From 8fdbbbc5dcf4778330916f400bf65a9e27c2a731 Mon Sep 17 00:00:00 2001 From: ken910606 Date: Wed, 4 Feb 2026 03:46:31 +0800 Subject: [PATCH] update gui --- src/GUI/comm_panel.py | 294 +++++++++++++++++++++++++++++++++++++- src/GUI/communication.py | 41 +++++- src/GUI/gui.py | 136 +++++++++++++++--- src/GUI/map_layout.py | 18 ++- src/GUI/overview_table.py | 33 ++++- 5 files changed, 491 insertions(+), 31 deletions(-) diff --git a/src/GUI/comm_panel.py b/src/GUI/comm_panel.py index 82b539e..bd12794 100644 --- a/src/GUI/comm_panel.py +++ b/src/GUI/comm_panel.py @@ -1,7 +1,9 @@ #!/usr/bin/env python3 from PyQt6.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, - QPushButton, QLineEdit) + QPushButton, QLineEdit, QComboBox) from PyQt6.QtCore import pyqtSignal +import glob +import os class CommPanel(QWidget): """通讯设置面板类""" @@ -13,12 +15,16 @@ class CommPanel(QWidget): ws_connection_added = pyqtSignal(str) # url ws_connection_toggled = pyqtSignal(dict, QPushButton, QLabel) # conn, btn, status_label ws_connection_removed = pyqtSignal(dict, QWidget) # conn, panel + serial_connection_added = pyqtSignal(str, int) # port, baudrate + serial_connection_toggled = pyqtSignal(dict, QPushButton, QLabel) # conn, btn, status_label + serial_connection_removed = pyqtSignal(dict, QWidget) # conn, panel status_message = pyqtSignal(str, int) # message, timeout def __init__(self, parent=None): super().__init__(parent) self.udp_connections = [] self.ws_connections = [] + self.serial_connections = [] self._init_ui() def _init_ui(self): @@ -105,6 +111,118 @@ class CommPanel(QWidget): separator.setFixedHeight(20) layout.addWidget(separator) + # ========== Serial 區域 ========== + serial_title = QLabel("Serial") + serial_title.setStyleSheet(""" + color: #DDD; + font-size: 14px; + font-weight: bold; + padding: 5px; + background-color: #333; + border-radius: 4px; + """) + layout.addWidget(serial_title) + + # Serial 連接列表容器 + self.serial_list_widget = QWidget() + self.serial_list_layout = QVBoxLayout(self.serial_list_widget) + self.serial_list_layout.setContentsMargins(0, 0, 0, 0) + self.serial_list_layout.setSpacing(5) + layout.addWidget(self.serial_list_widget) + + # Serial 添加新連接區域 + add_serial_widget = QWidget() + add_serial_layout = QHBoxLayout(add_serial_widget) + add_serial_layout.setContentsMargins(0, 0, 0, 0) + + self.serial_port_combo = QComboBox() + self.serial_port_combo.setStyleSheet(""" + QComboBox { + background-color: #333; + color: #DDD; + border: 1px solid #555; + border-radius: 4px; + padding: 5px; + } + QComboBox::drop-down { + border: none; + } + QComboBox::down-arrow { + image: none; + border-left: 5px solid transparent; + border-right: 5px solid transparent; + border-top: 5px solid #DDD; + } + """) + self._refresh_serial_ports() + + refresh_ports_btn = QPushButton("↻") + refresh_ports_btn.setFixedWidth(35) + refresh_ports_btn.clicked.connect(self._refresh_serial_ports) + refresh_ports_btn.setToolTip("重新掃描串口") + refresh_ports_btn.setStyleSheet(""" + QPushButton { + background-color: #444; + color: #DDD; + border: none; + padding: 6px; + border-radius: 4px; + font-size: 16px; + } + QPushButton:hover { background-color: #555; } + """) + + self.serial_baudrate_combo = QComboBox() + self.serial_baudrate_combo.addItems(['9600', '19200', '38400', '57600', '115200']) + self.serial_baudrate_combo.setCurrentText('57600') + self.serial_baudrate_combo.setFixedWidth(100) + self.serial_baudrate_combo.setStyleSheet(""" + QComboBox { + background-color: #333; + color: #DDD; + border: 1px solid #555; + border-radius: 4px; + padding: 5px; + } + QComboBox::drop-down { + border: none; + } + QComboBox::down-arrow { + image: none; + border-left: 5px solid transparent; + border-right: 5px solid transparent; + border-top: 5px solid #DDD; + } + """) + + add_serial_btn = QPushButton("添加") + add_serial_btn.clicked.connect(self._handle_add_serial) + add_serial_btn.setStyleSheet(""" + QPushButton { + background-color: #4CAF50; + color: white; + border: none; + padding: 6px 12px; + border-radius: 4px; + min-width: 30px; + } + QPushButton:hover { background-color: #45a049; } + """) + + add_serial_layout.addWidget(QLabel("Port:", styleSheet="color: #DDD;")) + add_serial_layout.addWidget(self.serial_port_combo) + add_serial_layout.addWidget(refresh_ports_btn) + add_serial_layout.addWidget(QLabel("Baud:", styleSheet="color: #DDD;")) + add_serial_layout.addWidget(self.serial_baudrate_combo) + add_serial_layout.addWidget(add_serial_btn) + + layout.addWidget(add_serial_widget) + + # 分隔線 + separator = QWidget() + separator.setFixedHeight(20) + layout.addWidget(separator) + # ========== WebSocket 區域 ========== ws_title = QLabel("WebSocket") ws_title.setStyleSheet(""" @@ -229,6 +347,94 @@ class CommPanel(QWidget): # 清空輸入框 self.ws_url_input.clear() + def _refresh_serial_ports(self): + """重新掃描可用的串口""" + self.serial_port_combo.clear() + + # 掃描 Linux 下的串口設備 + ports = [] + + # 掃描 USB 串口 + usb_ports = glob.glob('/dev/ttyUSB*') + ports.extend(usb_ports) + + # 掃描 ACM 串口 + acm_ports = glob.glob('/dev/ttyACM*') + ports.extend(acm_ports) + + # 排序 + ports.sort() + + if ports: + self.serial_port_combo.addItems(ports) + else: + self.serial_port_combo.addItem("沒有找到串口") + self.serial_port_combo.setEnabled(False) + return + + self.serial_port_combo.setEnabled(True) + + def _handle_add_serial(self): + """處理添加 Serial 連接""" + port = self.serial_port_combo.currentText() + baudrate_text = self.serial_baudrate_combo.currentText() + + if not port or port == "沒有找到串口": + self.status_message.emit("請選擇有效的串口", 3000) + return + + try: + baudrate = int(baudrate_text) + except ValueError: + self.status_message.emit("波特率格式錯誤", 3000) + return + + # 檢查是否已存在相同連接 + for conn in self.serial_connections: + if conn['port'] == port: + self.status_message.emit("連接已存在", 3000) + return + + # 發送信號通知主窗口 + self.serial_connection_added.emit(port, baudrate) + + def _handle_add_ws(self): + """處理添加 WebSocket 連接""" + input_url = self.ws_url_input.text().strip() + + if not input_url: + self.status_message.emit("請輸入 WebSocket URL", 3000) + return + + # 自動添加 ws:// 前綴 + if not input_url.startswith('ws://') and not input_url.startswith('wss://'): + url = f'ws://{input_url}' + else: + url = input_url + + # 基本 URL 格式驗證 + try: + if '://' in url: + parts = url.split('://', 1) + if len(parts) == 2 and ':' not in parts[1]: + self.status_message.emit("URL 格式錯誤，需要包含端口號 (例如: 127.0.0.1:8756)", 3000) + return + except: + self.status_message.emit("URL 格式錯誤", 3000) + return + + # 檢查是否已存在相同連接 + for conn in self.ws_connections: + if conn['url'] == url: + self.status_message.emit("連接已存在", 3000) + return + + # 發送信號通知主窗口 + self.ws_connection_added.emit(url) + + # 清空輸入框 + self.ws_url_input.clear() + def create_udp_connection_panel(self, conn): """創建 UDP 連接面板""" panel = QWidget() @@ -395,4 +601,88 @@ class CommPanel(QWidget): def remove_ws_connection_from_list(self, conn): """從列表中移除 WebSocket 連接""" if conn in self.ws_connections: - self.ws_connections.remove(conn) \ No newline at end of file + self.ws_connections.remove(conn) + + def create_serial_connection_panel(self, conn): + """創建 Serial 連接面板""" + panel = QWidget() + panel.setStyleSheet(""" + QWidget { + background-color: #2A2A2A; + border-radius: 6px; + padding: 8px; + border: 1px solid #444; + } + """) + + layout = QHBoxLayout(panel) + layout.setContentsMargins(8, 8, 8, 8) + + # 連接資訊 + info_label = QLabel(f"{conn['name']} - {conn['port']} @ {conn['baudrate']}") + info_label.setStyleSheet("color: #DDD; font-size: 12px;") + + # 狀態指示器 + status_label = QLabel("●") + if conn.get('enabled', False): + status_label.setStyleSheet("color: #4CAF50; font-size: 16px;") + status_label.setToolTip("運行中") + else: + status_label.setStyleSheet("color: #888; font-size: 16px;") + status_label.setToolTip("已停止") + + # 控制按鈕 + toggle_btn = QPushButton("停止" if conn.get('enabled', False) else "啟動") + toggle_btn.setFixedWidth(60) + toggle_btn.clicked.connect(lambda: self.serial_connection_toggled.emit(conn, toggle_btn, status_label)) + toggle_btn.setStyleSheet(""" + QPushButton { + background-color: #444; + color: #DDD; + border: none; + padding: 4px 8px; + border-radius: 3px; + font-size: 11px; + } + QPushButton:hover { background-color: #555; } + """) + + remove_btn = QPushButton("移除") + remove_btn.setFixedWidth(60) + remove_btn.clicked.connect(lambda: self.serial_connection_removed.emit(conn, panel)) + remove_btn.setStyleSheet(""" + QPushButton { + background-color: #d32f2f; + color: white; + border: none; + padding: 4px 8px; + border-radius: 3px; + font-size: 11px; + } + QPushButton:hover { background-color: #b71c1c; } + """) + + layout.addWidget(status_label) + layout.addWidget(info_label) + layout.addStretch() + layout.addWidget(toggle_btn) + layout.addWidget(remove_btn) + + # 儲存引用 + panel.connection = conn + panel.toggle_btn = toggle_btn + panel.status_label = status_label + + return panel + + def add_serial_panel(self, conn): + """添加 Serial 連接面板到列表""" + panel = self.create_serial_connection_panel(conn) + self.serial_list_layout.addWidget(panel) + self.serial_connections.append(conn) + return panel + + def remove_serial_connection_from_list(self, conn): + """從列表中移除 Serial 連接""" + if conn in self.serial_connections: + self.serial_connections.remove(conn) \ No newline at end of file diff --git a/src/GUI/communication.py b/src/GUI/communication.py index 74add17..c95e74e 100644 --- a/src/GUI/communication.py +++ b/src/GUI/communication.py @@ -397,6 +397,12 @@ class DroneMonitor(Node): # ================================================================================ self.drone_gps = {} # {drone_id: {'lat': ..., 'lon': ..., 'alt': ...}} # ================================================================================ + + # ================================================================================ + # 【新增】儲存 sys_id 到 actual_drone_id 的映射 (從 summary 獲取) + # ================================================================================ + self.sys_to_actual_id = {} # {sys_id: actual_drone_id} e.g. {'sys11': 's0_11'} + # ================================================================================ self.serial_receivers = [] # 主题检测定时器 @@ -553,7 +559,13 @@ class DroneMonitor(Node): } def battery_callback(self, drone_id, msg): - self.latest_data[(drone_id, 'battery')] = { + # 使用映射獲取實際的 drone_id + actual_drone_id = self.sys_to_actual_id.get(drone_id, None) + # 如果還沒有從 summary 獲取到映射，則不處理 + if actual_drone_id is None: + return + + self.latest_data[(actual_drone_id, 'battery')] = { 'voltage': msg.voltage } @@ -580,6 +592,15 @@ class DroneMonitor(Node): if socket_id is not None and sysid is not None: # 使用 socket_id 作為前綴 actual_drone_id = f's{socket_id}_{sysid}' + + # ================================================================================ + # 【關鍵】保存 sys_id 到 actual_drone_id 的映射 + # ================================================================================ + sys_key = f'sys{sysid}' + self.sys_to_actual_id[sys_key] = actual_drone_id + # 也保存原始的 s0_ 格式到實際 ID 的映射 + self.sys_to_actual_id[drone_id] = actual_drone_id + # ================================================================================ else: actual_drone_id = drone_id @@ -600,7 +621,13 @@ class DroneMonitor(Node): print(f"Error in summary_callback for {drone_id}: {e}") def gps_callback(self, drone_id, msg): - self.latest_data[(drone_id, 'gps')] = { + # 使用映射獲取實際的 drone_id + actual_drone_id = self.sys_to_actual_id.get(drone_id, None) + # 如果還沒有從 summary 獲取到映射，則不處理 + if actual_drone_id is None: + return + + self.latest_data[(actual_drone_id, 'gps')] = { 'lat': msg.latitude, 'lon': msg.longitude, 'alt': msg.altitude @@ -609,7 +636,7 @@ class DroneMonitor(Node): # ================================================================================ # 【新增】儲存 GPS 資料到 drone_gps 字典 # ================================================================================ - self.drone_gps[drone_id] = { + self.drone_gps[actual_drone_id] = { 'lat': msg.latitude, 'lon': msg.longitude, 'alt': msg.altitude @@ -636,7 +663,13 @@ class DroneMonitor(Node): } def hud_callback(self, drone_id, msg): - self.latest_data[(drone_id, 'hud')] = { + # 使用映射獲取實際的 drone_id + actual_drone_id = self.sys_to_actual_id.get(drone_id, None) + # 如果還沒有從 summary 獲取到映射，則不處理 + if actual_drone_id is None: + return + + self.latest_data[(actual_drone_id, 'hud')] = { 'airspeed': msg.airspeed, 'groundspeed': msg.groundspeed, 'heading': msg.heading, diff --git a/src/GUI/gui.py b/src/GUI/gui.py index cefc9c9..1e0c5ab 100644 --- a/src/GUI/gui.py +++ b/src/GUI/gui.py @@ -44,25 +44,6 @@ class ControlStationUI(QMainWindow): # 初始化UI self.drones = {} self.socket_groups = {} - self.info_types = ["模式", "ARM", "電壓", "經度", "緯度", "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, - "longitude": 3, - "latitude": 4, - "altitude": 5, - "local": 6, - "velocity": 7, - "groundspeed": 8, - "heading": 9, - "roll": 10, - "pitch": 11, - "yaw": 12, - "loss_rate": 13, - "ping": 14 - } self.socket_colors = { '0': '#00BFFF', # 天藍色 (DeepSkyBlue) @@ -86,7 +67,8 @@ class ControlStationUI(QMainWindow): self.udp_receivers = [] self.udp_connections = [] self.ws_connections = [] - self.monitor.start_serial_connection('/dev/ttyUSB0', 57600) + self.serial_receivers = [] + self.serial_connections = [] # ================================================================================ # 【新增】初始化任務規劃器 @@ -122,17 +104,20 @@ class ControlStationUI(QMainWindow): self.left_tab.addTab(scroll, "無人載具") # — 分頁 2：Overview Table - self.overview_table = OverviewTable(self.info_types, self.info_type_map) + self.overview_table = OverviewTable() self.left_tab.addTab(self.overview_table, "總覽") # — 分頁 3：通訊設定 self.comm_panel = CommPanel() self.comm_panel.udp_connection_added.connect(self.handle_udp_connection_added) self.comm_panel.ws_connection_added.connect(self.handle_ws_connection_added) + self.comm_panel.serial_connection_added.connect(self.handle_serial_connection_added) self.comm_panel.udp_connection_toggled.connect(self.toggle_udp_connection) self.comm_panel.ws_connection_toggled.connect(self.toggle_ws_connection) + self.comm_panel.serial_connection_toggled.connect(self.toggle_serial_connection) self.comm_panel.udp_connection_removed.connect(self.remove_udp_connection) self.comm_panel.ws_connection_removed.connect(self.remove_ws_connection) + self.comm_panel.serial_connection_removed.connect(self.remove_serial_connection) self.comm_panel.status_message.connect(lambda msg, timeout: self.statusBar().showMessage(msg, timeout)) self.left_tab.addTab(self.comm_panel, "通訊") @@ -269,6 +254,7 @@ class ControlStationUI(QMainWindow): # 添加地圖 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) # Add widgets to splitter @@ -427,6 +413,69 @@ class ControlStationUI(QMainWindow): self.statusBar().showMessage(f"已移除 UDP 连接: {conn['ip']}:{conn['port']}", 3000) + def handle_serial_connection_added(self, port, baudrate): + """處理添加 Serial 連接""" + conn = { + 'name': f'Serial', + 'port': port, + 'baudrate': baudrate, + 'enabled': False, + 'receiver': None + } + + # 添加到列表 + self.serial_connections.append(conn) + + # 在 UI 中顯示 + panel = self.comm_panel.add_serial_panel(conn) + + self.statusBar().showMessage(f"已添加 Serial 连接: {port} @ {baudrate}", 3000) + + def toggle_serial_connection(self, conn, btn, status_label): + """切換 Serial 連接狀態""" + if conn.get('enabled', False): + # 停止連接 + if conn.get('receiver'): + conn['receiver'].stop() + conn['receiver'] = None + + conn['enabled'] = False + btn.setText("啟動") + status_label.setStyleSheet("color: #888; font-size: 16px;") + status_label.setToolTip("已停止") + self.statusBar().showMessage(f"已停止 Serial 連接: {conn['port']}", 3000) + else: + # 啟動連接 + try: + receiver = self.monitor.start_serial_connection(conn['port'], conn['baudrate']) + conn['receiver'] = receiver + conn['enabled'] = True + btn.setText("停止") + status_label.setStyleSheet("color: #4CAF50; font-size: 16px;") + status_label.setToolTip("運行中") + self.statusBar().showMessage(f"已啟動 Serial 連接: {conn['port']}", 3000) + except Exception as e: + self.statusBar().showMessage(f"啟動 Serial 連接失敗: {str(e)}", 5000) + + def remove_serial_connection(self, conn, panel): + """移除 Serial 連接""" + # 停止連接 + if conn.get('enabled', False) and conn.get('receiver'): + conn['receiver'].stop() + + # 从列表移除 + if conn in self.serial_connections: + self.serial_connections.remove(conn) + + # 从 comm_panel 列表移除 + self.comm_panel.remove_serial_connection_from_list(conn) + + # 从 UI 移除 + panel.setParent(None) + panel.deleteLater() + + self.statusBar().showMessage(f"已移除 Serial 连接: {conn['port']}", 3000) + 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']) @@ -592,15 +641,45 @@ class ControlStationUI(QMainWindow): heading = data.get('heading') self.drone_headings[drone_id] = heading groundspeed = data.get('groundspeed') + airspeed = data.get('airspeed') + throttle = data.get('throttle') + hud_alt = data.get('alt') + climb = data.get('climb') + heading_text = f"{heading:.1f}°" if isinstance(groundspeed, (int, float)): groundspeed_text = f"{groundspeed:.1f} m/s" else: groundspeed_text = "--" + + if isinstance(airspeed, (int, float)): + airspeed_text = f"{airspeed:.1f} m/s" + else: + airspeed_text = "--" + + if isinstance(throttle, (int, float)): + throttle_text = f"{throttle:.0f}%" + else: + throttle_text = "--" + + if isinstance(hud_alt, (int, float)): + hud_alt_text = f"{hud_alt:.1f} m" + else: + hud_alt_text = "--" + + if isinstance(climb, (int, float)): + climb_text = f"{climb:.1f} m/s" + else: + climb_text = "--" + 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) + self.update_overview_table(drone_id, 'airspeed', airspeed_text) + self.update_overview_table(drone_id, 'throttle', throttle_text) + self.update_overview_table(drone_id, 'hud_alt', hud_alt_text) + self.update_overview_table(drone_id, 'climb', climb_text) # 如果有位置資訊，也更新地圖上的航向 if drone_id in self.drone_positions: @@ -948,6 +1027,21 @@ class ControlStationUI(QMainWindow): import traceback traceback.print_exc() + def handle_drone_clicked(self, drone_id): + """ + 處理地圖上無人機被點擊事件，切換該無人機的選取狀態 + + Args: + drone_id: 無人機 ID + """ + print(f"地圖上點擊無人機: {drone_id}") + + if drone_id in self.drones: + panel = self.drones[drone_id] + checkbox = panel.get_checkbox() + # 切換勾選狀態 + checkbox.setChecked(not checkbox.isChecked()) + def show_planned_waypoints(self): """ 顯示規劃的航點（在終端輸出） diff --git a/src/GUI/map_layout.py b/src/GUI/map_layout.py index 24bd2d2..5b1f6ef 100644 --- a/src/GUI/map_layout.py +++ b/src/GUI/map_layout.py @@ -214,6 +214,9 @@ class DroneMap: rotationOrigin: 'center' }) .on('click', function () { + if (bridge) { + bridge.emitDroneClicked(id); + } focusOn(id); }) .addTo(map); @@ -223,6 +226,9 @@ class DroneMap: zIndexOffset: 1000 }) .on('click', function() { + if (bridge) { + bridge.emitDroneClicked(id); + } focusOn(id); }) .addTo(map); @@ -423,9 +429,14 @@ class DroneMap: """獲取 GPS 信號""" return self.bridge.gps_signal + def get_drone_clicked_signal(self): + """獲取無人機點擊信號""" + return self.bridge.drone_clicked + 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 def __init__(self): super().__init__() @@ -433,4 +444,9 @@ class MapBridge(QObject): @pyqtSlot(float, float) def emitGpsSignal(self, lat, lon): """供 JavaScript 調用的方法""" - self.gps_signal.emit(lat, lon) \ No newline at end of file + self.gps_signal.emit(lat, lon) + + @pyqtSlot(str) + def emitDroneClicked(self, drone_id): + """供 JavaScript 調用的方法 - 當無人機被點擊時""" + self.drone_clicked.emit(drone_id) \ No newline at end of file diff --git a/src/GUI/overview_table.py b/src/GUI/overview_table.py index 11953f0..452eb06 100644 --- a/src/GUI/overview_table.py +++ b/src/GUI/overview_table.py @@ -5,11 +5,38 @@ from PyQt6.QtCore import Qt class OverviewTable(QTableWidget): """總覽表格，顯示所有無人機的狀態資訊""" - def __init__(self, info_types, info_type_map, parent=None): + # 默認的資訊類型和映射 + DEFAULT_INFO_TYPES = ["模式", "ARM", "電壓", "經度", "緯度", "高度", "Local", "Velocity", "地速", "航向", + "空速", "油門", "HUD高", "爬升率", "Roll", "Pitch", "Yaw", "丟包", "延遲"] + + DEFAULT_INFO_TYPE_MAP = { + "mode": 0, + "armed": 1, + "battery": 2, + "longitude": 3, + "latitude": 4, + "altitude": 5, + "local": 6, + "velocity": 7, + "groundspeed": 8, + "heading": 9, + "airspeed": 10, + "throttle": 11, + "hud_alt": 12, + "climb": 13, + "roll": 14, + "pitch": 15, + "yaw": 16, + "loss_rate": 17, + "ping": 18 + } + + def __init__(self, info_types=None, info_type_map=None, parent=None): super().__init__(parent) - self.info_types = info_types - self.info_type_map = info_type_map + # 使用提供的或默認的資訊類型 + self.info_types = info_types if info_types is not None else self.DEFAULT_INFO_TYPES + self.info_type_map = info_type_map if info_type_map is not None else self.DEFAULT_INFO_TYPE_MAP self.drones = {} # 存儲無人機面板的引用 # 初始化表格