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#!/usr/bin/env python3
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from PyQt6.QtWebEngineWidgets import QWebEngineView
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from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
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from PyQt6.QtWebChannel import QWebChannel
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def _log(level, message):
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print(f"[{level}] {message}")
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class DroneMap:
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"""無人機地圖類別 - 負責管理 Leaflet 地圖顯示"""
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def __init__(self):
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"""初始化地圖"""
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self.map_view = QWebEngineView()
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self.map_loaded = False
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self.pending_map_updates = {}
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# 創建橋接對象
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self.bridge = MapBridge()
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# 設置 QWebChannel
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self.channel = QWebChannel()
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self.channel.registerObject('bridge', self.bridge)
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self.map_view.page().setWebChannel(self.channel)
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# 設置地圖 HTML
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inline_html = '''
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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8" />
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<link rel="stylesheet" href="https://unpkg.com/leaflet/dist/leaflet.css" />
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<script src="https://unpkg.com/leaflet/dist/leaflet.js"></script>
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<script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
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<script src="qrc:///qtwebchannel/qwebchannel.js"></script>
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<style>
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html, body, #map { height: 100%; margin: 0; }
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#map {
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user-select: none;
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-webkit-user-select: none;
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-moz-user-select: none;
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-ms-user-select: none;
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}
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.map-controls {
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position: absolute;
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top: 10px;
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right: 10px;
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z-index: 1000;
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background-color: rgba(255, 255, 255, 0.95);
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padding: 10px;
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border-radius: 6px;
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box-shadow: 0 2px 8px rgba(0,0,0,0.3);
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display: flex;
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flex-direction: column;
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gap: 5px;
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min-width: 150px;
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}
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.map-controls-bottom {
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position: absolute;
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bottom: 10px;
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left: 10px;
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z-index: 1000;
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}
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.control-button {
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padding: 8px 12px;
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background-color: #EF5350;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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box-shadow: 0 2px 5px rgba(0,0,0,0.2);
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}
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.control-button:hover {
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background-color: #E53935;
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}
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.mission-info-panel {
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position: absolute;
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bottom: 10px;
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right: 10px;
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z-index: 1000;
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background-color: rgba(255, 255, 255, 0.95);
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padding: 12px;
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border-radius: 6px;
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box-shadow: 0 2px 8px rgba(0,0,0,0.3);
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min-width: 200px;
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}
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.mission-info-row {
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margin-bottom: 8px;
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font-size: 12px;
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color: #333;
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}
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.mission-info-label {
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font-weight: bold;
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color: #555;
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}
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.mission-info-value {
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color: #2196F3;
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font-family: monospace;
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}
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.mission-start-button {
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width: 100%;
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padding: 10px;
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background-color: #7FBA82;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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margin-top: 8px;
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}
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.mission-start-button:hover {
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background-color: #6FA872;
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}
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.mission-start-button:disabled {
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background-color: #ccc;
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cursor: not-allowed;
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}
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.selection-buttons {
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display: flex;
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flex-direction: column;
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gap: 5px;
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margin-bottom: 10px;
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padding-bottom: 10px;
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border-bottom: 1px solid #ddd;
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}
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.selection-button-blue {
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width: 100%;
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padding: 8px;
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background-color: #64B5F6;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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transition: background-color 0.2s;
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}
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.selection-button-blue:hover {
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background-color: #42A5F5;
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}
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.selection-button-blue.active {
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background-color: #1976D2;
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}
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.selection-button {
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width: 100%;
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padding: 8px;
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background-color: #F06A61;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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transition: background-color 0.2s;
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}
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.selection-button:hover {
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background-color: #E53935;
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}
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.selection-button.active {
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background-color: #D32F2F;
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}
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.confirm-route-button {
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width: 100%;
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padding: 8px;
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background-color: #66BB6A;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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transition: background-color 0.2s;
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}
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.confirm-route-button:hover {
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background-color: #4CAF50;
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}
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</style>
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</head>
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<body>
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<div id="map"></div>
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<div class="map-controls" id="map-controls-panel" style="display: none;">
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<button class="confirm-route-button" id="confirm-route-btn" onclick="confirmRoute()">確認路徑</button>
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</div>
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<script>
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var bridge;
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new QWebChannel(qt.webChannelTransport, function(channel) {
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bridge = channel.objects.bridge;
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});
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var map = L.map('map').setView([0, 0], 19);
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// 創建不同的地圖圖層
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var streetLayer = L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
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maxZoom: 19,
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attribution: '© OpenStreetMap contributors'
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});
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var satelliteLayer = L.tileLayer('https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}', {
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maxZoom: 19,
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attribution: 'Tiles © Esri'
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});
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// 默認使用衛星圖
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var currentLayer = satelliteLayer;
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currentLayer.addTo(map);
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var isSatellite = true;
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// 地圖點擊事件
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map.on('click', function(e) {
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if (selectionMode === 'polygon') {
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addPolygonPoint(e.latlng.lat, e.latlng.lng);
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} else if (selectionMode === 'route') {
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// 跟隨模式：添加路徑點
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addRoutePoint(e.latlng.lat, e.latlng.lng);
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} else if (!selectionMode) {
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// 正常模式：發送GPS信號
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if (bridge) {
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bridge.emitGpsSignal(e.latlng.lat, e.latlng.lng);
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console.log('點擊位置:', e.latlng.lat, e.latlng.lng);
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}
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}
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});
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// 地圖拖曳事件（用於矩形選擇）
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map.on('mousedown', function(e) {
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mapDragStarted = false;
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clickStartPos = {x: e.originalEvent.clientX, y: e.originalEvent.clientY};
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if (selectionMode === 'rect' || selectionMode === 'drones') {
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isDrawing = true;
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drawStartPoint = e.latlng;
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L.DomEvent.preventDefault(e.originalEvent);
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L.DomEvent.stopPropagation(e);
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}
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});
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map.on('mousemove', function(e) {
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// 檢測地圖拖移
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if (clickStartPos && !selectionMode) {
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var dx = Math.abs(e.originalEvent.clientX - clickStartPos.x);
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var dy = Math.abs(e.originalEvent.clientY - clickStartPos.y);
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if (dx > 5 || dy > 5) {
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mapDragStarted = true;
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}
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}
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if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
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if (tempRectangle) {
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selectionLayer.removeLayer(tempRectangle);
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}
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var bounds = L.latLngBounds(drawStartPoint, e.latlng);
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tempRectangle = L.rectangle(bounds, {
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color: selectionMode === 'drones' ? '#9C27B0' : '#FF6B6B',
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weight: 2,
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fillOpacity: selectionMode === 'drones' ? 0 : 0.2,
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dashArray: selectionMode === 'drones' ? '5, 5' : null
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}).addTo(selectionLayer);
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}
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});
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map.on('mouseup', function(e) {
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if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
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isDrawing = false;
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var bounds = L.latLngBounds(drawStartPoint, e.latlng);
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finishRectSelection(bounds);
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drawStartPoint = null;
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}
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clickStartPos = null;
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setTimeout(function() {
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mapDragStarted = false;
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}, 100);
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});
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function createArrowIcon(color) {
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return L.divIcon({
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className: 'drone-arrow',
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html: `
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<div style="
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width: 30px; height: 30px;
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display: flex;
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align-items: center;
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justify-content: center;
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">
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<svg width="30" height="30" viewBox="0 0 30 30">
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<polygon points="15,0 30,30 15,25 0,30" fill="${color || '#FF0000'}" />
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</svg>
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</div>
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`,
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iconSize: [30, 30],
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iconAnchor: [15, 15]
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});
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}
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function getColorBySocketId(id) {
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if (id.startsWith("s0_")) return "#00BFFF";
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if (id.startsWith("s1_")) return "#FFD700";
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if (id.startsWith("s2_")) return "#FF6969";
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if (id.startsWith("s3_")) return "#FF69B4";
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if (id.startsWith("s4_")) return "#00FA9A";
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if (id.startsWith("s5_")) return "#9370DB";
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if (id.startsWith("s6_")) return "#FFA500";
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if (id.startsWith("s7_")) return "#20B2AA";
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if (id.startsWith("s8_")) return "#7CFC00";
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if (id.startsWith("s9_")) return "#FF8C00";
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return "#AAAAAA";
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}
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function createIdIcon(id) {
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const sysid = id.split('_')[1];
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return L.divIcon({
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className: 'drone-id',
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html: `<div style="
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background-color: transparent;
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color: black;
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width: 16px;
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height: 16px;
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border-radius: 50%;
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display: flex;
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align-items: center;
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justify-content: center;
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font-weight: bold;
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font-size: 12px;
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text-shadow: 1px 1px 2px rgba(255,255,255,0.8), -1px -1px 2px rgba(255,255,255,0.8);
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">${sysid}</div>`,
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iconSize: [16, 16],
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iconAnchor: [8, 6]
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});
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}
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var markers = {};
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var idLabels = {};
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var trajectories = {};
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var trajectoryLines = {};
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var focusedId = null;
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var initialized = false;
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var trajectoryGroup = L.layerGroup().addTo(map);
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// ================================================================================
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// 任務規劃視覺化變數
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// ================================================================================
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var missionPlanGroup = L.layerGroup().addTo(map);
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var centerMarker = null;
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var targetMarker = null;
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var missionLine = null;
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var centerPosition = null;
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var targetPosition = null;
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// 多群組任務規劃 — 每個 group 各自的 layer group
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var groupMissionLayers = {}; // group_id → L.layerGroup
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// 選擇工具變量
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var selectionMode = null; // 'drones', 'rect', 'polygon', 'route', null
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var selectionLayer = L.layerGroup().addTo(map);
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var polygonPoints = [];
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var polygonMarkers = [];
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var tempRectangle = null;
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var isDrawing = false;
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var drawStartPoint = null;
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var mapDragStarted = false;
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var clickStartPos = null;
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// 路徑標記變量 (跟隨模式用)
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var routePoints = [];
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var routeMarkers = [];
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var routePolyline = null;
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var routeLayer = L.layerGroup().addTo(map);
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// ================================================================================
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// 任務信息已移至 GroupPanel 顯示
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function updateMissionInfo() {}
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// ================================================================================
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// 選擇工具函數
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// ================================================================================
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function toggleSelectAllDrones() {
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if (bridge) {
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bridge.toggleSelectAllDrones();
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console.log('切換全選無人機');
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}
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}
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function toggleDroneSelection() {
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if (selectionMode === 'drones') {
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selectionMode = null;
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selectionLayer.clearLayers();
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tempRectangle = null;
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map.dragging.enable();
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} else {
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clearSelectionMode();
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selectionMode = 'drones';
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map.dragging.disable();
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}
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}
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function togglePolygonSelection() {
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if (selectionMode === 'polygon') {
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if (polygonPoints.length >= 3) {
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finishPolygonSelection();
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} else {
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alert('至少需要3個點來形成區域');
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clearSelectionMode();
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clearPolygonPoints();
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selectionMode = null;
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// select-polygon-btn removed from map overlay
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}
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} else {
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clearSelectionMode();
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clearPolygonPoints();
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selectionMode = 'polygon';
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document.getElementById('select-polygon-btn').classList.add('active');
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map.dragging.disable();
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}
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}
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function clearSelectionMode() {
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selectionLayer.clearLayers();
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tempRectangle = null;
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// 不清除 routeLayer（由 clearRoutePoints 單獨管理）
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map.dragging.enable();
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if (selectionMode !== 'route') {
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selectionMode = null;
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}
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}
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function addPolygonPoint(lat, lng) {
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polygonPoints.push([lat, lng]);
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var marker = L.circleMarker([lat, lng], {
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radius: 5,
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color: '#FF6B6B',
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fillColor: '#FF6B6B',
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fillOpacity: 0.8
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}).addTo(selectionLayer);
|
|
|
polygonMarkers.push(marker);
|
|
|
|
|
|
if (polygonPoints.length > 1) {
|
|
|
L.polyline(polygonPoints, {
|
|
|
color: '#FF6B6B',
|
|
|
weight: 2,
|
|
|
dashArray: '5, 5'
|
|
|
}).addTo(selectionLayer);
|
|
|
}
|
|
|
|
|
|
console.log('添加邊界點:', lat, lng, '總共:', polygonPoints.length);
|
|
|
}
|
|
|
|
|
|
function clearPolygonPoints() {
|
|
|
polygonPoints = [];
|
|
|
polygonMarkers.forEach(m => selectionLayer.removeLayer(m));
|
|
|
polygonMarkers = [];
|
|
|
selectionLayer.clearLayers();
|
|
|
}
|
|
|
|
|
|
function finishPolygonSelection() {
|
|
|
if (polygonPoints.length < 3) {
|
|
|
alert('至少需要3個點來形成區域');
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
var polygon = L.polygon(polygonPoints, {
|
|
|
color: '#FF6B6B',
|
|
|
fillColor: '#FF6B6B',
|
|
|
fillOpacity: 0.2,
|
|
|
weight: 2
|
|
|
}).addTo(selectionLayer);
|
|
|
|
|
|
if (bridge) {
|
|
|
var pointsStr = JSON.stringify(polygonPoints);
|
|
|
bridge.polygonSelected(pointsStr);
|
|
|
console.log('多邊形選擇完成:', polygonPoints);
|
|
|
}
|
|
|
|
|
|
selectionMode = null;
|
|
|
// select-polygon-btn removed from map overlay
|
|
|
map.dragging.enable();
|
|
|
}
|
|
|
|
|
|
function finishRectSelection(bounds) {
|
|
|
var selectedDrones = [];
|
|
|
|
|
|
if (tempRectangle) {
|
|
|
selectionLayer.removeLayer(tempRectangle);
|
|
|
tempRectangle = null;
|
|
|
}
|
|
|
|
|
|
if (selectionMode === 'drones') {
|
|
|
if (bridge) {
|
|
|
bridge.clearAllDroneSelection();
|
|
|
}
|
|
|
|
|
|
Object.keys(markers).forEach(droneId => {
|
|
|
var pos = markers[droneId].getLatLng();
|
|
|
if (bounds.contains(pos)) {
|
|
|
selectedDrones.push(droneId);
|
|
|
if (bridge) {
|
|
|
bridge.emitDroneClicked(droneId);
|
|
|
}
|
|
|
}
|
|
|
});
|
|
|
console.log('框選無人機:', selectedDrones);
|
|
|
// 通知 Python 完整的框選結果
|
|
|
if (bridge && selectedDrones.length > 0) {
|
|
|
bridge.droneBoxSelected(JSON.stringify(selectedDrones));
|
|
|
}
|
|
|
|
|
|
} else if (selectionMode === 'rect') {
|
|
|
var rectPoints = [
|
|
|
[bounds.getNorth(), bounds.getWest()],
|
|
|
[bounds.getNorth(), bounds.getEast()],
|
|
|
[bounds.getSouth(), bounds.getEast()],
|
|
|
[bounds.getSouth(), bounds.getWest()]
|
|
|
];
|
|
|
|
|
|
L.rectangle(bounds, {
|
|
|
color: '#FF6B6B',
|
|
|
fillColor: '#FF6B6B',
|
|
|
fillOpacity: 0.2,
|
|
|
weight: 2
|
|
|
}).addTo(selectionLayer);
|
|
|
|
|
|
rectPoints.forEach(point => {
|
|
|
L.circleMarker(point, {
|
|
|
radius: 5,
|
|
|
color: '#FF6B6B',
|
|
|
fillColor: '#FF6B6B',
|
|
|
fillOpacity: 0.8
|
|
|
}).addTo(selectionLayer);
|
|
|
});
|
|
|
|
|
|
if (bridge) {
|
|
|
var pointsStr = JSON.stringify(rectPoints);
|
|
|
bridge.rectangleSelected(pointsStr);
|
|
|
console.log('矩形選擇完成:', rectPoints);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
// 重置狀態
|
|
|
selectionMode = null;
|
|
|
map.dragging.enable();
|
|
|
}
|
|
|
|
|
|
// ================================================================================
|
|
|
// 路徑標記函數 (跟隨模式用)
|
|
|
// ================================================================================
|
|
|
function addRoutePoint(lat, lng) {
|
|
|
routePoints.push([lat, lng]);
|
|
|
var idx = routePoints.length;
|
|
|
|
|
|
// 添加編號標記
|
|
|
var icon = L.divIcon({
|
|
|
className: 'route-point',
|
|
|
html: '<div style="' +
|
|
|
'background-color: #FF5722;' +
|
|
|
'color: white;' +
|
|
|
'width: 22px;' +
|
|
|
'height: 22px;' +
|
|
|
'border-radius: 50%;' +
|
|
|
'display: flex;' +
|
|
|
'align-items: center;' +
|
|
|
'justify-content: center;' +
|
|
|
'font-weight: bold;' +
|
|
|
'font-size: 11px;' +
|
|
|
'border: 2px solid white;' +
|
|
|
'box-shadow: 0 2px 5px rgba(0,0,0,0.3);' +
|
|
|
'">' + idx + '</div>',
|
|
|
iconSize: [22, 22],
|
|
|
iconAnchor: [11, 11]
|
|
|
});
|
|
|
|
|
|
var marker = L.marker([lat, lng], {
|
|
|
icon: icon,
|
|
|
zIndexOffset: 3000
|
|
|
}).addTo(routeLayer);
|
|
|
routeMarkers.push(marker);
|
|
|
|
|
|
// 更新連線
|
|
|
if (routePolyline) {
|
|
|
routeLayer.removeLayer(routePolyline);
|
|
|
}
|
|
|
if (routePoints.length > 1) {
|
|
|
routePolyline = L.polyline(routePoints, {
|
|
|
color: '#FF5722',
|
|
|
weight: 2.5,
|
|
|
opacity: 0.8,
|
|
|
dashArray: '8, 6'
|
|
|
}).addTo(routeLayer);
|
|
|
}
|
|
|
|
|
|
console.log('添加路徑點 #' + idx + ':', lat, lng);
|
|
|
}
|
|
|
|
|
|
function clearRoutePoints() {
|
|
|
routePoints = [];
|
|
|
routeMarkers = [];
|
|
|
if (routePolyline) {
|
|
|
routeLayer.removeLayer(routePolyline);
|
|
|
routePolyline = null;
|
|
|
}
|
|
|
routeLayer.clearLayers();
|
|
|
}
|
|
|
|
|
|
function confirmRoute() {
|
|
|
if (routePoints.length < 2) {
|
|
|
alert('至少需要 2 個路徑點');
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
if (bridge) {
|
|
|
var pointsStr = JSON.stringify(routePoints);
|
|
|
bridge.routeConfirmed(pointsStr);
|
|
|
console.log('路徑確認:', routePoints.length, '個點');
|
|
|
}
|
|
|
}
|
|
|
// ================================================================================
|
|
|
|
|
|
// 開始任務
|
|
|
function startMission() {
|
|
|
if (!centerPosition || !targetPosition) {
|
|
|
alert('請先設定中心點和目標點');
|
|
|
return;
|
|
|
}
|
|
|
|
|
|
if (bridge) {
|
|
|
bridge.startMissionSignal(
|
|
|
centerPosition.lat, centerPosition.lng,
|
|
|
targetPosition.lat, targetPosition.lng
|
|
|
);
|
|
|
console.log('開始任務:', centerPosition, targetPosition);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
// 暫停任務
|
|
|
function pauseMission() {
|
|
|
if (bridge) {
|
|
|
bridge.pauseMissionSignal();
|
|
|
console.log('暫停任務');
|
|
|
}
|
|
|
}
|
|
|
|
|
|
// ================================================================================
|
|
|
// 任務模式切換
|
|
|
// ================================================================================
|
|
|
function onMissionModeChanged(mode) {
|
|
|
// 先清除選擇狀態
|
|
|
selectionMode = null;
|
|
|
clearSelectionMode();
|
|
|
clearRoutePoints();
|
|
|
|
|
|
// 預設隱藏控制面板
|
|
|
document.getElementById('map-controls-panel').style.display = 'none';
|
|
|
|
|
|
if (mode === 'GRID_SWEEP') {
|
|
|
// 自動進入框選模式
|
|
|
selectionMode = 'rect';
|
|
|
map.dragging.disable();
|
|
|
console.log('Grid Sweep: 進入框選模式');
|
|
|
} else if (mode === 'LEADER_FOLLOWER') {
|
|
|
// 進入路徑標記模式 + 顯示確認路徑按鈕
|
|
|
selectionMode = 'route';
|
|
|
document.getElementById('map-controls-panel').style.display = 'flex';
|
|
|
console.log('跟隨模式: 進入路徑標記模式，點擊地圖添加路徑點');
|
|
|
}
|
|
|
|
|
|
if (bridge) {
|
|
|
bridge.missionModeChanged(mode);
|
|
|
console.log('任務模式切換:', mode);
|
|
|
}
|
|
|
}
|
|
|
// ================================================================================
|
|
|
|
|
|
function initTrajectory(id) {
|
|
|
if (!trajectories[id]) {
|
|
|
trajectories[id] = [];
|
|
|
const color = getColorBySocketId(id);
|
|
|
trajectoryLines[id] = L.polyline([], {
|
|
|
color: color,
|
|
|
weight: 3,
|
|
|
opacity: 0.7,
|
|
|
smoothFactor: 1
|
|
|
}).addTo(trajectoryGroup);
|
|
|
}
|
|
|
}
|
|
|
|
|
|
function addTrajectoryPoint(id, lat, lon) {
|
|
|
initTrajectory(id);
|
|
|
const point = [lat, lon];
|
|
|
trajectories[id].push(point);
|
|
|
|
|
|
if (trajectories[id].length > 1000) {
|
|
|
trajectories[id].shift();
|
|
|
}
|
|
|
|
|
|
trajectoryLines[id].setLatLngs([...trajectories[id]]);
|
|
|
}
|
|
|
|
|
|
function focusOn(id) {
|
|
|
if (!markers[id]) return;
|
|
|
focusedId = id;
|
|
|
var latlng = markers[id].getLatLng();
|
|
|
map.flyTo(latlng, map.getZoom());
|
|
|
}
|
|
|
|
|
|
setInterval(() => {
|
|
|
if (focusedId && markers[focusedId]) {
|
|
|
var latlng = markers[focusedId].getLatLng();
|
|
|
map.panTo(latlng);
|
|
|
}
|
|
|
}, 1000);
|
|
|
|
|
|
function updateDrone(lat, lon, id, heading) {
|
|
|
if (markers[id]) {
|
|
|
const lastPos = markers[id].getLatLng();
|
|
|
const distance = lastPos.distanceTo([lat, lon]);
|
|
|
if (distance > 1) {
|
|
|
addTrajectoryPoint(id, lat, lon);
|
|
|
}
|
|
|
|
|
|
markers[id]
|
|
|
.setLatLng([lat, lon])
|
|
|
.setRotationAngle(heading);
|
|
|
idLabels[id].setLatLng([lat, lon]);
|
|
|
} else {
|
|
|
initTrajectory(id);
|
|
|
addTrajectoryPoint(id, lat, lon);
|
|
|
|
|
|
const color = getColorBySocketId(id);
|
|
|
markers[id] = L.marker([lat, lon], {
|
|
|
icon: createArrowIcon(color),
|
|
|
rotationAngle: heading,
|
|
|
rotationOrigin: 'center'
|
|
|
})
|
|
|
.on('click', function () {
|
|
|
if (mapDragStarted) {
|
|
|
return;
|
|
|
}
|
|
|
if (bridge) {
|
|
|
bridge.emitDroneClicked(id);
|
|
|
}
|
|
|
focusOn(id);
|
|
|
})
|
|
|
.addTo(map);
|
|
|
|
|
|
idLabels[id] = L.marker([lat, lon], {
|
|
|
icon: createIdIcon(id),
|
|
|
zIndexOffset: 1000
|
|
|
})
|
|
|
.on('click', function() {
|
|
|
if (mapDragStarted) {
|
|
|
return;
|
|
|
}
|
|
|
if (bridge) {
|
|
|
bridge.emitDroneClicked(id);
|
|
|
}
|
|
|
focusOn(id);
|
|
|
})
|
|
|
.addTo(map);
|
|
|
|
|
|
if (!initialized || id < focusedId) {
|
|
|
focusedId = id;
|
|
|
map.setView([lat, lon], 19);
|
|
|
initialized = true;
|
|
|
}
|
|
|
}
|
|
|
}
|
|
|
|
|
|
function clearAllTrajectories() {
|
|
|
trajectories = {};
|
|
|
Object.values(trajectoryLines).forEach(line => {
|
|
|
trajectoryGroup.removeLayer(line);
|
|
|
});
|
|
|
trajectoryLines = {};
|
|
|
console.log('所有軌跡已清除');
|
|
|
}
|
|
|
|
|
|
// ================================================================================
|
|
|
// 任務規劃視覺化函式
|
|
|
// ================================================================================
|
|
|
function drawMissionPlan(centerLat, centerLon, targetLat, targetLon) {
|
|
|
drawMissionPlanForGroup('_default', '#FF4444', centerLat, centerLon, targetLat, targetLon);
|
|
|
}
|
|
|
|
|
|
function drawMissionPlanForGroup(groupId, color, centerLat, centerLon, targetLat, targetLon) {
|
|
|
clearMissionPlanForGroup(groupId);
|
|
|
|
|
|
centerPosition = {lat: centerLat, lng: centerLon};
|
|
|
targetPosition = {lat: targetLat, lng: targetLon};
|
|
|
updateMissionInfo();
|
|
|
|
|
|
var layerGroup = L.layerGroup().addTo(map);
|
|
|
groupMissionLayers[groupId] = layerGroup;
|
|
|
|
|
|
var centerIcon = L.divIcon({
|
|
|
className: 'mission-center',
|
|
|
html: '<div style="' +
|
|
|
'background-color: ' + color + ';' +
|
|
|
'color: white;' +
|
|
|
'width: 22px; height: 22px;' +
|
|
|
'border-radius: 50%;' +
|
|
|
'display: flex; align-items: center; justify-content: center;' +
|
|
|
'font-weight: bold; font-size: 10px;' +
|
|
|
'border: 2px solid white;' +
|
|
|
'box-shadow: 0 2px 5px rgba(0,0,0,0.3);' +
|
|
|
'">' + groupId + '</div>',
|
|
|
iconSize: [22, 22],
|
|
|
iconAnchor: [11, 11]
|
|
|
});
|
|
|
|
|
|
L.marker([centerLat, centerLon], {
|
|
|
icon: centerIcon, zIndexOffset: 2000
|
|
|
}).addTo(layerGroup);
|
|
|
|
|
|
var targetIcon = L.divIcon({
|
|
|
className: 'mission-target',
|
|
|
html: '<div style="' +
|
|
|
'background-color: #FFD700;' +
|
|
|
'color: ' + color + ';' +
|
|
|
'width: 22px; height: 22px;' +
|
|
|
'border-radius: 50%;' +
|
|
|
'display: flex; align-items: center; justify-content: center;' +
|
|
|
'font-weight: bold; font-size: 14px;' +
|
|
|
'border: 2px solid white;' +
|
|
|
'box-shadow: 0 2px 5px rgba(0,0,0,0.3);' +
|
|
|
'">★</div>',
|
|
|
iconSize: [22, 22],
|
|
|
iconAnchor: [11, 11]
|
|
|
});
|
|
|
|
|
|
L.marker([targetLat, targetLon], {
|
|
|
icon: targetIcon, zIndexOffset: 2000
|
|
|
}).addTo(layerGroup);
|
|
|
|
|
|
console.log('Group ' + groupId + ' 任務規劃已繪製');
|
|
|
}
|
|
|
|
|
|
function clearMissionPlanForGroup(groupId) {
|
|
|
if (groupMissionLayers[groupId]) {
|
|
|
map.removeLayer(groupMissionLayers[groupId]);
|
|
|
delete groupMissionLayers[groupId];
|
|
|
}
|
|
|
}
|
|
|
|
|
|
function clearAllMissionPlans() {
|
|
|
for (var gid in groupMissionLayers) {
|
|
|
map.removeLayer(groupMissionLayers[gid]);
|
|
|
}
|
|
|
groupMissionLayers = {};
|
|
|
centerPosition = null;
|
|
|
targetPosition = null;
|
|
|
updateMissionInfo();
|
|
|
|
|
|
console.log('任務規劃已清除');
|
|
|
}
|
|
|
// ================================================================================
|
|
|
</script>
|
|
|
</body>
|
|
|
</html>
|
|
|
'''
|
|
|
|
|
|
self.map_view.setHtml(inline_html)
|
|
|
self.map_view.loadFinished.connect(self._on_map_loaded)
|
|
|
|
|
|
# 設置地圖更新計時器
|
|
|
self.map_update_timer = QTimer()
|
|
|
self.map_update_timer.timeout.connect(self.update_map_positions)
|
|
|
self.map_update_timer.start(200) # 每 200ms 更新一次
|
|
|
|
|
|
def _on_map_loaded(self, ok: bool):
|
|
|
"""地圖加載完成回調"""
|
|
|
if ok:
|
|
|
self.map_loaded = True
|
|
|
else:
|
|
|
_log("ERROR", "地圖載入失敗")
|
|
|
|
|
|
def update_drone_position(self, drone_id, lat, lon, heading):
|
|
|
"""更新無人機位置（加入待處理隊列）"""
|
|
|
self.pending_map_updates[drone_id] = (lat, lon, heading)
|
|
|
|
|
|
def update_map_positions(self):
|
|
|
"""批量更新地圖上的無人機位置"""
|
|
|
if not self.map_loaded or not self.pending_map_updates:
|
|
|
return
|
|
|
|
|
|
js_commands = []
|
|
|
for drone_id, (lat, lon, heading) in self.pending_map_updates.items():
|
|
|
js_commands.append(f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});")
|
|
|
|
|
|
if js_commands:
|
|
|
combined_js = "\n".join(js_commands)
|
|
|
self.map_view.page().runJavaScript(combined_js)
|
|
|
|
|
|
self.pending_map_updates.clear()
|
|
|
|
|
|
def clear_trajectories(self):
|
|
|
"""清除所有軌跡"""
|
|
|
if self.map_loaded:
|
|
|
self.map_view.page().runJavaScript("clearAllTrajectories();")
|
|
|
|
|
|
def focus_on_drone(self, drone_id):
|
|
|
"""聚焦到指定無人機"""
|
|
|
if self.map_loaded:
|
|
|
self.map_view.page().runJavaScript(f"focusOn('{drone_id}');")
|
|
|
|
|
|
# ================================================================================
|
|
|
# 任務規劃視覺化方法
|
|
|
# ================================================================================
|
|
|
def draw_mission_plan(self, center_lat, center_lon, target_lat, target_lon):
|
|
|
"""在地圖上繪製任務規劃（舊介面，相容用）"""
|
|
|
self.draw_mission_plan_for_group('_default', '#FF4444',
|
|
|
center_lat, center_lon, target_lat, target_lon)
|
|
|
|
|
|
def draw_mission_plan_for_group(self, group_id, color,
|
|
|
center_lat, center_lon, target_lat, target_lon):
|
|
|
"""在地圖上繪製指定群組的任務規劃（帶顏色區分）"""
|
|
|
if self.map_loaded:
|
|
|
js_code = (
|
|
|
f"drawMissionPlanForGroup("
|
|
|
f"'{group_id}', '{color}', "
|
|
|
f"{center_lat:.6f}, {center_lon:.6f}, "
|
|
|
f"{target_lat:.6f}, {target_lon:.6f});"
|
|
|
)
|
|
|
self.map_view.page().runJavaScript(js_code)
|
|
|
_log(
|
|
|
"INFO",
|
|
|
f"地圖已繪製 Group {group_id} 任務規劃: "
|
|
|
f"C({center_lat:.6f}, {center_lon:.6f}) -> "
|
|
|
f"T({target_lat:.6f}, {target_lon:.6f})",
|
|
|
)
|
|
|
|
|
|
def clear_mission_plan(self):
|
|
|
"""清除地圖上所有任務規劃標記"""
|
|
|
if self.map_loaded:
|
|
|
self.map_view.page().runJavaScript("clearAllMissionPlans();")
|
|
|
_log("INFO", "地圖已清除所有任務規劃")
|
|
|
|
|
|
def clear_mission_plan_for_group(self, group_id):
|
|
|
"""清除指定群組的任務規劃標記"""
|
|
|
if self.map_loaded:
|
|
|
self.map_view.page().runJavaScript(f"clearMissionPlanForGroup('{group_id}');")
|
|
|
_log("INFO", f"地圖已清除 Group {group_id} 任務規劃")
|
|
|
|
|
|
def set_mission_mode(self, mode):
|
|
|
"""從 Python 端切換地圖的任務模式（觸發框選/路徑標記等）"""
|
|
|
if self.map_loaded:
|
|
|
self.map_view.page().runJavaScript(f"onMissionModeChanged('{mode}');")
|
|
|
|
|
|
def toggle_drone_box_select(self):
|
|
|
"""切換地圖上的無人機框選模式"""
|
|
|
if self.map_loaded:
|
|
|
self.map_view.page().runJavaScript("toggleDroneSelection();")
|
|
|
# ================================================================================
|
|
|
|
|
|
def get_widget(self):
|
|
|
"""獲取地圖 widget"""
|
|
|
return self.map_view
|
|
|
|
|
|
def get_gps_signal(self):
|
|
|
"""獲取 GPS 信號"""
|
|
|
return self.bridge.gps_signal
|
|
|
|
|
|
def get_drone_clicked_signal(self):
|
|
|
"""獲取無人機點擊信號"""
|
|
|
return self.bridge.drone_clicked
|
|
|
|
|
|
def get_clear_all_drone_selection_signal(self):
|
|
|
"""獲取清除所有無人機選擇信號"""
|
|
|
return self.bridge.clear_all_drone_selection
|
|
|
|
|
|
def get_toggle_select_all_drones_signal(self):
|
|
|
"""獲取切換全選所有無人機信號"""
|
|
|
return self.bridge.select_all_drones
|
|
|
|
|
|
def get_select_all_drones_signal(self):
|
|
|
"""獲取全選所有無人機信號"""
|
|
|
return self.bridge.select_all_drones
|
|
|
|
|
|
def get_start_mission_signal(self):
|
|
|
"""獲取開始任務信號"""
|
|
|
return self.bridge.start_mission_signal
|
|
|
|
|
|
def get_pause_mission_signal(self):
|
|
|
"""獲取暫停任務信號"""
|
|
|
return self.bridge.pause_mission_signal
|
|
|
|
|
|
def get_rectangle_selected_signal(self):
|
|
|
"""獲取矩形選擇信號"""
|
|
|
return self.bridge.rectangle_selected
|
|
|
|
|
|
def get_polygon_selected_signal(self):
|
|
|
"""獲取多邊形選擇信號"""
|
|
|
return self.bridge.polygon_selected
|
|
|
|
|
|
def get_mission_mode_changed_signal(self):
|
|
|
"""獲取任務模式切換信號"""
|
|
|
return self.bridge.mission_mode_changed
|
|
|
|
|
|
def get_route_confirmed_signal(self):
|
|
|
"""獲取路徑確認信號"""
|
|
|
return self.bridge.route_confirmed
|
|
|
|
|
|
def get_drone_box_selected_signal(self):
|
|
|
"""獲取框選無人機完成信號"""
|
|
|
return self.bridge.drone_box_selected
|
|
|
|
|
|
class MapBridge(QObject):
|
|
|
"""JavaScript 和 Python 之間的橋接類"""
|
|
|
gps_signal = pyqtSignal(float, float)
|
|
|
drone_clicked = pyqtSignal(str)
|
|
|
clear_all_drone_selection = pyqtSignal()
|
|
|
select_all_drones = pyqtSignal()
|
|
|
start_mission_signal = pyqtSignal(float, float, float, float)
|
|
|
pause_mission_signal = pyqtSignal()
|
|
|
rectangle_selected = pyqtSignal(str)
|
|
|
polygon_selected = pyqtSignal(str)
|
|
|
mission_mode_changed = pyqtSignal(str)
|
|
|
route_confirmed = pyqtSignal(str) # 路徑確認 (JSON 字串)
|
|
|
drone_box_selected = pyqtSignal(str) # 框選無人機完成 (JSON 字串)
|
|
|
|
|
|
def __init__(self):
|
|
|
super().__init__()
|
|
|
|
|
|
@pyqtSlot(float, float)
|
|
|
def emitGpsSignal(self, lat, lon):
|
|
|
"""供 JavaScript 調用的方法"""
|
|
|
self.gps_signal.emit(lat, lon)
|
|
|
|
|
|
@pyqtSlot(str)
|
|
|
def emitDroneClicked(self, drone_id):
|
|
|
"""供 JavaScript 調用的方法 - 當無人機被點擊時"""
|
|
|
self.drone_clicked.emit(drone_id)
|
|
|
|
|
|
@pyqtSlot()
|
|
|
def clearAllDroneSelection(self):
|
|
|
"""供 JavaScript 調用的方法 - 清除所有無人機選擇"""
|
|
|
self.clear_all_drone_selection.emit()
|
|
|
_log("INFO", "已清除所有無人機選擇")
|
|
|
|
|
|
@pyqtSlot()
|
|
|
def toggleSelectAllDrones(self):
|
|
|
"""供 JavaScript 調用的方法 - 切換全選/取消全選所有無人機"""
|
|
|
self.select_all_drones.emit()
|
|
|
_log("INFO", "已切換全選無人機")
|
|
|
|
|
|
@pyqtSlot(float, float, float, float)
|
|
|
def startMissionSignal(self, center_lat, center_lon, target_lat, target_lon):
|
|
|
"""供 JavaScript 調用的方法 - 開始任務"""
|
|
|
self.start_mission_signal.emit(center_lat, center_lon, target_lat, target_lon)
|
|
|
_log(
|
|
|
"INFO",
|
|
|
f"已發出開始任務信號: "
|
|
|
f"C({center_lat}, {center_lon}) -> T({target_lat}, {target_lon})",
|
|
|
)
|
|
|
|
|
|
@pyqtSlot()
|
|
|
def pauseMissionSignal(self):
|
|
|
"""供 JavaScript 調用的方法 - 暫停任務"""
|
|
|
self.pause_mission_signal.emit()
|
|
|
_log("INFO", "已發出暫停任務信號")
|
|
|
|
|
|
@pyqtSlot(str)
|
|
|
def rectangleSelected(self, points_json):
|
|
|
"""供 JavaScript 調用的方法 - 矩形選擇完成"""
|
|
|
self.rectangle_selected.emit(points_json)
|
|
|
_log("INFO", f"矩形區域已選擇: {points_json}")
|
|
|
|
|
|
@pyqtSlot(str)
|
|
|
def polygonSelected(self, points_json):
|
|
|
"""供 JavaScript 調用的方法 - 多邊形選擇完成"""
|
|
|
self.polygon_selected.emit(points_json)
|
|
|
_log("INFO", f"多邊形區域已選擇: {points_json}")
|
|
|
|
|
|
@pyqtSlot(str)
|
|
|
def missionModeChanged(self, mode):
|
|
|
"""供 JavaScript 調用的方法 - 任務模式切換"""
|
|
|
self.mission_mode_changed.emit(mode)
|
|
|
_log("INFO", f"任務模式已切換: {mode}")
|
|
|
|
|
|
@pyqtSlot(str)
|
|
|
def routeConfirmed(self, points_json):
|
|
|
"""供 JavaScript 調用的方法 - 路徑確認"""
|
|
|
self.route_confirmed.emit(points_json)
|
|
|
_log("INFO", f"路徑已確認: {points_json}")
|
|
|
|
|
|
@pyqtSlot(str)
|
|
|
def droneBoxSelected(self, drone_ids_json):
|
|
|
"""供 JavaScript 調用的方法 - 框選無人機完成"""
|
|
|
self.drone_box_selected.emit(drone_ids_json)
|
|
|
_log("INFO", f"框選無人機完成: {drone_ids_json}")
|