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#!/usr/bin/env python3
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from PyQt6.QtWebEngineWidgets import QWebEngineView
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from PyQt6.QtCore import QTimer, pyqtSignal, QObject, pyqtSlot
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from PyQt6.QtWebChannel import QWebChannel
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class DroneMap:
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"""無人機地圖類別 - 負責管理 Leaflet 地圖顯示"""
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def __init__(self):
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"""初始化地圖"""
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self.map_view = QWebEngineView()
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self.map_loaded = False
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self.pending_map_updates = {}
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# 創建橋接對象
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self.bridge = MapBridge()
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# 設置 QWebChannel
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self.channel = QWebChannel()
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self.channel.registerObject('bridge', self.bridge)
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self.map_view.page().setWebChannel(self.channel)
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# 設置地圖 HTML
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inline_html = '''
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<!DOCTYPE html>
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<html>
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<head>
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<meta charset="utf-8" />
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<link rel="stylesheet" href="https://unpkg.com/leaflet/dist/leaflet.css" />
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<script src="https://unpkg.com/leaflet/dist/leaflet.js"></script>
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<script src="https://unpkg.com/leaflet-rotatedmarker/leaflet.rotatedMarker.js"></script>
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<script src="qrc:///qtwebchannel/qwebchannel.js"></script>
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<style>
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html, body, #map { height: 100%; margin: 0; }
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#map {
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user-select: none;
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-webkit-user-select: none;
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-moz-user-select: none;
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-ms-user-select: none;
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}
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.map-controls {
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position: absolute;
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top: 10px;
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right: 10px;
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z-index: 1000;
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background-color: rgba(255, 255, 255, 0.95);
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padding: 10px;
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border-radius: 6px;
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box-shadow: 0 2px 8px rgba(0,0,0,0.3);
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display: flex;
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flex-direction: column;
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gap: 5px;
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min-width: 150px;
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}
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.map-controls-bottom {
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position: absolute;
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bottom: 10px;
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left: 10px;
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z-index: 1000;
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}
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.control-button {
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padding: 8px 12px;
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background-color: #F44336;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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box-shadow: 0 2px 5px rgba(0,0,0,0.2);
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}
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.control-button:hover {
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background-color: #D32F2F;
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}
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.mission-info-panel {
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position: absolute;
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bottom: 10px;
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right: 10px;
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z-index: 1000;
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background-color: rgba(255, 255, 255, 0.95);
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padding: 12px;
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border-radius: 6px;
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box-shadow: 0 2px 8px rgba(0,0,0,0.3);
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min-width: 200px;
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}
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.mission-info-row {
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margin-bottom: 8px;
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font-size: 12px;
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color: #333;
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}
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.mission-info-label {
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font-weight: bold;
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color: #555;
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}
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.mission-info-value {
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color: #2196F3;
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font-family: monospace;
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}
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.mission-start-button {
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width: 100%;
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padding: 10px;
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background-color: #7FBA82;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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margin-top: 8px;
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}
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.mission-start-button:hover {
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background-color: #6FA872;
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}
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.mission-start-button:disabled {
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background-color: #ccc;
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cursor: not-allowed;
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}
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.selection-buttons {
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display: flex;
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flex-direction: column;
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gap: 5px;
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margin-bottom: 10px;
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padding-bottom: 10px;
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border-bottom: 1px solid #ddd;
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} .selection-button-blue {
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width: 100%;
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padding: 8px;
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background-color: #64B5F6;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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transition: background-color 0.2s;
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}
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.selection-button-blue:hover {
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background-color: #42A5F5;
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}
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.selection-button-blue.active {
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background-color: #1976D2;
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} .selection-button-blue {
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width: 100%;
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padding: 8px;
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background-color: #64B5F6;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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transition: background-color 0.2s;
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}
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.selection-button-blue:hover {
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background-color: #42A5F5;
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}
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.selection-button-blue.active {
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background-color: #1976D2;
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}
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.selection-button {
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width: 100%;
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padding: 8px;
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background-color: #F44336;
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color: white;
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border: none;
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border-radius: 4px;
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cursor: pointer;
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font-size: 13px;
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font-weight: bold;
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transition: background-color 0.2s;
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}
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.selection-button:hover {
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background-color: #D32F2F;
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}
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.selection-button.active {
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background-color: #C62828;
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}
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</style>
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</head>
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<body>
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<div id="map"></div>
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<div class="map-controls">
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<button class="control-button" onclick="clearAllTrajectories()">清除軌跡</button>
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<button class="selection-button" id="select-rect-btn" onclick="toggleRectSelection()">框選方形區域</button>
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<button class="selection-button" id="select-polygon-btn" onclick="togglePolygonSelection()">多點選擇區域</button>
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</div>
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<div class="mission-info-panel">
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<div class="selection-buttons">
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<button class="selection-button-blue" onclick="toggleSelectAllDrones()">全選無人機</button>
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<button class="selection-button-blue" id="select-drones-btn" onclick="toggleDroneSelection()">框選無人機</button>
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</div>
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<div class="mission-info-row">
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<span class="mission-info-label">中心點: </span>
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<span class="mission-info-value" id="center-position">未設定</span>
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</div>
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<div class="mission-info-row">
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<span class="mission-info-label">目標點: </span>
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<span class="mission-info-value" id="target-position">未設定</span>
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</div>
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<button class="mission-start-button" id="start-mission-btn" onclick="startMission()" disabled>開始任務</button>
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<button class="mission-start-button" id="pause-mission-btn" onclick="pauseMission()">暫停任務</button>
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</div>
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<script>
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var bridge;
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new QWebChannel(qt.webChannelTransport, function(channel) {
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bridge = channel.objects.bridge;
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});
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var map = L.map('map').setView([0, 0], 19);
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// 創建不同的地圖圖層
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var streetLayer = L.tileLayer('https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png', {
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maxZoom: 19,
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attribution: '© OpenStreetMap contributors'
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});
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var satelliteLayer = L.tileLayer('https://server.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}', {
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maxZoom: 19,
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attribution: 'Tiles © Esri'
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});
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// 默認使用衛星圖
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var currentLayer = satelliteLayer;
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currentLayer.addTo(map);
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var isSatellite = true;
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// 地圖點擊事件
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map.on('click', function(e) {
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if (selectionMode === 'polygon') {
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// 多點選擇模式：添加點
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addPolygonPoint(e.latlng.lat, e.latlng.lng);
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} else if (!selectionMode) {
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// 正常模式：發送GPS信號
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if (bridge) {
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bridge.emitGpsSignal(e.latlng.lat, e.latlng.lng);
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console.log('點擊位置:', e.latlng.lat, e.latlng.lng);
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}
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}
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});
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// 地圖拖曳事件（用於矩形選擇）
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map.on('mousedown', function(e) {
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mapDragStarted = false;
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clickStartPos = {x: e.originalEvent.clientX, y: e.originalEvent.clientY};
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if (selectionMode === 'rect' || selectionMode === 'drones') {
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isDrawing = true;
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drawStartPoint = e.latlng;
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L.DomEvent.preventDefault(e.originalEvent);
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L.DomEvent.stopPropagation(e);
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}
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});
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map.on('mousemove', function(e) {
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// 檢測地圖拖移
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if (clickStartPos && !selectionMode) {
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var dx = Math.abs(e.originalEvent.clientX - clickStartPos.x);
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var dy = Math.abs(e.originalEvent.clientY - clickStartPos.y);
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if (dx > 5 || dy > 5) {
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mapDragStarted = true;
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}
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}
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if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
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// 更新臨時矩形
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if (tempRectangle) {
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selectionLayer.removeLayer(tempRectangle);
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}
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var bounds = L.latLngBounds(drawStartPoint, e.latlng);
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tempRectangle = L.rectangle(bounds, {
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color: selectionMode === 'drones' ? '#9C27B0' : '#FF6B6B',
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weight: 2,
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fillOpacity: selectionMode === 'drones' ? 0 : 0.2,
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dashArray: selectionMode === 'drones' ? '5, 5' : null
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}).addTo(selectionLayer);
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}
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});
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map.on('mouseup', function(e) {
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if (isDrawing && (selectionMode === 'rect' || selectionMode === 'drones') && drawStartPoint) {
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isDrawing = false;
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var bounds = L.latLngBounds(drawStartPoint, e.latlng);
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finishRectSelection(bounds);
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drawStartPoint = null;
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}
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// 重置拖移狀態
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clickStartPos = null;
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setTimeout(function() {
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mapDragStarted = false;
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}, 100);
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});
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function createArrowIcon(color) {
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return L.divIcon({
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className: 'drone-arrow',
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html: `
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<div style="
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width: 30px; height: 30px;
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display: flex;
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align-items: center;
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justify-content: center;
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">
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<svg width="30" height="30" viewBox="0 0 30 30">
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<polygon points="15,0 30,30 15,25 0,30" fill="${color || '#FF0000'}" />
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</svg>
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</div>
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`,
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iconSize: [30, 30],
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iconAnchor: [15, 15] // ★ 箭頭往左上移，使 ID 顯示在右下
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});
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}
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function getColorBySocketId(id) {
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if (id.startsWith("s0_")) return "#00BFFF"; // 天藍色
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if (id.startsWith("s1_")) return "#FFD700"; // 金色
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if (id.startsWith("s2_")) return "#FF6969"; // 淺紅色
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if (id.startsWith("s3_")) return "#FF69B4"; // 熱粉紅
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if (id.startsWith("s4_")) return "#00FA9A"; // 中春綠
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if (id.startsWith("s5_")) return "#9370DB"; // 中紫色 (串口)
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if (id.startsWith("s6_")) return "#FFA500"; // 橙色
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if (id.startsWith("s7_")) return "#20B2AA"; // 淺海綠
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if (id.startsWith("s8_")) return "#7CFC00"; // 草綠色
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if (id.startsWith("s9_")) return "#FF8C00"; // 深橙色
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return "#AAAAAA"; // 灰色 (預設)
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}
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function createIdIcon(id) {
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const sysid = id.split('_')[1];
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return L.divIcon({
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className: 'drone-id',
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html: `<div style="
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background-color: transparent;
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color: black;
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width: 16px;
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height: 16px;
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border-radius: 50%;
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display: flex;
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align-items: center;
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justify-content: center;
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font-weight: bold;
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font-size: 12px;
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text-shadow: 1px 1px 2px rgba(255,255,255,0.8), -1px -1px 2px rgba(255,255,255,0.8);
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">${sysid}</div>`,
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iconSize: [16, 16],
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iconAnchor: [8, 6] // ★ icon 中心 = 經緯度點
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});
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}
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var markers = {};
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var idLabels = {};
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var trajectories = {};
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var trajectoryLines = {};
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var focusedId = null;
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var initialized = false;
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var trajectoryGroup = L.layerGroup().addTo(map);
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// ================================================================================
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// 【新增】任務規劃視覺化變數
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// ================================================================================
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var missionPlanGroup = L.layerGroup().addTo(map); // 任務規劃圖層
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var centerMarker = null; // 中心點標記
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var targetMarker = null; // 目標點標記
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var missionLine = null; // 中心點到目標點的虛線
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var centerPosition = null; // 中心點經緯度
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var targetPosition = null; // 目標點經緯度
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// 選擇工具變量
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var selectionMode = null; // 'drones', 'rect', 'polygon', null
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var selectionLayer = L.layerGroup().addTo(map);
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var polygonPoints = []; // 多點選擇的點
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var polygonMarkers = []; // 多點選擇的標記
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var tempRectangle = null; // 臨時矩形
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var isDrawing = false; // 是否正在繪製
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var drawStartPoint = null; // 繪製起點
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var mapDragStarted = false; // 地圖是否正在拖移
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var clickStartPos = null; // 記錄點擊開始位置
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// ================================================================================
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// 更新任務信息面板
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function updateMissionInfo() {
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const centerElem = document.getElementById('center-position');
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const targetElem = document.getElementById('target-position');
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const startBtn = document.getElementById('start-mission-btn');
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if (centerPosition) {
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centerElem.textContent = `${centerPosition.lat.toFixed(6)}°, ${centerPosition.lng.toFixed(6)}°`;
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} else {
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centerElem.textContent = '未設定';
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}
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if (targetPosition) {
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targetElem.textContent = `${targetPosition.lat.toFixed(6)}°, ${targetPosition.lng.toFixed(6)}°`;
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} else {
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targetElem.textContent = '未設定';
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}
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// 只有當中心點和目標點都設定時才啟用按鈕
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if (centerPosition && targetPosition) {
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startBtn.disabled = false;
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} else {
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startBtn.disabled = true;
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}
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}
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// ================================================================================
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// 選擇工具函數
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// ================================================================================
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function toggleSelectAllDrones() {
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// 切換全選/取消全選無人機
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if (bridge) {
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bridge.toggleSelectAllDrones();
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console.log('切換全選無人機');
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}
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}
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function toggleDroneSelection() {
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clearSelectionMode();
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if (selectionMode === 'drones') {
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selectionMode = null;
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document.getElementById('select-drones-btn').classList.remove('active');
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map.dragging.enable();
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} else {
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selectionMode = 'drones';
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document.getElementById('select-drones-btn').classList.add('active');
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map.dragging.disable();
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}
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}
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function toggleRectSelection() {
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clearSelectionMode();
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if (selectionMode === 'rect') {
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selectionMode = null;
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document.getElementById('select-rect-btn').classList.remove('active');
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map.dragging.enable();
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} else {
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selectionMode = 'rect';
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document.getElementById('select-rect-btn').classList.add('active');
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map.dragging.disable();
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}
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}
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function togglePolygonSelection() {
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if (selectionMode === 'polygon') {
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// 第二次點擊：完成選擇
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if (polygonPoints.length >= 3) {
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finishPolygonSelection();
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} else {
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alert('至少需要3個點來形成區域');
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// 清除並重置
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clearSelectionMode();
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clearPolygonPoints();
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selectionMode = null;
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document.getElementById('select-polygon-btn').classList.remove('active');
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}
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} else {
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// 第一次點擊：清除上次的點位並啟動模式
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clearSelectionMode();
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clearPolygonPoints();
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selectionMode = 'polygon';
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document.getElementById('select-polygon-btn').classList.add('active');
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map.dragging.disable();
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}
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}
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function clearSelectionMode() {
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// 清除所有按鈕的激活狀態
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document.getElementById('select-drones-btn').classList.remove('active');
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document.getElementById('select-rect-btn').classList.remove('active');
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document.getElementById('select-polygon-btn').classList.remove('active');
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// 清除選擇圖層
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selectionLayer.clearLayers();
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tempRectangle = null;
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// 重新啟用地圖拖曳
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map.dragging.enable();
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}
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function addPolygonPoint(lat, lng) {
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polygonPoints.push([lat, lng]);
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// 添加邊界點標記
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var marker = L.circleMarker([lat, lng], {
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radius: 5,
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color: '#FF6B6B',
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fillColor: '#FF6B6B',
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fillOpacity: 0.8
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}).addTo(selectionLayer);
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polygonMarkers.push(marker);
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// 如果有多個點，繪製連線
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if (polygonPoints.length > 1) {
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L.polyline(polygonPoints, {
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color: '#FF6B6B',
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weight: 2,
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dashArray: '5, 5'
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}).addTo(selectionLayer);
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}
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console.log('添加邊界點:', lat, lng, '總共:', polygonPoints.length);
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}
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function clearPolygonPoints() {
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polygonPoints = [];
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polygonMarkers.forEach(m => selectionLayer.removeLayer(m));
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polygonMarkers = [];
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selectionLayer.clearLayers();
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}
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function finishPolygonSelection() {
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if (polygonPoints.length < 3) {
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alert('至少需要3個點來形成區域');
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return;
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}
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// 繪製最終多邊形
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var polygon = L.polygon(polygonPoints, {
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color: '#FF6B6B',
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fillColor: '#FF6B6B',
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fillOpacity: 0.2,
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weight: 2
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}).addTo(selectionLayer);
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// 發送多邊形數據到Python
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if (bridge) {
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var pointsStr = JSON.stringify(polygonPoints);
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bridge.polygonSelected(pointsStr);
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console.log('多邊形選擇完成:', polygonPoints);
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}
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// 重置狀態
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selectionMode = null;
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document.getElementById('select-polygon-btn').classList.remove('active');
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map.dragging.enable();
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}
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function finishRectSelection(bounds) {
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var selectedDrones = [];
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// 清除臨時矩形
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if (tempRectangle) {
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selectionLayer.removeLayer(tempRectangle);
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tempRectangle = null;
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}
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if (selectionMode === 'drones') {
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// 框選無人機模式：先清除全選
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if (bridge) {
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bridge.clearAllDroneSelection();
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}
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Object.keys(markers).forEach(droneId => {
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var pos = markers[droneId].getLatLng();
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if (bounds.contains(pos)) {
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selectedDrones.push(droneId);
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// 觸發無人機點擊信號
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if (bridge) {
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bridge.emitDroneClicked(droneId);
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}
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}
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});
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console.log('框選無人機:', selectedDrones);
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// 不保留選擇框，直接完成
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} else if (selectionMode === 'rect') {
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// 框選區域模式
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var rectPoints = [
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[bounds.getNorth(), bounds.getWest()],
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[bounds.getNorth(), bounds.getEast()],
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[bounds.getSouth(), bounds.getEast()],
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[bounds.getSouth(), bounds.getWest()]
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];
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// 繪製最終矩形
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L.rectangle(bounds, {
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color: '#FF6B6B',
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fillColor: '#FF6B6B',
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fillOpacity: 0.2,
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weight: 2
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}).addTo(selectionLayer);
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// 添加四個角的標記
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rectPoints.forEach(point => {
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L.circleMarker(point, {
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radius: 5,
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color: '#FF6B6B',
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fillColor: '#FF6B6B',
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fillOpacity: 0.8
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}).addTo(selectionLayer);
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});
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// 發送矩形數據到Python
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if (bridge) {
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var pointsStr = JSON.stringify(rectPoints);
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bridge.rectangleSelected(pointsStr);
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console.log('矩形選擇完成:', rectPoints);
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}
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}
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// 重置狀態
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selectionMode = null;
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document.getElementById('select-drones-btn').classList.remove('active');
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document.getElementById('select-rect-btn').classList.remove('active');
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map.dragging.enable();
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}
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// ================================================================================
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// 開始任務
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function startMission() {
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if (!centerPosition || !targetPosition) {
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alert('請先設定中心點和目標點');
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return;
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}
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if (bridge) {
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bridge.startMissionSignal(
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centerPosition.lat, centerPosition.lng,
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targetPosition.lat, targetPosition.lng
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);
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console.log('開始任務:', centerPosition, targetPosition);
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}
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}
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// 暫停任務
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function pauseMission() {
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if (bridge) {
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bridge.pauseMissionSignal();
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console.log('暫停任務');
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}
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}
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// ================================================================================
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function initTrajectory(id) {
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if (!trajectories[id]) {
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trajectories[id] = [];
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const color = getColorBySocketId(id);
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trajectoryLines[id] = L.polyline([], {
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color: color,
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weight: 3,
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opacity: 0.7,
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smoothFactor: 1
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}).addTo(trajectoryGroup);
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}
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}
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function addTrajectoryPoint(id, lat, lon) {
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initTrajectory(id);
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const point = [lat, lon];
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trajectories[id].push(point);
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if (trajectories[id].length > 1000) {
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trajectories[id].shift();
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}
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trajectoryLines[id].setLatLngs([...trajectories[id]]);
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}
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function focusOn(id) {
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if (!markers[id]) return;
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focusedId = id;
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var latlng = markers[id].getLatLng();
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map.flyTo(latlng, map.getZoom());
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}
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setInterval(() => {
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if (focusedId && markers[focusedId]) {
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var latlng = markers[focusedId].getLatLng();
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map.panTo(latlng);
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}
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}, 1000);
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function updateDrone(lat, lon, id, heading) {
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if (markers[id]) {
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const lastPos = markers[id].getLatLng();
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const distance = lastPos.distanceTo([lat, lon]);
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if (distance > 1) {
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addTrajectoryPoint(id, lat, lon);
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}
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markers[id]
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.setLatLng([lat, lon])
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.setRotationAngle(heading);
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idLabels[id].setLatLng([lat, lon]);
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} else {
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initTrajectory(id);
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addTrajectoryPoint(id, lat, lon);
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const color = getColorBySocketId(id);
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markers[id] = L.marker([lat, lon], {
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icon: createArrowIcon(color),
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rotationAngle: heading,
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rotationOrigin: 'center'
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})
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.on('click', function () {
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if (mapDragStarted) {
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return; // 如果是拖移地圖，不處理點擊
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}
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if (bridge) {
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bridge.emitDroneClicked(id);
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}
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focusOn(id);
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})
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.addTo(map);
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idLabels[id] = L.marker([lat, lon], {
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icon: createIdIcon(id),
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zIndexOffset: 1000
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})
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.on('click', function() {
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if (mapDragStarted) {
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return; // 如果是拖移地圖，不處理點擊
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}
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if (bridge) {
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bridge.emitDroneClicked(id);
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}
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focusOn(id);
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})
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.addTo(map);
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if (!initialized || id < focusedId) {
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focusedId = id;
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map.setView([lat, lon], 19); // 第一台無人機：重置並放大到最大
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initialized = true;
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}
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}
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}
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function clearAllTrajectories() {
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trajectories = {};
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Object.values(trajectoryLines).forEach(line => {
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trajectoryGroup.removeLayer(line);
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});
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trajectoryLines = {};
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console.log('所有軌跡已清除');
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}
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// ================================================================================
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// 【新增】任務規劃視覺化函式
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// ================================================================================
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function drawMissionPlan(centerLat, centerLon, targetLat, targetLon) {
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// 清除舊的任務規劃標記
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clearMissionPlan();
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// 保存中心點和目標點位置
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centerPosition = {lat: centerLat, lng: centerLon};
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targetPosition = {lat: targetLat, lng: targetLon};
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updateMissionInfo();
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// 繪製中心點標記 "C"（縮小到 20px）
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var centerIcon = L.divIcon({
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className: 'mission-center',
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html: `<div style="
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background-color: #FF4444;
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color: white;
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width: 20px;
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height: 20px;
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border-radius: 50%;
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display: flex;
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align-items: center;
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justify-content: center;
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font-weight: bold;
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font-size: 12px;
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border: 2px solid white;
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box-shadow: 0 2px 5px rgba(0,0,0,0.3);
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">C</div>`,
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iconSize: [20, 20],
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iconAnchor: [10, 10]
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});
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centerMarker = L.marker([centerLat, centerLon], {
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icon: centerIcon,
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zIndexOffset: 2000
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}).addTo(missionPlanGroup);
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// 繪製目標點標記 "★"（星星符號）
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var targetIcon = L.divIcon({
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className: 'mission-target',
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html: `<div style="
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background-color: #FFD700;
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color: #FF4444;
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width: 20px;
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height: 20px;
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border-radius: 50%;
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display: flex;
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align-items: center;
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justify-content: center;
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font-weight: bold;
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font-size: 14px;
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border: 2px solid white;
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box-shadow: 0 2px 5px rgba(0,0,0,0.3);
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">★</div>`,
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iconSize: [20, 20],
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iconAnchor: [10, 10]
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});
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targetMarker = L.marker([targetLat, targetLon], {
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icon: targetIcon,
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zIndexOffset: 2000
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}).addTo(missionPlanGroup);
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console.log('任務規劃已繪製: C(' + centerLat + ', ' + centerLon + ') -> T(' + targetLat + ', ' + targetLon + ')');
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}
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function clearMissionPlan() {
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// 清除中心點標記
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if (centerMarker) {
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missionPlanGroup.removeLayer(centerMarker);
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centerMarker = null;
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}
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// 清除目標點標記
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if (targetMarker) {
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missionPlanGroup.removeLayer(targetMarker);
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targetMarker = null;
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}
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// 清除位置資訊
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centerPosition = null;
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targetPosition = null;
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updateMissionInfo();
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console.log('任務規劃已清除');
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}
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|
// ================================================================================
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|
|
</script>
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|
</body>
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</html>
|
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|
'''
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|
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self.map_view.setHtml(inline_html)
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self.map_view.loadFinished.connect(self._on_map_loaded)
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# 設置地圖更新計時器
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|
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self.map_update_timer = QTimer()
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self.map_update_timer.timeout.connect(self.update_map_positions)
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self.map_update_timer.start(200) # 每 200ms 更新一次
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|
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def _on_map_loaded(self, ok: bool):
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|
|
"""地圖加載完成回調"""
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|
|
if ok:
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|
|
self.map_loaded = True
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|
else:
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|
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print("⚠️ 地圖加載失敗")
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|
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|
|
def update_drone_position(self, drone_id, lat, lon, heading):
|
|
|
"""更新無人機位置（加入待處理隊列）"""
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|
|
self.pending_map_updates[drone_id] = (lat, lon, heading)
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|
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|
|
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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
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|
|
|
|
|
# 批量執行所有待更新的位置
|
|
|
js_commands = []
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|
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for drone_id, (lat, lon, heading) in self.pending_map_updates.items():
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js_commands.append(f"updateDrone({lat:.6f}, {lon:.6f}, '{drone_id}', {heading:.1f});")
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|
|
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if js_commands:
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|
combined_js = "\n".join(js_commands)
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self.map_view.page().runJavaScript(combined_js)
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# 清空待更新緩存
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|
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self.pending_map_updates.clear()
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|
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def clear_trajectories(self):
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|
|
"""清除所有軌跡"""
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|
|
if self.map_loaded:
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|
|
self.map_view.page().runJavaScript("clearAllTrajectories();")
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|
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|
def focus_on_drone(self, drone_id):
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|
|
"""聚焦到指定無人機"""
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|
|
if self.map_loaded:
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|
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self.map_view.page().runJavaScript(f"focusOn('{drone_id}');")
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|
|
|
|
|
# ================================================================================
|
|
|
# 【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
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|
|
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
|
|
|
|
|
|
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
|
|
|
|
|
|
class MapBridge(QObject):
|
|
|
"""JavaScript 和 Python 之間的橋接類"""
|
|
|
gps_signal = pyqtSignal(float, float) # lat, lon
|
|
|
drone_clicked = pyqtSignal(str) # drone_id
|
|
|
clear_all_drone_selection = pyqtSignal() # clear all drone selection
|
|
|
select_all_drones = pyqtSignal() # select all drones
|
|
|
start_mission_signal = pyqtSignal(float, float, float, float) # center_lat, center_lon, target_lat, target_lon
|
|
|
pause_mission_signal = pyqtSignal() # pause mission
|
|
|
rectangle_selected = pyqtSignal(str) # JSON string of rectangle points
|
|
|
polygon_selected = pyqtSignal(str) # JSON string of polygon points
|
|
|
|
|
|
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()
|
|
|
print("🗑️ 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()
|
|
|
print("🔄 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)
|
|
|
print(f"🚀 開始任務信號已發出: 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()
|
|
|
print("⏸️ 暫停任務信號已發出")
|
|
|
|
|
|
@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)
|
|
|
print(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)
|
|
|
print(f"🔷 多邊形區域已選擇: {points_json}") |