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合併 ken 分支，使用 ken 的版本

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wenchun
2026-03-17 15:39:19 +08:00
parent af2138fe64 b70b99d572
commit 76b3b0f40c
6 changed files with 694 additions and 277 deletions
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.gitignore
+2
View File
@@ -25,3 +25,5 @@ Makefile
**/*.class
**/*.pyc
**/*.pyo
logs/
src/logs/
src/GUI/comm_panel.py
+1 -2
View File
@@ -306,8 +306,7 @@ class CommPanel(QWidget):
# 發送信號通知主窗口
self.udp_connection_added.emit(ip, port)
# 清空輸入框
self.udp_ip_input.clear()
# 只清空 port 輸入框，保留 IP
self.udp_port_input.clear()
def _handle_add_ws(self):
src/GUI/communication.py
+30 -9
View File
@@ -27,8 +27,7 @@ class UDPMavlinkReceiver(threading.Thread):
self.signals = signals
self.connection_name = connection_name
self.monitor = monitor # 保存 monitor 引用
# UDP 使用原始 socket_id = 8
self.socket_id = monitor.get_or_assign_socket_id('8') if monitor else 0
self.socket_id = monitor.get_next_socket_id() if monitor else 0
self.running = False
self.sock = None
@@ -67,6 +66,10 @@ class UDPMavlinkReceiver(threading.Thread):
drone_id = f"s{self.socket_id}_{system_id}"
if msg_type == "HEARTBEAT":
# 先發送連接類型資訊
self.signals.update_signal.emit('connection_type', drone_id, {
'type': 'UDP'
})
mode = mavutil.mode_string_v10(msg)
armed = bool(msg.base_mode & 128)
self.signals.update_signal.emit('state', drone_id, {
@@ -144,8 +147,7 @@ class SerialMavlinkReceiver(threading.Thread):
self.signals = signals
self.connection_name = connection_name
self.monitor = monitor # 保存 monitor 引用
# Serial 使用原始 socket_id = 5
self.socket_id = monitor.get_or_assign_socket_id('5') if monitor else 0
self.socket_id = monitor.get_next_socket_id() if monitor else 0
self.running = False
self.mav = None
@@ -195,6 +197,10 @@ class SerialMavlinkReceiver(threading.Thread):
drone_id = f"s{self.socket_id}_{system_id}"
if msg_type == "HEARTBEAT":
# 先發送連接類型資訊
self.signals.update_signal.emit('connection_type', drone_id, {
'type': 'Serial'
})
mode = mavutil.mode_string_v10(msg)
armed = bool(msg.base_mode & 128)
self.signals.update_signal.emit('state', drone_id, {
@@ -336,6 +342,10 @@ class WebSocketMavlinkReceiver(threading.Thread):
# 模式
if 'mode' in data:
# 先發送連接類型資訊
self.signals.update_signal.emit('connection_type', drone_id, {
'type': 'WS'
})
self.signals.update_signal.emit('state', drone_id, {
'mode': data['mode'],
})
@@ -427,6 +437,13 @@ class DroneMonitor(Node):
# 主题检测定时器
self.create_timer(1.0, self.scan_topics)
def get_next_socket_id(self):
"""获取下一个可用的 socket_id（从 0 开始连续分配）"""
with self.socket_id_lock:
current_id = self.socket_id_counter
self.socket_id_counter += 1
return current_id
def get_or_assign_socket_id(self, original_socket_id):
"""根據原始 socket_id 分配或獲取對應的 socket_id（從 0 開始連續分配）
同一個原始 socket_id 會得到同一個分配的 ID
@@ -437,7 +454,6 @@ class DroneMonitor(Node):
if original_socket_id not in self.socket_id_mapping:
# 分配新的 socket_id
self.socket_id_mapping[original_socket_id] = self.socket_id_counter
print(f"🆕 Socket ID 映射: 原始 {original_socket_id} -> 分配 {self.socket_id_counter}")
self.socket_id_counter += 1
return self.socket_id_mapping[original_socket_id]
@@ -455,11 +471,11 @@ class DroneMonitor(Node):
self.drone_topics.setdefault(sys_id, set()).add(topic_type)
for sys_id in found_drones:
# 為每個 sys_id 分配 socket_id（如果還沒有分配）
# 注意：如果後續 summary 提供了 socket_id，會使用 summary 的映射覆蓋
# 为每个 sys_id 分配 socket_id（如果还没有分配）
# 注意：如果后续 summary 提供了 socket_id，会使用 summary 的映射覆盖
if sys_id not in self.sys_to_socket_id:
# 暫時所有 ROS2 topic 共享同一個原始 socket_id，等 summary 提供實際的 socket_id
self.sys_to_socket_id[sys_id] = self.get_or_assign_socket_id('0')
# 暂时所有 ROS2 topic 共享同一个 socket_id = 0
self.sys_to_socket_id[sys_id] = 0
if not hasattr(self, f'drone_{sys_id}_subs'):
self.setup_drone(sys_id)
@@ -646,6 +662,11 @@ class DroneMonitor(Node):
actual_drone_id = f's{assigned_socket_id}_{sys_num}'
self.sys_to_actual_id[sys_id] = actual_drone_id
# 先發送連接類型資訊
self.signals.update_signal.emit('connection_type', actual_drone_id, {
'type': 'ROS2'
})
self.latest_data[(actual_drone_id, 'state')] = {
'mode': mode,
'armed': data.get('armed', False),
src/GUI/drone_panel.py
+323 -115
View File
@@ -1,7 +1,9 @@
#!/usr/bin/env python3
from PyQt6.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel,
QPushButton, QSizePolicy, QCheckBox)
from PyQt6.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, QCheckBox)
from PyQt6.QtCore import pyqtSignal
from PyQt6.QtGui import QPainter, QPen, QColor, QFont, QPolygonF
from PyQt6.QtCore import QPointF, Qt
import math
class DronePanel(QWidget):
"""單個無人機面板類別"""
@@ -16,7 +18,19 @@ class DronePanel(QWidget):
def __init__(self, drone_id, parent=None):
super().__init__(parent)
self.drone_id = drone_id
self.display_id = 's' + drone_id.split('_')[1]
# 提取資訊 (格式: s{socket_seq}_{system_id}, 如 s0_11, s1_12)
parts = drone_id.split('_')
if len(parts) >= 2:
self.socket_seq = parts[0][1:] # socket 序號 (移除 's' 前綴)
self.system_id = parts[1] # system ID
self.display_id = f"ID:{self.system_id}" # 顯示為 ID:11, ID:12
else:
self.socket_seq = "?"
self.system_id = "?"
self.display_id = drone_id
self.attitude_indicator = None
self._init_ui()
def _init_ui(self):
@@ -43,12 +57,12 @@ class DronePanel(QWidget):
# 左側資訊區域
info_widget = self._create_info_section()
# 右側控制按鈕區域
control_widget = self._create_control_section()
# 右側態度指示器
attitude_widget = self._create_attitude_indicator()
# 將 info 和 control 加入內容容器
content_layout.addWidget(info_widget)
content_layout.addWidget(control_widget)
# 將 info 和 attitude 加入內容容器
content_layout.addWidget(info_widget, 1)
content_layout.addWidget(attitude_widget, 0)
# 將內容容器加入主佈局
main_layout.addWidget(content_widget)
@@ -68,7 +82,22 @@ class DronePanel(QWidget):
# 勾選框
self.checkbox = QCheckBox()
self.checkbox.setObjectName(f"{self.drone_id}_checkbox")
self.checkbox.setStyleSheet("QCheckBox { color: #DDD; }")
self.checkbox.setStyleSheet("""
QCheckBox {
color: #DDD;
}
QCheckBox::indicator {
width: 16px;
height: 16px;
border: 2px solid #888888;
border-radius: 3px;
background: transparent;
}
QCheckBox::indicator:checked {
background-color: #7FFFD4;
border: 2px solid #888888;
}
""")
self.checkbox.stateChanged.connect(
lambda state: self.selection_changed.emit(self.drone_id, state)
)
@@ -92,13 +121,13 @@ class DronePanel(QWidget):
status_row = self._create_status_row()
info_layout.addWidget(status_row)
# 第二行：電池
# 第二行：電池（拆成百分比與電壓兩欄）
battery_row = self._create_battery_row()
info_layout.addWidget(battery_row)
# 第三行：位置 + 高度
position_row = self._create_position_row()
info_layout.addWidget(position_row)
# 第三行：高度
altitude_row = self._create_altitude_row()
info_layout.addWidget(altitude_row)
# 第四行：航向 + 速度
nav_row = self._create_nav_row()
@@ -106,6 +135,12 @@ class DronePanel(QWidget):
return info_widget
def _create_attitude_indicator(self):
"""創建態度指示器（ADI 人工地平儀）"""
self.attitude_indicator = AttitudeIndicator(self.drone_id)
self.attitude_indicator.setFixedSize(90, 100)
return self.attitude_indicator
def _create_status_row(self):
"""創建狀態行"""
status_row = QWidget()
@@ -130,132 +165,120 @@ class DronePanel(QWidget):
return status_row
def _create_connection_row(self):
"""創建連接資訊行 (Socket Seq + 連接方式)"""
connection_row = QWidget()
connection_layout = QHBoxLayout(connection_row)
connection_layout.setContentsMargins(0, 0, 0, 0)
connection_title = QLabel("Socket：")
connection_title.setStyleSheet("color: #888; min-width: 50px;")
# 根據解析的 drone_id 資訊設定初始值
self.socket_seq_label = QLabel(self.socket_seq)
self.socket_seq_label.setObjectName(f"{self.drone_id}_socket_seq")
self.socket_seq_label.setStyleSheet("color: #DDD;")
connection_sep = QLabel(" - ")
connection_sep.setStyleSheet("color: #DDD;")
# 設定連接方式顯示
connection_type_map = {
'r': 'ROS2',
'u': 'UDP',
's': 'Serial',
'w': 'WS'
}
connection_type = connection_type_map.get(self.type_prefix, 'Unknown')
self.connection_type_label = QLabel(connection_type)
self.connection_type_label.setObjectName(f"{self.drone_id}_connection_type")
self.connection_type_label.setStyleSheet("color: #DDD;")
connection_layout.addWidget(connection_title)
connection_layout.addWidget(self.socket_seq_label)
connection_layout.addWidget(connection_sep)
connection_layout.addWidget(self.connection_type_label)
connection_layout.addStretch()
return connection_row
def _create_battery_row(self):
"""創建電池行"""
battery_row = QWidget()
battery_layout = QHBoxLayout(battery_row)
battery_layout.setContentsMargins(0, 0, 0, 0)
# 顯示百分比
battery_title = QLabel("電池：")
battery_title.setStyleSheet("color: #888; min-width: 50px;")
self.battery_label = QLabel("--")
self.battery_label.setObjectName(f"{self.drone_id}_battery")
self.battery_label.setStyleSheet("color: #DDD;")
self.battery_pct_label = QLabel("--")
self.battery_pct_label.setObjectName(f"{self.drone_id}_battery_pct")
self.battery_pct_label.setStyleSheet("color: #DDD;")
# 分隔符
separator1 = QLabel(" - ")
separator1.setStyleSheet("color: #DDD;")
# 顯示電壓
self.battery_vol_label = QLabel("--")
self.battery_vol_label.setObjectName(f"{self.drone_id}_battery_vol")
self.battery_vol_label.setStyleSheet("color: #DDD;")
# 分隔符
separator2 = QLabel(" - ")
separator2.setStyleSheet("color: #DDD;")
# 顯示電池節數 (S count)
self.battery_cells_label = QLabel("--")
self.battery_cells_label.setObjectName(f"{self.drone_id}_battery_cells")
self.battery_cells_label.setStyleSheet("color: #DDD;")
battery_layout.addWidget(battery_title)
battery_layout.addWidget(self.battery_label)
battery_layout.addWidget(self.battery_pct_label)
battery_layout.addWidget(separator1)
battery_layout.addWidget(self.battery_vol_label)
battery_layout.addWidget(separator2)
battery_layout.addWidget(self.battery_cells_label)
battery_layout.addStretch()
return battery_row
def _create_position_row(self):
"""創建位置行"""
position_row = QWidget()
position_layout = QHBoxLayout(position_row)
position_layout.setContentsMargins(0, 0, 0, 0)
position_title = QLabel("位置：")
position_title.setStyleSheet("color: #888; min-width: 50px;")
self.local_label = QLabel("--")
self.local_label.setObjectName(f"{self.drone_id}_local")
self.local_label.setStyleSheet("color: #DDD;")
def _create_altitude_row(self):
"""創建高度和速度行"""
altitude_row = QWidget()
altitude_layout = QHBoxLayout(altitude_row)
altitude_layout.setContentsMargins(0, 0, 0, 0)
altitude_title = QLabel("高度：")
altitude_title.setStyleSheet("color: #888; margin-left: 10px;")
altitude_title.setStyleSheet("color: #888; min-width: 50px;")
self.altitude_label = QLabel("--")
self.altitude_label.setObjectName(f"{self.drone_id}_altitude")
self.altitude_label.setStyleSheet("color: #DDD;")
position_layout.addWidget(position_title)
position_layout.addWidget(self.local_label)
position_layout.addWidget(altitude_title)
position_layout.addWidget(self.altitude_label)
position_layout.addStretch()
return position_row
def _create_nav_row(self):
"""創建導航行"""
nav_row = QWidget()
nav_layout = QHBoxLayout(nav_row)
nav_layout.setContentsMargins(0, 0, 0, 0)
heading_title = QLabel("航向：")
heading_title.setStyleSheet("color: #888; min-width: 50px;")
self.heading_label = QLabel("--")
self.heading_label.setObjectName(f"{self.drone_id}_heading")
self.heading_label.setStyleSheet("color: #DDD;")
speed_title = QLabel("速度：")
speed_title.setStyleSheet("color: #888; margin-left: 10px;")
self.groundspeed_label = QLabel("--")
self.groundspeed_label.setObjectName(f"{self.drone_id}_groundspeed")
self.groundspeed_label.setStyleSheet("color: #DDD;")
self.speed_label = QLabel("--")
self.speed_label.setObjectName(f"{self.drone_id}_speed")
self.speed_label.setStyleSheet("color: #DDD;")
nav_layout.addWidget(heading_title)
nav_layout.addWidget(self.heading_label)
nav_layout.addWidget(speed_title)
nav_layout.addWidget(self.groundspeed_label)
nav_layout.addStretch()
altitude_layout.addWidget(altitude_title)
altitude_layout.addWidget(self.altitude_label)
altitude_layout.addWidget(speed_title)
altitude_layout.addWidget(self.speed_label)
altitude_layout.addStretch()
return nav_row
return altitude_row
def _create_control_section(self):
"""創建控制按鈕區域"""
control_widget = QWidget()
control_layout = QVBoxLayout(control_widget)
control_layout.setContentsMargins(0, 0, 0, 0)
control_layout.setSpacing(6)
def _create_position_row(self):
"""位置行已移除（位置座標不再顯示於面板）。"""
return QWidget()
control_widget.setFixedWidth(80)
btn_style = """
QPushButton {
background-color: #444;
color: #DDD;
border: none;
border-radius: 4px;
font-size: 11px;
}
QPushButton:hover {
background-color: #555;
}
"""
# 模式切換按鈕
mode_btn = QPushButton("切換模式")
mode_btn.setStyleSheet(btn_style)
mode_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
mode_btn.clicked.connect(lambda: self.mode_change_requested.emit(self.drone_id))
# 解鎖按鈕
arm_btn = QPushButton("解鎖")
arm_btn.setStyleSheet(btn_style)
arm_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
arm_btn.clicked.connect(lambda: self.arm_requested.emit(self.drone_id))
# 起飛按鈕
takeoff_btn = QPushButton("起飛")
takeoff_btn.setStyleSheet(btn_style)
takeoff_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
takeoff_btn.clicked.connect(lambda: self.takeoff_requested.emit(self.drone_id))
# Setpoint 按鈕
setpoint_btn = QPushButton("Setpoint")
setpoint_btn.setStyleSheet(btn_style)
setpoint_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
setpoint_btn.clicked.connect(lambda: self.setpoint_requested.emit(self.drone_id))
control_layout.addWidget(mode_btn)
control_layout.addWidget(arm_btn)
control_layout.addWidget(takeoff_btn)
control_layout.addWidget(setpoint_btn)
return control_widget
def _create_nav_row(self):
"""創建導航行（已移除，不再顯示）"""
return QWidget()
def update_field(self, field, text, color=None):
"""更新指定欄位的值"""
@@ -265,6 +288,27 @@ class DronePanel(QWidget):
if color:
label.setStyleSheet(f"color: {color};")
def set_connection_info(self, socket_seq, connection_type):
"""設定連接資訊（Socket Seq 和連接方式）
connection_type: 'UDP' | 'Serial' | 'WS'
"""
self.socket_seq_label.setText(str(socket_seq))
# 顯示友善的連接方式
type_display = {
'UDP': 'UDP',
'Serial': 'Serial',
'WS': 'WS'
}.get(connection_type, connection_type)
self.connection_type_label.setText(type_display)
def update_attitude(self, heading, roll, pitch):
"""更新態度指示器"""
if self.attitude_indicator:
self.attitude_indicator.update_attitude(heading, roll, pitch)
def get_checkbox(self):
"""獲取勾選框"""
return self.checkbox
@@ -281,10 +325,11 @@ class SocketGroupPanel(QWidget):
# 定義信號
group_selection_changed = pyqtSignal(str, int) # socket_id, state
def __init__(self, socket_id, color='#AAAAAA', parent=None):
def __init__(self, socket_id, color='#AAAAAA', socket_type=None, parent=None):
super().__init__(parent)
self.socket_id = socket_id
self.color = color
self.socket_type = socket_type
self._init_ui()
def _init_ui(self):
@@ -330,8 +375,12 @@ class SocketGroupPanel(QWidget):
)
# Socket 分組標題
title_label = QLabel(f"Socket {self.socket_id}")
title_label.setStyleSheet(f"""
if self.socket_type:
title_text = f"{self.socket_type} {self.socket_id}"
else:
title_text = f"Socket {self.socket_id}"
self.title_label = QLabel(title_text)
self.title_label.setStyleSheet(f"""
font-weight: bold;
font-size: 16px;
color: {self.color};
@@ -341,7 +390,7 @@ class SocketGroupPanel(QWidget):
""")
title_layout.addWidget(self.group_checkbox)
title_layout.addWidget(title_label)
title_layout.addWidget(self.title_label)
title_layout.addStretch()
layout.addWidget(title_row)
@@ -373,6 +422,165 @@ class SocketGroupPanel(QWidget):
"""設置分組勾選狀態"""
self.group_checkbox.setChecked(checked)
def set_socket_type(self, conn_type):
"""設置 socket 類型並更新標題"""
self.title_label.setText(f"{conn_type} {self.socket_id}")
def set_check_state(self, state):
"""設置分組勾選狀態（支持半選）"""
self.group_checkbox.setCheckState(state)
class AttitudeIndicator(QWidget):
"""
人工地平儀 (ADI) — 仿 Mission Planner 風格
上半部顯示 roll/pitch 人工地平儀，下方細條顯示航向
"""
def __init__(self, drone_id, parent=None):
super().__init__(parent)
self.drone_id = drone_id
self.heading = 0.0 # 航向 yaw (0–360)
self.roll = 0.0 # 滾轉 (deg, left- negative)
self.pitch = 0.0 # 俯仰 (deg, nose-up positive)
self.setStyleSheet("background-color: transparent;")
def update_attitude(self, heading, roll, pitch):
self.heading = heading % 360
self.roll = roll
self.pitch = pitch
self.update()
# ------------------------------------------------------------------ helpers
def _adi_rect(self):
"""Returns the square rect used for the ADI ball."""
w, h = self.width(), self.height()
side = min(w, h - 14) # leave 14 px at bottom for heading strip
x = (w - side) / 2
y = 0
return x, y, side, side
# ------------------------------------------------------------------ paint
def paintEvent(self, event):
p = QPainter(self)
p.setRenderHint(QPainter.RenderHint.Antialiasing)
self._draw_adi(p)
self._draw_heading_strip(p)
# ---- artificial horizon ------------------------------------------------
def _draw_adi(self, p):
from PyQt6.QtGui import QPainterPath
x0, y0, side, _ = self._adi_rect()
cx = x0 + side / 2
cy = y0 + side / 2
r = side / 2 - 1
# clip to circle
clip_path = QPainterPath()
clip_path.addEllipse(QPointF(cx, cy), r, r)
p.setClipPath(clip_path)
# pixels-per-degree for pitch (10 deg ≈ side/5)
ppd = side / 50.0
# ---- rotate + translate canvas for roll & pitch
p.save()
p.translate(cx, cy)
p.rotate(self.roll)
pitch_offset = self.pitch * ppd
# sky (above horizon)
sky_color = QColor(30, 100, 180)
p.fillRect(int(-r*2), int(-r*2 + pitch_offset), int(r*4), int(r*4), sky_color)
# ground (below horizon)
ground_color = QColor(140, 90, 40)
p.fillRect(int(-r*2), int(pitch_offset), int(r*4), int(r*4), ground_color)
# horizon line
p.setPen(QPen(QColor("#FFFFFF"), 2))
p.drawLine(int(-r), int(pitch_offset), int(r), int(pitch_offset))
# pitch ladder (every 10°, ±30°)
p.setPen(QPen(QColor(255, 255, 255, 180), 1))
p.setFont(QFont("Arial", 6))
for deg in range(-30, 31, 10):
if deg == 0:
continue
yy = int(pitch_offset - deg * ppd)
half = int(r * (0.35 if deg % 20 == 0 else 0.22))
p.drawLine(-half, yy, half, yy)
p.restore()
p.setClipping(False)
# ---- roll arc & tick marks (outside clip, fixed frame) ----
p.save()
p.translate(cx, cy)
arc_r = r - 2
p.setPen(QPen(QColor("#FFFFFF"), 1))
# draw arc from -60° to +60° (Qt arc: 0=3o'clock, CCW, 16ths of deg)
p.drawArc(int(-arc_r), int(-arc_r), int(2*arc_r), int(2*arc_r),
(90 - 60) * 16, 120 * 16)
# tick marks at 0, ±10, ±20, ±30, ±45, ±60
for deg in [0, 10, 20, 30, 45, 60, -10, -20, -30, -45, -60]:
rad = math.radians(deg - 90)
tick = 6 if deg % 30 == 0 else 4
x1 = arc_r * math.cos(rad)
y1 = arc_r * math.sin(rad)
x2 = (arc_r - tick) * math.cos(rad)
y2 = (arc_r - tick) * math.sin(rad)
p.drawLine(QPointF(x1, y1), QPointF(x2, y2))
# roll pointer triangle (rotates with roll)
p.rotate(self.roll)
ptr_r = arc_r - 1
tri = QPolygonF([
QPointF(0, -ptr_r),
QPointF(-5, -ptr_r + 9),
QPointF(5, -ptr_r + 9),
])
p.setBrush(QColor("#FFFFFF"))
p.setPen(Qt.PenStyle.NoPen)
p.drawPolygon(tri)
p.restore()
# ---- fixed aircraft symbol ----
p.save()
p.translate(cx, cy)
p.setPen(QPen(QColor("#FFD700"), 2))
# left wing
p.drawLine(int(-r*0.5), 0, int(-r*0.15), 0)
p.drawLine(int(-r*0.15), 0, int(-r*0.15), int(r*0.12))
# right wing
p.drawLine(int(r*0.15), 0, int(r*0.5), 0)
p.drawLine(int(r*0.15), 0, int(r*0.15), int(r*0.12))
# centre dot
p.setBrush(QColor("#FFD700"))
p.drawEllipse(QPointF(0, 0), 2.5, 2.5)
p.restore()
# ---- outer ring ----
p.setPen(QPen(QColor("#888888"), 1))
p.setBrush(Qt.BrushStyle.NoBrush)
p.drawEllipse(QPointF(cx, cy), r, r)
# ---- heading strip at bottom ------------------------------------------
def _draw_heading_strip(self, p):
w = self.width()
x0, y0, side, _ = self._adi_rect()
strip_y = y0 + side
strip_h = self.height() - strip_y
if strip_h < 4:
return
# background
p.fillRect(0, int(strip_y), w, strip_h, QColor(30, 30, 30))
# heading text centred (bigger)
p.setPen(QPen(QColor("#FFFFFF")))
p.setFont(QFont("Arial", 10, QFont.Weight.Bold))
hdg_str = f"{int(self.heading)}°"
p.drawText(0, int(strip_y), w, strip_h, Qt.AlignmentFlag.AlignCenter, hdg_str)
src/GUI/gui.py
+167 -59
View File
@@ -22,9 +22,11 @@ from mission_planner import FormationPlanner
# ================================================================================
class ControlStationUI(QMainWindow):
VERSION = '1.0.0'
def __init__(self):
super().__init__()
self.setWindowTitle('GCS')
self.setWindowTitle(f'GCS v{self.VERSION}')
self.resize(1400, 900)
# 初始化ROS2
@@ -44,6 +46,7 @@ class ControlStationUI(QMainWindow):
# 初始化UI
self.drones = {}
self.socket_groups = {}
self.socket_types = {}
self.socket_colors = {
'0': '#00BFFF', # 天藍色 (DeepSkyBlue)
@@ -143,16 +146,11 @@ class ControlStationUI(QMainWindow):
""")
batch_control_layout.addWidget(batch_title)
# 上方按鈕區域
upper_buttons = QHBoxLayout()
# 第一行：全選按鈕
first_row = QHBoxLayout()
select_all_btn = QPushButton("全選")
select_all_btn.clicked.connect(self.handle_select_all)
arm_all_btn = QPushButton("解鎖")
arm_all_btn.clicked.connect(self.handle_arm_selected)
takeoff_all_btn = QPushButton("起飛")
takeoff_all_btn.clicked.connect(self.handle_takeoff_selected)
for btn in [select_all_btn, arm_all_btn, takeoff_all_btn]:
btn.setStyleSheet("""
select_all_btn.setStyleSheet("""
QPushButton {
background-color: #444;
color: #DDD;
@@ -163,17 +161,25 @@ class ControlStationUI(QMainWindow):
}
QPushButton:hover { background-color: #555; }
""")
upper_buttons.addWidget(btn)
upper_buttons.addStretch()
first_row.addWidget(select_all_btn)
first_row.addStretch()
# 模式切換區域
# 第二行：模式切換
mode_layout = QHBoxLayout()
mode_label = QLabel("模式：")
mode_label.setStyleSheet("color: #DDD; min-width: 40px;")
from PyQt6.QtWidgets import QComboBox
self.mode_combo = QComboBox()
self.mode_combo.addItems(["AUTO", "GUIDED", "LOITER", "LAND"])
self.mode_combo.addItems([
"GUIDED", "AUTO", "LAND", "LOITER",
"STABILIZE", "ACRO", "ALT_HOLD", "RTL",
"CIRCLE", "DRIFT", "SPORT", "FLIP",
"AUTOTUNE", "POSHOLD", "BRAKE", "THROW",
"AVOID_ADSB", "GUIDED_NOGPS", "SMART_RTL",
"FLOWHOLD", "FOLLOW", "ZIGZAG", "SYSTEMID",
"AUTOROTATE", "AUTO_RTL"
])
self.mode_combo.setCurrentIndex(1)
self.mode_combo.setStyleSheet("""
QComboBox { background-color: #333; color: #DDD; border-radius: 3px; padding: 2px 10px;}
@@ -197,17 +203,30 @@ class ControlStationUI(QMainWindow):
mode_layout.addWidget(batch_mode_btn)
mode_layout.addStretch()
# 座標輸入區域
coord_widget = QWidget()
coord_layout = QHBoxLayout(coord_widget)
# 第三行：解鎖按鈕
third_row = QHBoxLayout()
arm_all_btn = QPushButton("解鎖")
arm_all_btn.clicked.connect(self.handle_arm_selected)
arm_all_btn.setStyleSheet("""
QPushButton {
background-color: #444;
color: #DDD;
border: none;
padding: 8px 12px;
border-radius: 4px;
min-width: 80px;
}
QPushButton:hover { background-color: #555; }
""")
third_row.addWidget(arm_all_btn)
third_row.addStretch()
# 第四行：高度輸入和起飛按鈕
fourth_row = QHBoxLayout()
self.x_input = QLineEdit()
self.y_input = QLineEdit()
self.z_input = QLineEdit()
for input_field in [self.x_input, self.y_input, self.z_input]:
input_field.setFixedWidth(60)
input_field.setStyleSheet("""
self.z_input.setFixedWidth(60)
self.z_input.setStyleSheet("""
QLineEdit {
background-color: #333;
color: #DDD;
@@ -217,16 +236,9 @@ class ControlStationUI(QMainWindow):
}
""")
coord_layout.addWidget(QLabel("X:", styleSheet="color: #DDD;"))
coord_layout.addWidget(self.x_input)
coord_layout.addWidget(QLabel("Y:", styleSheet="color: #DDD;"))
coord_layout.addWidget(self.y_input)
coord_layout.addWidget(QLabel("Z:", styleSheet="color: #DDD;"))
coord_layout.addWidget(self.z_input)
setpoint_btn = QPushButton("Setpoint")
setpoint_btn.clicked.connect(self.handle_setpoint_selected)
setpoint_btn.setStyleSheet("""
takeoff_all_btn = QPushButton("起飛")
takeoff_all_btn.clicked.connect(self.handle_takeoff_selected)
takeoff_all_btn.setStyleSheet("""
QPushButton {
background-color: #444;
color: #DDD;
@@ -238,15 +250,16 @@ class ControlStationUI(QMainWindow):
QPushButton:hover { background-color: #555; }
""")
lower_control = QHBoxLayout()
lower_control.addWidget(coord_widget)
lower_control.addWidget(setpoint_btn)
lower_control.addStretch()
fourth_row.addWidget(QLabel("高度:", styleSheet="color: #DDD;"))
fourth_row.addWidget(self.z_input)
fourth_row.addWidget(takeoff_all_btn)
fourth_row.addStretch()
# 組裝批次控制 layout
batch_control_layout.addLayout(upper_buttons)
batch_control_layout.addLayout(first_row)
batch_control_layout.addLayout(mode_layout)
batch_control_layout.addLayout(lower_control)
batch_control_layout.addLayout(third_row)
batch_control_layout.addLayout(fourth_row)
# 將批次控制 layout 添加到右側容器
right_layout.addLayout(batch_control_layout)
@@ -255,6 +268,8 @@ class ControlStationUI(QMainWindow):
right_layout.addWidget(self.drone_map.get_widget())
self.drone_map.get_gps_signal().connect(self.handle_map_click)
self.drone_map.get_drone_clicked_signal().connect(self.handle_drone_clicked)
self.drone_map.get_clear_all_drone_selection_signal().connect(self.handle_clear_all_drone_selection)
self.drone_map.get_toggle_select_all_drones_signal().connect(self.handle_toggle_select_all_drones)
# Add widgets to splitter
@@ -479,7 +494,9 @@ class ControlStationUI(QMainWindow):
def create_socket_group_panel(self, socket_id):
"""創建 socket 分組面板"""
color = self.socket_colors.get(socket_id, self.socket_colors['default'])
panel = SocketGroupPanel(socket_id, color)
# 如果已知socket類型，傳遞給panel
socket_type = self.socket_types.get(socket_id, None)
panel = SocketGroupPanel(socket_id, color, socket_type)
panel.group_selection_changed.connect(self.handle_group_selection)
return panel
@@ -541,6 +558,22 @@ class ControlStationUI(QMainWindow):
self.statusBar().showMessage(f"{action} 錯誤: {str(e)}", 3000)
def update_ui(self, msg_type, drone_id, data):
# 優先處理 connection_type，即使 drone 還不存在
if msg_type == 'connection_type':
# 獲取連接類型和socket ID
conn_type = data.get('type', 'Unknown')
# 從 drone_id 提取 socket_id (格式: s{socket}_{sys})
parts = drone_id.split('_')
if len(parts) >= 2 and parts[0].startswith('s'):
socket_id = parts[0][1:] # 移除 's' 前綴
# 只在第一次收到時更新
if socket_id not in self.socket_types:
self.socket_types[socket_id] = conn_type
# 如果 socket group 已存在，更新標題
if socket_id in self.socket_groups:
self.socket_groups[socket_id].set_socket_type(conn_type)
return
# 檢查是否為新無人機，若是則加入無人機面板
if drone_id not in self.drones:
self.add_drone(drone_id)
@@ -595,27 +628,22 @@ class ControlStationUI(QMainWindow):
percentage = data.get('percentage', percentage)
# 顯示總電壓、電池節數、單節電壓和百分比
text = f"{percentage:.0f}%"
# 顯示百分比與電壓（分開欄位）
pct_text = f"{percentage:.0f}%"
vol = f"{voltage:.2f}V"
cells_text = f"{cells}S"
self.update_field(panel, drone_id, 'battery', text, voltage_color)
self.update_field(panel, drone_id, 'battery_pct', pct_text, voltage_color)
self.update_field(panel, drone_id, 'battery_vol', vol)
self.update_field(panel, drone_id, 'battery_cells', cells_text)
# 維持 overview table 的 battery 欄位為電壓
self.update_overview_table(drone_id, 'battery', vol)
elif msg_type == 'gps':
# 仍然儲存 GPS 到內部監控，但不在面板上顯示經緯度欄位
lat, lon = data.get('lat', 0), data.get('lon', 0)
self.drone_positions[drone_id] = (lat, lon)
lon_text = f"{lon:.6f}°"
lat_text = f"{lat:.6f}°"
self.update_field(panel, drone_id, 'longitude', lon_text)
self.update_field(panel, drone_id, 'latitude', lat_text)
self.update_overview_table(drone_id, 'longitude', lon_text)
self.update_overview_table(drone_id, 'latitude', lat_text)
# ================================================================================
# 【新增】同時儲存到 monitor.drone_gps（處理 UDP/WebSocket 的 GPS 資料）
# ================================================================================
alt = data.get('alt', 0) # UDP/WebSocket 可能沒有 alt
alt = data.get('alt', 0)
if not hasattr(self.monitor, 'drone_gps'):
self.monitor.drone_gps = {}
self.monitor.drone_gps[drone_id] = {
@@ -623,10 +651,12 @@ class ControlStationUI(QMainWindow):
'lon': lon,
'alt': alt
}
# ================================================================================
# 更新 overview table 的經緯度
self.update_overview_table(drone_id, 'latitude', f"{lat:.6f}°")
self.update_overview_table(drone_id, 'longitude', f"{lon:.6f}°")
# 更新地圖上的無人機位置
heading = self.drone_headings.get(drone_id, 0) # 如果沒有航向，使用 0
# 更新地圖上的無人機位置（地圖仍需經緯度）
heading = self.drone_headings.get(drone_id, 0)
self.drone_map.update_drone_position(drone_id, lat, lon, heading)
elif msg_type == 'altitude':
@@ -636,9 +666,19 @@ class ControlStationUI(QMainWindow):
self.update_overview_table(drone_id, 'altitude', text)
elif msg_type == 'local_pose':
text = f"{data['x']:.1f}, {data['y']:.1f}"
self.update_field(panel, drone_id, 'local', text)
self.update_overview_table(drone_id, 'local', text)
# 更新 local 座標並顯示在 overview table
x = data.get('x', 0)
y = data.get('y', 0)
z = data.get('z', 0)
if not hasattr(self.monitor, 'drone_local'):
self.monitor.drone_local = {}
self.monitor.drone_local[drone_id] = {
'x': x,
'y': y
}
# 更新 overview table 的位置欄位 (只顯示 x, y)
local_text = f"{x:.1f}, {y:.1f}"
self.update_overview_table(drone_id, 'local', local_text)
elif msg_type == 'hud':
heading = data.get('heading')
@@ -677,6 +717,7 @@ class ControlStationUI(QMainWindow):
self.update_field(panel, drone_id, 'heading', heading_text)
self.update_field(panel, drone_id, 'groundspeed', groundspeed_text)
self.update_field(panel, drone_id, 'speed', groundspeed_text)
self.update_overview_table(drone_id, 'heading', heading_text)
self.update_overview_table(drone_id, 'groundspeed', groundspeed_text)
self.update_overview_table(drone_id, 'airspeed', airspeed_text)
@@ -684,6 +725,14 @@ class ControlStationUI(QMainWindow):
self.update_overview_table(drone_id, 'hud_alt', hud_alt_text)
self.update_overview_table(drone_id, 'climb', climb_text)
# 更新態度指示器的航向（如果有roll/pitch數據，下面的attitude訊息會更新）
if panel and hasattr(panel, 'attitude_indicator') and panel.attitude_indicator:
if not hasattr(panel, '_last_roll'):
panel._last_roll = 0
if not hasattr(panel, '_last_pitch'):
panel._last_pitch = 0
panel.attitude_indicator.update_attitude(heading, panel._last_roll, panel._last_pitch)
# 如果有位置資訊，也更新地圖上的航向
if drone_id in self.drone_positions:
lat, lon = self.drone_positions[drone_id]
@@ -716,6 +765,16 @@ class ControlStationUI(QMainWindow):
self.update_overview_table(drone_id, 'pitch', pitch_text)
self.update_overview_table(drone_id, 'yaw', yaw_text)
# 儲存roll/pitch供attitude指示器使用，並使用現存的航向
if panel:
panel._last_roll = roll
panel._last_pitch = pitch
# 更新態度指示器（使用現存航向或預設0）
if panel and hasattr(panel, 'update_attitude'):
heading = self.drone_headings.get(drone_id, 0)
panel.update_attitude(heading, roll, pitch)
# 新增處理分組勾選的方法
def handle_group_selection(self, socket_id, state):
"""處理 socket 分組勾選狀態變化"""
@@ -1048,6 +1107,55 @@ class ControlStationUI(QMainWindow):
# 切換勾選狀態
checkbox.setChecked(not checkbox.isChecked())
def handle_clear_all_drone_selection(self):
"""清除所有無人機的勾選狀態"""
print("清除所有無人機選擇")
for drone_id in self.drones.keys():
checkbox = self.drones[drone_id].get_checkbox()
if checkbox:
checkbox.blockSignals(True)
checkbox.setChecked(False)
checkbox.blockSignals(False)
# 清除選中集合
self.monitor.selected_drones.clear()
# 更新所有分組的勾選框狀態
for socket_id in self.socket_groups.keys():
self.update_group_checkbox_state(socket_id)
def handle_toggle_select_all_drones(self):
"""切換全選/取消全選所有無人機"""
# 檢查是否已經全選
all_selected = all(self.drones[drone_id].get_checkbox().isChecked()
for drone_id in self.drones.keys())
if all_selected:
# 已全選，則取消全選
print("取消全選所有無人機")
for drone_id in self.drones.keys():
checkbox = self.drones[drone_id].get_checkbox()
if checkbox:
checkbox.blockSignals(True)
checkbox.setChecked(False)
checkbox.blockSignals(False)
self.monitor.selected_drones.clear()
else:
# 未全選，則全選
print("全選所有無人機")
for drone_id in self.drones.keys():
checkbox = self.drones[drone_id].get_checkbox()
if checkbox:
checkbox.blockSignals(True)
checkbox.setChecked(True)
checkbox.blockSignals(False)
self.monitor.selected_drones.add(drone_id)
# 更新所有分組的勾選框狀態
for socket_id in self.socket_groups.keys():
self.update_group_checkbox_state(socket_id)
def show_planned_waypoints(self):
"""
顯示規劃的航點（在終端輸出）
src/GUI/map_layout.py
+143 -64
View File
@@ -43,6 +43,14 @@ class DroneMap:
top: 10px;
right: 10px;
z-index: 1000;
background-color: rgba(255, 255, 255, 0.95);
padding: 10px;
border-radius: 6px;
box-shadow: 0 2px 8px rgba(0,0,0,0.3);
display: flex;
flex-direction: column;
gap: 5px;
min-width: 150px;
}
.map-controls-bottom {
position: absolute;
@@ -52,7 +60,7 @@ class DroneMap:
}
.control-button {
padding: 8px 12px;
background-color: #F44336;
background-color: #EF5350;
color: white;
border: none;
border-radius: 4px;
@@ -62,21 +70,7 @@ class DroneMap:
box-shadow: 0 2px 5px rgba(0,0,0,0.2);
}
.control-button:hover {
background-color: #D32F2F;
}
.map-toggle-button {
padding: 8px 12px;
background-color: #2E7D32;
color: white;
border: none;
border-radius: 4px;
cursor: pointer;
font-size: 13px;
font-weight: bold;
box-shadow: 0 2px 5px rgba(0,0,0,0.2);
}
.map-toggle-button:hover {
background-color: #1B5E20;
background-color: #E53935;
}
.mission-info-panel {
position: absolute;
@@ -128,8 +122,7 @@ class DroneMap:
margin-bottom: 10px;
padding-bottom: 10px;
border-bottom: 1px solid #ddd;
}
.selection-button {
} .selection-button-blue {
width: 100%;
padding: 8px;
background-color: #64B5F6;
@@ -141,27 +134,60 @@ class DroneMap:
font-weight: bold;
transition: background-color 0.2s;
}
.selection-button:hover {
.selection-button-blue:hover {
background-color: #42A5F5;
}
.selection-button.active {
.selection-button-blue.active {
background-color: #1976D2;
} .selection-button-blue {
width: 100%;
padding: 8px;
background-color: #64B5F6;
color: white;
border: none;
border-radius: 4px;
cursor: pointer;
font-size: 13px;
font-weight: bold;
transition: background-color 0.2s;
}
.selection-button-blue:hover {
background-color: #42A5F5;
}
.selection-button-blue.active {
background-color: #1976D2;
}
.selection-button {
width: 100%;
padding: 8px;
background-color: #F06A61;
color: white;
border: none;
border-radius: 4px;
cursor: pointer;
font-size: 13px;
font-weight: bold;
transition: background-color 0.2s;
}
.selection-button:hover {
background-color: #E53935;
}
.selection-button.active {
background-color: #D32F2F;
}
</style>
</head>
<body>
<div id="map"></div>
<div class="map-controls">
<button class="control-button" onclick="clearAllTrajectories()">清除軌跡</button>
</div>
<div class="map-controls-bottom">
<button class="map-toggle-button" onclick="toggleMapLayer()">地圖：預設</button>
<button class="selection-button" onclick="clearAllTrajectories()">清除軌跡</button>
<button class="selection-button" id="select-rect-btn" onclick="toggleRectSelection()">框選方形區域</button>
<button class="selection-button" id="select-polygon-btn" onclick="togglePolygonSelection()">多點選擇區域</button>
</div>
<div class="mission-info-panel">
<div class="selection-buttons">
<button class="selection-button" id="select-drones-btn" onclick="toggleDroneSelection()">框選無人機</button>
<button class="selection-button" id="select-rect-btn" onclick="toggleRectSelection()">框選方形區域</button>
<button class="selection-button" id="select-polygon-btn" onclick="togglePolygonSelection()">多點選擇區域</button>
<button class="selection-button-blue" onclick="toggleSelectAllDrones()">全選無人機</button>
<button class="selection-button-blue" id="select-drones-btn" onclick="toggleDroneSelection()">框選無人機</button>
</div>
<div class="mission-info-row">
<span class="mission-info-label">中心點: </span>
@@ -172,6 +198,7 @@ class DroneMap:
<span class="mission-info-value" id="target-position">未設定</span>
</div>
<button class="mission-start-button" id="start-mission-btn" onclick="startMission()" disabled>開始任務</button>
<button class="mission-start-button" id="pause-mission-btn" onclick="pauseMission()">暫停任務</button>
</div>
<script>
@@ -193,25 +220,11 @@ class DroneMap:
attribution: 'Tiles © Esri'
});
// 默認使用街道圖
var currentLayer = streetLayer;
// 默認使用衛星圖
var currentLayer = satelliteLayer;
currentLayer.addTo(map);
var isSatellite = false;
var isSatellite = true;
// 切換地圖圖層函數
function toggleMapLayer() {
if (isSatellite) {
map.removeLayer(satelliteLayer);
streetLayer.addTo(map);
isSatellite = false;
document.querySelector('.map-toggle-button').textContent = '地圖：預設';
} else {
map.removeLayer(streetLayer);
satelliteLayer.addTo(map);
isSatellite = true;
document.querySelector('.map-toggle-button').textContent = '地圖：衛星';
}
}
// 地圖點擊事件
map.on('click', function(e) {
@@ -229,6 +242,9 @@ class DroneMap:
// 地圖拖曳事件（用於矩形選擇）
map.on('mousedown', function(e) {
mapDragStarted = false;
clickStartPos = {x: e.originalEvent.clientX, y: e.originalEvent.clientY};
if (selectionMode === 'rect' || selectionMode === 'drones') {
isDrawing = true;
drawStartPoint = e.latlng;
@@ -238,6 +254,15 @@ class DroneMap:
});
map.on('mousemove', function(e) {
// 檢測地圖拖移
if (clickStartPos && !selectionMode) {
var dx = Math.abs(e.originalEvent.clientX - clickStartPos.x);
var dy = Math.abs(e.originalEvent.clientY - clickStartPos.y);
if (dx > 5 || dy > 5) {
mapDragStarted = true;
}
}
if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
// 更新臨時矩形
if (tempRectangle) {
@@ -260,6 +285,12 @@ class DroneMap:
finishRectSelection(bounds);
drawStartPoint = null;
}
// 重置拖移狀態
clickStartPos = null;
setTimeout(function() {
mapDragStarted = false;
}, 100);
});
function createArrowIcon(color) {
@@ -344,6 +375,8 @@ class DroneMap:
var tempRectangle = null; // 臨時矩形
var isDrawing = false; // 是否正在繪製
var drawStartPoint = null; // 繪製起點
var mapDragStarted = false; // 地圖是否正在拖移
var clickStartPos = null; // 記錄點擊開始位置
// ================================================================================
// 更新任務信息面板
@@ -375,6 +408,14 @@ class DroneMap:
// ================================================================================
// 選擇工具函數
// ================================================================================
function toggleSelectAllDrones() {
// 切換全選/取消全選無人機
if (bridge) {
bridge.toggleSelectAllDrones();
console.log('切換全選無人機');
}
}
function toggleDroneSelection() {
clearSelectionMode();
if (selectionMode === 'drones') {
@@ -506,7 +547,11 @@ class DroneMap:
}
if (selectionMode === 'drones') {
// 框選無人機模式
// 框選無人機模式：先清除全選
if (bridge) {
bridge.clearAllDroneSelection();
}
Object.keys(markers).forEach(droneId => {
var pos = markers[droneId].getLatLng();
if (bounds.contains(pos)) {
@@ -578,6 +623,14 @@ class DroneMap:
console.log('開始任務:', centerPosition, targetPosition);
}
}
// 暫停任務
function pauseMission() {
if (bridge) {
bridge.pauseMissionSignal();
console.log('暫停任務');
}
}
// ================================================================================
function initTrajectory(id) {
@@ -642,6 +695,9 @@ class DroneMap:
rotationOrigin: 'center'
})
.on('click', function () {
if (mapDragStarted) {
return; // 如果是拖移地圖，不處理點擊
}
if (bridge) {
bridge.emitDroneClicked(id);
}
@@ -654,6 +710,9 @@ class DroneMap:
zIndexOffset: 1000
})
.on('click', function() {
if (mapDragStarted) {
return; // 如果是拖移地圖，不處理點擊
}
if (bridge) {
bridge.emitDroneClicked(id);
}
@@ -662,7 +721,8 @@ class DroneMap:
.addTo(map);
if (!initialized || id < focusedId) {
focusOn(id);
focusedId = id;
map.setView([lat, lon], 19); // 第一台無人機：重置並放大到最大
initialized = true;
}
}
@@ -741,18 +801,6 @@ class DroneMap:
zIndexOffset: 2000
}).addTo(missionPlanGroup);
// 繪製中心點到目標點的虛線
missionLine = L.polyline(
[[centerLat, centerLon], [targetLat, targetLon]],
{
color: '#FF4444',
weight: 3,
opacity: 0.8,
dashArray: '10, 10', // 虛線樣式
smoothFactor: 1
}
).addTo(missionPlanGroup);
console.log('任務規劃已繪製: C(' + centerLat + ', ' + centerLon + ') -> T(' + targetLat + ', ' + targetLon + ')');
}
@@ -769,12 +817,6 @@ class DroneMap:
targetMarker = null;
}
// 清除任務線
if (missionLine) {
missionPlanGroup.removeLayer(missionLine);
missionLine = null;
}
// 清除位置資訊
centerPosition = null;
targetPosition = null;
@@ -871,10 +913,26 @@ class DroneMap:
"""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
@@ -887,7 +945,10 @@ class MapBridge(QObject):
"""JavaScript 和 Python 之間的橋接類"""
gps_signal = pyqtSignal(float, float) # lat, lon
drone_clicked = pyqtSignal(str) # drone_id
clear_all_drone_selection = pyqtSignal() # clear all drone selection
select_all_drones = pyqtSignal() # select all drones
start_mission_signal = pyqtSignal(float, float, float, float) # center_lat, center_lon, target_lat, target_lon
pause_mission_signal = pyqtSignal() # pause mission
rectangle_selected = pyqtSignal(str) # JSON string of rectangle points
polygon_selected = pyqtSignal(str) # JSON string of polygon points
@@ -904,12 +965,30 @@ class MapBridge(QObject):
"""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()
print("🗑️ 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()
print("🔄 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)
print(f"🚀 開始任務信號已發出: 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()
print("⏸️ 暫停任務信號已發出")
@pyqtSlot(str)
def rectangleSelected(self, points_json):
"""供 JavaScript 調用的方法 - 矩形選擇完成"""