#!/usr/bin/env python3
from PyQt6.QtWebEngineWidgets import QWebEngineView
from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
from PyQt6.QtWebChannel import QWebChannel
class DroneMap:
"""無人機地圖類別 - 負責管理 Leaflet 地圖顯示"""
def __init__(self):
"""初始化地圖"""
self.map_view = QWebEngineView()
self.map_loaded = False
self.pending_map_updates = {}
# 創建橋接對象
self.bridge = MapBridge()
# 設置 QWebChannel
self.channel = QWebChannel()
self.channel.registerObject('bridge', self.bridge)
self.map_view.page().setWebChannel(self.channel)
# 設置地圖 HTML
inline_html = '''
'''
self.map_view.setHtml(inline_html)
self.map_view.loadFinished.connect(self._on_map_loaded)
# 設置地圖更新計時器
self.map_update_timer = QTimer()
self.map_update_timer.timeout.connect(self.update_map_positions)
self.map_update_timer.start(200) # 每 200ms 更新一次
def _on_map_loaded(self, ok: bool):
"""地圖加載完成回調"""
if ok:
self.map_loaded = True
else:
print("⚠️ 地圖加載失敗")
def update_drone_position(self, drone_id, lat, lon, heading):
"""更新無人機位置（加入待處理隊列）"""
self.pending_map_updates[drone_id] = (lat, lon, heading)
def update_map_positions(self):
"""批量更新地圖上的無人機位置"""
if not self.map_loaded or not self.pending_map_updates:
return
# 批量執行所有待更新的位置
js_commands = []
for drone_id, (lat, lon, heading) in self.pending_map_updates.items():
js_commands.append(f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});")
if js_commands:
combined_js = "\n".join(js_commands)
self.map_view.page().runJavaScript(combined_js)
# 清空待更新緩存
self.pending_map_updates.clear()
def clear_trajectories(self):
"""清除所有軌跡"""
if self.map_loaded:
self.map_view.page().runJavaScript("clearAllTrajectories();")
def focus_on_drone(self, drone_id):
"""聚焦到指定無人機"""
if self.map_loaded:
self.map_view.page().runJavaScript(f"focusOn('{drone_id}');")
# ================================================================================
# 【新增】任務規劃視覺化方法
# ================================================================================
def draw_mission_plan(self, center_lat, center_lon, target_lat, target_lon):
"""
在地圖上繪製任務規劃
Args:
center_lat: 中心點緯度
center_lon: 中心點經度
target_lat: 目標點緯度
target_lon: 目標點經度
"""
if self.map_loaded:
js_code = f"drawMissionPlan({center_lat:.6f}, {center_lon:.6f}, {target_lat:.6f}, {target_lon:.6f});"
self.map_view.page().runJavaScript(js_code)
print(f"📍 地圖已繪製任務規劃: C({center_lat:.6f}, {center_lon:.6f}) -> T({target_lat:.6f}, {target_lon:.6f})")
def clear_mission_plan(self):
"""清除地圖上的任務規劃標記"""
if self.map_loaded:
self.map_view.page().runJavaScript("clearMissionPlan();")
print("🗑️ 地圖已清除任務規劃")
# ================================================================================
def get_widget(self):
"""獲取地圖 widget"""
return self.map_view
def get_gps_signal(self):
"""獲取 GPS 信號"""
return self.bridge.gps_signal
class MapBridge(QObject):
"""JavaScript 和 Python 之間的橋接類"""
gps_signal = pyqtSignal(float, float) # lat, lon
def __init__(self):
super().__init__()
@pyqtSlot(float, float)
def emitGpsSignal(self, lat, lon):
"""供 JavaScript 調用的方法"""
self.gps_signal.emit(lat, lon)