Update master with local 2.0.5

src/GUI/communication.py

@@ -602,7 +602,7 @@ class DroneMonitor(Node):
     # ================================================================================
 
     async def set_mode(self, drone_id, mode_name):
-        """使用 CommandLongClient 切換無人機飛行模式"""
+        """使用 CommandLongClient 切換無人機飛行模式（使用非阻塞的 async 方法）"""
         try:
             # 解析 drone_id 提取 sysid
             parts = drone_id.split('_')
@@ -619,30 +619,24 @@ class DroneMonitor(Node):
             
             print(f"\n📢 [SET_MODE] {drone_id} → {mode_name} (custom_mode={custom_mode})")
             
-            # 在線程池中調用 CommandLongClient
+            if not self.command_long_client:
-            loop = asyncio.get_event_loop()
+                print(f"❌ [SET_MODE] CommandLongClient 未初始化")
-            executor = ThreadPoolExecutor(max_workers=1)
+                return False
-            
+            
-            def _call_set_mode():
+            # 直接調用 async 方法，無需線程池（避免嵌套執行器衝突）
-                client = CommandLongClient() if CommandLongClient else None
+            result = await self.command_long_client.change_mode_async(
-                if not client:
+                target_sysid=sysid,
-                    return False
+                custom_mode=float(custom_mode),
-                result = client.change_mode(
+                target_compid=0,
-                    target_sysid=sysid,
+                base_mode=1.0,
-                    custom_mode=float(custom_mode),
+                timeout_sec=2.0,
-                    target_compid=0,
+            )
-                    base_mode=1.0,
+            
-                    timeout_sec=2.0,
+            if result and result.success:
-                )
-                client.destroy_node()
-                return result.success if result else False
-            
-            result = await loop.run_in_executor(executor, _call_set_mode)
-            if result:
                 print(f"✅ [SET_MODE] 模式切換成功")
                 return True
             else:
-                print(f"❌ [SET_MODE] 模式切換失敗")
+                print(f"❌ [SET_MODE] 模式切換失敗 (message={result.message if result else 'None'})")
                 return False
         except Exception as e:
             print(f"❌ [SET_MODE] 例外錯誤: {e}")

src/GUI/gui.py

@@ -33,7 +33,7 @@ from mission_group import (
 # ================================================================================
 
 class ControlStationUI(QMainWindow):
-    VERSION = '2.0.4'
+    VERSION = '2.0.5'
     
     def __init__(self):
         super().__init__()