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#!/usr/bin/env python3
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from PyQt6.QtWidgets import QTableWidget, QTableWidgetItem, QHeaderView, QLabel
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from PyQt6.QtCore import Qt
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class OverviewTable(QTableWidget):
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"""總覽表格，顯示所有無人機的狀態資訊"""
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# 默認的資訊類型和映射
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# 「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。
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# 此列不來自遙測 QLabel，由 MissionExecutor 訊號經 update_table(field='mission') 餵入。
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DEFAULT_INFO_TYPES = ["任務狀態",
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"模式", "ARM", "電壓", "經度", "緯度", "FixType", "衛星數", "EPH", "EPV",
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"高度", "XY位置", "XY速度", "地速", "航向", "空速", "油門", "海拔高度",
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"爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"]
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DEFAULT_INFO_TYPE_MAP = {
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"mission": 0,
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"mode": 1,
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"armed": 2,
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"battery": 3,
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"longitude": 4,
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"latitude": 5,
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"fix_type": 6,
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"satellites_visible": 7,
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"eph": 8,
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"epv": 9,
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"altitude": 10,
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"local": 11,
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"velocity": 12,
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"groundspeed": 13,
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"heading": 14,
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"airspeed": 15,
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"throttle": 16,
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"hud_alt": 17,
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"climb": 18,
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"roll": 19,
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"pitch": 20,
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"yaw": 21,
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"loss_rate": 22,
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"ping": 23
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}
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def __init__(self, info_types=None, info_type_map=None, parent=None):
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super().__init__(parent)
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# 使用提供的或默認的資訊類型
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self.info_types = info_types if info_types is not None else self.DEFAULT_INFO_TYPES
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self.info_type_map = info_type_map if info_type_map is not None else self.DEFAULT_INFO_TYPE_MAP
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self.drones = {} # 存儲無人機面板的引用
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# 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
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self.mission_status = {} # drone_id -> 任務狀態文字
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# 初始化表格
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self.setColumnCount(1)
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self.setRowCount(len(self.info_types))
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self.setHorizontalHeaderLabels(["資訊"])
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header = self.horizontalHeader()
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header.setSectionResizeMode(0, QHeaderView.ResizeMode.ResizeToContents)
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self.verticalHeader().setVisible(False)
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# 設置第一列的資訊類型
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for i, txt in enumerate(self.info_types):
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item = QTableWidgetItem(txt)
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item.setFlags(Qt.ItemFlag.ItemIsEnabled)
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item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
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self.setItem(i, 0, item)
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def set_drones(self, drones):
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"""設置無人機面板字典的引用"""
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self.drones = drones
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def update_table(self, drone_id=None, field=None, value=None):
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"""更新總覽表格
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Args:
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drone_id: 無人機 ID
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field: 欄位名稱 (如 'mode', 'altitude' 等)
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value: 要更新的值
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"""
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# 更新特定儲存格
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if drone_id and field and value:
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if drone_id not in self.drones:
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return
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# 任務狀態另存一份，讓 refresh_all（用遙測重繪）不會把它清掉
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if field == 'mission':
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self.mission_status[drone_id] = value
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col = 1 + list(self.drones.keys()).index(drone_id)
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row = self.info_type_map.get(field, -1)
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if row == -1:
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return # 無效的欄位
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item = self.item(row, col)
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if not item:
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item = QTableWidgetItem()
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self.setItem(row, col, item)
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item.setText(value)
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item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
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# 如果沒有指定更新，刷新整個表格
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if drone_id is None:
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self.refresh_all()
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def refresh_all(self):
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"""刷新整個表格"""
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cols = 1 + len(self.drones)
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self.setColumnCount(cols)
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headers = ["資訊"] + list(self.drones.keys())
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self.setHorizontalHeaderLabels(headers)
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for col, did in enumerate(self.drones, start=1):
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panel = self.drones[did]
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for field, row in self.info_type_map.items():
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if field == 'mission':
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# 任務狀態非遙測，取自獨立保存，避免被 "--" 蓋掉
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val = self.mission_status.get(did, "--")
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else:
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lbl = panel.findChild(QLabel, f"{did}_{field}")
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val = lbl.text() if lbl else "--"
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val_item = QTableWidgetItem(val)
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val_item.setTextAlignment(Qt.AlignmentFlag.AlignCenter)
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self.setItem(row, col, val_item)
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def add_drone_column(self, drone_id):
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"""當新增無人機時，添加一列"""
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if drone_id in self.drones:
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self.refresh_all()
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def remove_drone_column(self, drone_id):
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"""當移除無人機時，刷新表格"""
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if drone_id in self.drones:
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self.refresh_all()
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