From fc2c642d6c3e40af43fc965a2a53a9802a5a5711 Mon Sep 17 00:00:00 2001
From: ken910606 <ken910606@gmail.com>
Date: Tue, 14 Apr 2026 14:37:56 +0800
Subject: [PATCH] Force sync local master to remote ken

---
 src/GUI/gui.py                     |   2 +-
 src/fc_network_apps/longCommand.py | 116 +++++++++++++++++++++++++++++
 2 files changed, 117 insertions(+), 1 deletion(-)

diff --git a/src/GUI/gui.py b/src/GUI/gui.py
index 67734c4..4d9bf37 100644
--- a/src/GUI/gui.py
+++ b/src/GUI/gui.py
@@ -33,7 +33,7 @@ from mission_group import (
 # ================================================================================
 
 class ControlStationUI(QMainWindow):
-    VERSION = '2.0.5'
+    VERSION = '2.0.6'
     
     def __init__(self):
         super().__init__()
diff --git a/src/fc_network_apps/longCommand.py b/src/fc_network_apps/longCommand.py
index 853adf5..c4bd8a5 100644
--- a/src/fc_network_apps/longCommand.py
+++ b/src/fc_network_apps/longCommand.py
@@ -4,6 +4,7 @@ from __future__ import annotations
 
 from dataclasses import dataclass
 from typing import Optional
+import asyncio
 
 import rclpy
 from rclpy.node import Node
@@ -185,3 +186,118 @@ class CommandLongClient(Node):
             param7=0.0,
             timeout_sec=timeout_sec,
         )
+
+    # ============================================================================
+    # 【新增】非阻塞 async 包裝方法（用於 GUI 的非阻塞調用）
+    # 這些方法在 ThreadPoolExecutor 中運行同步版本，以避免阻塞事件循環
+    # ============================================================================
+
+    async def change_mode_async(
+        self,
+        *,
+        target_sysid: int,
+        custom_mode: float,
+        target_compid: int = 0,
+        base_mode: float = 1.0,
+        confirmation: int = 0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 change_mode（在 ThreadPoolExecutor 中運行）"""
+        from concurrent.futures import ThreadPoolExecutor
+        loop = asyncio.get_event_loop()
+        executor = ThreadPoolExecutor(max_workers=1)
+        return await loop.run_in_executor(
+            executor,
+            lambda: self.change_mode(
+                target_sysid=target_sysid,
+                custom_mode=custom_mode,
+                target_compid=target_compid,
+                base_mode=base_mode,
+                confirmation=confirmation,
+                timeout_sec=timeout_sec,
+            )
+        )
+
+    async def arm_disarm_async(
+        self,
+        *,
+        target_sysid: int,
+        arm: bool,
+        target_compid: int = 0,
+        confirmation: int = 0,
+        param2: float = 0.0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 arm_disarm（在 ThreadPoolExecutor 中運行）"""
+        from concurrent.futures import ThreadPoolExecutor
+        loop = asyncio.get_event_loop()
+        executor = ThreadPoolExecutor(max_workers=1)
+        return await loop.run_in_executor(
+            executor,
+            lambda: self.arm_disarm(
+                target_sysid=target_sysid,
+                arm=arm,
+                target_compid=target_compid,
+                confirmation=confirmation,
+                param2=param2,
+                timeout_sec=timeout_sec,
+            )
+        )
+
+    async def takeoff_async(
+        self,
+        *,
+        target_sysid: int,
+        altitude_m: float,
+        target_compid: int = 0,
+        min_pitch_deg: float = 0.0,
+        yaw_deg: float = 0.0,
+        latitude: Optional[float] = None,
+        longitude: Optional[float] = None,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 takeoff（在 ThreadPoolExecutor 中運行）"""
+        from concurrent.futures import ThreadPoolExecutor
+        loop = asyncio.get_event_loop()
+        executor = ThreadPoolExecutor(max_workers=1)
+        return await loop.run_in_executor(
+            executor,
+            lambda: self.takeoff(
+                target_sysid=target_sysid,
+                altitude_m=altitude_m,
+                target_compid=target_compid,
+                min_pitch_deg=min_pitch_deg,
+                yaw_deg=yaw_deg,
+                latitude=latitude,
+                longitude=longitude,
+                timeout_sec=timeout_sec,
+            )
+        )
+
+    async def land_async(
+        self,
+        *,
+        target_sysid: int,
+        target_compid: int = 0,
+        yaw_deg: float = 0.0,
+        latitude: Optional[float] = None,
+        longitude: Optional[float] = None,
+        altitude_m: float = 0.0,
+        timeout_sec: float = DEFAULT_TIMEOUT_SEC,
+    ) -> CommandLongResult:
+        """非阻塞 async 版本的 land（在 ThreadPoolExecutor 中運行）"""
+        from concurrent.futures import ThreadPoolExecutor
+        loop = asyncio.get_event_loop()
+        executor = ThreadPoolExecutor(max_workers=1)
+        return await loop.run_in_executor(
+            executor,
+            lambda: self.land(
+                target_sysid=target_sysid,
+                target_compid=target_compid,
+                yaw_deg=yaw_deg,
+                latitude=latitude,
+                longitude=longitude,
+                altitude_m=altitude_m,
+                timeout_sec=timeout_sec,
+            )
+        )