source_table():
+#     host = "rtk2go.com"
+#     port = 2101
+#
+#     print(f"正在連線至 {host}:{port} 獲取掛載點列表...\n")
+#     ...
+
+from __future__ import annotations
+
+import socket
+import base64
+import time
+
+
+# ── NMEA GGA（告訴 Caster「我在哪」，觸發 RTCM 推流）────────────────
+
+def nmea_checksum(body: str) -> str:
+    """body 不含 '$' 與 '*checksum'，例如 'GPGGA,123519,...'"""
+    value = 0
+    for ch in body:
+        value ^= ord(ch)
+    return f"{value:02X}"
+
+
+def decimal_to_nmea_dm(deg: float, *, is_latitude: bool) -> tuple[str, str]:
+    """十進位度 → NMEA 的 (d)dmm.mmmm 與半球字元。"""
+    if is_latitude:
+        hemi = "N" if deg >= 0 else "S"
+        deg_width = 2
+    else:
+        hemi = "E" if deg >= 0 else "W"
+        deg_width = 3
+    deg = abs(deg)
+    d = int(deg)
+    m = (deg - d) * 60.0
+    return f"{d:0{deg_width}d}{m:07.4f}", hemi
+
+
+def build_gga_sentence(lat_deg: float, lon_deg: float, alt_m: float = 100.0) -> bytes:
+    """
+    組一筆 $GPGGA 句子（含 checksum），回傳 bytes 可直接 sock.sendall。
+
+    lat_deg / lon_deg：十進位經緯度（北、東為正）。
+    測試時請改成 mount 服務範圍內的近似位置；正式使用應來自 GNSS 真實定位。
+    """
+    utc = time.gmtime()
+    t_str = f"{utc.tm_hour:02d}{utc.tm_min:02d}{utc.tm_sec:02d}.00"
+
+    lat_dm, ns = decimal_to_nmea_dm(lat_deg, is_latitude=True)
+    lon_dm, ew = decimal_to_nmea_dm(lon_deg, is_latitude=False)
+
+    # quality=1（GPS fix）、8 顆星、HDOP=1.0 僅供測試示意
+    body = (
+        f"GPGGA,{t_str},{lat_dm},{ns},{lon_dm},{ew},"
+        f"1,08,1.0,{alt_m:.1f},M,0.0,M,,"
+    )
+    sentence = f"${body}*{nmea_checksum(body)}\r\n"
+    return sentence.encode("ascii")
+
+
+def send_gga(sock: socket.socket, lat_deg: float, lon_deg: float, alt_m: float = 100.0) -> str:
+    """送出 GGA，回傳可讀句子供列印。"""
+    payload = build_gga_sentence(lat_deg, lon_deg, alt_m)
+    sock.sendall(payload)
+    return payload.decode("ascii").strip()
+
+
+# ── NTRIP 連線 + RTCM 接收 ─────────────────────────────────────────
+
+def get_rtcm_payload(
+    host,
+    port,
+    mountpoint,
+    user="",
+    password="",
+    target_ids=None,
+    *,
+    gga_lat=None,
+    gga_lon=None,
+    gga_alt_m=100.0,
+    gga_interval_sec=5.0,
+    filter_ids=True,
+):
+    """
+  連線 NTRIP caster 並解析 RTCM3。
+
+  gga_lat / gga_lon：若兩者皆有設定，握手成功後會週期送出 GGA（許多 Caster 如 SNIP 至少需一次）。
+  gga_interval_sec：GGA 重送間隔（秒）。
+  filter_ids：True 時只印 target_ids 內的 message；False 印全部（方便學習觀察）。
+    """
+    if target_ids is None:
+        target_ids = []
+    need_gga = gga_lat is not None and gga_lon is not None
+
+    sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
+    sock.settimeout(10)
+
+    try:
+        sock.connect((host, port))
+
+        auth = base64.b64encode(f"{user}:{password}".encode()).decode()
+        request = f"GET /{mountpoint} HTTP/1.0\r\n"
+        request += "User-Agent: NTRIP PythonClient\r\n"
+        request += f"Authorization: Basic {auth}\r\n"
+        request += "Connection: close\r\n\r\n"
+        sock.sendall(request.encode())
+
+        response = sock.recv(4096)
+        if b"ICY 200 OK" not in response:
+            print(f"連線失敗: {response.decode(errors='ignore')}")
+            return
+
+        print(f"已成功連接至 {mountpoint}")
+        if need_gga:
+            print(
+                f"GGA 模式：每 {gga_interval_sec}s 回報位置 "
+                f"({gga_lat:.6f}, {gga_lon:.6f})，觸發 Caster 推流"
+            )
+        else:
+            print("未設定 GGA（部分 Caster 如 RTK2GO 仍可推流；SNIP/區域站常需 GGA）")
+        print(f"RTCM 過濾目標: {target_ids if filter_ids else '(關閉，顯示全部)'}\n")
+
+        last_gga_time = 0.0
+        buffer = b""
+
+        while True:
+            now = time.time()
+            if need_gga and (now - last_gga_time >= gga_interval_sec):
+                line = send_gga(sock, gga_lat, gga_lon, gga_alt_m)
+                print(f"[GGA] {line}")
+                last_gga_time = now
+
+            try:
+                chunk = sock.recv(4096)
+            except socket.timeout:
+                continue
+
+            if not chunk:
+                print("Caster 關閉連線")
+                break
+
+            buffer += chunk
+
+            while len(buffer) >= 3:
+                if buffer[0] != 0xD3:
+                    buffer = buffer[1:]
+                    continue
+
+                length = ((buffer[1] & 0x03) << 8) | buffer[2]
+                total_len = length + 6
+
+                if len(buffer) < total_len:
+                    break
+
+                packet = buffer[:total_len]
+                buffer = buffer[total_len:]
+                msg_id = (packet[3] << 4) | (packet[4] >> 4)
+
+                if not filter_ids or str(msg_id) in target_ids:
+                    print(f"Found ID: {msg_id} | Length: {total_len} bytes")
+
+    except KeyboardInterrupt:
+        print("\n使用者中斷")
+    except Exception as e:
+        print(f"發生錯誤: {e}")
+    finally:
+        sock.close()
+
+
+if __name__ == "__main__":
+    TARGET_LIST = ["1007", "1230", "1074"]
+
+    # ── Case 1：RTK2GO（通常可不送 GGA）────────────────────────────
+    # USER = "chiyu1468@hotmail.com"
+    # HOST = "rtk2go.com"
+    # PORT = 2101
+    # MOUNT = "No1bio_02"
+    # get_rtcm_payload(
+    #     HOST, PORT, MOUNT,
+    #     user=USER,
+    #     target_ids=TARGET_LIST,
+    #     filter_ids=False,
+    # )
+
+    # ── Case 2：區域 Caster（需 GGA，座標請改成服務區內近似點）──────
+    USER = "uavlab6061"
+    PW = "iamsupersmart"
+    HOST = "210.241.63.193"
+    PORT = 81
+    MOUNT = "2020_GNSS"
+    # 十進位度；請依 SNIP / 基準站服務範圍調
+    GGA_LAT = 24.155792000
+    GGA_LON = 120.630679000
+
+    get_rtcm_payload(
+        HOST,
+        PORT,
+        MOUNT,
+        user=USER,
+        password=PW,
+        target_ids=TARGET_LIST,
+        gga_lat=GGA_LAT,
+        gga_lon=GGA_LON,
+        gga_alt_m=100.0,
+        gga_interval_sec=30.0,
+        filter_ids=False,
+    )

src/unitdev02/unitdev02/tryByteDict.py

@@ -0,0 +1,33 @@
+import timeit
+
+# 建立 1000 個元素的字典，避免單一 Key 的特殊雜湊值干擾
+d_int = {i: True for i in range(1000)}
+d_bytes = {f"k_{i:06d}".encode(): True for i in range(1000)}
+
+# 正確命中中間的值
+target_int = 500
+target_bytes_same = f"k_{500:06d}".encode()
+
+# 將變數傳入 timeit 的全域環境
+setup_env = lambda: None
+globals_dict = {
+    'd_int': d_int,
+    'd_bytes': d_bytes,
+    'target_int': target_int,
+    'target_bytes_same': target_bytes_same
+}
+
+# 1. int 查詢
+t_int = timeit.timeit("d_int.get(target_int)", globals=globals_dict, number=50000000)
+
+# 2. bytes 查詢 (同物件：直接傳入現成變數)
+t_bytes_same = timeit.timeit("d_bytes.get(target_bytes_same)", globals=globals_dict, number=50000000)
+
+# 3. bytes 查詢 (真・新物件：每次都在查詢時動態切片生成新物件，強迫重新計算 Hash)
+globals_dict['dynamic_source'] = f"k_{500:06d}".encode() + b"dummy"
+t_bytes_new = timeit.timeit("d_bytes.get(dynamic_source[:8])", globals=globals_dict, number=50000000)
+
+print(f"修正後測試結果 (50,000,000 次)：")
+print(f"int 查詢          : {t_int:.4f} 秒 (1.0x)")
+print(f"bytes 查詢 (同物件): {t_bytes_same:.4f} 秒 (約 {t_bytes_same/t_int:.2f}x)")
+print(f"bytes 查詢 (新物件): {t_bytes_new:.4f} 秒 (約 {t_bytes_new/t_int:.2f}x)")