#!/usr/bin/env python3
from PyQt6.QtWebEngineWidgets import QWebEngineView
from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
from PyQt6.QtWebChannel import QWebChannel
def _log(level, message):
print(f"[{level}] {message}")
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:
_log("ERROR", "地圖載入失敗")
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
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)
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}');")
# ================================================================================
# 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（舊介面，相容用）"""
self.draw_mission_plan_for_group('_default', '#FF4444',
center_lat, center_lon, target_lat, target_lon)
def draw_mission_plan_for_group(self, group_id, color,
center_lat, center_lon, target_lat, target_lon):
"""在地圖上繪製指定群組的任務規劃（帶顏色區分）"""
if self.map_loaded:
js_code = (
f"drawMissionPlanForGroup("
f"'{group_id}', '{color}', "
f"{center_lat:.6f}, {center_lon:.6f}, "
f"{target_lat:.6f}, {target_lon:.6f});"
)
self.map_view.page().runJavaScript(js_code)
_log(
"INFO",
f"地圖已繪製 Group {group_id} 任務規劃: "
f"C({center_lat:.6f}, {center_lon:.6f}) -> "
f"T({target_lat:.6f}, {target_lon:.6f})",
)
def clear_mission_plan(self):
"""清除地圖上所有任務規劃標記"""
if self.map_loaded:
self.map_view.page().runJavaScript("clearAllMissionPlans();")
_log("INFO", "地圖已清除所有任務規劃")
def clear_mission_plan_for_group(self, group_id):
"""清除指定群組的任務規劃標記"""
if self.map_loaded:
self.map_view.page().runJavaScript(f"clearMissionPlanForGroup('{group_id}');")
_log("INFO", f"地圖已清除 Group {group_id} 任務規劃")
def set_mission_mode(self, mode):
"""從 Python 端切換地圖的任務模式（觸發框選/路徑標記等）"""
if self.map_loaded:
self.map_view.page().runJavaScript(f"onMissionModeChanged('{mode}');")
def toggle_drone_box_select(self):
"""切換地圖上的無人機框選模式"""
if self.map_loaded:
self.map_view.page().runJavaScript("toggleDroneSelection();")
# ================================================================================
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
def get_drone_clicked_signal(self):
"""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
def get_polygon_selected_signal(self):
"""獲取多邊形選擇信號"""
return self.bridge.polygon_selected
def get_mission_mode_changed_signal(self):
"""獲取任務模式切換信號"""
return self.bridge.mission_mode_changed
def get_route_confirmed_signal(self):
"""獲取路徑確認信號"""
return self.bridge.route_confirmed
def get_drone_box_selected_signal(self):
"""獲取框選無人機完成信號"""
return self.bridge.drone_box_selected
class MapBridge(QObject):
"""JavaScript 和 Python 之間的橋接類"""
gps_signal = pyqtSignal(float, float)
drone_clicked = pyqtSignal(str)
clear_all_drone_selection = pyqtSignal()
select_all_drones = pyqtSignal()
start_mission_signal = pyqtSignal(float, float, float, float)
pause_mission_signal = pyqtSignal()
rectangle_selected = pyqtSignal(str)
polygon_selected = pyqtSignal(str)
mission_mode_changed = pyqtSignal(str)
route_confirmed = pyqtSignal(str) # 路徑確認 (JSON 字串)
drone_box_selected = pyqtSignal(str) # 框選無人機完成 (JSON 字串)
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)
@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)
@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()
_log("INFO", "已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()
_log("INFO", "已切換全選無人機")
@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)
_log(
"INFO",
f"已發出開始任務信號: "
f"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()
_log("INFO", "已發出暫停任務信號")
@pyqtSlot(str)
def rectangleSelected(self, points_json):
"""供 JavaScript 調用的方法 - 矩形選擇完成"""
self.rectangle_selected.emit(points_json)
_log("INFO", f"矩形區域已選擇: {points_json}")
@pyqtSlot(str)
def polygonSelected(self, points_json):
"""供 JavaScript 調用的方法 - 多邊形選擇完成"""
self.polygon_selected.emit(points_json)
_log("INFO", f"多邊形區域已選擇: {points_json}")
@pyqtSlot(str)
def missionModeChanged(self, mode):
"""供 JavaScript 調用的方法 - 任務模式切換"""
self.mission_mode_changed.emit(mode)
_log("INFO", f"任務模式已切換: {mode}")
@pyqtSlot(str)
def routeConfirmed(self, points_json):
"""供 JavaScript 調用的方法 - 路徑確認"""
self.route_confirmed.emit(points_json)
_log("INFO", f"路徑已確認: {points_json}")
@pyqtSlot(str)
def droneBoxSelected(self, drone_ids_json):
"""供 JavaScript 調用的方法 - 框選無人機完成"""
self.drone_box_selected.emit(drone_ids_json)
_log("INFO", f"框選無人機完成: {drone_ids_json}")