Upload files to 'src/unitdev01/unitdev01'

src/unitdev01/unitdev01/gui.py

@@ -3,11 +3,14 @@ import rclpy
 from rclpy.node import Node
 from PyQt6.QtWidgets import (QApplication, QMainWindow, QVBoxLayout, QHBoxLayout,
                             QWidget, QLabel, QSplitter, QScrollArea, 
-                            QSizePolicy)
+                            QSizePolicy, QApplication)
-from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal
+from PyQt6.QtCore import Qt, QTimer, QObject, pyqtSignal, QUrl
 from PyQt6.QtGui import QColor
+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
@@ -138,8 +141,8 @@ class DroneMonitor(Node):
     def gps_callback(self, drone_id, msg):
         self.signals.update_signal.emit('gps', drone_id, {
             'lat': msg.latitude,
-            'lon': msg.longitude,
+            'lon': msg.longitude
-            'alt': msg.altitude
+            ,'alt': msg.altitude
         })
 
     def local_vel_callback(self, drone_id, msg):
@@ -150,7 +153,9 @@ class DroneMonitor(Node):
         })
 
     def altitude_callback(self, drone_id, msg):
-        self.signals.update_signal.emit('altitude', drone_id, msg.data)
+        self.signals.update_signal.emit('altitude', drone_id, {
+            'altitude': msg.data
+        })
 
     def local_pose_callback(self, drone_id, msg):
         self.signals.update_signal.emit('local_pose', drone_id, {
@@ -212,26 +217,43 @@ class ControlStationUI(QMainWindow):
         left_layout.addWidget(scroll_area)
         
         # 右侧地图区域
-        self.map_widget = QLabel()
+        self.map_view = QWebEngineView()
-        self.map_widget.setAlignment(Qt.AlignmentFlag.AlignCenter)
+
-        self.map_widget.setStyleSheet("""
+        inline_html = '''
-            QLabel {
+        <!DOCTYPE html>
-                background-color: #1A1A1A;
+        <html><head>
-                color: #AAAAAA;
+          <meta charset="utf-8"/>
-                font-size: 18px;
+          <link rel="stylesheet" href="https://unpkg.com/leaflet/dist/leaflet.css"/>
-                border: 2px solid #333;
+          <script src="https://unpkg.com/leaflet/dist/leaflet.js"></script>
-                border-radius: 10px;
+          <style>html,body,#map{height:100%;margin:0}</style>
-                padding: 20px;
+        </head><body>
+          <div id="map"></div>
+          <script>
+            var map = L.map('map').setView([0,0],2);
+            L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png',{maxZoom:19}).addTo(map);
+            var markers = {};
+            function updateDrone(lat,lon,id){
+              if(markers[id]) markers[id].setLatLng([lat,lon]);
+              else markers[id]=L.marker([lat,lon]).addTo(map).bindPopup(id);
             }
-        """)
+          </script>
-        self.update_map_display("等待GPS數據...")
+        </body></html>
+        '''
+        self.map_view.setHtml(inline_html)
+        self.map_view.loadFinished.connect(self.on_map_loaded)
 
         main_splitter.addWidget(left_panel)
-        main_splitter.addWidget(self.map_widget)
+        main_splitter.addWidget(self.map_view)
         main_splitter.setSizes([400, 1000])
         
         self.setCentralWidget(main_splitter)
 
+    def on_map_loaded(self, ok: bool):
+        if ok:
+            self.map_loaded = True
+        else:
+            print("⚠️ 地图页加载失败")
+
     def create_drone_panel(self, drone_id):
         panel = QWidget()
         panel.setObjectName(f"panel_{drone_id}")
@@ -280,11 +302,11 @@ 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", "-- V")
+        self.create_data_row(layout, "電壓:", f"{drone_id}_battery", "--")
-        self.create_data_row(layout, "GPS:", f"{drone_id}_gps", "等待定位...")
+        self.create_data_row(layout, "GPS:", f"{drone_id}_gps", "--")
-        self.create_data_row(layout, "Local:", f"{drone_id}_local", "X: -- Y: -- Z: --")
+        self.create_data_row(layout, "高度:", f"{drone_id}_altitude", "--")
-        self.create_data_row(layout, "速度:", f"{drone_id}_velocity", "VX: -- VY: -- VZ: --")
+        self.create_data_row(layout, "Local:", f"{drone_id}_local", "--")
-        self.create_data_row(layout, "姿態:", f"{drone_id}_attitude", "Roll: -- Pitch: -- Yaw: --")
+        self.create_data_row(layout, "HUD:", f"{drone_id}_hud", "--")
         
         return panel
 
@@ -317,7 +339,7 @@ class ControlStationUI(QMainWindow):
             return
         
         if msg_type == 'mode':
-            self.update_field(panel, drone_id, 'mode', f"模式: {data}", 
+            self.update_field(panel, drone_id, 'mode', f"{data}", 
                             '#FF5555' if '返航' in data else '#55FF55')
         
         elif msg_type == 'battery':
@@ -327,18 +349,26 @@ class ControlStationUI(QMainWindow):
                             '#FF6464' if voltage < 12 else '#FFFFFF')
         
         elif msg_type == 'gps':
-            text = (f"緯度: {data['lat']:.6f}\n"
+            text = (f"緯度: {data['lat']:.6f}°\n"
-                    f"經度: {data['lon']:.6f}\n"
+                    f"經度: {data['lon']:.6f}°")
-                    f"高度: {data['alt']:.1f} m")
             self.update_field(panel, drone_id, 'gps', text)
-            self.update_map_display(f"Drone {drone_id}\n{text}")
+            if self.on_map_loaded:
+                js = f"updateDrone({data['lat']}, {data['lon']:.6f}, {drone_id})"
+                self.map_view.page().runJavaScript(js)
+
+        elif msg_type == 'altitude':
+            text = (f"{data['altitude']:.1f} m")
+            self.update_field(panel, drone_id, 'altitude', text)
         
         elif msg_type == 'local_pose':
-            text = (f"X: {data['x']:.1f} m\n"
+            text = (f"({data['x']:.1f}, {data['y']:.1f}, {data['z']:.1f})")
-                    f"Y: {data['y']:.1f} m\n"
-                    f"Z: {data['z']:.1f} m")
             self.update_field(panel, drone_id, 'local', text)
         
+        elif msg_type == 'hud':
+            text = (f"地速: {data['groundspeed']:.1f} m/s\n"
+                    f"航向: {data['heading']:.1f}°")
+            self.update_field(panel, drone_id, 'hud', text)
+    '''
         elif msg_type == 'velocity':
             text = (f"VX: {data['vx']:.1f} m/s\n"
                     f"VY: {data['vy']:.1f} m/s\n"
@@ -350,13 +380,7 @@ class ControlStationUI(QMainWindow):
                     f"Pitch: {data['pitch']:.1f}°\n"
                     f"Yaw: {data['yaw']:.1f}°")
             self.update_field(panel, drone_id, 'attitude', text)
-        
+    '''        
-        elif msg_type == 'hud':
-            text = (f"空速: {data['airspeed']:.1f} m/s\n"
-                    f"地速: {data['groundspeed']:.1f} m/s\n"
-                    f"航向: {data['heading']:.1f}°")
-            self.update_field(panel, drone_id, 'hud', text)
-
     def update_field(self, panel, drone_id, field, text, color=None):
         if label := panel.findChild(QLabel, f"{drone_id}_{field}"):
             label.setText(text)
@@ -369,10 +393,6 @@ class ControlStationUI(QMainWindow):
             self.info_layout.addWidget(panel)
             self.drones[drone_id] = panel
 
-    def update_map_display(self, text):
-        self.map_widget.setText(text)
-        self.map_widget.repaint()
-
     def spin_ros(self):
         try:
             self.executor.spin_once(timeout_sec=0)
@@ -386,7 +406,7 @@ class ControlStationUI(QMainWindow):
         event.accept()
 
 if __name__ == '__main__':
-    app = QApplication([])
+    app = QApplication(sys.argv)
     station = ControlStationUI()
     station.show()
-    app.exec()
+    app.exec(app.exec())