From 68af81ac682be58b301db37df45828a15d42cf91 Mon Sep 17 00:00:00 2001 From: ken910606 Date: Fri, 13 Jun 2025 18:45:16 +0800 Subject: [PATCH] Upload files to 'src/unitdev01/unitdev01' --- src/unitdev01/unitdev01/gui.py | 580 +++++++++++++++++++++++++++------ 1 file changed, 489 insertions(+), 91 deletions(-) diff --git a/src/unitdev01/unitdev01/gui.py b/src/unitdev01/unitdev01/gui.py index 9d8651a..6636fa3 100644 --- a/src/unitdev01/unitdev01/gui.py +++ b/src/unitdev01/unitdev01/gui.py @@ -3,18 +3,21 @@ import rclpy from rclpy.node import Node from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout, QWidget, QLabel, QSplitter, QScrollArea, - QSizePolicy, QApplication) + QSizePolicy, QTabWidget, QTableWidget, QTableWidgetItem, + QHeaderView, QPushButton, QCheckBox) from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal from PyQt6.QtWebEngineWidgets import QWebEngineView import math import re -import os import sys from threading import Lock from geometry_msgs.msg import Point, Vector3 from sensor_msgs.msg import BatteryState, NavSatFix, Imu from std_msgs.msg import Float64 -from mavros_msgs.msg import VfrHud, State +from mavros_msgs.msg import State, VfrHud +from mavros_msgs.srv import CommandBool, CommandTOL, SetMode +import asyncio +from functools import partial class DroneSignals(QObject): update_signal = pyqtSignal(str, str, object) # (msg_type, drone_id, data) @@ -26,6 +29,10 @@ class DroneMonitor(Node): self.drone_topics = {} self.lock = Lock() + self.arm_clients = {} + self.takeoff_clients = {} + self.selected_drones = set() + # 主题检测定时器 self.create_timer(1.0, self.scan_topics) @@ -43,11 +50,22 @@ class DroneMonitor(Node): for drone_id in found_drones: if not hasattr(self, f'drone_{drone_id}_subs'): - self.setup_drone_subs(drone_id) + self.setup_drone(drone_id) - def setup_drone_subs(self, drone_id): + def setup_drone(self, drone_id): base_topic = f'/MavLinkBus/{drone_id}' + + # Add service clients + self.arm_clients[drone_id] = self.create_client( + CommandBool, + f'{base_topic}/cmd/arming' + ) + self.takeoff_clients[drone_id] = self.create_client( + CommandTOL, + f'{base_topic}/cmd/takeoff' + ) + subs = { 'attitude': self.create_subscription( Imu, @@ -61,12 +79,6 @@ class DroneMonitor(Node): lambda msg, did=drone_id: self.battery_callback(did, msg), 10 ), - 'state': self.create_subscription( - State, - f'{base_topic}/state', - lambda msg, did=drone_id: self.state_callback(did, msg), - 10 - ), 'global': self.create_subscription( NavSatFix, f'{base_topic}/global_position/global', @@ -91,6 +103,24 @@ class DroneMonitor(Node): lambda msg, did=drone_id: self.local_vel_callback(did, msg), 10 ), + 'loss_rate': self.create_subscription( + Float64, + f'{base_topic}/packet_loss_rate', + lambda msg, did=drone_id: self.loss_rate_callback(did, msg), + 10 + ), + 'state': self.create_subscription( + State, + f'{base_topic}/state', + lambda msg, did=drone_id: self.state_callback(did, msg), + 10 + ), + 'ping': self.create_subscription( + Float64, + f'{base_topic}/ping', + lambda msg, did=drone_id: self.ping_callback(did, msg), + 10 + ), 'vfr_hud': self.create_subscription( VfrHud, f'{base_topic}/vfr_hud', @@ -102,6 +132,46 @@ class DroneMonitor(Node): setattr(self, f'drone_{drone_id}_subs', subs) self.signals.update_signal.emit('new_drone', drone_id, None) + async def arm_drone(self, drone_id, arm): + if drone_id not in self.arm_clients: + return False + + client = self.arm_clients[drone_id] + if not client.wait_for_service(timeout_sec=1.0): + return False + + request = CommandBool.Request() + request.value = arm + + future = client.call_async(request) + try: + response = await future + return response.success + except Exception as e: + self.get_logger().error(f'Arm service call failed: {e}') + return False + + async def takeoff_drone(self, drone_id, altitude=10.0): + if drone_id not in self.takeoff_clients: + return False + + client = self.takeoff_clients[drone_id] + if not client.wait_for_service(timeout_sec=1.0): + return False + + request = CommandTOL.Request() + request.altitude = altitude + request.min_pitch = 0.0 + request.yaw = 0.0 + + future = client.call_async(request) + try: + response = await future + return response.success + except Exception as e: + self.get_logger().error(f'Takeoff service call failed: {e}') + return False + def quaternion_to_euler(self, q): sinr_cosp = 2 * (q.w * q.x + q.y * q.z) cosr_cosp = 1 - 2 * (q.x**2 + q.y**2) @@ -116,7 +186,7 @@ class DroneMonitor(Node): return math.degrees(roll), math.degrees(pitch), math.degrees(yaw) - # 回调函数 + # callbacks def attitude_callback(self, drone_id, msg): if hasattr(msg, 'orientation'): roll, pitch, yaw = self.quaternion_to_euler(msg.orientation) @@ -176,13 +246,22 @@ class DroneMonitor(Node): 'climb': msg.climb }) + def loss_rate_callback(self, drone_id, msg): + self.signals.update_signal.emit('loss_rate', drone_id, { + 'loss_rate': msg.data + }) + + def ping_callback(self, drone_id, msg): + self.signals.update_signal.emit('ping', drone_id, { + 'ping': msg.data + }) + class ControlStationUI(QMainWindow): def __init__(self): super().__init__() self.setWindowTitle('GCS') self.resize(1400, 900) - self.drones = {} - + # 初始化ROS2 rclpy.init() self.monitor = DroneMonitor() @@ -193,7 +272,26 @@ class ControlStationUI(QMainWindow): self.executor.add_node(self.monitor) # 初始化UI + self.drones = {} + self.info_types = ["模式", "ARM", "電壓", "高度", "Local", "Velocity", "地速", "航向", + "Roll", "Pitch", "Yaw", "丟包", "延遲"] + self.info_type_map = { + "mode": 0, + "armed": 1, + "battery": 2, + "altitude": 3, + "local": 4, + "velocity": 5, + "groundspeed": 6, + "heading": 7, + "roll": 8, + "pitch": 9, + "yaw": 10, + "loss_rate": 11, + "ping": 12 + } self.drone_positions = {} + self.drone_headings = {} self.map_loaded = False self.init_ui() @@ -203,23 +301,95 @@ class ControlStationUI(QMainWindow): self.timer.start(50) def init_ui(self): + + # 只呼叫一次 main_splitter = QSplitter(Qt.Orientation.Horizontal) + + # 左側 TabWidget + self.left_tab = QTabWidget() + + # — 分頁 1：Drone Panel + self.drone_panel_container = QWidget() + self.drone_panel_layout = QVBoxLayout(self.drone_panel_container) + self.drone_panel_layout.setAlignment(Qt.AlignmentFlag.AlignTop) + self.drone_panel_layout.setSpacing(0) + self.drone_panel_layout.setContentsMargins(10, 10, 10, 10) + + # Wrap drone panel in scroll area + scroll = QScrollArea() + scroll.setWidget(self.drone_panel_container) + scroll.setWidgetResizable(True) + self.left_tab.addTab(scroll, "無人機") + + # 底部控制按鈕區域 + bottom_control = QWidget() + bottom_layout = QHBoxLayout(bottom_control) + + select_all_btn = QPushButton("全選") + select_all_btn.clicked.connect(self.handle_select_all) + select_all_btn.setStyleSheet(""" + QPushButton { + background-color: #444; + color: #DDD; + border: none; + padding: 5px 10px; + border-radius: 4px; + min-width: 80px; + } + QPushButton:hover { background-color: #555; } + """) - # 左侧信息面板 - left_panel = QWidget() - left_layout = QVBoxLayout(left_panel) - left_layout.setContentsMargins(5, 5, 5, 5) - - # 信息滚动区域 - scroll_area = QScrollArea() - scroll_area.setWidgetResizable(True) - self.info_container = QWidget() - self.info_layout = QVBoxLayout(self.info_container) - self.info_layout.setAlignment(Qt.AlignmentFlag.AlignTop) - scroll_area.setWidget(self.info_container) + arm_all_btn = QPushButton("批次解鎖") + arm_all_btn.clicked.connect(self.handle_arm_selected) + arm_all_btn.setStyleSheet(""" + QPushButton { + background-color: #444; + color: #DDD; + border: none; + padding: 5px 10px; + border-radius: 4px; + min-width: 80px; + } + QPushButton:hover { background-color: #555; } + """) - left_layout.addWidget(scroll_area) + takeoff_all_btn = QPushButton("批次起飛") + takeoff_all_btn.clicked.connect(self.handle_takeoff_selected) + takeoff_all_btn.setStyleSheet(""" + QPushButton { + background-color: #444; + color: #DDD; + border: none; + padding: 5px 10px; + border-radius: 4px; + min-width: 80px; + } + QPushButton:hover { background-color: #555; } + """) + bottom_layout.addWidget(select_all_btn) + bottom_layout.addWidget(arm_all_btn) + bottom_layout.addWidget(takeoff_all_btn) + bottom_layout.addStretch() + + # — 分頁 2：Overview Table + self.overview_table = QTableWidget() + # 一開始只有一欄 + self.overview_table.setColumnCount(1) + self.overview_table.setRowCount(len(self.info_types)) + self.overview_table.setHorizontalHeaderLabels(["資訊"]) + header = self.overview_table.horizontalHeader() + # 只有第一欄自動收縮到內容寬度，其它欄不動 + header.setSectionResizeMode(0, QHeaderView.ResizeMode.ResizeToContents) + self.overview_table.verticalHeader().setVisible(False) + for i, txt in enumerate(self.info_types): + item = QTableWidgetItem(txt) + item.setFlags(Qt.ItemFlag.ItemIsEnabled) + item.setTextAlignment(Qt.AlignmentFlag.AlignCenter) + self.overview_table.setItem(i, 0, item) + + self.left_tab.addTab(self.overview_table, "總覽") + # 右侧地图区域 self.map_view = QWebEngineView() @@ -305,7 +475,17 @@ class ControlStationUI(QMainWindow): self.map_view.setHtml(inline_html) self.map_view.loadFinished.connect(self.on_map_loaded) - main_splitter.addWidget(left_panel) + # Create left container and its layout + left_container = QWidget() + left_layout = QVBoxLayout(left_container) + left_layout.setContentsMargins(0, 0, 0, 0) + + # Add tab widget and bottom control to left container + left_layout.addWidget(self.left_tab) + left_layout.addWidget(bottom_control) + + # Add widgets to splitter + main_splitter.addWidget(left_container) main_splitter.addWidget(self.map_view) main_splitter.setSizes([400, 1000]) @@ -344,6 +524,14 @@ class ControlStationUI(QMainWindow): header_layout = QHBoxLayout(header) header_layout.setContentsMargins(0, 0, 0, 0) + # 在標題列加入勾選框 + checkbox = QCheckBox() + checkbox.setObjectName(f"{drone_id}_checkbox") + checkbox.setStyleSheet("QCheckBox { color: #DDD; }") + checkbox.stateChanged.connect(lambda state: self.handle_drone_selection(drone_id, state)) + + header_layout.insertWidget(0, checkbox) # 插入到最前面 + # ID显示 id_label = QLabel(drone_id) id_label.setStyleSheet(""" @@ -365,14 +553,79 @@ class ControlStationUI(QMainWindow): # 数据字段（带标签） self.create_data_row(layout, "模式:", f"{drone_id}_mode", "--") - self.create_data_row(layout, "電壓:", f"{drone_id}_battery", "--") - self.create_data_row(layout, "GPS:", f"{drone_id}_gps", "--") + self.create_data_row(layout, "ARM:", f"{drone_id}_armed", "--") + self.create_data_row(layout, "電池:", f"{drone_id}_battery", "--") self.create_data_row(layout, "高度:", f"{drone_id}_altitude", "--") self.create_data_row(layout, "Local:", f"{drone_id}_local", "--") - self.create_data_row(layout, "HUD:", f"{drone_id}_hud", "--") + self.create_data_row(layout, "地速:", f"{drone_id}_groundspeed", "--") + self.create_data_row(layout, "航向:", f"{drone_id}_heading", "--") + + # Add control buttons + control_widget = QWidget() + control_layout = QHBoxLayout(control_widget) + control_layout.setContentsMargins(0, 0, 0, 0) + + arm_btn = QPushButton("解鎖") + arm_btn.setObjectName(f"{drone_id}_arm_btn") + arm_btn.clicked.connect(lambda: self.handle_arm(drone_id)) + arm_btn.setStyleSheet(""" + QPushButton { + background-color: #444; + color: #DDD; + border: none; + padding: 5px 10px; + border-radius: 4px; + } + QPushButton:hover { + background-color: #555; + } + """) + + takeoff_btn = QPushButton("起飛") + takeoff_btn.setObjectName(f"{drone_id}_takeoff_btn") + takeoff_btn.clicked.connect(lambda: self.handle_takeoff(drone_id)) + takeoff_btn.setStyleSheet(""" + QPushButton { + background-color: #444; + color: #DDD; + border: none; + padding: 5px 10px; + border-radius: 4px; + } + QPushButton:hover { + background-color: #555; + } + """) + + control_layout.addWidget(arm_btn) + control_layout.addWidget(takeoff_btn) + control_layout.addStretch() + + layout.addWidget(control_widget) return panel + def handle_arm(self, drone_id): + loop = asyncio.get_event_loop() + arm_state = not self.monitor.get_arm_state(drone_id) # Toggle arm state + future = self.monitor.arm_drone(drone_id, arm_state) + loop.create_task(self.handle_service_response(future, f"{'解鎖' if arm_state else '上鎖'} {drone_id}")) + + def handle_takeoff(self, drone_id): + loop = asyncio.get_event_loop() + future = self.monitor.takeoff_drone(drone_id, 10.0) # 10 meters default + loop.create_task(self.handle_service_response(future, f"起飛 {drone_id}")) + + async def handle_service_response(self, future, action): + try: + result = await future + if result: + self.statusBar().showMessage(f"{action} 成功", 3000) + else: + self.statusBar().showMessage(f"{action} 失敗", 3000) + except Exception as e: + self.statusBar().showMessage(f"{action} 錯誤: {str(e)}", 3000) + def create_data_row(self, layout, title, object_name, default): row = QWidget() hbox = QHBoxLayout(row) @@ -394,90 +647,235 @@ class ControlStationUI(QMainWindow): layout.addWidget(row) def update_ui(self, msg_type, drone_id, data): + # 檢查是否為新無人機，若是則加入無人機面板 if msg_type == 'new_drone': self.add_drone(drone_id) return - + + # 確認無人機面板存在 if not (panel := self.drones.get(drone_id)): return - + + # 更新特定欄位並在總覽頁面更新 if msg_type == 'state': - mode = data['mode'] - self.update_field(panel, drone_id, 'mode', f"{mode}", - '#FF5555' if '返航' in data else '#55FF55') - + mode = data.get('mode', 'UNKNOWN') + armed = data.get('armed', False) + mode_color = '#FF5555' if any(x in mode.upper() for x in ['RTL', '返航', 'EMERGENCY']) else '#55FF55' + arm_text = "ARMED" if armed else "DISARMED" + arm_color = '#55FF55' if armed else '#FF5555' + + # 更新無人機面板欄位 + self.update_field(panel, drone_id, 'mode', mode, mode_color) + self.update_field(panel, drone_id, 'armed', arm_text, arm_color) + + # 更新總覽頁面欄位 + self.update_overview_table(drone_id, 'mode', mode) + self.update_overview_table(drone_id, 'armed', arm_text) + elif msg_type == 'battery': voltage = data.get('voltage', 0) - self.update_field(panel, drone_id, 'battery', - f"{voltage:.1f} V", - '#FF6464' if voltage < 12 else '#FFFFFF') - + voltage = 14.8 + + # 使用標準電壓判斷電池節數 + cells_by_max = voltage / 4.2 + cells_by_min = voltage / 3.7 + + # 檢查是否為合理的電池組 + is_valid_cells = abs(round(cells_by_max) - cells_by_min) < 0.5 + num_cells = round(cells_by_max) + + if not is_valid_cells or num_cells < 2: + # 電壓異常，顯示錯誤 + text = f"{voltage:.1f}V (電壓異常!)" + voltage_color = '#FF0000' # 紅色 + else: + # 正常電壓計算 + cell_voltage = voltage / num_cells + cell_max = 4.2 + cell_min = 3.7 + + # 計算電量百分比 + percentage = max(0, min(100, ((cell_voltage - cell_min) / (cell_max - cell_min)) * 100)) + + # 根據百分比設置顏色 + if percentage < 20: + voltage_color = '#FF6464' # 紅色 (低電量) + elif percentage < 40: + voltage_color = '#FFA500' # 橘色 (中低電量) + else: + voltage_color = '#FFFFFF' # 白色 (正常電量) + + # 顯示總電壓、電池節數、單節電壓和百分比 + text = f"{voltage:.1f}V ({cell_voltage:.2f}V / {percentage:.0f}%)" + + self.update_field(panel, drone_id, 'battery', text, voltage_color) + self.update_overview_table(drone_id, 'battery', text) + elif msg_type == 'gps': - lat, lon = data['lat'], data['lon'] + lat, lon = data.get('lat', 0), data.get('lon', 0) self.drone_positions[drone_id] = (lat, lon) - text = (f"緯度: {lat:.6f}°\n" - f"經度: {lon:.6f}°") + text = f"{lat:.6f}°, {lon:.6f}°" self.update_field(panel, drone_id, 'gps', text) + self.update_overview_table(drone_id, 'gps', text) elif msg_type == 'altitude': - text = (f"{data['altitude']:.1f} m") + altitude = data.get('altitude', 0) + text = f"{altitude:.1f} m" self.update_field(panel, drone_id, 'altitude', text) - + self.update_overview_table(drone_id, 'altitude', text) + elif msg_type == 'local_pose': - text = (f"({data['x']:.1f}, {data['y']:.1f}, {data['z']:.1f})") + text = f"{data['x']:.1f}, {data['y']:.1f}" self.update_field(panel, drone_id, 'local', text) - + self.update_overview_table(drone_id, 'local', text) + elif msg_type == 'hud': - heading = data['heading'] - text = (f"地速: {data['groundspeed']:.1f} m/s\n" - f"航向: {heading:.1f}°") - self.update_field(panel, drone_id, 'hud', text) - - if self.map_loaded and drone_id in self.drone_positions: - lat, lon = self.drone_positions[drone_id] - js = f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});" - self.map_view.page().runJavaScript(js) - ''' + heading = data.get('heading', 0) + self.drone_headings[drone_id] = heading + groundspeed = data.get('groundspeed', 0) + heading_text = f"{heading:.1f}°" + groundspeed_text = f"{groundspeed:.1f} m/s" + self.update_field(panel, drone_id, 'heading', heading_text) + self.update_field(panel, drone_id, 'groundspeed', groundspeed_text) + self.update_overview_table(drone_id, 'heading', heading_text) + self.update_overview_table(drone_id, 'groundspeed', groundspeed_text) + + elif msg_type == 'loss_rate': + loss_rate = data.get('loss_rate', 0) + text = f"{loss_rate:.1f}%" + self.update_field(panel, drone_id, 'loss_rate', text) + self.update_overview_table(drone_id, 'loss_rate', text) + + elif msg_type == 'ping': + ping = data.get('ping', 0) + text = f"{ping:.1f} ms" + self.update_field(panel, drone_id, 'ping', text) + self.update_overview_table(drone_id, 'ping', text) + elif msg_type == 'velocity': - text = (f"VX: {data['vx']:.1f} m/s\n" - f"VY: {data['vy']:.1f} m/s\n" - f"VZ: {data['vz']:.1f} m/s") - self.update_field(panel, drone_id, 'velocity', text) - + text = f"{data['vx']:.1f}, {data['vy']:.1f}" + self.update_overview_table(drone_id, 'velocity', text) + elif msg_type == 'attitude': - text = (f"Roll: {data['roll']:.1f}°\n" - f"Pitch: {data['pitch']:.1f}°\n" - f"Yaw: {data['yaw']:.1f}°") - self.update_field(panel, drone_id, 'attitude', text) - ''' + roll = data.get('roll', 0) + pitch = data.get('pitch', 0) + yaw = data.get('yaw', 0) + roll_text = f"{roll:.1f}°" + pitch_text = f"{pitch:.1f}°" + yaw_text = f"{yaw:.1f}°" + self.update_overview_table(drone_id, 'roll', roll_text) + self.update_overview_table(drone_id, 'pitch', pitch_text) + self.update_overview_table(drone_id, 'yaw', yaw_text) + + # 如果地圖已經載入，則更新地圖顯示無人機位置 + if self.map_loaded and drone_id in self.drone_positions and drone_id in self.drone_headings: + lat, lon = self.drone_positions[drone_id] + heading = self.drone_headings[drone_id] + js = f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});" + self.map_view.page().runJavaScript(js) + + + def handle_drone_selection(self, drone_id, state): + """處理個別無人機勾選狀態變化""" + if state == Qt.CheckState.Checked.value: + self.monitor.selected_drones.add(drone_id) + else: + self.monitor.selected_drones.discard(drone_id) + + def handle_select_all(self): + """處理全選按鈕 - 再次點擊時取消全選""" + # 檢查是否所有無人機都已被選中 + all_selected = all( + self.drones[drone_id].findChild(QCheckBox, f"{drone_id}_checkbox").isChecked() + for drone_id in self.drones + ) + + # 如果全部已選中，則取消全選；否則全選 + new_state = not all_selected + + # 更新所有勾選框狀態 + for drone_id in self.drones: + checkbox = self.drones[drone_id].findChild(QCheckBox, f"{drone_id}_checkbox") + if checkbox: + checkbox.setChecked(new_state) + + def handle_arm_selected(self): + """處理批次解鎖""" + loop = asyncio.get_event_loop() + for drone_id in self.monitor.selected_drones: + future = self.monitor.arm_drone(drone_id, True) + loop.create_task(self.handle_service_response(future, f"批次解鎖 {drone_id}")) + + def handle_takeoff_selected(self): + """處理批次起飛""" + loop = asyncio.get_event_loop() + for drone_id in self.monitor.selected_drones: + future = self.monitor.takeoff_drone(drone_id, 10.0) + loop.create_task(self.handle_service_response(future, f"批次起飛 {drone_id}")) + def update_field(self, panel, drone_id, field, text, color=None): + """Update a specific field in the panel.""" if label := panel.findChild(QLabel, f"{drone_id}_{field}"): label.setText(text) if color: label.setStyleSheet(f"color: {color};") - ''' - def add_drone(self, drone_id): - if drone_id not in self.drones: - panel = self.create_drone_panel(drone_id) - self.info_layout.addWidget(panel) - self.drones[drone_id] = panel - ''' + + def update_overview_table(self, drone_id=None, field=None, value=None): + # Ensure the widget is available + if not hasattr(self, 'overview_table') or self.overview_table is None: + return + + # Update a specific cell in the overview table + if drone_id and field and value: + col = 1 + list(self.drones.keys()).index(drone_id) + row = self.info_type_map.get(field, -1) # Get row from field mapping + + if row == -1: + return # Invalid field, exit + + item = self.overview_table.item(row, col) + if not item: + item = QTableWidgetItem() + self.overview_table.setItem(row, col, item) + + item.setText(value) # Update the cell's text + item.setTextAlignment(Qt.AlignmentFlag.AlignCenter) # Center the text + + # If no specific update, refresh entire table + if drone_id is None: + cols = 1 + len(self.drones) + self.overview_table.setColumnCount(cols) + headers = ["資訊"] + list(self.drones.keys()) + self.overview_table.setHorizontalHeaderLabels(headers) + + for col, did in enumerate(self.drones, start=1): + panel = self.drones[did] + for field, row in self.info_type_map.items(): + lbl = panel.findChild(QLabel, f"{did}_{field}") + val = lbl.text() if lbl else "--" + val_item = QTableWidgetItem(val) + val_item.setTextAlignment(Qt.AlignmentFlag.AlignCenter) + self.overview_table.setItem(row, col, val_item) + def add_drone(self, drone_id): - if drone_id not in self.drones: - panel = self.create_drone_panel(drone_id) - self.info_layout.addWidget(panel) - self.drones[drone_id] = panel - - # 清空原有 layout - for i in reversed(range(self.info_layout.count())): - widget = self.info_layout.itemAt(i).widget() - if widget: - self.info_layout.removeWidget(widget) - widget.setParent(None) - - # 根據 key 排序後重新加入 - for sorted_id in sorted(self.drones, key=lambda x: int(''.join(filter(str.isdigit, x)) or 0)): - self.info_layout.addWidget(self.drones[sorted_id]) + """只這一個 add_drone，不要再重複定義。""" + if drone_id in self.drones: + return + panel = self.create_drone_panel(drone_id) + self.drones[drone_id] = panel + + # 重新排序並顯示所有 panel + # 先清空 + while self.drone_panel_layout.count(): + w = self.drone_panel_layout.takeAt(0).widget() + if w: + w.setParent(None) + # 再依照數字排序加入 + for did in sorted(self.drones, key=lambda x: int(x[1:])): + self.drone_panel_layout.addWidget(self.drones[did]) + + # 更新總覽表 + self.update_overview_table() def spin_ros(self): try: @@ -495,4 +893,4 @@ if __name__ == '__main__': app = QApplication(sys.argv) station = ControlStationUI() station.show() - app.exec(app.exec()) \ No newline at end of file + app.exec() \ No newline at end of file