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#!/usr/bin/env python3
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from PyQt6.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel,
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QPushButton, QSizePolicy, QCheckBox)
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from PyQt6.QtCore import pyqtSignal
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class DronePanel(QWidget):
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"""單個無人機面板類別"""
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# 定義信號
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mode_change_requested = pyqtSignal(str) # drone_id
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arm_requested = pyqtSignal(str) # drone_id
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takeoff_requested = pyqtSignal(str) # drone_id
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setpoint_requested = pyqtSignal(str) # drone_id
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selection_changed = pyqtSignal(str, int) # drone_id, state
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def __init__(self, drone_id, parent=None):
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super().__init__(parent)
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self.drone_id = drone_id
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self.display_id = 's' + drone_id.split('_')[1]
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self._init_ui()
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def _init_ui(self):
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"""初始化UI"""
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self.setObjectName(f"panel_{self.drone_id}")
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self.setFixedHeight(140)
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self.setStyleSheet("""
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background-color: #2A2A2A;
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border-radius: 8px;
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""")
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# 主佈局
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main_layout = QHBoxLayout(self)
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main_layout.setContentsMargins(8, 8, 8, 8)
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main_layout.setSpacing(0)
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# 創建內容容器（包含 info 和 control）
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content_widget = QWidget()
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content_widget.setStyleSheet("background-color: #333; border-radius: 6px;")
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content_layout = QHBoxLayout(content_widget)
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content_layout.setContentsMargins(8, 8, 8, 8)
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content_layout.setSpacing(8)
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# 左側資訊區域
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info_widget = self._create_info_section()
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# 右側控制按鈕區域
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control_widget = self._create_control_section()
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# 將 info 和 control 加入內容容器
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content_layout.addWidget(info_widget)
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content_layout.addWidget(control_widget)
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# 將內容容器加入主佈局
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main_layout.addWidget(content_widget)
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def _create_info_section(self):
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"""創建資訊顯示區域"""
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info_widget = QWidget()
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info_layout = QVBoxLayout(info_widget)
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info_layout.setContentsMargins(0, 0, 0, 0)
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info_layout.setSpacing(4)
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# 頂部標題欄
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header = QWidget()
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header_layout = QHBoxLayout(header)
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header_layout.setContentsMargins(0, 0, 0, 0)
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# 勾選框
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self.checkbox = QCheckBox()
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self.checkbox.setObjectName(f"{self.drone_id}_checkbox")
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self.checkbox.setStyleSheet("QCheckBox { color: #DDD; }")
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self.checkbox.stateChanged.connect(
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lambda state: self.selection_changed.emit(self.drone_id, state)
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)
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# ID 顯示
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id_label = QLabel(self.display_id)
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id_label.setStyleSheet("""
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font-weight: bold;
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font-size: 14px;
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color: #7FFFD4;
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min-width: 80px;
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""")
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header_layout.addWidget(self.checkbox)
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header_layout.addWidget(id_label)
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header_layout.addStretch()
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info_layout.addWidget(header)
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# 第一行：狀態 (模式 + ARM狀態)
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status_row = self._create_status_row()
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info_layout.addWidget(status_row)
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# 第二行：電池
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battery_row = self._create_battery_row()
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info_layout.addWidget(battery_row)
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# 第三行：位置 + 高度
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position_row = self._create_position_row()
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info_layout.addWidget(position_row)
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# 第四行：航向 + 速度
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nav_row = self._create_nav_row()
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info_layout.addWidget(nav_row)
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return info_widget
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def _create_status_row(self):
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"""創建狀態行"""
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status_row = QWidget()
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status_layout = QHBoxLayout(status_row)
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status_layout.setContentsMargins(0, 0, 0, 0)
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status_title = QLabel("狀態：")
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status_title.setStyleSheet("color: #888; min-width: 50px;")
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self.mode_label = QLabel("--")
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self.mode_label.setObjectName(f"{self.drone_id}_mode")
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self.mode_label.setStyleSheet("color: #DDD;")
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self.armed_label = QLabel("--")
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self.armed_label.setObjectName(f"{self.drone_id}_armed")
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self.armed_label.setStyleSheet("color: #DDD;")
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status_layout.addWidget(status_title)
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status_layout.addWidget(self.mode_label)
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status_layout.addWidget(self.armed_label)
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status_layout.addStretch()
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return status_row
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def _create_battery_row(self):
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"""創建電池行"""
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battery_row = QWidget()
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battery_layout = QHBoxLayout(battery_row)
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battery_layout.setContentsMargins(0, 0, 0, 0)
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battery_title = QLabel("電池：")
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battery_title.setStyleSheet("color: #888; min-width: 50px;")
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self.battery_label = QLabel("--")
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self.battery_label.setObjectName(f"{self.drone_id}_battery")
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self.battery_label.setStyleSheet("color: #DDD;")
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battery_layout.addWidget(battery_title)
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battery_layout.addWidget(self.battery_label)
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battery_layout.addStretch()
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return battery_row
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def _create_position_row(self):
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"""創建位置行"""
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position_row = QWidget()
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position_layout = QHBoxLayout(position_row)
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position_layout.setContentsMargins(0, 0, 0, 0)
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position_title = QLabel("位置：")
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position_title.setStyleSheet("color: #888; min-width: 50px;")
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self.local_label = QLabel("--")
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self.local_label.setObjectName(f"{self.drone_id}_local")
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self.local_label.setStyleSheet("color: #DDD;")
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altitude_title = QLabel("高度：")
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altitude_title.setStyleSheet("color: #888; margin-left: 10px;")
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self.altitude_label = QLabel("--")
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self.altitude_label.setObjectName(f"{self.drone_id}_altitude")
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self.altitude_label.setStyleSheet("color: #DDD;")
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position_layout.addWidget(position_title)
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position_layout.addWidget(self.local_label)
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position_layout.addWidget(altitude_title)
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position_layout.addWidget(self.altitude_label)
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position_layout.addStretch()
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return position_row
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def _create_nav_row(self):
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"""創建導航行"""
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nav_row = QWidget()
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nav_layout = QHBoxLayout(nav_row)
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nav_layout.setContentsMargins(0, 0, 0, 0)
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heading_title = QLabel("航向：")
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heading_title.setStyleSheet("color: #888; min-width: 50px;")
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self.heading_label = QLabel("--")
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self.heading_label.setObjectName(f"{self.drone_id}_heading")
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self.heading_label.setStyleSheet("color: #DDD;")
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speed_title = QLabel("速度：")
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speed_title.setStyleSheet("color: #888; margin-left: 10px;")
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self.groundspeed_label = QLabel("--")
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self.groundspeed_label.setObjectName(f"{self.drone_id}_groundspeed")
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self.groundspeed_label.setStyleSheet("color: #DDD;")
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nav_layout.addWidget(heading_title)
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nav_layout.addWidget(self.heading_label)
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nav_layout.addWidget(speed_title)
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nav_layout.addWidget(self.groundspeed_label)
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nav_layout.addStretch()
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return nav_row
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def _create_control_section(self):
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"""創建控制按鈕區域"""
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control_widget = QWidget()
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control_layout = QVBoxLayout(control_widget)
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control_layout.setContentsMargins(0, 0, 0, 0)
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control_layout.setSpacing(6)
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control_widget.setFixedWidth(80)
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btn_style = """
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QPushButton {
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background-color: #444;
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color: #DDD;
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border: none;
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border-radius: 4px;
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font-size: 11px;
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}
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QPushButton:hover {
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background-color: #555;
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}
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"""
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# 模式切換按鈕
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mode_btn = QPushButton("切換模式")
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mode_btn.setStyleSheet(btn_style)
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mode_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
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mode_btn.clicked.connect(lambda: self.mode_change_requested.emit(self.drone_id))
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# 解鎖按鈕
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arm_btn = QPushButton("解鎖")
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arm_btn.setStyleSheet(btn_style)
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arm_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
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arm_btn.clicked.connect(lambda: self.arm_requested.emit(self.drone_id))
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# 起飛按鈕
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takeoff_btn = QPushButton("起飛")
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takeoff_btn.setStyleSheet(btn_style)
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takeoff_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
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takeoff_btn.clicked.connect(lambda: self.takeoff_requested.emit(self.drone_id))
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# Setpoint 按鈕
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setpoint_btn = QPushButton("Setpoint")
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setpoint_btn.setStyleSheet(btn_style)
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setpoint_btn.setSizePolicy(QSizePolicy.Policy.Preferred, QSizePolicy.Policy.Expanding)
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setpoint_btn.clicked.connect(lambda: self.setpoint_requested.emit(self.drone_id))
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control_layout.addWidget(mode_btn)
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control_layout.addWidget(arm_btn)
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control_layout.addWidget(takeoff_btn)
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control_layout.addWidget(setpoint_btn)
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return control_widget
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def update_field(self, field, text, color=None):
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"""更新指定欄位的值"""
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label = self.findChild(QLabel, f"{self.drone_id}_{field}")
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if label and label.text() != text:
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label.setText(text)
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if color:
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label.setStyleSheet(f"color: {color};")
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def get_checkbox(self):
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"""獲取勾選框"""
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return self.checkbox
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def set_checked(self, checked):
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"""設置勾選狀態"""
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self.checkbox.setChecked(checked)
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def is_checked(self):
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"""獲取勾選狀態"""
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return self.checkbox.isChecked()
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class SocketGroupPanel(QWidget):
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# 定義信號
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group_selection_changed = pyqtSignal(str, int) # socket_id, state
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def __init__(self, socket_id, color='#AAAAAA', parent=None):
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super().__init__(parent)
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self.socket_id = socket_id
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self.color = color
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self._init_ui()
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def _init_ui(self):
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"""初始化UI"""
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self.setObjectName(f"socket_group_{self.socket_id}")
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self.setStyleSheet("""
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background-color: #1E1E1E;
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border-radius: 12px;
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""")
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layout = QVBoxLayout(self)
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layout.setContentsMargins(10, 10, 10, 10)
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layout.setSpacing(6)
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# Socket 分組標題行 - 包含勾選框
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title_row = QWidget()
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title_layout = QHBoxLayout(title_row)
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title_layout.setContentsMargins(0, 0, 0, 0)
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# 分組勾選框
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self.group_checkbox = QCheckBox()
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self.group_checkbox.setObjectName(f"socket_{self.socket_id}_checkbox")
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self.group_checkbox.setStyleSheet(f"""
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QCheckBox {{ color: #DDD; }}
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QCheckBox::indicator {{
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width: 14px;
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height: 14px;
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border: 2px solid #888888;
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border-radius: 3px;
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background: transparent;
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}}
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QCheckBox::indicator:checked {{
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background-color: {self.color};
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border: 2px solid #888888;
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}}
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QCheckBox::indicator:indeterminate {{
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background-color: #666;
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border: 2px solid #888888;
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}}
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""")
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self.group_checkbox.stateChanged.connect(
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lambda state: self.group_selection_changed.emit(self.socket_id, state)
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)
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# Socket 分組標題
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title_label = QLabel(f"Socket {self.socket_id}")
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title_label.setStyleSheet(f"""
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font-weight: bold;
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font-size: 16px;
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color: {self.color};
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margin-bottom: 8px;
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padding: 4px 8px;
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border-radius: 6px;
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""")
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title_layout.addWidget(self.group_checkbox)
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title_layout.addWidget(title_label)
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title_layout.addStretch()
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layout.addWidget(title_row)
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# 創建子容器用於放置該 socket 下的所有無人機面板
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self.drones_container = QWidget()
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self.drones_layout = QVBoxLayout(self.drones_container)
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self.drones_layout.setContentsMargins(0, 0, 0, 0)
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self.drones_layout.setSpacing(4)
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layout.addWidget(self.drones_container)
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def add_drone_panel(self, panel):
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"""添加無人機面板到分組"""
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self.drones_layout.addWidget(panel)
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def clear_drones(self):
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"""清空所有無人機面板"""
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while self.drones_layout.count():
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item = self.drones_layout.takeAt(0)
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if item.widget():
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item.widget().setParent(None)
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def get_checkbox(self):
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"""獲取分組勾選框"""
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return self.group_checkbox
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def set_checked(self, checked):
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"""設置分組勾選狀態"""
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self.group_checkbox.setChecked(checked)
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def set_check_state(self, state):
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"""設置分組勾選狀態（支持半選）"""
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self.group_checkbox.setCheckState(state) |