Update GUI 2.4.1

src/GUI/gui.py

@@ -147,7 +147,7 @@ class ToggleSwitch(QWidget):
 class ControlStationUI(QMainWindow):
     planning_finished = pyqtSignal(object)
 
-    VERSION = '2.4.0'
+    VERSION = '2.4.1'
     FONT_SCALE_MIN = 70
     FONT_SCALE_MAX = 180
     FONT_SCALE_DEFAULT = 100
@@ -194,6 +194,11 @@ class ControlStationUI(QMainWindow):
         self.panel_map_timer = QTimer()
         self.panel_map_timer.timeout.connect(self._update_panel_and_map)
         self.panel_map_timer.start(100)  # 10Hz
+
+        # Attitude 顯示器獨立高頻更新（30Hz），避免被 panel/table/map 節奏拖住
+        self.attitude_timer = QTimer()
+        self.attitude_timer.timeout.connect(self._update_attitude_only)
+        self.attitude_timer.start(33)
         
         # 消息隊列處理定時器（來自線程的 GUI 更新）
         self.msg_queue_timer = QTimer()
@@ -202,7 +207,9 @@ class ControlStationUI(QMainWindow):
         
         # 快取消息數據，以便在沒有新消息時使用上一次的值
         self._message_cache = {}
+        self._attitude_cache = {}
         self._overview_cache = {}
+        self._map_dirty_drones = set()
         self.message_history = []
         self.max_message_history = 500
         
@@ -230,10 +237,10 @@ class ControlStationUI(QMainWindow):
         # 初始化地圖
         self.drone_map = DroneMap()
 
-        # 地圖更新獨立降頻（5Hz），避免 WebEngine / JS map 拖慢 panel 更新
+        # 地圖更新獨立節流（10Hz），避免 WebEngine / JS map 拖慢 panel 更新
         self.map_timer = QTimer()
         self.map_timer.timeout.connect(self._update_map_only)
-        self.map_timer.start(200)
+        self.map_timer.start(100)
 
         # Overview table 獨立批次更新（5Hz），避免每筆資料都重繪 Qt table
         self.overview_timer = QTimer()
@@ -1603,6 +1610,8 @@ class ControlStationUI(QMainWindow):
             self._message_cache[drone_id] = {}
         
         self._message_cache[drone_id][msg_type] = data
+        if msg_type == 'attitude':
+            self._attitude_cache[drone_id] = data
 
 
     # ================================================================================
@@ -2242,14 +2251,15 @@ class ControlStationUI(QMainWindow):
         
         try:
             start_time = time.time()
+            pending_messages = self._message_cache
+            self._message_cache = {}
             
-            # ✅ 步驟 2: 遍歷快取中最新的資料來更新 UI
+            # ✅ 步驟 2: 只處理本批新資料，避免每個 tick 重跑舊資料造成週期性卡頓
-            for drone_id in list(self._message_cache.keys()):
+            for drone_id, cached_data in pending_messages.items():
                 if drone_id not in self.drones:
                     continue
                 
                 panel = self.drones[drone_id]
-                cached_data = self._message_cache[drone_id]
                 
                 # 處理所有快取的消息類型
                 for msg_type, data in cached_data.items():
@@ -2312,16 +2322,12 @@ class ControlStationUI(QMainWindow):
                         self.queue_overview_update(drone_id, 'roll', f"{roll:.1f}°")
                         self.queue_overview_update(drone_id, 'pitch', f"{pitch:.1f}°")
                         self.queue_overview_update(drone_id, 'yaw', f"{yaw:.1f}°")
-                        panel._last_roll = roll
-                        panel._last_pitch = pitch
-                        if hasattr(panel, 'update_attitude'):
-                            heading = self.drone_headings.get(drone_id, yaw)
-                            panel.update_attitude(heading, roll, pitch)
                     
                     elif msg_type == 'gps':
                         gps_data = data
                         lat, lon = gps_data.get('lat', 0), gps_data.get('lon', 0)
                         self.drone_positions[drone_id] = (lat, lon)
+                        self._map_dirty_drones.add(drone_id)
                         alt = gps_data.get('alt', 0)
                         if not hasattr(self.monitor, 'drone_gps'):
                             self.monitor.drone_gps = {}
@@ -2360,6 +2366,7 @@ class ControlStationUI(QMainWindow):
                         hud_data = data
                         heading = hud_data.get('heading', 0)
                         self.drone_headings[drone_id] = heading
+                        self._map_dirty_drones.add(drone_id)
                         groundspeed = hud_data.get('groundspeed', 0)
                         airspeed = hud_data.get('airspeed', 0)
                         throttle = hud_data.get('throttle', 0)
@@ -2387,11 +2394,43 @@ class ControlStationUI(QMainWindow):
 
     def _update_map_only(self):
         """獨立降頻更新地圖，避免地圖 JS 呼叫拖住 panel / table。"""
-        for drone_id, pos in list(self.drone_positions.items()):
+        dirty_drones = getattr(self, '_map_dirty_drones', set())
+        if not dirty_drones:
+            return
+
+        pending_drones = list(dirty_drones)
+        self._map_dirty_drones = set()
+
+        for drone_id in pending_drones:
+            pos = self.drone_positions.get(drone_id)
+            if not pos:
+                continue
             heading = self.drone_headings.get(drone_id, 0)
             lat, lon = pos
             self.drone_map.update_drone_position(drone_id, lat, lon, heading)
 
+    def _update_attitude_only(self):
+        """高頻更新 drone panel 的 attitude 顯示器。"""
+        if not getattr(self, '_attitude_cache', None):
+            return
+
+        latest_attitudes = self._attitude_cache
+        self._attitude_cache = {}
+
+        for drone_id, data in latest_attitudes.items():
+            panel = self.drones.get(drone_id)
+            if not panel or not hasattr(panel, 'update_attitude'):
+                continue
+
+            roll = data.get('roll', 0)
+            pitch = data.get('pitch', 0)
+            yaw = data.get('yaw', 0)
+            heading = self.drone_headings.get(drone_id, yaw)
+
+            panel._last_roll = roll
+            panel._last_pitch = pitch
+            panel.update_attitude(heading, roll, pitch)
+
 
 
     def _process_message_queue(self):

src/GUI/map_layout.py

@@ -340,6 +340,7 @@ class DroneMap:
                 var markers = {};
                 var idLabels = {};
                 var trajectories = {};
+                const maxTrajectoryPoints = 300;
                 var trajectoryLines = {};
                 var focusedId = null;
                 var initialized = false;
@@ -702,11 +703,12 @@ class DroneMap:
                     const point = [lat, lon];
                     trajectories[id].push(point);
                     
-                    if (trajectories[id].length > 1000) {
+                    if (trajectories[id].length > maxTrajectoryPoints) {
                         trajectories[id].shift();
+                        trajectoryLines[id].setLatLngs(trajectories[id]);
+                    } else {
+                        trajectoryLines[id].addLatLng(point);
                     }
-                    
-                    trajectoryLines[id].setLatLngs([...trajectories[id]]);
                 }
 
                 function focusOn(id) {
@@ -878,7 +880,7 @@ class DroneMap:
         # 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
+        self.map_update_timer.start(100)  # 每 100ms 更新一次（10Hz）
     
     def _on_map_loaded(self, ok: bool):
         """地圖加載完成回調"""