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#!/usr/bin/env python3
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"""
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任務群組模組
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管理多任務群組的資料結構與無人機分配對話框
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"""
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from PyQt6.QtWidgets import (
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QWidget, QVBoxLayout, QHBoxLayout, QLabel, QPushButton,
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QComboBox, QDialog, QCheckBox, QScrollArea, QFrame, QLineEdit
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)
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from PyQt6.QtCore import Qt, pyqtSignal
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from mission_executor import MissionExecutor, MissionState
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# 群組顏色（循環使用）
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GROUP_COLORS = [
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'#4A9EFF', # 藍
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'#FF8C42', # 橘
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'#56C87A', # 綠
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'#E85D75', # 紅
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'#B07CED', # 紫
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'#F5C542', # 黃
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'#42C9C9', # 青
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'#FF6B9D', # 粉
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]
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class MissionGroup:
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"""單一任務群組的資料"""
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def __init__(self, group_id, color):
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self.group_id = group_id # 'A', 'B', 'C', ...
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self.color = color # 顏色 hex
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self.drone_ids = set() # 已分配的無人機 ID
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self.mission_type = 'M_FORMATION' # 預設任務類型
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self.planned_waypoints = None # 規劃結果 dict
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self.executor = None # MissionExecutor 實例（延遲建立）
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self.center_origin = None # 規劃原點
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@property
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def state(self):
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if self.executor is None:
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return MissionState.IDLE
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return self.executor.state
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@property
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def display_name(self):
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return f"Group {self.group_id}"
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class DroneAssignDialog(QDialog):
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"""無人機分配對話框"""
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def __init__(self, parent, all_drone_ids, current_assigned, other_assigned):
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"""
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Args:
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parent: 父 widget
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all_drone_ids: 所有可用無人機 ID 列表
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current_assigned: 當前群組已分配的無人機 set
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other_assigned: 其他群組已佔用的無人機 dict {drone_id: group_id}
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"""
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super().__init__(parent)
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self.setWindowTitle("分配無人機")
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self.setMinimumWidth(280)
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self.setStyleSheet("""
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QDialog { background-color: #2B2B2B; }
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QLabel { color: #DDD; }
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QCheckBox { color: #DDD; spacing: 8px; padding: 4px; }
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QCheckBox::indicator { width: 16px; height: 16px; }
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QCheckBox:disabled { color: #666; }
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""")
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layout = QVBoxLayout(self)
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title = QLabel("選擇要分配到此群組的無人機：")
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title.setStyleSheet("font-size: 13px; font-weight: bold; padding-bottom: 6px;")
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layout.addWidget(title)
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# 滾動區域
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scroll = QScrollArea()
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scroll.setWidgetResizable(True)
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scroll.setMaximumHeight(300)
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scroll_widget = QWidget()
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scroll_layout = QVBoxLayout(scroll_widget)
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scroll_layout.setSpacing(2)
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self.checkboxes = {}
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sorted_ids = sorted(all_drone_ids, key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
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for drone_id in sorted_ids:
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cb = QCheckBox(drone_id)
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if drone_id in current_assigned:
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cb.setChecked(True)
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elif drone_id in other_assigned:
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cb.setEnabled(False)
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cb.setToolTip(f"已分配到 Group {other_assigned[drone_id]}")
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cb.setText(f"{drone_id} (Group {other_assigned[drone_id]})")
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self.checkboxes[drone_id] = cb
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scroll_layout.addWidget(cb)
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scroll_layout.addStretch()
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scroll.setWidget(scroll_widget)
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layout.addWidget(scroll)
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# 按鈕
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btn_layout = QHBoxLayout()
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ok_btn = QPushButton("確定")
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ok_btn.setStyleSheet("""
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QPushButton { background-color: #4A9EFF; color: white; border: none;
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padding: 8px 20px; border-radius: 4px; font-weight: bold; }
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QPushButton:hover { background-color: #3A8EEF; }
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""")
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ok_btn.clicked.connect(self.accept)
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cancel_btn = QPushButton("取消")
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cancel_btn.setStyleSheet("""
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QPushButton { background-color: #555; color: #DDD; border: none;
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padding: 8px 20px; border-radius: 4px; }
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QPushButton:hover { background-color: #666; }
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""")
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cancel_btn.clicked.connect(self.reject)
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btn_layout.addStretch()
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btn_layout.addWidget(cancel_btn)
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btn_layout.addWidget(ok_btn)
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layout.addLayout(btn_layout)
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def get_selected(self):
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"""回傳勾選的無人機 ID set"""
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return {did for did, cb in self.checkboxes.items() if cb.isChecked() and cb.isEnabled()}
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class GroupPanel(QWidget):
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"""單一群組的 UI 面板（嵌入到 tab 中）— 三欄式佈局"""
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# 信號
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assign_drones_requested = pyqtSignal(str) # group_id
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mission_type_changed = pyqtSignal(str, str) # group_id, mission_type
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start_requested = pyqtSignal(str) # group_id
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pause_requested = pyqtSignal(str) # group_id
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stop_requested = pyqtSignal(str) # group_id
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mode_change_requested = pyqtSignal(str, str) # group_id, mode
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arm_requested = pyqtSignal(str) # group_id
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takeoff_requested = pyqtSignal(str, float) # group_id, altitude
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box_select_requested = pyqtSignal(str) # group_id — 框選直接分配
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select_all_requested = pyqtSignal(str) # group_id — 全選直接分配
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clear_group_requested = pyqtSignal(str) # group_id — 清除分組
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BUTTON_STYLE = """
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QPushButton {{ background-color: {bg}; color: {fg}; border: none;
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padding: 5px 8px; border-radius: 4px; font-size: 11px; }}
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QPushButton:hover {{ background-color: {hover}; }}
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QPushButton:disabled {{ background-color: #444; color: #666; }}
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"""
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def __init__(self, group: MissionGroup, parent=None):
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super().__init__(parent)
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self.group = group
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self._build_ui()
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def _make_sep(self):
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"""建立垂直分隔線"""
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sep = QFrame()
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sep.setFrameShape(QFrame.Shape.VLine)
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sep.setStyleSheet("color: #444;")
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return sep
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def _build_ui(self):
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layout = QVBoxLayout(self)
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layout.setContentsMargins(6, 4, 6, 4)
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layout.setSpacing(0)
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COMBO = ("QComboBox { background-color: #333; color: #DDD; "
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"border-radius: 3px; padding: 2px 6px; font-size: 11px; }")
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BTN = self.BUTTON_STYLE
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LBL = "color: #AAA; font-size: 11px;"
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TITLE = "color: #DDD; font-size: 11px; font-weight: bold; padding-bottom: 2px;"
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# ── 三欄主佈局 ──
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cols = QHBoxLayout()
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cols.setSpacing(6)
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# ============================
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# 左欄：控制指令
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# ============================
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left = QVBoxLayout()
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left.setSpacing(3)
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left_title = QLabel("控制指令")
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left_title.setStyleSheet(TITLE)
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left.addWidget(left_title)
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# 模式切換
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mode_row = QHBoxLayout()
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mode_row.setSpacing(3)
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self.mode_combo = QComboBox()
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self.mode_combo.addItems([
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"GUIDED", "AUTO", "LAND", "LOITER",
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"STABILIZE", "ALT_HOLD", "RTL", "POSHOLD", "SMART_RTL"
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])
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self.mode_combo.setStyleSheet(COMBO)
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mode_btn = QPushButton("切換")
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mode_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
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mode_btn.clicked.connect(
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lambda: self.mode_change_requested.emit(
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self.group.group_id, self.mode_combo.currentText()))
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mode_row.addWidget(self.mode_combo, 1)
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mode_row.addWidget(mode_btn)
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left.addLayout(mode_row)
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# 解鎖
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arm_btn = QPushButton("解鎖")
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arm_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
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arm_btn.clicked.connect(
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lambda: self.arm_requested.emit(self.group.group_id))
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left.addWidget(arm_btn)
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# 起飛
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takeoff_row = QHBoxLayout()
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takeoff_row.setSpacing(3)
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self.alt_input = QComboBox()
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self.alt_input.setEditable(True)
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self.alt_input.addItems(["5", "10", "15", "20"])
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self.alt_input.setCurrentText("10")
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self.alt_input.setStyleSheet(COMBO)
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alt_lbl = QLabel("m")
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alt_lbl.setStyleSheet(LBL)
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takeoff_btn = QPushButton("起飛")
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takeoff_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
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takeoff_btn.clicked.connect(self._on_takeoff)
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takeoff_row.addWidget(self.alt_input, 1)
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takeoff_row.addWidget(alt_lbl)
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takeoff_row.addWidget(takeoff_btn)
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left.addLayout(takeoff_row)
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left.addStretch()
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# ============================
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# 中欄：任務規劃（左右分割）
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# ============================
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mid = QVBoxLayout()
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mid.setSpacing(2)
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mid_title = QLabel("任務規劃")
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mid_title.setStyleSheet(TITLE)
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mid.addWidget(mid_title)
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mid_body = QHBoxLayout()
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mid_body.setSpacing(4)
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# 左側：類型 + 狀態 + 座標
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mid_left = QVBoxLayout()
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mid_left.setSpacing(2)
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self.type_combo = QComboBox()
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self.type_combo.addItems([
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"M_FORMATION", "CIRCLE_FORMATION", "LEADER_FOLLOWER", "GRID_SWEEP"
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])
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self.type_combo.setStyleSheet(COMBO)
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self.type_combo.currentTextChanged.connect(
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lambda t: self.mission_type_changed.emit(self.group.group_id, t))
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mid_left.addWidget(self.type_combo)
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self.status_label = QLabel("○ 未規劃")
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self.status_label.setStyleSheet("color: #888; font-size: 11px;")
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mid_left.addWidget(self.status_label)
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self.center_label = QLabel("中心: --")
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self.center_label.setStyleSheet("color: #AAA; font-size: 11px;")
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mid_left.addWidget(self.center_label)
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self.target_label = QLabel("目標: --")
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self.target_label.setStyleSheet("color: #AAA; font-size: 11px;")
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mid_left.addWidget(self.target_label)
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mid_left.addStretch()
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# 右側：執行 / 暫停 / 停止（垂直排列）
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mid_right = QVBoxLayout()
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mid_right.setSpacing(3)
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self.start_btn = QPushButton("▶ 執行")
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self.start_btn.setStyleSheet(BTN.format(bg='#2E7D32', fg='white', hover='#388E3C'))
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self.start_btn.clicked.connect(
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lambda: self.start_requested.emit(self.group.group_id))
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self.pause_btn = QPushButton("⏸ 暫停")
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self.pause_btn.setStyleSheet(BTN.format(bg='#F57F17', fg='white', hover='#F9A825'))
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self.pause_btn.clicked.connect(
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lambda: self.pause_requested.emit(self.group.group_id))
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self.stop_btn = QPushButton("■ 停止")
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self.stop_btn.setStyleSheet(BTN.format(bg='#C62828', fg='white', hover='#D32F2F'))
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self.stop_btn.clicked.connect(
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lambda: self.stop_requested.emit(self.group.group_id))
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mid_right.addWidget(self.start_btn)
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mid_right.addWidget(self.pause_btn)
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mid_right.addWidget(self.stop_btn)
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mid_right.addStretch()
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mid_body.addLayout(mid_left, 1)
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mid_body.addLayout(mid_right)
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mid.addLayout(mid_body)
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# ============================
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# 選取與分組（2x2 按鈕）
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# ============================
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right = QVBoxLayout()
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right.setSpacing(3)
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right_title = QLabel("選取與分組")
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right_title.setStyleSheet(TITLE)
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right.addWidget(right_title)
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self.drone_list_label = QLabel("尚未分配")
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self.drone_list_label.setStyleSheet("color: #888; font-size: 11px;")
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self.drone_list_label.setWordWrap(True)
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right.addWidget(self.drone_list_label)
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# 2x2 按鈕網格
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grid_r1 = QHBoxLayout()
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grid_r1.setSpacing(3)
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assign_btn = QPushButton("編輯分配")
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assign_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
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assign_btn.clicked.connect(
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lambda: self.assign_drones_requested.emit(self.group.group_id))
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clear_btn = QPushButton("清除分組")
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clear_btn.setStyleSheet(BTN.format(bg='#777', fg='white', hover='#888'))
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clear_btn.clicked.connect(
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lambda: self.clear_group_requested.emit(self.group.group_id))
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grid_r1.addWidget(assign_btn)
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grid_r1.addWidget(clear_btn)
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right.addLayout(grid_r1)
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grid_r2 = QHBoxLayout()
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grid_r2.setSpacing(3)
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box_btn = QPushButton("框選")
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box_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5'))
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box_btn.clicked.connect(
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lambda: self.box_select_requested.emit(self.group.group_id))
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all_btn = QPushButton("全選")
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all_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5'))
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all_btn.clicked.connect(
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lambda: self.select_all_requested.emit(self.group.group_id))
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grid_r2.addWidget(box_btn)
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grid_r2.addWidget(all_btn)
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right.addLayout(grid_r2)
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right.addStretch()
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# ============================
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# 第四欄：任務參數
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# ============================
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param_col = QVBoxLayout()
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param_col.setSpacing(2)
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param_title = QLabel("任務參數")
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param_title.setStyleSheet(TITLE)
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param_col.addWidget(param_title)
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INPUT = ("QLineEdit { background-color: #333; color: #DDD; "
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"border: 1px solid #555; border-radius: 3px; "
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"padding: 1px 4px; font-size: 11px; }")
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# 每種任務類型的參數定義: (key, label, default_value)
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self._param_defs = {
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'M_FORMATION': [
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('spacing', '間距 (m)', '5.0'),
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('base_altitude', '基準高度 (m)', '10.0'),
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('altitude_diff', '高低差 (m)', '2.0'),
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],
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'CIRCLE_FORMATION': [
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('radius', '半徑 (m)', '10.0'),
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('altitude', '高度 (m)', '10.0'),
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('start_angle', '起始角 (°)', '0'),
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],
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'LEADER_FOLLOWER': [
|
|
|
('lateral_offset', '橫向偏移 (m)', '3.0'),
|
|
|
('longitudinal_spacing', '縱向間距 (m)', '5.0'),
|
|
|
('altitude', '高度 (m)', '10.0'),
|
|
|
],
|
|
|
'GRID_SWEEP': [
|
|
|
('line_spacing', '掃描線距 (m)', '5.0'),
|
|
|
('altitude', '高度 (m)', '10.0'),
|
|
|
],
|
|
|
}
|
|
|
|
|
|
# 建立所有參數列的 widget（先全部建好，切換時顯示/隱藏）
|
|
|
self._param_widgets = {} # key → (label_widget, input_widget)
|
|
|
self._param_rows = [] # 所有 row layout 對應的 container widget
|
|
|
|
|
|
for mission_type, defs in self._param_defs.items():
|
|
|
for key, label_text, default in defs:
|
|
|
if key in self._param_widgets:
|
|
|
continue # 同名參數只建一次
|
|
|
row_w = QWidget()
|
|
|
row_l = QHBoxLayout(row_w)
|
|
|
row_l.setContentsMargins(0, 0, 0, 0)
|
|
|
row_l.setSpacing(3)
|
|
|
lbl = QLabel(label_text)
|
|
|
lbl.setStyleSheet(LBL)
|
|
|
inp = QLineEdit(default)
|
|
|
inp.setStyleSheet(INPUT)
|
|
|
inp.setFixedWidth(50)
|
|
|
row_l.addWidget(lbl, 1)
|
|
|
row_l.addWidget(inp)
|
|
|
param_col.addWidget(row_w)
|
|
|
self._param_widgets[key] = (row_w, inp)
|
|
|
self._param_rows.append(row_w)
|
|
|
|
|
|
param_col.addStretch()
|
|
|
|
|
|
# 初始顯示對應的參數
|
|
|
self._update_param_visibility()
|
|
|
|
|
|
# 當任務類型切換時更新參數顯示
|
|
|
self.type_combo.currentTextChanged.connect(self._update_param_visibility)
|
|
|
|
|
|
# ── 組裝四欄：控制指令 > 任務規劃 > 任務參數 > 選取與分組 ──
|
|
|
cols.addLayout(left, 1)
|
|
|
cols.addWidget(self._make_sep())
|
|
|
cols.addLayout(mid, 1)
|
|
|
cols.addWidget(self._make_sep())
|
|
|
cols.addLayout(param_col, 1)
|
|
|
cols.addWidget(self._make_sep())
|
|
|
cols.addLayout(right, 1)
|
|
|
|
|
|
layout.addLayout(cols)
|
|
|
|
|
|
def update_drone_list(self):
|
|
|
"""更新無人機列表顯示"""
|
|
|
if not self.group.drone_ids:
|
|
|
self.drone_list_label.setText("尚未分配")
|
|
|
self.drone_list_label.setStyleSheet("color: #888; font-size: 11px;")
|
|
|
else:
|
|
|
sorted_ids = sorted(self.group.drone_ids,
|
|
|
key=lambda x: (x.split('_')[0], int(x.split('_')[1])))
|
|
|
self.drone_list_label.setText("、".join(sorted_ids))
|
|
|
self.drone_list_label.setStyleSheet(
|
|
|
f"color: {self.group.color}; font-size: 11px; font-weight: bold;")
|
|
|
|
|
|
def update_status(self):
|
|
|
"""更新任務狀態顯示"""
|
|
|
state = self.group.state
|
|
|
if self.group.planned_waypoints is None:
|
|
|
self.status_label.setText("○ 未規劃")
|
|
|
self.status_label.setStyleSheet("color: #888; font-size: 11px;")
|
|
|
elif state == MissionState.RUNNING:
|
|
|
self.status_label.setText("▶ 執行中")
|
|
|
self.status_label.setStyleSheet("color: #4CAF50; font-size: 11px; font-weight: bold;")
|
|
|
elif state == MissionState.PAUSED:
|
|
|
self.status_label.setText("⏸ 已暫停")
|
|
|
self.status_label.setStyleSheet("color: #FFA000; font-size: 11px; font-weight: bold;")
|
|
|
else:
|
|
|
n = len(self.group.drone_ids)
|
|
|
total_wps = sum(len(wps) for wps in self.group.planned_waypoints['waypoints'])
|
|
|
self.status_label.setText(f"● 已規劃 ({n}架/{total_wps}點)")
|
|
|
self.status_label.setStyleSheet(
|
|
|
f"color: {self.group.color}; font-size: 11px; font-weight: bold;")
|
|
|
|
|
|
def _update_param_visibility(self, _=None):
|
|
|
"""根據當前任務類型，顯示/隱藏對應的參數列"""
|
|
|
mission_type = self.type_combo.currentText()
|
|
|
visible_keys = {d[0] for d in self._param_defs.get(mission_type, [])}
|
|
|
for key, (row_w, _inp) in self._param_widgets.items():
|
|
|
row_w.setVisible(key in visible_keys)
|
|
|
|
|
|
def get_mission_params(self):
|
|
|
"""讀取當前顯示的參數值，回傳 dict"""
|
|
|
mission_type = self.type_combo.currentText()
|
|
|
params = {}
|
|
|
for key, _label, default in self._param_defs.get(mission_type, []):
|
|
|
if key in self._param_widgets:
|
|
|
_row_w, inp = self._param_widgets[key]
|
|
|
try:
|
|
|
params[key] = float(inp.text())
|
|
|
except ValueError:
|
|
|
params[key] = float(default)
|
|
|
return params
|
|
|
|
|
|
def update_mission_info(self, center_lat, center_lon, target_lat, target_lon):
|
|
|
"""更新中心點 / 目標點顯示"""
|
|
|
info_style = f"color: {self.group.color}; font-size: 11px; font-weight: bold;"
|
|
|
self.center_label.setText(f"中心: {center_lat:.6f}°, {center_lon:.6f}°")
|
|
|
self.center_label.setStyleSheet(info_style)
|
|
|
self.target_label.setText(f"目標: {target_lat:.6f}°, {target_lon:.6f}°")
|
|
|
self.target_label.setStyleSheet(info_style)
|
|
|
|
|
|
def clear_mission_info(self):
|
|
|
"""清除中心點 / 目標點顯示"""
|
|
|
self.center_label.setText("中心: --")
|
|
|
self.center_label.setStyleSheet("color: #AAA; font-size: 11px;")
|
|
|
self.target_label.setText("目標: --")
|
|
|
self.target_label.setStyleSheet("color: #AAA; font-size: 11px;")
|
|
|
|
|
|
def _on_takeoff(self):
|
|
|
try:
|
|
|
alt = float(self.alt_input.currentText())
|
|
|
except ValueError:
|
|
|
alt = 10.0
|
|
|
self.takeoff_requested.emit(self.group.group_id, alt)
|
|
|
|