AirTrapMine/src/GUI/mission_group.py

#!/usr/bin/env python3
"""
任務群組模組
管理多任務群組的資料結構與無人機分配對話框
"""
from PyQt6.QtWidgets import (
    QWidget, QVBoxLayout, QHBoxLayout, QLabel, QPushButton,
    QComboBox, QDialog, QCheckBox, QScrollArea, QFrame, QLineEdit
)
from PyQt6.QtCore import Qt, pyqtSignal
from mission_executor import MissionExecutor, MissionState


# 群組顏色（循環使用）
GROUP_COLORS = [
    '#4A9EFF',  # 藍
    '#FF8C42',  # 橘
    '#56C87A',  # 綠
    '#E85D75',  # 紅
    '#B07CED',  # 紫
    '#F5C542',  # 黃
    '#42C9C9',  # 青
    '#FF6B9D',  # 粉
]


class MissionGroup:
    """單一任務群組的資料"""

    def __init__(self, group_id, color):
        self.group_id = group_id          # 'A', 'B', 'C', ...
        self.color = color                # 顏色 hex
        self.drone_ids = set()            # 已分配的無人機 ID
        self.mission_type = 'M_FORMATION' # 預設任務類型
        self.planned_waypoints = None     # 規劃結果 dict
        self.executor = None              # MissionExecutor 實例（延遲建立）
        self.center_origin = None         # 規劃原點

    @property
    def state(self):
        if self.executor is None:
            return MissionState.IDLE
        return self.executor.state

    @property
    def display_name(self):
        return f"Group {self.group_id}"


class DroneAssignDialog(QDialog):
    """無人機分配對話框"""

    def __init__(self, parent, all_drone_ids, current_assigned, other_assigned):
        """
        Args:
            parent: 父 widget
            all_drone_ids: 所有可用無人機 ID 列表
            current_assigned: 當前群組已分配的無人機 set
            other_assigned: 其他群組已佔用的無人機 dict {drone_id: group_id}
        """
        super().__init__(parent)
        self.setWindowTitle("分配無人機")
        self.setMinimumWidth(280)
        self.setStyleSheet("""
            QDialog { background-color: #2B2B2B; }
            QLabel { color: #DDD; }
            QCheckBox { color: #DDD; spacing: 8px; padding: 4px; }
            QCheckBox::indicator { width: 16px; height: 16px; }
            QCheckBox:disabled { color: #666; }
        """)

        layout = QVBoxLayout(self)

        title = QLabel("選擇要分配到此群組的無人機：")
        title.setStyleSheet("font-size: 13px; font-weight: bold; padding-bottom: 6px;")
        layout.addWidget(title)

        # 滾動區域
        scroll = QScrollArea()
        scroll.setWidgetResizable(True)
        scroll.setMaximumHeight(300)
        scroll_widget = QWidget()
        scroll_layout = QVBoxLayout(scroll_widget)
        scroll_layout.setSpacing(2)

        self.checkboxes = {}
        sorted_ids = sorted(all_drone_ids, key=lambda x: (x.split('_')[0], int(x.split('_')[1])))

        for drone_id in sorted_ids:
            cb = QCheckBox(drone_id)

            if drone_id in current_assigned:
                cb.setChecked(True)
            elif drone_id in other_assigned:
                cb.setEnabled(False)
                cb.setToolTip(f"已分配到 Group {other_assigned[drone_id]}")
                cb.setText(f"{drone_id}  (Group {other_assigned[drone_id]})")

            self.checkboxes[drone_id] = cb
            scroll_layout.addWidget(cb)

        scroll_layout.addStretch()
        scroll.setWidget(scroll_widget)
        layout.addWidget(scroll)

        # 按鈕
        btn_layout = QHBoxLayout()
        ok_btn = QPushButton("確定")
        ok_btn.setStyleSheet("""
            QPushButton { background-color: #4A9EFF; color: white; border: none;
                padding: 8px 20px; border-radius: 4px; font-weight: bold; }
            QPushButton:hover { background-color: #3A8EEF; }
        """)
        ok_btn.clicked.connect(self.accept)

        cancel_btn = QPushButton("取消")
        cancel_btn.setStyleSheet("""
            QPushButton { background-color: #555; color: #DDD; border: none;
                padding: 8px 20px; border-radius: 4px; }
            QPushButton:hover { background-color: #666; }
        """)
        cancel_btn.clicked.connect(self.reject)

        btn_layout.addStretch()
        btn_layout.addWidget(cancel_btn)
        btn_layout.addWidget(ok_btn)
        layout.addLayout(btn_layout)

    def get_selected(self):
        """回傳勾選的無人機 ID set"""
        return {did for did, cb in self.checkboxes.items() if cb.isChecked() and cb.isEnabled()}


class GroupPanel(QWidget):
    """單一群組的 UI 面板（嵌入到 tab 中）— 三欄式佈局"""

    # 信號
    assign_drones_requested = pyqtSignal(str)          # group_id
    mission_type_changed = pyqtSignal(str, str)        # group_id, mission_type
    start_requested = pyqtSignal(str)                  # group_id
    pause_requested = pyqtSignal(str)                  # group_id
    stop_requested = pyqtSignal(str)                   # group_id
    mode_change_requested = pyqtSignal(str, str)       # group_id, mode
    arm_requested = pyqtSignal(str)                    # group_id
    takeoff_requested = pyqtSignal(str, float)         # group_id, altitude
    box_select_requested = pyqtSignal(str)             # group_id — 框選直接分配
    select_all_requested = pyqtSignal(str)             # group_id — 全選直接分配
    clear_group_requested = pyqtSignal(str)            # group_id — 清除分組
    add_group_requested = pyqtSignal()                 # 新增群組
    delete_group_requested = pyqtSignal(str)           # group_id — 刪除群組

    BUTTON_STYLE = """
        QPushButton {{ background-color: {bg}; color: {fg}; border: none;
            padding: 5px 8px; border-radius: 4px; font-size: 11px; }}
        QPushButton:hover {{ background-color: {hover}; }}
        QPushButton:disabled {{ background-color: #444; color: #666; }}
    """

    def __init__(self, group: MissionGroup, parent=None):
        super().__init__(parent)
        self.group = group
        self._is_all_selected = False  # 追蹤全選狀態
        self.all_btn_ref = None  # 保存全選按鈕的參考
        self._build_ui()

    def _make_sep(self):
        """建立垂直分隔線"""
        sep = QFrame()
        sep.setFrameShape(QFrame.Shape.VLine)
        sep.setStyleSheet("color: #444;")
        return sep

    def _build_ui(self):
        layout = QVBoxLayout(self)
        layout.setContentsMargins(6, 4, 6, 4)
        layout.setSpacing(0)

        COMBO = ("QComboBox { background-color: #333; color: #DDD; "
                 "border-radius: 3px; padding: 2px 6px; font-size: 11px; }")
        BTN = self.BUTTON_STYLE
        LBL = "color: #AAA; font-size: 11px;"
        TITLE = "color: #DDD; font-size: 11px; font-weight: bold; padding-bottom: 2px;"

        # ── 三欄主佈局 ──
        cols = QHBoxLayout()
        cols.setSpacing(6)

        # ============================
        # 左欄：控制指令
        # ============================
        left = QVBoxLayout()
        left.setSpacing(3)

        left_title = QLabel("控制指令")
        left_title.setStyleSheet(TITLE)
        left.addWidget(left_title)

        # 模式切換
        mode_row = QHBoxLayout()
        mode_row.setSpacing(3)
        self.mode_combo = QComboBox()
        self.mode_combo.addItems([
            "GUIDED", "AUTO", "LAND", "LOITER",
            "STABILIZE", "ALT_HOLD", "RTL", "POSHOLD", "SMART_RTL"
        ])
        self.mode_combo.setStyleSheet(COMBO)
        mode_btn = QPushButton("切換")
        mode_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
        mode_btn.clicked.connect(
            lambda: self.mode_change_requested.emit(
                self.group.group_id, self.mode_combo.currentText()))
        mode_row.addWidget(self.mode_combo, 1)
        mode_row.addWidget(mode_btn)
        left.addLayout(mode_row)

        # 解鎖
        arm_btn = QPushButton("解鎖")
        arm_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
        arm_btn.clicked.connect(
            lambda: self.arm_requested.emit(self.group.group_id))
        left.addWidget(arm_btn)

        # 起飛
        takeoff_row = QHBoxLayout()
        takeoff_row.setSpacing(3)
        self.alt_input = QComboBox()
        self.alt_input.setEditable(True)
        self.alt_input.addItems(["5", "10", "15", "20"])
        self.alt_input.setCurrentText("10")
        self.alt_input.setStyleSheet(COMBO)
        alt_lbl = QLabel("m")
        alt_lbl.setStyleSheet(LBL)
        takeoff_btn = QPushButton("起飛")
        takeoff_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
        takeoff_btn.clicked.connect(self._on_takeoff)
        takeoff_row.addWidget(self.alt_input, 1)
        takeoff_row.addWidget(alt_lbl)
        takeoff_row.addWidget(takeoff_btn)
        left.addLayout(takeoff_row)

        left.addStretch()

        # ============================
        # 中欄：任務規劃（左右分割）
        # ============================
        mid = QVBoxLayout()
        mid.setSpacing(2)

        mid_title = QLabel("任務規劃")
        mid_title.setStyleSheet(TITLE)
        mid.addWidget(mid_title)

        mid_body = QHBoxLayout()
        mid_body.setSpacing(4)

        # 左側：類型 + 狀態 + 座標
        mid_left = QVBoxLayout()
        mid_left.setSpacing(2)
        self.type_combo = QComboBox()
        self.type_combo.addItems([
            "M_FORMATION", "CIRCLE_FORMATION", "LEADER_FOLLOWER", "GRID_SWEEP"
        ])
        self.type_combo.setStyleSheet(COMBO)
        self.type_combo.currentTextChanged.connect(
            lambda t: self.mission_type_changed.emit(self.group.group_id, t))
        mid_left.addWidget(self.type_combo)
        self.status_label = QLabel("○ 未規劃")
        self.status_label.setStyleSheet("color: #888; font-size: 11px;")
        mid_left.addWidget(self.status_label)
        self.center_label = QLabel("中心: --")
        self.center_label.setStyleSheet("color: #AAA; font-size: 11px;")
        mid_left.addWidget(self.center_label)
        self.target_label = QLabel("目標: --")
        self.target_label.setStyleSheet("color: #AAA; font-size: 11px;")
        mid_left.addWidget(self.target_label)
        mid_left.addStretch()

        # 右側：執行 / 暫停 / 停止（垂直排列）
        mid_right = QVBoxLayout()
        mid_right.setSpacing(3)
        self.start_btn = QPushButton("▶ 執行")
        self.start_btn.setStyleSheet(BTN.format(bg='#2E7D32', fg='white', hover='#388E3C'))
        self.start_btn.clicked.connect(
            lambda: self.start_requested.emit(self.group.group_id))
        self.pause_btn = QPushButton("⏸ 暫停")
        self.pause_btn.setStyleSheet(BTN.format(bg='#F57F17', fg='white', hover='#F9A825'))
        self.pause_btn.clicked.connect(
            lambda: self.pause_requested.emit(self.group.group_id))
        self.stop_btn = QPushButton("■ 停止")
        self.stop_btn.setStyleSheet(BTN.format(bg='#C62828', fg='white', hover='#D32F2F'))
        self.stop_btn.clicked.connect(
            lambda: self.stop_requested.emit(self.group.group_id))
        mid_right.addWidget(self.start_btn)
        mid_right.addWidget(self.pause_btn)
        mid_right.addWidget(self.stop_btn)
        mid_right.addStretch()

        mid_body.addLayout(mid_left, 1)
        mid_body.addLayout(mid_right)
        mid.addLayout(mid_body)

        # ============================
        # 選取與分組（3x2 按鈕）
        # ============================
        right = QVBoxLayout()
        right.setSpacing(3)

        right_title = QLabel("選取與分組")
        right_title.setStyleSheet(TITLE)
        right.addWidget(right_title)

        self.drone_list_label = QLabel("尚未分配")
        self.drone_list_label.setStyleSheet("color: #888; font-size: 11px;")
        self.drone_list_label.setWordWrap(True)
        right.addWidget(self.drone_list_label)

        # 3x2 按鈕網格：第一行 框選 全選 新增群組
        grid_r1 = QHBoxLayout()
        grid_r1.setSpacing(3)
        box_btn = QPushButton("框選")
        box_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5'))
        box_btn.clicked.connect(
            lambda: self.box_select_requested.emit(self.group.group_id))
        all_btn = QPushButton("全選/取消")
        all_btn.setStyleSheet(BTN.format(bg='#64B5F6', fg='white', hover='#42A5F5'))
        all_btn.clicked.connect(self._on_all_select_clicked)
        self.all_btn_ref = all_btn  # 保存按鈕參考（備用）
        add_group_btn = QPushButton("+ 新增群組")
        add_group_btn.setStyleSheet(BTN.format(bg='#4A9EFF', fg='white', hover='#3A8EEF'))
        add_group_btn.clicked.connect(lambda: self.add_group_requested.emit())
        grid_r1.addWidget(box_btn)
        grid_r1.addWidget(all_btn)
        grid_r1.addWidget(add_group_btn)
        right.addLayout(grid_r1)

        # 第二行 編輯分配 清除分組 刪除群組
        grid_r2 = QHBoxLayout()
        grid_r2.setSpacing(3)
        assign_btn = QPushButton("編輯分配")
        assign_btn.setStyleSheet(BTN.format(bg='#555', fg='#DDD', hover='#666'))
        assign_btn.clicked.connect(
            lambda: self.assign_drones_requested.emit(self.group.group_id))
        clear_btn = QPushButton("清除分組")
        clear_btn.setStyleSheet(BTN.format(bg='#777', fg='white', hover='#888'))
        clear_btn.clicked.connect(
            lambda: self.clear_group_requested.emit(self.group.group_id))
        delete_group_btn = QPushButton("刪除群組")
        delete_group_btn.setStyleSheet(BTN.format(bg='#EF5350', fg='white', hover='#E53935'))
        delete_group_btn.clicked.connect(
            lambda: self.delete_group_requested.emit(self.group.group_id))
        grid_r2.addWidget(assign_btn)
        grid_r2.addWidget(clear_btn)
        grid_r2.addWidget(delete_group_btn)
        right.addLayout(grid_r2)

        right.addStretch()

        # ============================
        # 第四欄：任務參數
        # ============================
        param_col = QVBoxLayout()
        param_col.setSpacing(2)

        param_title = QLabel("任務參數")
        param_title.setStyleSheet(TITLE)
        param_col.addWidget(param_title)

        INPUT = ("QLineEdit { background-color: #333; color: #DDD; "
                 "border: 1px solid #555; border-radius: 3px; "
                 "padding: 1px 4px; font-size: 11px; }")

        # 每種任務類型的參數定義: (key, label, default_value)
        self._param_defs = {
            'M_FORMATION': [
                ('spacing', '間距 (m)', '5.0'),
                ('base_altitude', '基準高度 (m)', '10.0'),
                ('altitude_diff', '高低差 (m)', '2.0'),
            ],
            'CIRCLE_FORMATION': [
                ('radius', '半徑 (m)', '10.0'),
                ('altitude', '高度 (m)', '10.0'),
                ('start_angle', '起始角 (°)', '0'),
            ],
            '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 ──
        # 使用伸展因子 0 讓列根據內容自動調整寬度，而不是均等分配
        cols.addLayout(left, 0)
        cols.addWidget(self._make_sep())
        cols.addLayout(mid, 0)
        cols.addWidget(self._make_sep())
        cols.addLayout(param_col, 0)
        cols.addWidget(self._make_sep())
        cols.addLayout(right, 0)
        cols.addStretch()  # 填充剩餘空間，使四列置左

        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 _on_all_select_clicked(self):
        """全選按鈕點擊 - 發送信號給 gui.py 處理 toggle 邏輯"""
        self.select_all_requested.emit(self.group.group_id)
    
    def set_all_select_state(self, is_selected):
        """外部設置全選狀態（按鈕文本保持「全選/取消」）"""
        self._is_all_selected = is_selected

    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)