#!/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 = 25.0 # 隊形基準高度 (m，相對 home) DEFAULT_ALT_LAYER_GAP = 6.0 # A/B 上下層垂直間隔 (m)：A=基準+gap/2、B=基準-gap/2 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'}} 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, 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_gap=DEFAULT_ALT_LAYER_GAP, 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._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_gap = float(alt_layer_gap) 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 # ------------------------------------------------------------- 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 _alt_for(self, did): """S3 高度分層：A 組（含領隊）走上層、B 組走下層（不低於地面下限）。 同高度繞圈/追擊會交叉撞機，分層後 A/B 垂直錯開自然避開。""" if did in set(self.b_drone_ids): return max(self.min_alt_floor, self.formation_alt - self.alt_layer_gap / 2.0) return self.formation_alt + self.alt_layer_gap / 2.0 # ------------------------------------------------------------- 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 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)) 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) 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)) 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) def __init__(self, parent=None, r_detect=DEFAULT_R_DETECT, friendly_speed=DEFAULT_FRIENDLY_SPEED): super().__init__(parent) self.r_detect = float(r_detect) self._init_friendly_speed = float(friendly_speed) 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) 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)