From d2905cf7a6b36bab4aaa2ec3622161a13ed5c731 Mon Sep 17 00:00:00 2001 From: topfive Date: Tue, 13 May 2025 09:17:53 +0800 Subject: [PATCH] =?UTF-8?q?=E5=90=8E=E7=AB=AF=E5=AE=9E=E7=8E=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .idea/.gitignore | 8 + .../inspectionProfiles/profiles_settings.xml | 6 + .idea/misc.xml | 4 + .idea/modules.xml | 8 + .idea/project.iml | 8 + .idea/vcs.xml | 6 + ...系统“软件设计规格说明书.doc | Bin 162 -> 0 bytes Src/command_center/__init__.py | 4 + Src/command_center/communication/__init__.py | 4 + .../__pycache__/__init__.cpython-312.pyc | Bin 0 -> 515 bytes .../communication_manager.cpython-312.pyc | Bin 0 -> 9937 bytes .../database_handler.cpython-312.pyc | Bin 0 -> 9342 bytes .../drone_connection_manager.cpython-312.pyc | Bin 0 -> 8844 bytes .../mavlink_handler.cpython-312.pyc | Bin 0 -> 4861 bytes .../__pycache__/message_queue.cpython-312.pyc | Bin 0 -> 4263 bytes .../communication/communication_manager.py | 172 ++++---- .../communication/database_handler.py | 4 + .../communication/drone_connection_manager.py | 6 + .../communication/mavlink_handler.py | 4 + .../communication/message_queue.py | 4 + Src/command_center/main.py | 60 ++- .../battlefield_simulator.cpython-312.pyc | Bin 0 -> 7266 bytes .../__pycache__/hybrid_astar.cpython-312.pyc | Bin 0 -> 11403 bytes .../__pycache__/path_planner.cpython-312.pyc | Bin 0 -> 5497 bytes .../path_planning/battlefield_simulator.py | 140 +++++++ .../path_planning/hybrid_astar.py | 229 ++++++++++ .../path_planning/path_planner.py | 120 ++++++ .../path_planning/test_battlefield.py | 138 ++++++ Src/command_center/ui/__init__.py | 8 +- .../ui/__pycache__/__init__.cpython-312.pyc | Bin 149 -> 149 bytes .../algorithm_config_view.cpython-312.pyc | Bin 5560 -> 5796 bytes .../__pycache__/base_map_view.cpython-312.pyc | Bin 0 -> 17687 bytes .../battlefield_map_view.cpython-312.pyc | Bin 0 -> 6855 bytes .../drone_detail_view.cpython-312.pyc | Bin 4413 -> 21035 bytes .../drone_list_view.cpython-312.pyc | Bin 3365 -> 28046 bytes .../ui/__pycache__/login_view.cpython-312.pyc | Bin 4186 -> 4374 bytes .../ui/__pycache__/main_view.cpython-312.pyc | Bin 4471 -> 4471 bytes .../map_data_model.cpython-312.pyc | Bin 0 -> 2441 bytes .../ui/__pycache__/map_view.cpython-312.pyc | Bin 3503 -> 3503 bytes .../matplotlib_canvas.cpython-312.pyc | Bin 0 -> 1037 bytes .../path_layer_view.cpython-312.pyc | Bin 3753 -> 5082 bytes .../path_planning_view.cpython-312.pyc | Bin 4870 -> 5199 bytes .../path_simulation_view.cpython-312.pyc | Bin 6853 -> 6853 bytes .../simple_map_view.cpython-312.pyc | Bin 0 -> 3961 bytes .../status_dashboard.cpython-312.pyc | Bin 5594 -> 5594 bytes .../threat_layer_view.cpython-312.pyc | Bin 3390 -> 4187 bytes .../ui/algorithm_config_view.py | 8 +- Src/command_center/ui/base_map_view.py | 296 +++++++++++++ Src/command_center/ui/drone_detail_view.py | 304 +++++++++++++- Src/command_center/ui/drone_list_view.py | 393 +++++++++++++++++- Src/command_center/ui/login_view.py | 4 + Src/command_center/ui/main_view.py | 87 ---- Src/command_center/ui/map_data_model.py | 39 ++ Src/command_center/ui/path_layer_view.py | 121 +++--- Src/command_center/ui/path_planning_view.py | 15 +- Src/command_center/ui/path_simulation_view.py | 109 ----- Src/command_center/ui/simple_map_view.py | 71 ++++ Src/command_center/ui/status_dashboard.py | 4 + Src/command_center/ui/threat_layer_view.py | 107 +++-- 59 files changed, 2055 insertions(+), 436 deletions(-) create mode 100644 .idea/.gitignore create mode 100644 .idea/inspectionProfiles/profiles_settings.xml create mode 100644 .idea/misc.xml create mode 100644 .idea/modules.xml create mode 100644 .idea/project.iml create mode 100644 .idea/vcs.xml delete mode 100644 Doc/~$人机后勤输送路径规划系统“软件设计规格说明书.doc create mode 100644 Src/command_center/communication/__pycache__/__init__.cpython-312.pyc create mode 100644 Src/command_center/communication/__pycache__/communication_manager.cpython-312.pyc create mode 100644 Src/command_center/communication/__pycache__/database_handler.cpython-312.pyc create mode 100644 Src/command_center/communication/__pycache__/drone_connection_manager.cpython-312.pyc create mode 100644 Src/command_center/communication/__pycache__/mavlink_handler.cpython-312.pyc create mode 100644 Src/command_center/communication/__pycache__/message_queue.cpython-312.pyc create mode 100644 Src/command_center/path_planning/__pycache__/battlefield_simulator.cpython-312.pyc create mode 100644 Src/command_center/path_planning/__pycache__/hybrid_astar.cpython-312.pyc create mode 100644 Src/command_center/path_planning/__pycache__/path_planner.cpython-312.pyc create mode 100644 Src/command_center/path_planning/battlefield_simulator.py create mode 100644 Src/command_center/path_planning/hybrid_astar.py create mode 100644 Src/command_center/path_planning/path_planner.py create mode 100644 Src/command_center/path_planning/test_battlefield.py create mode 100644 Src/command_center/ui/__pycache__/base_map_view.cpython-312.pyc create mode 100644 Src/command_center/ui/__pycache__/battlefield_map_view.cpython-312.pyc create mode 100644 Src/command_center/ui/__pycache__/map_data_model.cpython-312.pyc create mode 100644 Src/command_center/ui/__pycache__/matplotlib_canvas.cpython-312.pyc create mode 100644 Src/command_center/ui/__pycache__/simple_map_view.cpython-312.pyc create mode 100644 Src/command_center/ui/base_map_view.py delete mode 100644 Src/command_center/ui/main_view.py create mode 100644 Src/command_center/ui/map_data_model.py delete mode 100644 Src/command_center/ui/path_simulation_view.py create mode 100644 Src/command_center/ui/simple_map_view.py diff --git a/.idea/.gitignore b/.idea/.gitignore new file mode 100644 index 00000000..35410cac --- /dev/null +++ b/.idea/.gitignore @@ -0,0 +1,8 @@ +# 默认忽略的文件 +/shelf/ +/workspace.xml +# 基于编辑器的 HTTP 客户端请求 +/httpRequests/ +# Datasource local storage ignored files +/dataSources/ +/dataSources.local.xml diff --git a/.idea/inspectionProfiles/profiles_settings.xml b/.idea/inspectionProfiles/profiles_settings.xml new file mode 100644 index 00000000..105ce2da --- /dev/null +++ b/.idea/inspectionProfiles/profiles_settings.xml @@ -0,0 +1,6 @@ + + + + \ No newline at end of file diff --git a/.idea/misc.xml b/.idea/misc.xml new file mode 100644 index 00000000..05adead2 --- /dev/null +++ b/.idea/misc.xml @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/.idea/modules.xml b/.idea/modules.xml new file mode 100644 index 00000000..a0733a5c --- /dev/null +++ b/.idea/modules.xml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/project.iml b/.idea/project.iml new file mode 100644 index 00000000..d0876a78 --- /dev/null +++ b/.idea/project.iml @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/.idea/vcs.xml b/.idea/vcs.xml new file mode 100644 index 00000000..35eb1ddf --- /dev/null +++ b/.idea/vcs.xml @@ -0,0 +1,6 @@ + + + + + + \ No newline at end of file diff --git a/Doc/~$人机后勤输送路径规划系统“软件设计规格说明书.doc b/Doc/~$人机后勤输送路径规划系统“软件设计规格说明书.doc deleted file mode 100644 index 3a1b11eaebd5daf48b7fb142e77d1c7963a9a890..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 162 gcmZQIG`BD|V;~W*G8i(LGgvSfGmxy6M4K2G02C4e9RL6T diff --git a/Src/command_center/__init__.py b/Src/command_center/__init__.py index 122acb7e..43cacfc2 100644 --- a/Src/command_center/__init__.py +++ b/Src/command_center/__init__.py @@ -1 +1,5 @@ +# -*- coding: utf-8 -*- +# File: __init__.py (in command_center) +# Purpose: 将 command_center 目录标记为 Python 包。 + # 指挥控制中心包 \ No newline at end of file diff --git a/Src/command_center/communication/__init__.py b/Src/command_center/communication/__init__.py index 9acca399..a7f61463 100644 --- a/Src/command_center/communication/__init__.py +++ b/Src/command_center/communication/__init__.py @@ -1,3 +1,7 @@ +# -*- coding: utf-8 -*- +# File: __init__.py (in communication) +# Purpose: 将 communication 目录标记为 Python 包，并可能导出其中的类。 + from .mavlink_handler import MavlinkHandler from .database_handler import DatabaseHandler from .message_queue import MessageQueue diff --git a/Src/command_center/communication/__pycache__/__init__.cpython-312.pyc b/Src/command_center/communication/__pycache__/__init__.cpython-312.pyc new file mode 100644 index 0000000000000000000000000000000000000000..a5c8ad02963f43435eefff20484e5cce27ebc49c GIT binary patch literal 515 zcmYk2Jx{|h5QfkB><6VF0YXB|s6wzJp$dj}=u#xa7FDuLVzmL=DNcgak)55Ljo-pQ zu#}034bhDWJ1LLRZb@ok7BRF5-}^=Ur**Y0@#` z8u5(yTCRF+)#Vieo>dIxVYL;lFzU3qt~$Iz!4HO|?56f3gM-7G2lEQ3oTGNbb*8#z z#w#CV!WhPHu+$;^Tt?@UxlHc#yXyT$h7;35)8UYcjLI^sUpc`z7IB90>3pFYeV#-) mqZe{p_cNcI9%%Wp5kdtV7jRO*Q33q|&b}S5Z9Vz2tLwig3zW40 literal 0 HcmV?d00001 diff --git a/Src/command_center/communication/__pycache__/communication_manager.cpython-312.pyc b/Src/command_center/communication/__pycache__/communication_manager.cpython-312.pyc new file 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zpxjroDo}OVE>KdsfUJaOd1Wdx7MU+^m@RLZD{lmU@Ki2%eW{nmUYhp`vtD7&`)rny zimDa0KbAM@i4uDS8}ZeoPK{x0@>JgPZUpb}R4y;sb6vs?IO|N+0m4mHwr^)=xJqDW zwwJcI(wQa}`4$HGRu1^z5_;f?n8#$K$NXMkp5{O6^#i884-4RBpH*Jyc-GHS>6X^%D9lxJz+r0NHCu$ zJwOJ@1D2!J7q~?NL)PJ-&EvZl2@DT>l={ZKSpvi4$?J6LJ39Nj#v6yf`THG bool: @@ -45,74 +54,92 @@ class CommunicationManager: # 启动消息处理线程 self.running = True - self.thread = threading.Thread(target=self._process_messages) - self.thread.daemon = True - self.thread.start() + self.update_thread = Thread(target=self._update_loop) + self.update_thread.daemon = True + self.update_thread.start() return True def stop(self): """停止通信管理器""" self.running = False - if self.thread: - self.thread.join() + if self.update_thread: + self.update_thread.join() self.mavlink.stop() self.drone_manager.stop() self.database.disconnect() - def add_drone(self, drone_id: str, ip_address: str, port: int, - connection_type: str = 'udp') -> bool: - """添加新的无人机连接""" - return self.database.add_drone_connection(drone_id, ip_address, port, connection_type) - - def connect_drone(self, drone_id: str) -> bool: - """连接指定的无人机""" - return self.drone_manager.connect_drone(drone_id) - - def disconnect_drone(self, drone_id: str): - """断开指定无人机的连接""" - self.drone_manager.disconnect_drone(drone_id) - - def get_connected_drones(self) -> List[str]: - """获取所有已连接的无人机ID""" - return self.drone_manager.get_connected_drones() + def register_callback(self, event: str, callback: Callable): + """注册回调函数""" + if event not in self.callbacks: + self.callbacks[event] = [] + self.callbacks[event].append(callback) - def is_drone_connected(self, drone_id: str) -> bool: - """检查指定无人机是否已连接""" - return self.drone_manager.is_drone_connected(drone_id) - - def send_command(self, drone_id: str, command_type: str, **kwargs) -> bool: - """向指定无人机发送命令""" - return self.drone_manager.send_command(drone_id, command_type, **kwargs) - - def _process_messages(self): - """处理消息队列中的消息""" + def _update_loop(self): + """更新循环""" while self.running: try: - msg = self.mavlink.get_message_queue().get(timeout=1.0) - if msg: - self._handle_message(msg) + self._update_drone_status() + time.sleep(0.1) # 100ms更新间隔 except Exception as e: - print(f"消息处理错误: {str(e)}") - time.sleep(1) - - def _handle_message(self, msg: Dict[str, Any]): - """处理接收到的消息""" - try: - msg_type = msg['message'].get_type() - msg_data = msg['message'].to_dict() - - # 保存消息到数据库 - self.database.save_mavlink_message(msg_type, msg_data) - - # 根据消息类型更新无人机状态 - if msg_type == 'GLOBAL_POSITION_INT': - self._update_drone_position(msg_data) - elif msg_type == 'SYS_STATUS': - self._update_drone_status(msg_data) - - except Exception as e: - print(f"消息处理失败: {str(e)}") + print(f"更新循环错误: {str(e)}") + + def _update_drone_status(self): + """更新无人机状态""" + # TODO: 实现实际的通信逻辑 + # 这里模拟一些数据更新 + with self.lock: + for drone_id in self.drones: + self.drones[drone_id].update({ + "battery": max(0, self.drones[drone_id].get("battery", 100) - 0.1), + "signal_strength": max(0, self.drones[drone_id].get("signal_strength", 100) - 0.2), + "latency": self.drones[drone_id].get("latency", 0) + 1 + }) + + def add_drone(self, drone_id: str, info: dict): + """添加无人机""" + with self.lock: + self.drones[drone_id] = info + self._notify("drone_added", drone_id) + + def remove_drone(self, drone_id: str): + """移除无人机""" + with self.lock: + if drone_id in self.drones: + del self.drones[drone_id] + self._notify("drone_removed", drone_id) + + def update_drone(self, drone_id: str, info: dict): + """更新无人机信息""" + with self.lock: + if drone_id in self.drones: + self.drones[drone_id].update(info) + self._notify("drone_updated", drone_id) + + def get_drone(self, drone_id: str) -> dict: + """获取无人机信息""" + with self.lock: + return self.drones.get(drone_id, {}) + + def get_all_drones(self) -> List[dict]: + """获取所有无人机信息""" + with self.lock: + return list(self.drones.values()) + + def send_command(self, drone_id: str, command: str, params: dict = None): + """发送控制命令""" + # TODO: 实现实际的命令发送逻辑 + print(f"发送命令到无人机 {drone_id}: {command} {params}") + self._notify("command_sent", drone_id, {"command": command, "params": params}) + + def _notify(self, event: str, drone_id: str, data: dict = None): + """通知事件""" + if event in self.callbacks: + for callback in self.callbacks[event]: + try: + callback(drone_id, data) + except Exception as e: + print(f"回调函数执行错误: {str(e)}") def _handle_heartbeat(self, msg): """处理心跳消息""" @@ -135,37 +162,6 @@ class CommunicationManager: 'data': msg.to_dict() }) - def _update_drone_position(self, position_data: Dict[str, Any]): - """更新无人机位置信息""" - query = """ - INSERT INTO drone_status - (drone_id, latitude, longitude, altitude, timestamp) - VALUES (%s, %s, %s, %s, %s) - """ - params = ( - position_data.get('sysid', 'unknown'), - position_data.get('lat', 0) / 1e7, # 转换为度 - position_data.get('lon', 0) / 1e7, # 转换为度 - position_data.get('alt', 0) / 1000, # 转换为米 - datetime.now() - ) - self.database.execute_update(query, params) - - def _update_drone_status(self, status_data: Dict[str, Any]): - """更新无人机状态信息""" - query = """ - UPDATE drone_status - SET battery_level = %s, status = %s - WHERE drone_id = %s - ORDER BY timestamp DESC LIMIT 1 - """ - params = ( - status_data.get('battery_remaining', 0), - status_data.get('system_status', 'UNKNOWN'), - status_data.get('sysid', 'unknown') - ) - self.database.execute_update(query, params) - def get_drone_status(self, drone_id: str) -> Optional[Dict[str, Any]]: """获取指定无人机的状态""" query = """ diff --git a/Src/command_center/communication/database_handler.py b/Src/command_center/communication/database_handler.py index 8186f7bc..45f656f7 100644 --- a/Src/command_center/communication/database_handler.py +++ b/Src/command_center/communication/database_handler.py @@ -1,3 +1,7 @@ +# -*- coding: utf-8 -*- +# File: database_handler.py +# Purpose: 处理与数据库的交互，包括连接、数据读写（如用户信息、无人机数据、任务记录等）。 + import mysql.connector from mysql.connector import Error from typing import Dict, List, Any, Optional diff --git a/Src/command_center/communication/drone_connection_manager.py b/Src/command_center/communication/drone_connection_manager.py index 42ec3c86..ca4d5043 100644 --- a/Src/command_center/communication/drone_connection_manager.py +++ b/Src/command_center/communication/drone_connection_manager.py @@ -1,9 +1,15 @@ +# -*- coding: utf-8 -*- +# File: drone_connection_manager.py +# Purpose: 管理与单个或多个无人机的直接连接（可能通过 MAVLink 或其他协议）。 +# 处理心跳、连接状态和底层数据收发。 + from typing import Dict, List, Optional from .mavlink_handler import MavlinkHandler from .database_handler import DatabaseHandler import threading import time from datetime import datetime, timedelta +import socket class DroneConnectionManager: def __init__(self, db_handler: DatabaseHandler): diff --git a/Src/command_center/communication/mavlink_handler.py b/Src/command_center/communication/mavlink_handler.py index 2674e095..1472c25f 100644 --- a/Src/command_center/communication/mavlink_handler.py +++ b/Src/command_center/communication/mavlink_handler.py @@ -1,3 +1,7 @@ +# -*- coding: utf-8 -*- +# File: mavlink_handler.py +# Purpose: 处理 MAVLink 协议的编码、解码和消息处理。 + import pymavlink.mavutil as mavutil import threading import time diff --git a/Src/command_center/communication/message_queue.py b/Src/command_center/communication/message_queue.py index 3e3db6cc..cd069032 100644 --- a/Src/command_center/communication/message_queue.py +++ b/Src/command_center/communication/message_queue.py @@ -1,3 +1,7 @@ +# -*- coding: utf-8 -*- +# File: message_queue.py +# Purpose: 提供线程安全的消息队列，用于模块间的异步通信。 + import queue import threading from typing import Any, Optional diff --git a/Src/command_center/main.py b/Src/command_center/main.py index a81c28ef..77fe26ea 100644 --- a/Src/command_center/main.py +++ b/Src/command_center/main.py @@ -1,13 +1,17 @@ +# -*- coding: utf-8 -*- +# File: main.py +# Purpose: 主应用程序入口点，定义和启动指挥控制中心主窗口 (CommandCenterApp)。 +# 负责初始化UI、处理登录、创建数据模型和协调各个功能模块。 + import sys from PyQt5.QtWidgets import (QApplication, QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, QTabWidget, QPushButton, QLabel, QGroupBox, QComboBox, QSpinBox, QDoubleSpinBox, - QProgressBar, QCheckBox, QMessageBox) -from PyQt5.QtCore import Qt, pyqtSignal -from PyQt5.QtGui import QFont + QProgressBar, QCheckBox, QMessageBox, QFileDialog) +from PyQt5.QtCore import Qt, pyqtSignal, QThread, QObject +from PyQt5.QtGui import QFont, QPixmap, QPainter, QPen, QColor from ui.login_view import LoginView -from ui.main_view import MainView -from ui.map_view import MapView +from ui.simple_map_view import SimpleMapView from ui.threat_layer_view import ThreatLayerView from ui.path_layer_view import PathLayerView from ui.drone_list_view import DroneListView @@ -15,8 +19,42 @@ from ui.drone_detail_view import DroneDetailView from ui.status_dashboard import StatusDashboard from ui.path_planning_view import PathPlanningView from ui.algorithm_config_view import AlgorithmConfigView -from ui.path_simulation_view import PathSimulationView from communication.communication_manager import CommunicationManager +from ui.base_map_view import BaseMapView +from ui.map_data_model import MapDataModel + +class PathPlanningThread(QThread): + path_planned = pyqtSignal(list) # 规划完成后发出新路径 + + def __init__(self, simulator, drone_id, goal): + super().__init__() + self.simulator = simulator + self.drone_id = drone_id + self.goal = goal + self._running = True + self._replan_requested = False + + def run(self): + while self._running: + if self._replan_requested: + self._replan_requested = False + path = self.simulator.path_planner.plan_path( + self.drone_id, + self.simulator.drones[self.drone_id]['position'], + self.goal + ) + if path: + self.path_planned.emit(path) + self.msleep(100) # 避免CPU占用过高 + + def request_replan(self, goal=None): + if goal is not None: + self.goal = goal + self._replan_requested = True + + def stop(self): + self._running = False + self.wait() class CommandCenterApp(QMainWindow): # 定义信号 @@ -42,16 +80,18 @@ class CommandCenterApp(QMainWindow): # 创建标签页 self.tab_widget = QTabWidget() + # 创建地图数据模型 + self.map_data_model = MapDataModel() + # 添加各个功能标签页 - self.tab_widget.addTab(MapView(), "地图视图") - self.tab_widget.addTab(ThreatLayerView(), "威胁层") - self.tab_widget.addTab(PathLayerView(), "路径层") + self.tab_widget.addTab(SimpleMapView(self.map_data_model), "地图视图") + self.tab_widget.addTab(ThreatLayerView(self.map_data_model), "威胁层") + self.tab_widget.addTab(PathLayerView(self.map_data_model), "路径层") self.tab_widget.addTab(DroneListView(), "无人机列表") self.tab_widget.addTab(DroneDetailView(), "无人机详情") self.tab_widget.addTab(StatusDashboard(), "状态仪表板") self.tab_widget.addTab(PathPlanningView(), "路径规划") self.tab_widget.addTab(AlgorithmConfigView(), "算法配置") - self.tab_widget.addTab(PathSimulationView(), "路径模拟") main_layout.addWidget(self.tab_widget) diff --git a/Src/command_center/path_planning/__pycache__/battlefield_simulator.cpython-312.pyc 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.path_planner import PathPlanner + +class BattlefieldSimulator: + def __init__(self, width: float = 100.0, height: float = 100.0): + self.width = width + self.height = height + self.obstacles: List[Tuple[float, float]] = [] + self.drones: Dict[str, Dict] = {} + self.path_planner = PathPlanner() + + def generate_battlefield(self, + num_buildings: int = 10, + num_barriers: int = 15, + num_vehicles: int = 5): + """生成战场环境""" + # 清空现有障碍物 + self.obstacles.clear() + + # 生成建筑物（矩形障碍物） + for _ in range(num_buildings): + x = random.uniform(0, self.width) + y = random.uniform(0, self.height) + width = random.uniform(5, 15) + height = random.uniform(5, 15) + self._add_rectangular_obstacle(x, y, width, height) + + # 生成路障（点状障碍物） + for _ in range(num_barriers): + x = random.uniform(0, self.width) + y = random.uniform(0, self.height) + self.obstacles.append((x, y)) + + # 生成废弃车辆（点状障碍物） + for _ in range(num_vehicles): + x = random.uniform(0, self.width) + y = random.uniform(0, self.height) + self.obstacles.append((x, y)) + + # 更新路径规划器的障碍物 + self.path_planner.update_obstacles(self.obstacles) + + def _add_rectangular_obstacle(self, x: float, y: float, width: float, height: float): + """添加矩形障碍物""" + # 在矩形区域内生成多个点作为障碍物 + for i in np.arange(x - width/2, x + width/2, 1.0): + for j in np.arange(y - height/2, y + height/2, 1.0): + if 0 <= i <= self.width and 0 <= j <= self.height: + self.obstacles.append((i, j)) + + def add_drone(self, drone_id: str, start_pos: Tuple[float, float, float]): + """添加无人机""" + self.drones[drone_id] = { + 'position': start_pos, + 'path': None, + 'status': 'standby' + } + + def plan_path(self, drone_id: str, goal: Tuple[float, float, float]) -> bool: + """为无人机规划路径""" + if drone_id not in self.drones: + return False + + start = self.drones[drone_id]['position'] + path = self.path_planner.plan_path(drone_id, start, goal) + + if path: + self.drones[drone_id]['path'] = path + return True + return False + + def visualize(self, show_paths: bool = True): + """可视化战场环境""" + plt.figure(figsize=(10, 10)) + + # 绘制障碍物 + x_obs = [obs[0] for obs in self.obstacles] + y_obs = [obs[1] for obs in self.obstacles] + plt.scatter(x_obs, y_obs, c='red', s=10, label='Obstacles') + + # 绘制无人机和路径 + for drone_id, drone in self.drones.items(): + # 绘制无人机位置 + pos = drone['position'] + plt.scatter(pos[0], pos[1], c='blue', s=100, label=f'Drone {drone_id}') + + # 绘制航向 + dx = 2 * np.cos(pos[2]) + dy = 2 * np.sin(pos[2]) + plt.arrow(pos[0], pos[1], dx, dy, head_width=1, head_length=1, fc='blue', ec='blue') + + # 绘制路径 + if show_paths and drone['path']: + path = drone['path'] + x_path = [p[0] for p in path] + y_path = [p[1] for p in path] + plt.plot(x_path, y_path, 'g--', label=f'Path {drone_id}') + + plt.grid(True) + plt.legend() + plt.title('Battlefield Simulation') + plt.xlabel('X (m)') + plt.ylabel('Y (m)') + plt.axis('equal') + plt.show() + + def simulate_movement(self, drone_id: str, step_size: float = 1.0): + """模拟无人机沿路径移动""" + if drone_id not in self.drones or not self.drones[drone_id]['path']: + return False + + drone = self.drones[drone_id] + path = drone['path'] + current_pos = drone['position'] + + # 找到当前位置在路径上的最近点 + min_dist = float('inf') + next_idx = 0 + + for i, point in enumerate(path): + dist = np.sqrt((point[0] - current_pos[0])**2 + + (point[1] - current_pos[1])**2) + if dist < min_dist: + min_dist = dist + next_idx = i + + # 移动到下一个点 + if next_idx < len(path) - 1: + next_point = path[next_idx + 1] + self.drones[drone_id]['position'] = next_point + return True + + return False \ No newline at end of file diff --git a/Src/command_center/path_planning/hybrid_astar.py b/Src/command_center/path_planning/hybrid_astar.py new file mode 100644 index 00000000..072dd3cf --- /dev/null +++ b/Src/command_center/path_planning/hybrid_astar.py @@ -0,0 +1,229 @@ +# -*- coding: utf-8 -*- +# File: hybrid_astar.py +# Purpose: 实现混合 A* 路径规划算法的具体逻辑。 + +import numpy as np +from typing import List, Tuple, Dict, Optional +from dataclasses import dataclass +import math +import heapq + +@dataclass +class Node: + x: float + y: float + theta: float # 航向角 + g_cost: float # 从起点到当前节点的代价 + h_cost: float # 从当前节点到终点的估计代价 + parent: Optional['Node'] = None + + @property + def f_cost(self) -> float: + return self.g_cost + self.h_cost + +class HybridAStar: + def __init__(self, + grid_size: float = 0.5, + max_steering_angle: float = math.pi/4, + steering_step: float = math.pi/12, + speed_step: float = 1.0, + max_speed: float = 5.0, + min_speed: float = -2.0): + self.grid_size = grid_size + self.max_steering_angle = max_steering_angle + self.steering_step = steering_step + self.speed_step = speed_step + self.max_speed = max_speed + self.min_speed = min_speed + + def plan(self, + start: Tuple[float, float, float], + goal: Tuple[float, float, float], + obstacles: List[Tuple[float, float]], + vehicle_length: float = 4.0, + vehicle_width: float = 2.0) -> Optional[List[Tuple[float, float, float]]]: + """ + 使用混合A*算法规划路径 + + 参数: + start: (x, y, theta) 起点位置和航向 + goal: (x, y, theta) 终点位置和航向 + obstacles: [(x, y), ...] 障碍物位置列表 + vehicle_length: 车辆长度 + vehicle_width: 车辆宽度 + + 返回: + 路径点列表 [(x, y, theta), ...] 或 None（如果找不到路径） + """ + # 初始化开放列表和关闭列表 + open_list: List[Node] = [] + closed_set = set() + + # 创建起点节点 + start_node = Node( + x=start[0], + y=start[1], + theta=start[2], + g_cost=0, + h_cost=self._heuristic(start, goal) + ) + open_list.append(start_node) + + while open_list: + # 获取f值最小的节点 + current = min(open_list, key=lambda n: n.f_cost) + open_list.remove(current) + + # 检查是否到达目标 + if self._is_goal_reached(current, goal): + return self._reconstruct_path(current) + + # 将当前节点加入关闭列表 + closed_set.add(self._get_grid_position(current)) + + # 扩展当前节点 + for next_node in self._get_successors(current, goal, obstacles, vehicle_length, vehicle_width): + grid_pos = self._get_grid_position(next_node) + + # 如果节点在关闭列表中，跳过 + if grid_pos in closed_set: + continue + + # 如果节点不在开放列表中，添加它 + if not any(self._is_same_node(next_node, n) for n in open_list): + open_list.append(next_node) + + return None + + def _heuristic(self, current: Tuple[float, float, float], goal: Tuple[float, float, float]) -> float: + """计算启发式函数值""" + dx = goal[0] - current[0] + dy = goal[1] - current[1] + dtheta = abs(goal[2] - current[2]) + return math.sqrt(dx*dx + dy*dy) + 0.5 * dtheta + + def _is_goal_reached(self, current: Node, goal: Tuple[float, float, float]) -> bool: + """检查是否到达目标""" + dx = goal[0] - current.x + dy = goal[1] - current.y + dtheta = abs(goal[2] - current.theta) + return (math.sqrt(dx*dx + dy*dy) < self.grid_size and + dtheta < math.pi/6) + + def _get_grid_position(self, node: Node) -> Tuple[int, int, int]: + """获取节点在网格中的位置""" + x = int(node.x / self.grid_size) + y = int(node.y / self.grid_size) + theta = int(node.theta / self.steering_step) + return (x, y, theta) + + def _is_same_node(self, node1: Node, node2: Node) -> bool: + """检查两个节点是否相同""" + grid_pos1 = self._get_grid_position(node1) + grid_pos2 = self._get_grid_position(node2) + return grid_pos1 == grid_pos2 + + def _get_successors(self, + current: Node, + goal: Tuple[float, float, float], + obstacles: List[Tuple[float, float]], + vehicle_length: float, + vehicle_width: float) -> List[Node]: + """获取当前节点的后继节点""" + successors = [] + + # 尝试不同的转向角和速度 + for steering in np.arange(-self.max_steering_angle, + self.max_steering_angle + self.steering_step, + self.steering_step): + for speed in np.arange(self.min_speed, + self.max_speed + self.speed_step, + self.speed_step): + # 计算下一个位置 + next_x = current.x + speed * math.cos(current.theta) + next_y = current.y + speed * math.sin(current.theta) + next_theta = current.theta + speed * math.tan(steering) / vehicle_length + + # 检查是否与障碍物碰撞 + if self._check_collision((next_x, next_y, next_theta), + obstacles, + vehicle_length, + vehicle_width): + continue + + # 创建新节点 + next_node = Node( + x=next_x, + y=next_y, + theta=next_theta, + g_cost=current.g_cost + self._calculate_cost(current, (next_x, next_y, next_theta)), + h_cost=self._heuristic((next_x, next_y, next_theta), goal), + parent=current + ) + successors.append(next_node) + + return successors + + def _check_collision(self, + pose: Tuple[float, float, float], + obstacles: List[Tuple[float, float]], + vehicle_length: float, + vehicle_width: float) -> bool: + """检查给定位置是否与障碍物碰撞""" + # 计算车辆四个角的位置 + corners = self._get_vehicle_corners(pose, vehicle_length, vehicle_width) + + # 检查每个角是否与障碍物碰撞 + for corner in corners: + for obstacle in obstacles: + if math.sqrt((corner[0] - obstacle[0])**2 + + (corner[1] - obstacle[1])**2) < self.grid_size: + return True + return False + + def _get_vehicle_corners(self, + pose: Tuple[float, float, float], + vehicle_length: float, + vehicle_width: float) -> List[Tuple[float, float]]: + """计算车辆四个角的位置""" + x, y, theta = pose + half_length = vehicle_length / 2 + half_width = vehicle_width / 2 + + corners = [ + (x + half_length * math.cos(theta) - half_width * math.sin(theta), + y + half_length * math.sin(theta) + half_width * math.cos(theta)), + (x + half_length * math.cos(theta) + half_width * math.sin(theta), + y + half_length * math.sin(theta) - half_width * math.cos(theta)), + (x - half_length * math.cos(theta) - half_width * math.sin(theta), + y - half_length * math.sin(theta) + half_width * math.cos(theta)), + (x - half_length * math.cos(theta) + half_width * math.sin(theta), + y - half_length * math.sin(theta) - half_width * math.cos(theta)) + ] + return corners + + def _calculate_cost(self, + current: Node, + next_pose: Tuple[float, float, float]) -> float: + """计算从当前节点到下一个节点的代价""" + # 距离代价 + dx = next_pose[0] - current.x + dy = next_pose[1] - current.y + distance = math.sqrt(dx*dx + dy*dy) + + # 转向代价 + dtheta = abs(next_pose[2] - current.theta) + + # 总代价 + return distance + 0.5 * dtheta + + def _reconstruct_path(self, goal_node: Node) -> List[Tuple[float, float, float]]: + """重建路径""" + path = [] + current = goal_node + + while current is not None: + path.append((current.x, current.y, current.theta)) + current = current.parent + + return list(reversed(path)) \ No newline at end of file diff --git a/Src/command_center/path_planning/path_planner.py b/Src/command_center/path_planning/path_planner.py new file mode 100644 index 00000000..26e6dd13 --- /dev/null +++ b/Src/command_center/path_planning/path_planner.py @@ -0,0 +1,120 @@ +# -*- coding: utf-8 -*- +# File: path_planner.py +# Purpose: 路径规划的核心逻辑，可能包含调用不同路径规划算法的接口。 + +from typing import List, Tuple, Optional, Dict +from .hybrid_astar import HybridAStar +import numpy as np +import json +import time + +class PathPlanner: + def __init__(self): + self.planner = HybridAStar() + self.current_paths: Dict[str, List[Tuple[float, float, float]]] = {} + self.obstacles: List[Tuple[float, float]] = [] + + def plan_path(self, + drone_id: str, + start: Tuple[float, float, float], + goal: Tuple[float, float, float], + vehicle_length: float = 4.0, + vehicle_width: float = 2.0) -> Optional[List[Tuple[float, float, float]]]: + """ + 为指定无人机规划路径 + + 参数: + drone_id: 无人机ID + start: (x, y, theta) 起点位置和航向 + goal: (x, y, theta) 终点位置和航向 + vehicle_length: 车辆长度 + vehicle_width: 车辆宽度 + + 返回: + 路径点列表 [(x, y, theta), ...] 或 None（如果找不到路径） + """ + # 规划路径 + path = self.planner.plan( + start=start, + goal=goal, + obstacles=self.obstacles, + vehicle_length=vehicle_length, + vehicle_width=vehicle_width + ) + + if path: + self.current_paths[drone_id] = path + return path + return None + + def update_obstacles(self, obstacles: List[Tuple[float, float]]): + """更新障碍物列表""" + self.obstacles = obstacles + + def get_current_path(self, drone_id: str) -> Optional[List[Tuple[float, float, float]]]: + """获取指定无人机的当前路径""" + return self.current_paths.get(drone_id) + + def clear_path(self, drone_id: str): + """清除指定无人机的路径""" + if drone_id in self.current_paths: + del self.current_paths[drone_id] + + def smooth_path(self, path: List[Tuple[float, float, float]], weight_data: float = 0.5, + weight_smooth: float = 0.3, tolerance: float = 0.000001) -> List[Tuple[float, float, float]]: + """ + 使用平滑算法优化路径 + + 参数: + path: 原始路径 + weight_data: 数据项权重 + weight_smooth: 平滑项权重 + tolerance: 收敛阈值 + + 返回: + 平滑后的路径 + """ + if len(path) <= 2: + return path + + # 将路径转换为numpy数组 + path_array = np.array(path) + + # 初始化平滑后的路径 + smooth_path = path_array.copy() + + # 迭代优化 + change = tolerance + while change >= tolerance: + change = 0.0 + + # 对每个点进行优化（除了起点和终点） + for i in range(1, len(path) - 1): + for j in range(3): # x, y, theta + aux = smooth_path[i][j] + smooth_path[i][j] += weight_data * (path_array[i][j] - smooth_path[i][j]) + smooth_path[i][j] += weight_smooth * (smooth_path[i-1][j] + smooth_path[i+1][j] - 2.0 * smooth_path[i][j]) + change += abs(aux - smooth_path[i][j]) + + return [(x, y, theta) for x, y, theta in smooth_path] + + def save_path(self, drone_id: str, filename: str): + """保存路径到文件""" + if drone_id in self.current_paths: + path_data = { + 'drone_id': drone_id, + 'timestamp': time.time(), + 'path': self.current_paths[drone_id] + } + with open(filename, 'w') as f: + json.dump(path_data, f) + + def load_path(self, filename: str) -> Optional[str]: + """从文件加载路径""" + try: + with open(filename, 'r') as f: + path_data = json.load(f) + self.current_paths[path_data['drone_id']] = path_data['path'] + return path_data['drone_id'] + except: + return None \ No newline at end of file diff --git a/Src/command_center/path_planning/test_battlefield.py b/Src/command_center/path_planning/test_battlefield.py new file mode 100644 index 00000000..5883af21 --- /dev/null +++ b/Src/command_center/path_planning/test_battlefield.py @@ -0,0 +1,138 @@ +import numpy as np +from battlefield_simulator import BattlefieldSimulator +import time + +def test_single_drone(): + """测试单个无人机的路径规划""" + # 创建战场模拟器 + simulator = BattlefieldSimulator(width=100, height=100) + + # 生成战场环境 + simulator.generate_battlefield( + num_buildings=8, + num_barriers=12, + num_vehicles=3 + ) + + # 添加无人机 + start_pos = (10, 10, 0) # (x, y, theta) + simulator.add_drone("drone1", start_pos) + + # 设置目标点 + goal = (80, 80, np.pi/2) + + # 规划路径 + success = simulator.plan_path("drone1", goal) + print(f"Path planning {'successful' if success else 'failed'}") + + # 可视化结果 + simulator.visualize() + + # 模拟移动 + if success: + print("Simulating movement...") + for _ in range(10): # 模拟10步移动 + simulator.simulate_movement("drone1") + simulator.visualize() + time.sleep(0.5) # 暂停0.5秒以便观察 + +def test_multiple_drones(): + """测试多个无人机的协同路径规划""" + # 创建战场模拟器 + simulator = BattlefieldSimulator(width=100, height=100) + + # 生成战场环境 + simulator.generate_battlefield( + num_buildings=10, + num_barriers=15, + num_vehicles=5 + ) + + # 添加多个无人机 + drones = { + "drone1": (10, 10, 0), + "drone2": (20, 10, np.pi/4), + "drone3": (10, 20, np.pi/2) + } + + goals = { + "drone1": (80, 80, np.pi/2), + "drone2": (70, 70, np.pi/4), + "drone3": (90, 90, 0) + } + + # 添加无人机并规划路径 + for drone_id, start_pos in drones.items(): + simulator.add_drone(drone_id, start_pos) + success = simulator.plan_path(drone_id, goals[drone_id]) + print(f"Path planning for {drone_id}: {'successful' if success else 'failed'}") + + # 可视化初始状态 + simulator.visualize() + + # 模拟移动 + print("Simulating movement...") + for _ in range(15): # 模拟15步移动 + for drone_id in drones.keys(): + simulator.simulate_movement(drone_id) + simulator.visualize() + time.sleep(0.5) # 暂停0.5秒以便观察 + +def test_dynamic_obstacles(): + """测试动态障碍物情况下的路径规划""" + # 创建战场模拟器 + simulator = BattlefieldSimulator(width=100, height=100) + + # 生成初始战场环境 + simulator.generate_battlefield( + num_buildings=5, + num_barriers=8, + num_vehicles=3 + ) + + # 添加无人机 + start_pos = (10, 10, 0) + simulator.add_drone("drone1", start_pos) + + # 设置目标点 + goal = (80, 80, np.pi/2) + + # 规划初始路径 + success = simulator.plan_path("drone1", goal) + print(f"Initial path planning: {'successful' if success else 'failed'}") + + # 可视化初始状态 + simulator.visualize() + + # 模拟移动并动态添加障碍物 + print("Simulating movement with dynamic obstacles...") + for i in range(10): + # 移动无人机 + simulator.simulate_movement("drone1") + + # 每3步添加新的障碍物 + if i % 3 == 0: + # 在无人机当前位置附近添加障碍物 + pos = simulator.drones["drone1"]["position"] + new_obstacle = ( + pos[0] + np.random.uniform(-10, 10), + pos[1] + np.random.uniform(-10, 10) + ) + simulator.obstacles.append(new_obstacle) + simulator.path_planner.update_obstacles(simulator.obstacles) + + # 重新规划路径 + simulator.plan_path("drone1", goal) + + simulator.visualize() + time.sleep(0.5) + +if __name__ == "__main__": + print("Testing single drone scenario...") + test_single_drone() + + print("\nTesting multiple drones scenario...") + test_multiple_drones() + + print("\nTesting dynamic obstacles scenario...") + test_dynamic_obstacles() \ No newline at end of file diff --git a/Src/command_center/ui/__init__.py b/Src/command_center/ui/__init__.py index db1f1c7a..94f9d52d 100644 --- a/Src/command_center/ui/__init__.py +++ b/Src/command_center/ui/__init__.py @@ -1 +1,7 @@ -# UI组件包 \ No newline at end of file +# -*- coding: utf-8 -*- +# File: 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QSpinBox, QDoubleSpinBox, QCheckBox) + QSpinBox, QDoubleSpinBox, QCheckBox, QMessageBox) from PyQt5.QtCore import Qt class AlgorithmConfigView(QWidget): @@ -95,9 +95,11 @@ class AlgorithmConfigView(QWidget): self.reset_config_btn.clicked.connect(self.reset_config) def save_config(self): - # TODO: 实现保存配置功能 + QMessageBox.information(self, "功能确认", "保存配置 (功能待实现)") + # TODO: Implement save config logic pass def reset_config(self): - # TODO: 实现重置配置功能 + QMessageBox.information(self, "功能确认", "重置配置 (功能待实现)") + # TODO: Implement reset config logic (reset UI fields to default) pass \ No newline at end of file diff --git a/Src/command_center/ui/base_map_view.py b/Src/command_center/ui/base_map_view.py new file mode 100644 index 00000000..a72685b8 --- /dev/null +++ b/Src/command_center/ui/base_map_view.py @@ -0,0 +1,296 @@ +# -*- coding: utf-8 -*- +# File: base_map_view.py +# Purpose: 定义基础地图视图类，提供地图加载、显示、缩放、平移和点击处理等通用功能。 +# 作为 SimpleMapView, ThreatLayerView, PathLayerView 的父类。 + +from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, + QPushButton, QToolBar, QAction, QFileDialog) +from PyQt5.QtCore import Qt, pyqtSignal, QPointF, QRect, QRectF +from PyQt5.QtGui import QPixmap, QPainter, QPen, QColor, QTransform, QCursor, QMouseEvent + +class BaseMapView(QWidget): + # 定义信号 + map_loaded = pyqtSignal() + threat_points_changed = pyqtSignal(list) + + def __init__(self, map_data_model): + super().__init__() + self.map_data_model = map_data_model + self.scale_factor = 1.0 + # Panning state + self.panning = False + self.last_pan_point = QPointF() + self.map_offset = QPointF(0, 0) # Top-left corner offset of the map relative to the widget + self.init_ui() + + def init_ui(self): + # 创建主布局 + main_layout = QVBoxLayout() + main_layout.setContentsMargins(0, 0, 0, 0) # Remove margins + + # 创建工具栏 + toolbar = QToolBar() + toolbar.setMovable(False) + + # 添加工具栏按钮 + self.load_map_action = QAction("加载地图", self) + self.zoom_in_action = QAction("放大", self) + self.zoom_out_action = QAction("缩小", self) + self.pan_action = QAction("平移", self) + self.pan_action.setCheckable(True) # Make pan action checkable + + toolbar.addAction(self.load_map_action) + toolbar.addAction(self.zoom_in_action) + toolbar.addAction(self.zoom_out_action) + toolbar.addAction(self.pan_action) + + main_layout.addWidget(toolbar) + + # 创建地图显示区域 + self.map_label = QLabel("请加载地图图片") + self.map_label.setAlignment(Qt.AlignTop | Qt.AlignLeft) # Align top-left for panning + self.map_label.setStyleSheet("background-color: #333; border: none;") # Darker background, no border + main_layout.addWidget(self.map_label) + + # 设置布局 + self.setLayout(main_layout) + + # 连接信号 + print("BaseMapView: Connecting load_map_action to load_map_image") # Debug print + self.load_map_action.triggered.connect(self.load_map_image) + print("BaseMapView: Connecting zoom_in_action to zoom_in") # Debug print + self.zoom_in_action.triggered.connect(self.zoom_in) + print("BaseMapView: Connecting zoom_out_action to zoom_out") # Debug print + self.zoom_out_action.triggered.connect(self.zoom_out) + print("BaseMapView: Connecting pan_action to toggle_pan_mode") # Debug print + self.pan_action.triggered.connect(self.toggle_pan_mode) # Connect pan toggle + print("BaseMapView: Connecting map_data_model.data_changed to update_map") # Debug print + self.map_data_model.data_changed.connect(self.update_map) + + def load_map_image(self): + print("BaseMapView: load_map_image called") # Debug print: function entry + file_name, _ = QFileDialog.getOpenFileName(self, "选择地图图片", "", "Images (*.png *.jpg *.bmp)") + if file_name: + pixmap = QPixmap(file_name) + if pixmap.isNull(): + print("BaseMapView: Error - Loaded pixmap is null!") + self.map_data_model.set_map(None) # Ensure model knows it's invalid + else: + print(f"BaseMapView: Map loaded successfully, size: {pixmap.width()}x{pixmap.height()}") + self.map_data_model.set_map(pixmap) + self.reset_view() # Reset zoom/pan on new map load + self.map_loaded.emit() + + def reset_view(self): + print("BaseMapView: reset_view called") # Debug print + if not self.map_data_model.map_pixmap or self.map_data_model.map_pixmap.isNull(): + print("BaseMapView: reset_view - No valid map pixmap found.") + self.scale_factor = 1.0 + self.map_offset = QPointF(0, 0) + self.update_map() + return + + # Calculate scale factor to fit the map inside the label + label_size = self.map_label.size() + map_size = self.map_data_model.map_pixmap.size() + print(f"BaseMapView: reset_view - Label size: {label_size.width()}x{label_size.height()}, Map size: {map_size.width()}x{map_size.height()}") + + if label_size.isEmpty() or map_size.isEmpty() or map_size.width() == 0 or map_size.height() == 0: + print("BaseMapView: reset_view - Warning: Invalid label or map size for scaling.") + self.scale_factor = 1.0 # Default if sizes are invalid + else: + scale_x = label_size.width() / map_size.width() + scale_y = label_size.height() / map_size.height() + self.scale_factor = min(scale_x, scale_y) # Use min to fit entirely (KeepAspectRatio) + print(f"BaseMapView: reset_view - Calculated initial scale factor: {self.scale_factor}") + + # Calculate offset to center the scaled map + scaled_map_width = map_size.width() * self.scale_factor + scaled_map_height = map_size.height() * self.scale_factor + offset_x = (label_size.width() - scaled_map_width) / 2 + offset_y = (label_size.height() - scaled_map_height) / 2 + self.map_offset = QPointF(offset_x, offset_y) + print(f"BaseMapView: reset_view - Calculated initial offset: ({offset_x}, {offset_y})") + + self.update_map() + + def update_map(self): + # print("BaseMapView: update_map called") # Can be noisy, enable if needed + if self.map_data_model.map_pixmap and not self.map_data_model.map_pixmap.isNull(): + original_pixmap = self.map_data_model.map_pixmap + label_size = self.map_label.size() + + # Calculate scaled size + scaled_width = int(original_pixmap.width() * self.scale_factor) + scaled_height = int(original_pixmap.height() * self.scale_factor) + + if scaled_width <= 0 or scaled_height <= 0: + print(f"BaseMapView: update_map - Warning: Invalid scaled size ({scaled_width}x{scaled_height}), skipping draw.") + return + + # Create a new pixmap for drawing + # Ensure display_pixmap is at least the size of the label to avoid issues + display_pixmap_width = max(scaled_width + int(abs(self.map_offset.x())) + 1, label_size.width()) + display_pixmap_height = max(scaled_height + int(abs(self.map_offset.y())) + 1, label_size.height()) + display_pixmap = QPixmap(display_pixmap_width, display_pixmap_height) + display_pixmap.fill(Qt.transparent) # Use transparent background + + # print(f"BaseMapView: update_map - Scale: {self.scale_factor:.2f}, Offset: ({self.map_offset.x():.1f}, {self.map_offset.y():.1f})") + # print(f"BaseMapView: update_map - Scaled map size: {scaled_width}x{scaled_height}") + # print(f"BaseMapView: update_map - Display pixmap size: {display_pixmap_width}x{display_pixmap_height}") + + painter = QPainter(display_pixmap) + painter.setRenderHint(QPainter.SmoothPixmapTransform) # Improve scaling quality + + # Define the target rectangle for the scaled map within the display_pixmap + # Ensure offset is integer for QRect constructor + target_rect = QRect(int(self.map_offset.x()), int(self.map_offset.y()), + scaled_width, scaled_height) + + # Draw the scaled original map + painter.drawPixmap(target_rect, original_pixmap, original_pixmap.rect()) + + # --- Draw overlays --- + # (Code for drawing overlays remains the same) + # ... (threats, start, goal, paths) ... + # Apply scale and offset transform to the painter for drawing overlays + transform = QTransform() + transform.translate(self.map_offset.x(), self.map_offset.y()) + transform.scale(self.scale_factor, self.scale_factor) + painter.setTransform(transform) + + # Draw threats + if self.map_data_model.threat_points: + point_size = max(1.0, 5.0 / self.scale_factor) # Ensure point size is at least 1 + pen = QPen(QColor(255, 0, 0), point_size) # Keep pen size visually constant + painter.setPen(pen) + for point in self.map_data_model.threat_points: + painter.drawPoint(QPointF(point[0], point[1])) # Draw at original coords (transformed) + + # Draw start point + if self.map_data_model.start_point: + point_size = max(1.0, 5.0 / self.scale_factor) + pen = QPen(QColor(0, 255, 0), point_size) + painter.setPen(pen) + painter.drawPoint(QPointF(self.map_data_model.start_point[0], self.map_data_model.start_point[1])) + + # Draw goal point + if self.map_data_model.goal_point: + point_size = max(1.0, 5.0 / self.scale_factor) + pen = QPen(QColor(0, 0, 255), point_size) + painter.setPen(pen) + painter.drawPoint(QPointF(self.map_data_model.goal_point[0], self.map_data_model.goal_point[1])) + + # Draw paths + if self.map_data_model.paths: + line_width = max(0.5, 2.0 / self.scale_factor) # Use 0 for cosmetic pen if needed, ensure > 0 + pen = QPen(QColor(0, 255, 255), line_width) + painter.setPen(pen) + for path in self.map_data_model.paths: + if len(path) > 1: + points = [QPointF(p[0], p[1]) for p in path] + painter.drawPolyline(*points) # Draw lines between original coords + + painter.end() + + # Set the potentially larger pixmap on the label + self.map_label.setPixmap(display_pixmap) + # print("BaseMapView: update_map - Pixmap set on label") + else: + print("BaseMapView: update_map - No map pixmap to draw.") + self.map_label.setText("请加载地图图片") + self.map_label.setPixmap(QPixmap()) # Clear pixmap if none loaded + + def resizeEvent(self, event): + super().resizeEvent(event) + # We might need to call update_map if label size affects how map is displayed + # For now, assume update_map is called when needed by zoom/pan + self.update_map() # Update map on resize + + def zoom(self, factor): + # Store previous scale and mouse position (relative to widget) + prev_scale = self.scale_factor + mouse_pos = self.map_label.mapFromGlobal(QCursor.pos()) + + # Calculate map point under mouse before zoom + map_point_before_zoom = (mouse_pos - self.map_offset) / prev_scale + + # Update scale factor + self.scale_factor *= factor + # Add limits to scaling if needed + # self.scale_factor = max(0.1, min(self.scale_factor, 10.0)) + + # Calculate map point under mouse after zoom (if offset remained the same) + map_point_after_zoom_same_offset = map_point_before_zoom * self.scale_factor + + # Adjust offset to keep the point under the mouse cursor stationary + self.map_offset = mouse_pos - map_point_after_zoom_same_offset + + self.update_map() + + def zoom_in(self): + print("BaseMapView: zoom_in called") # Debug print + self.zoom(1.2) # Zoom in by 20% + + def zoom_out(self): + print("BaseMapView: zoom_out called") # Debug print + self.zoom(1 / 1.2) # Zoom out by 20% + + def toggle_pan_mode(self, checked): + print(f"BaseMapView: toggle_pan_mode called, checked: {checked}") # Debug print + self.panning = checked + if self.panning: + self.map_label.setCursor(Qt.OpenHandCursor) + else: + self.map_label.setCursor(Qt.ArrowCursor) + + def mousePressEvent(self, event): + if self.panning and event.button() == Qt.LeftButton: + self.last_pan_point = event.pos() + self.map_label.setCursor(Qt.ClosedHandCursor) + event.accept() + elif not self.panning and event.button() == Qt.LeftButton: + label_pos = self.map_label.mapFromParent(event.pos()) + if self.map_label.pixmap() and not self.map_label.pixmap().isNull() and self.map_label.rect().contains(label_pos): + # Calculate map point under mouse in original map coordinates + map_point_f = (label_pos - self.map_offset) / self.scale_factor + + # Check if click is within the actual map boundaries (optional but good practice) + original_map_rect = QRectF(0, 0, self.map_data_model.map_pixmap.width(), self.map_data_model.map_pixmap.height()) + if original_map_rect.contains(map_point_f): + # Call the handler method (implemented by subclasses) + self.handle_map_click(map_point_f) + event.accept() # Indicate event was handled + return # Don't ignore if handled + + # If click wasn't on map or not handled, ignore + event.ignore() + else: + # Ignore other buttons or if panning is off but not LeftButton + event.ignore() + + def mouseMoveEvent(self, event): + if self.panning and event.buttons() & Qt.LeftButton: + delta = event.pos() - self.last_pan_point + self.map_offset += delta # Update offset + self.last_pan_point = event.pos() + self.update_map() # Redraw map at new offset + event.accept() + else: + event.ignore() + + def mouseReleaseEvent(self, event): + if self.panning and event.button() == Qt.LeftButton: + self.map_label.setCursor(Qt.OpenHandCursor) # Change back to open hand + event.accept() + else: + event.ignore() + + def handle_map_click(self, map_point): + """Subclasses should override this to handle clicks on the map.""" + # Default implementation does nothing + pass + +# Need to import QRect, QPointF, QTransform, QCursor, QMouseEvent at the top +from PyQt5.QtCore import QRect, QRectF +from PyQt5.QtGui import QCursor, QMouseEvent \ No newline at end of file diff --git a/Src/command_center/ui/drone_detail_view.py b/Src/command_center/ui/drone_detail_view.py index cc0d6731..a68e80e8 100644 --- a/Src/command_center/ui/drone_detail_view.py +++ b/Src/command_center/ui/drone_detail_view.py @@ -1,12 +1,188 @@ from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, - QPushButton, QGroupBox, QFormLayout) -from PyQt5.QtCore import Qt + QPushButton, QGroupBox, QFormLayout, QProgressBar, + QComboBox, QSpinBox, QDoubleSpinBox, QDialog, + QMessageBox) +from PyQt5.QtCore import Qt, pyqtSignal +from PyQt5.QtGui import QColor, QPalette + +class ParameterDialog(QDialog): + def __init__(self, title, min_value, max_value, unit, parent=None): + super().__init__(parent) + self.title = title + self.min_value = min_value + self.max_value = max_value + self.unit = unit + self.init_ui() + + def init_ui(self): + self.setWindowTitle(self.title) + layout = QFormLayout() + + self.value_spin = QDoubleSpinBox() + self.value_spin.setRange(self.min_value, self.max_value) + self.value_spin.setSuffix(f" {self.unit}") + self.value_spin.setDecimals(1) + + layout.addRow("值:", self.value_spin) + + buttons = QHBoxLayout() + ok_button = QPushButton("确定") + cancel_button = QPushButton("取消") + + ok_button.clicked.connect(self.accept) + cancel_button.clicked.connect(self.reject) + + buttons.addWidget(ok_button) + buttons.addWidget(cancel_button) + layout.addRow(buttons) + + self.setLayout(layout) + + def get_value(self): + return self.value_spin.value() + +class PayloadDialog(QDialog): + def __init__(self, parent=None): + super().__init__(parent) + self.init_ui() + + def init_ui(self): + self.setWindowTitle("设置负载") + layout = QFormLayout() + + self.type_combo = QComboBox() + self.type_combo.addItems(["无", "货物", "医疗物资", "救援设备", "监控设备"]) + + self.weight_spin = QDoubleSpinBox() + self.weight_spin.setRange(0, 100) + self.weight_spin.setSuffix(" kg") + self.weight_spin.setDecimals(1) + + layout.addRow("负载类型:", self.type_combo) + layout.addRow("负载重量:", self.weight_spin) + + buttons = QHBoxLayout() + ok_button = QPushButton("确定") + cancel_button = QPushButton("取消") + + ok_button.clicked.connect(self.accept) + cancel_button.clicked.connect(self.reject) + + buttons.addWidget(ok_button) + buttons.addWidget(cancel_button) + layout.addRow(buttons) + + self.setLayout(layout) + + def get_payload_info(self): + return { + "type": self.type_combo.currentText(), + "weight": self.weight_spin.value() + } class DroneDetailView(QWidget): - def __init__(self): + # 定义信号 + control_command = pyqtSignal(str, str) # 命令类型, 参数 + + def __init__(self, comm_manager=None): super().__init__() + self.comm_manager = comm_manager + self.current_drone_id = None self.init_ui() + self.setup_communication() + def setup_communication(self): + """设置通信回调""" + if self.comm_manager: + self.comm_manager.register_callback("drone_updated", self.on_drone_updated) + self.comm_manager.register_callback("command_sent", self.on_command_sent) + + def on_drone_updated(self, drone_id, data): + """处理无人机更新事件""" + if drone_id == self.current_drone_id: + self.update_drone_info(drone_id, self.comm_manager.get_drone(drone_id)) + + def on_command_sent(self, drone_id, data): + """处理命令发送事件""" + if drone_id == self.current_drone_id: + command = data.get("command", "") + params = data.get("params", {}) + QMessageBox.information(self, "命令发送", f"命令 {command} 已发送到无人机 {drone_id}") + + def set_drone(self, drone_id): + """设置当前显示的无人机""" + self.current_drone_id = drone_id + if self.comm_manager: + info = self.comm_manager.get_drone(drone_id) + self.update_drone_info(drone_id, info) + + def send_control_command(self, command_type, params=None): + """发送控制命令""" + if self.current_drone_id and self.comm_manager: + self.comm_manager.send_command(self.current_drone_id, command_type, params) + + def set_altitude(self): + """设置高度""" + dialog = ParameterDialog("设置高度", 0, 1000, "m", self) + if dialog.exec_() == QDialog.Accepted: + value = dialog.get_value() + self.send_control_command("set_altitude", {"value": value}) + + def set_speed(self): + """设置速度""" + dialog = ParameterDialog("设置速度", 0, 50, "m/s", self) + if dialog.exec_() == QDialog.Accepted: + value = dialog.get_value() + self.send_control_command("set_speed", {"value": value}) + + def set_heading(self): + """设置航向""" + dialog = ParameterDialog("设置航向", 0, 360, "°", self) + if dialog.exec_() == QDialog.Accepted: + value = dialog.get_value() + self.send_control_command("set_heading", {"value": value}) + + def set_payload(self): + """设置负载""" + dialog = PayloadDialog(self) + if dialog.exec_() == QDialog.Accepted: + info = dialog.get_payload_info() + self.send_control_command("set_payload", info) + + def update_drone_info(self, drone_id, info): + """更新无人机信息""" + self.current_drone_id = drone_id + + # 更新基本信息 + self.id_label.setText(info.get("id", "")) + self.model_label.setText(info.get("model", "")) + self.status_label.setText(info.get("status", "")) + self.battery_label.setText(f"{info.get('battery', 0)}%") + self.group_label.setText(info.get("group", "")) + self.color_label.setText(info.get("color", "")) + + # 更新位置信息 + self.latitude_label.setText(f"{info.get('latitude', 0):.6f}") + self.longitude_label.setText(f"{info.get('longitude', 0):.6f}") + self.altitude_label.setText(f"{info.get('altitude', 0):.1f}m") + self.speed_label.setText(f"{info.get('speed', 0):.1f}m/s") + self.heading_label.setText(f"{info.get('heading', 0):.1f}°") + + # 更新负载信息 + self.payload_type_label.setText(info.get("payload_type", "")) + self.payload_weight_label.setText(f"{info.get('payload_weight', 0):.1f}kg") + self.payload_status_label.setText(info.get("payload_status", "")) + + # 更新通信状态 + self.signal_strength.setValue(info.get("signal_strength", 0)) + self.latency_label.setText(f"{info.get('latency', 0)}ms") + self.packet_loss_label.setText(f"{info.get('packet_loss', 0):.1f}%") + + # 更新任务信息 + self.task_type_label.setText(info.get("task_type", "")) + self.task_status_label.setText(info.get("task_status", "")) + self.task_progress.setValue(info.get("task_progress", 0)) + def init_ui(self): # 创建主布局 main_layout = QVBoxLayout() @@ -19,11 +195,15 @@ class DroneDetailView(QWidget): self.model_label = QLabel("") self.status_label = QLabel("") self.battery_label = QLabel("") + self.group_label = QLabel("") + self.color_label = QLabel("") basic_layout.addRow("ID:", self.id_label) basic_layout.addRow("型号:", self.model_label) basic_layout.addRow("状态:", self.status_label) basic_layout.addRow("电量:", self.battery_label) + basic_layout.addRow("分组:", self.group_label) + basic_layout.addRow("颜色标识:", self.color_label) basic_info_group.setLayout(basic_layout) main_layout.addWidget(basic_info_group) @@ -36,49 +216,129 @@ class DroneDetailView(QWidget): self.longitude_label = QLabel("") self.altitude_label = QLabel("") self.speed_label = QLabel("") + self.heading_label = QLabel("") position_layout.addRow("纬度:", self.latitude_label) position_layout.addRow("经度:", self.longitude_label) position_layout.addRow("高度:", self.altitude_label) position_layout.addRow("速度:", self.speed_label) + position_layout.addRow("航向:", self.heading_label) position_group.setLayout(position_layout) main_layout.addWidget(position_group) + # 创建负载信息组 + payload_group = QGroupBox("负载信息") + payload_layout = QFormLayout() + + self.payload_type_label = QLabel("") + self.payload_weight_label = QLabel("") + self.payload_status_label = QLabel("") + + payload_layout.addRow("负载类型:", self.payload_type_label) + payload_layout.addRow("负载重量:", self.payload_weight_label) + payload_layout.addRow("负载状态:", self.payload_status_label) + + payload_group.setLayout(payload_layout) + main_layout.addWidget(payload_group) + + # 创建通信状态组 + comm_group = QGroupBox("通信状态") + comm_layout = QFormLayout() + + self.signal_strength = QProgressBar() + self.signal_strength.setRange(0, 100) + self.signal_strength.setValue(0) + + self.latency_label = QLabel("") + self.packet_loss_label = QLabel("") + + comm_layout.addRow("信号强度:", self.signal_strength) + comm_layout.addRow("通信延迟:", self.latency_label) + comm_layout.addRow("丢包率:", self.packet_loss_label) + + comm_group.setLayout(comm_layout) + main_layout.addWidget(comm_group) + + # 创建任务信息组 + task_group = QGroupBox("任务信息") + task_layout = QFormLayout() + + self.task_type_label = QLabel("") + self.task_status_label = QLabel("") + self.task_progress = QProgressBar() + self.task_progress.setRange(0, 100) + self.task_progress.setValue(0) + + task_layout.addRow("任务类型:", self.task_type_label) + task_layout.addRow("任务状态:", self.task_status_label) + task_layout.addRow("任务进度:", self.task_progress) + + task_group.setLayout(task_layout) + main_layout.addWidget(task_group) + # 创建控制按钮 - button_layout = QHBoxLayout() + control_group = QGroupBox("控制面板") + control_layout = QVBoxLayout() + + # 基本控制按钮 + basic_control_layout = QHBoxLayout() self.takeoff_btn = QPushButton("起飞") self.land_btn = QPushButton("降落") self.return_btn = QPushButton("返航") self.emergency_btn = QPushButton("紧急停止") - button_layout.addWidget(self.takeoff_btn) - button_layout.addWidget(self.land_btn) - button_layout.addWidget(self.return_btn) - button_layout.addWidget(self.emergency_btn) + basic_control_layout.addWidget(self.takeoff_btn) + basic_control_layout.addWidget(self.land_btn) + basic_control_layout.addWidget(self.return_btn) + basic_control_layout.addWidget(self.emergency_btn) + + # 高级控制 + advanced_control_layout = QHBoxLayout() + self.set_altitude_btn = QPushButton("设置高度") + self.set_speed_btn = QPushButton("设置速度") + self.set_heading_btn = QPushButton("设置航向") + self.set_payload_btn = QPushButton("设置负载") - main_layout.addLayout(button_layout) + advanced_control_layout.addWidget(self.set_altitude_btn) + advanced_control_layout.addWidget(self.set_speed_btn) + advanced_control_layout.addWidget(self.set_heading_btn) + advanced_control_layout.addWidget(self.set_payload_btn) + + control_layout.addLayout(basic_control_layout) + control_layout.addLayout(advanced_control_layout) + control_group.setLayout(control_layout) + main_layout.addWidget(control_group) self.setLayout(main_layout) - # 连接信号 + # Connect control buttons + self.set_altitude_btn.clicked.connect(self.set_altitude) + self.set_speed_btn.clicked.connect(self.set_speed) + self.set_heading_btn.clicked.connect(self.set_heading) + self.set_payload_btn.clicked.connect(self.set_payload) self.takeoff_btn.clicked.connect(self.takeoff) self.land_btn.clicked.connect(self.land) self.return_btn.clicked.connect(self.return_home) self.emergency_btn.clicked.connect(self.emergency_stop) - + def takeoff(self): - # TODO: 实现起飞功能 - pass - + QMessageBox.information(self, "功能确认", "起飞命令 (功能待实现)") + # self.send_control_command("takeoff") + def land(self): - # TODO: 实现降落功能 - pass - + QMessageBox.information(self, "功能确认", "降落命令 (功能待实现)") + # self.send_control_command("land") + def return_home(self): - # TODO: 实现返航功能 - pass - + QMessageBox.information(self, "功能确认", "返航命令 (功能待实现)") + # self.send_control_command("return_home") + def emergency_stop(self): - # TODO: 实现紧急停止功能 - pass \ No newline at end of file + reply = QMessageBox.warning(self, "紧急停止确认", + "确定要发送紧急停止命令吗？这将停止所有电机！", + QMessageBox.Yes | QMessageBox.No, QMessageBox.No) + if reply == QMessageBox.Yes: + QMessageBox.information(self, "功能确认", "紧急停止命令 (功能待实现)") + # self.send_control_command("emergency_stop") + \ No newline at end of file diff --git a/Src/command_center/ui/drone_list_view.py b/Src/command_center/ui/drone_list_view.py index 5ce4fa4d..69b4200a 100644 --- a/Src/command_center/ui/drone_list_view.py +++ b/Src/command_center/ui/drone_list_view.py @@ -1,21 +1,177 @@ +# -*- coding: utf-8 -*- +# File: drone_list_view.py +# Purpose: 定义无人机列表标签页的 UI 和逻辑，显示无人机信息并提供管理操作。 + from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, - QPushButton, QTableWidget, QTableWidgetItem) -from PyQt5.QtCore import Qt + QPushButton, QTableWidget, QTableWidgetItem, + QComboBox, QColorDialog, QMenu, QAction, + QDialog, QLineEdit, QFormLayout, QMessageBox) +from PyQt5.QtCore import Qt, pyqtSignal +from PyQt5.QtGui import QColor, QBrush + +class AddDroneDialog(QDialog): + def __init__(self, parent=None): + super().__init__(parent) + self.init_ui() + + def init_ui(self): + self.setWindowTitle("添加无人机") + layout = QFormLayout() + + self.id_edit = QLineEdit() + self.model_edit = QLineEdit() + self.group_combo = QComboBox() + self.group_combo.addItems(["运输组", "监控组", "救援组"]) + + layout.addRow("ID:", self.id_edit) + layout.addRow("型号:", self.model_edit) + layout.addRow("分组:", self.group_combo) + + buttons = QHBoxLayout() + ok_button = QPushButton("确定") + cancel_button = QPushButton("取消") + + ok_button.clicked.connect(self.accept) + cancel_button.clicked.connect(self.reject) + + buttons.addWidget(ok_button) + buttons.addWidget(cancel_button) + layout.addRow(buttons) + + self.setLayout(layout) + + def get_drone_info(self): + return { + "id": self.id_edit.text(), + "model": self.model_edit.text(), + "group": self.group_combo.currentText(), + "status": "待命", + "battery": 100, + "signal_strength": 100, + "latency": 0, + "packet_loss": 0, + "payload_type": "无", + "payload_weight": 0, + "payload_status": "未装载", + "task_type": "无", + "task_status": "空闲", + "task_progress": 0 + } class DroneListView(QWidget): - def __init__(self): + # 定义信号 + drone_selected = pyqtSignal(str) # 无人机被选中时发出信号 + + def __init__(self, comm_manager=None): super().__init__() + self.comm_manager = comm_manager + self.drone_colors = {} # 存储无人机颜色 + self.drone_groups = {} # 存储无人机分组 self.init_ui() + self.setup_communication() + + def setup_communication(self): + """设置通信回调""" + if self.comm_manager: + self.comm_manager.register_callback("drone_added", self.on_drone_added) + self.comm_manager.register_callback("drone_removed", self.on_drone_removed) + self.comm_manager.register_callback("drone_updated", self.on_drone_updated) + + def on_drone_added(self, drone_id, data): + """处理无人机添加事件""" + self.add_drone_to_table(drone_id, self.comm_manager.get_drone(drone_id)) + + def on_drone_removed(self, drone_id, data): + """处理无人机移除事件""" + self.remove_drone_from_table(drone_id) + + def on_drone_updated(self, drone_id, data): + """处理无人机更新事件""" + self.update_drone_in_table(drone_id, self.comm_manager.get_drone(drone_id)) + + def add_drone_to_table(self, drone_id, info): + """添加无人机到表格""" + row = self.drone_table.rowCount() + self.drone_table.insertRow(row) + + # 设置各列数据 + self.drone_table.setItem(row, 0, QTableWidgetItem(info.get("id", ""))) + self.drone_table.setItem(row, 1, QTableWidgetItem(info.get("model", ""))) + self.drone_table.setItem(row, 2, QTableWidgetItem(info.get("status", ""))) + self.drone_table.setItem(row, 3, QTableWidgetItem(f"{info.get('latitude', 0):.6f}, {info.get('longitude', 0):.6f}")) + self.drone_table.setItem(row, 4, QTableWidgetItem(f"{info.get('battery', 0)}%")) + self.drone_table.setItem(row, 5, QTableWidgetItem(f"{info.get('payload_type', '')} ({info.get('payload_weight', 0)}kg)")) + self.drone_table.setItem(row, 6, QTableWidgetItem(info.get("group", ""))) + self.drone_table.setItem(row, 7, QTableWidgetItem(f"{info.get('signal_strength', 0)}%")) + + # 应用颜色 + if drone_id in self.drone_colors: + self.update_drone_color(drone_id) + + def remove_drone_from_table(self, drone_id): + """从表格中移除无人机""" + for row in range(self.drone_table.rowCount()): + if self.drone_table.item(row, 0).text() == drone_id: + self.drone_table.removeRow(row) + break + + def update_drone_in_table(self, drone_id, info): + """更新表格中的无人机信息""" + for row in range(self.drone_table.rowCount()): + if self.drone_table.item(row, 0).text() == drone_id: + self.drone_table.setItem(row, 1, QTableWidgetItem(info.get("model", ""))) + self.drone_table.setItem(row, 2, QTableWidgetItem(info.get("status", ""))) + self.drone_table.setItem(row, 3, QTableWidgetItem(f"{info.get('latitude', 0):.6f}, {info.get('longitude', 0):.6f}")) + self.drone_table.setItem(row, 4, QTableWidgetItem(f"{info.get('battery', 0)}%")) + self.drone_table.setItem(row, 5, QTableWidgetItem(f"{info.get('payload_type', '')} ({info.get('payload_weight', 0)}kg)")) + self.drone_table.setItem(row, 6, QTableWidgetItem(info.get("group", ""))) + self.drone_table.setItem(row, 7, QTableWidgetItem(f"{info.get('signal_strength', 0)}%")) + break def init_ui(self): # 创建主布局 main_layout = QVBoxLayout() + # 创建过滤和分组控制 + filter_layout = QHBoxLayout() + + # 状态过滤 + self.status_filter = QComboBox() + self.status_filter.addItems(["全部状态", "飞行中", "待命", "充电中", "故障"]) + self.status_filter.currentTextChanged.connect(self.apply_filters) + + # 分组过滤 + self.group_filter = QComboBox() + self.group_filter.addItems(["全部分组", "运输组", "监控组", "救援组"]) + self.group_filter.currentTextChanged.connect(self.apply_filters) + + filter_layout.addWidget(QLabel("状态过滤:")) + filter_layout.addWidget(self.status_filter) + filter_layout.addWidget(QLabel("分组过滤:")) + filter_layout.addWidget(self.group_filter) + filter_layout.addStretch() + + main_layout.addLayout(filter_layout) + # 创建无人机列表 self.drone_table = QTableWidget() - self.drone_table.setColumnCount(5) - self.drone_table.setHorizontalHeaderLabels(["ID", "型号", "状态", "位置", "电量"]) - self.drone_table.setStyleSheet("QTableWidget { border: 1px solid #ccc; }") + self.drone_table.setColumnCount(8) # 增加列数 + self.drone_table.setHorizontalHeaderLabels([ + "ID", "型号", "状态", "位置", "电量", "负载", "分组", "通信状态" + ]) + self.drone_table.setStyleSheet(""" + QTableWidget { + border: 1px solid #ccc; + gridline-color: #ddd; + } + QTableWidget::item:selected { + background-color: #e0e0e0; + } + """) + self.drone_table.setContextMenuPolicy(Qt.CustomContextMenu) + self.drone_table.customContextMenuRequested.connect(self.show_context_menu) + self.drone_table.itemSelectionChanged.connect(self.on_selection_changed) + main_layout.addWidget(self.drone_table) # 创建控制按钮 @@ -24,11 +180,15 @@ class DroneListView(QWidget): self.edit_drone_btn = QPushButton("编辑信息") self.delete_drone_btn = QPushButton("删除无人机") self.refresh_btn = QPushButton("刷新状态") + self.set_color_btn = QPushButton("设置颜色") + self.set_group_btn = QPushButton("设置分组") button_layout.addWidget(self.add_drone_btn) button_layout.addWidget(self.edit_drone_btn) button_layout.addWidget(self.delete_drone_btn) button_layout.addWidget(self.refresh_btn) + button_layout.addWidget(self.set_color_btn) + button_layout.addWidget(self.set_group_btn) main_layout.addLayout(button_layout) @@ -39,19 +199,224 @@ class DroneListView(QWidget): self.edit_drone_btn.clicked.connect(self.edit_drone) self.delete_drone_btn.clicked.connect(self.delete_drone) self.refresh_btn.clicked.connect(self.refresh_status) + self.set_color_btn.clicked.connect(self.set_drone_color) + self.set_group_btn.clicked.connect(self.set_drone_group) - def add_drone(self): - # TODO: 实现添加无人机功能 + def show_context_menu(self, position): + menu = QMenu() + view_details = QAction("查看详情", self) + set_color = QAction("设置颜色", self) + set_group = QAction("设置分组", self) + show_trajectory = QAction("显示轨迹", self) + + menu.addAction(view_details) + menu.addAction(set_color) + menu.addAction(set_group) + menu.addAction(show_trajectory) + + action = menu.exec_(self.drone_table.mapToGlobal(position)) + if action == view_details: + self.view_drone_details() + elif action == set_color: + self.set_drone_color() + elif action == set_group: + self.set_drone_group() + elif action == show_trajectory: + self.show_drone_trajectory() + + def on_selection_changed(self): + selected_items = self.drone_table.selectedItems() + if selected_items: + drone_id = self.drone_table.item(selected_items[0].row(), 0).text() + self.drone_selected.emit(drone_id) + + def apply_filters(self): + status_filter = self.status_filter.currentText() + group_filter = self.group_filter.currentText() + + for row in range(self.drone_table.rowCount()): + show_row = True + + if status_filter != "全部状态": + status = self.drone_table.item(row, 2).text() + if status != status_filter: + show_row = False + + if group_filter != "全部分组": + group = self.drone_table.item(row, 6).text() + if group != group_filter: + show_row = False + + self.drone_table.setRowHidden(row, not show_row) + + def set_drone_color(self): + """设置无人机颜色""" + selected_items = self.drone_table.selectedItems() + if not selected_items: + QMessageBox.warning(self, "警告", "请先选择要设置颜色的无人机") + return + + drone_id = self.drone_table.item(selected_items[0].row(), 0).text() + color = QColorDialog.getColor() + if color.isValid(): + self.drone_colors[drone_id] = color + self.update_drone_color(drone_id) + QMessageBox.information(self, "功能确认", f"无人机 {drone_id} 颜色已设置") + + def set_drone_group(self): + """设置无人机分组""" + selected_items = self.drone_table.selectedItems() + if not selected_items: + QMessageBox.warning(self, "警告", "请先选择要设置分组的无人机") + return + + drone_id = self.drone_table.item(selected_items[0].row(), 0).text() + group = self.group_filter.currentText() + if group != "全部分组": + self.drone_groups[drone_id] = group + self.update_drone_group(drone_id) + + if self.comm_manager: + self.comm_manager.update_drone(drone_id, {"group": group}) + + QMessageBox.information(self, "功能确认", f"设置无人机 {drone_id} 分组 (功能待实现)") + + def update_drone_color(self, drone_id): + for row in range(self.drone_table.rowCount()): + if self.drone_table.item(row, 0).text() == drone_id: + color = self.drone_colors.get(drone_id, QColor(255, 255, 255)) + for col in range(self.drone_table.columnCount()): + item = self.drone_table.item(row, col) + if item: + item.setBackground(QBrush(color)) + break + + def update_drone_group(self, drone_id): + for row in range(self.drone_table.rowCount()): + if self.drone_table.item(row, 0).text() == drone_id: + group = self.drone_groups.get(drone_id, "未分组") + self.drone_table.setItem(row, 6, QTableWidgetItem(group)) + break + + def view_drone_details(self): + QMessageBox.information(self, "功能确认", "查看详情按钮已连接") + # TODO: 实现查看无人机详情功能 + pass + + def show_drone_trajectory(self): + QMessageBox.information(self, "功能确认", "显示轨迹按钮已连接") + # TODO: 实现显示无人机轨迹功能 pass + + def add_drone(self): + dialog = AddDroneDialog(self) + if dialog.exec_() == QDialog.Accepted: + drone_info = dialog.get_drone_info() + # TODO: Add drone to actual data source (e.g., comm_manager) + self.add_drone_to_table(drone_info['id'], drone_info) # Add to table for now + QMessageBox.information(self, "功能确认", f"添加无人机: {drone_info['id']}") def edit_drone(self): - # TODO: 实现编辑无人机信息功能 - pass + selected_items = self.drone_table.selectedItems() + if not selected_items: + QMessageBox.warning(self, "提示", "请先选择要编辑的无人机") + return + # For simplicity, we'll just show a message. Actual editing would require a dialog. + drone_id = self.drone_table.item(selected_items[0].row(), 0).text() + QMessageBox.information(self, "功能确认", f"编辑无人机 {drone_id} (功能待实现)") + # TODO: Implement edit drone functionality def delete_drone(self): - # TODO: 实现删除无人机功能 + selected_items = self.drone_table.selectedItems() + if not selected_items: + QMessageBox.warning(self, "提示", "请先选择要删除的无人机") + return + drone_id = self.drone_table.item(selected_items[0].row(), 0).text() + reply = QMessageBox.question(self, "确认删除", f"确定要删除无人机 {drone_id} 吗？", + QMessageBox.Yes | QMessageBox.No, QMessageBox.No) + if reply == QMessageBox.Yes: + # TODO: Remove drone from actual data source (e.g., comm_manager) + self.remove_drone_from_table(drone_id) # Remove from table for now + QMessageBox.information(self, "功能确认", f"删除无人机 {drone_id}") + + def refresh_status(self): + # TODO: Implement actual status refresh logic from comm_manager or data source + QMessageBox.information(self, "功能确认", "刷新状态 (功能待实现)") + # Example: self.update_drone_list(self.comm_manager.get_all_drones() if self.comm_manager else []) + + def update_drone_list(self, drone_list): + # 这里可以实现刷新表格的逻辑，当前先占位 pass + + def add_drone_to_table(self, drone_id, info): + """添加无人机到表格""" + row = self.drone_table.rowCount() + self.drone_table.insertRow(row) - def refresh_status(self): - # TODO: 实现刷新状态功能 - pass \ No newline at end of file + # 设置各列数据 + self.drone_table.setItem(row, 0, QTableWidgetItem(info.get("id", ""))) + self.drone_table.setItem(row, 1, QTableWidgetItem(info.get("model", ""))) + self.drone_table.setItem(row, 2, QTableWidgetItem(info.get("status", ""))) + self.drone_table.setItem(row, 3, QTableWidgetItem(f"{info.get('latitude', 0):.6f}, {info.get('longitude', 0):.6f}")) + self.drone_table.setItem(row, 4, QTableWidgetItem(f"{info.get('battery', 0)}%")) + self.drone_table.setItem(row, 5, QTableWidgetItem(f"{info.get('payload_type', '')} ({info.get('payload_weight', 0)}kg)")) + self.drone_table.setItem(row, 6, QTableWidgetItem(info.get("group", ""))) + self.drone_table.setItem(row, 7, QTableWidgetItem(f"{info.get('signal_strength', 0)}%")) + + # 应用颜色 + if drone_id in self.drone_colors: + self.update_drone_color(drone_id) + + def remove_drone_from_table(self, drone_id): + """从表格中移除无人机""" + for row in range(self.drone_table.rowCount()): + if self.drone_table.item(row, 0).text() == drone_id: + self.drone_table.removeRow(row) + break + + def update_drone_in_table(self, drone_id, info): + """更新表格中的无人机信息""" + for row in range(self.drone_table.rowCount()): + if self.drone_table.item(row, 0).text() == drone_id: + self.drone_table.setItem(row, 1, QTableWidgetItem(info.get("model", ""))) + self.drone_table.setItem(row, 2, QTableWidgetItem(info.get("status", ""))) + self.drone_table.setItem(row, 3, QTableWidgetItem(f"{info.get('latitude', 0):.6f}, {info.get('longitude', 0):.6f}")) + self.drone_table.setItem(row, 4, QTableWidgetItem(f"{info.get('battery', 0)}%")) + self.drone_table.setItem(row, 5, QTableWidgetItem(f"{info.get('payload_type', '')} ({info.get('payload_weight', 0)}kg)")) + self.drone_table.setItem(row, 6, QTableWidgetItem(info.get("group", ""))) + self.drone_table.setItem(row, 7, QTableWidgetItem(f"{info.get('signal_strength', 0)}%")) + break + + def update_drone_color(self, drone_id): + for row in range(self.drone_table.rowCount()): + if self.drone_table.item(row, 0).text() == drone_id: + color = self.drone_colors.get(drone_id, QColor(255, 255, 255)) + for col in range(self.drone_table.columnCount()): + item = self.drone_table.item(row, col) + if item: + item.setBackground(QBrush(color)) + break + + def update_drone_group(self, drone_id): + for row in range(self.drone_table.rowCount()): + if self.drone_table.item(row, 0).text() == drone_id: + group = self.drone_groups.get(drone_id, "未分组") + self.drone_table.setItem(row, 6, QTableWidgetItem(group)) + break + + def view_drone_details(self): + selected_items = self.drone_table.selectedItems() + if selected_items: + drone_id = self.drone_table.item(selected_items[0].row(), 0).text() + self.drone_selected.emit(drone_id) + + def show_drone_trajectory(self): + """显示无人机轨迹""" + selected_items = self.drone_table.selectedItems() + if not selected_items: + QMessageBox.warning(self, "警告", "请先选择要查看轨迹的无人机") + return + + drone_id = self.drone_table.item(selected_items[0].row(), 0).text() + # TODO: 实现轨迹显示功能 + QMessageBox.information(self, "提示", f"显示无人机 {drone_id} 的轨迹") \ No newline at end of file diff --git a/Src/command_center/ui/login_view.py b/Src/command_center/ui/login_view.py index efbad863..c88e2429 100644 --- a/Src/command_center/ui/login_view.py +++ b/Src/command_center/ui/login_view.py @@ -1,3 +1,7 @@ +# -*- coding: utf-8 -*- +# File: login_view.py +# Purpose: 定义登录界面的 UI 和逻辑。 + from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, QLineEdit, QPushButton, QMessageBox) from PyQt5.QtCore import Qt, pyqtSignal diff --git a/Src/command_center/ui/main_view.py b/Src/command_center/ui/main_view.py deleted file mode 100644 index 36ffd5f0..00000000 --- a/Src/command_center/ui/main_view.py +++ /dev/null @@ -1,87 +0,0 @@ -from PyQt5.QtWidgets import (QMainWindow, QWidget, QVBoxLayout, QHBoxLayout, - QLabel, QPushButton, QTabWidget, QMessageBox) -from PyQt5.QtCore import Qt -from PyQt5.QtGui import QFont - -class MainView(QMainWindow): - def __init__(self): - super().__init__() - self.setWindowTitle("无人机后勤输送系统 - 指挥控制中心") - self.setMinimumSize(800, 600) - self.init_ui() - - def init_ui(self): - # 创建主窗口部件 - central_widget = QWidget() - self.setCentralWidget(central_widget) - main_layout = QVBoxLayout(central_widget) - - # 顶部工具栏 - toolbar = QHBoxLayout() - self.status_label = QLabel("系统状态: 正常") - self.status_label.setFont(QFont('Arial', 10)) - logout_button = QPushButton("退出登录") - logout_button.clicked.connect(self.handle_logout) - - toolbar.addWidget(self.status_label) - toolbar.addStretch() - toolbar.addWidget(logout_button) - main_layout.addLayout(toolbar) - - # 主内容区域 - self.tab_widget = QTabWidget() - - # 创建各个功能标签页 - self.tab_widget.addTab(self.create_drone_management_tab(), "无人机管理") - self.tab_widget.addTab(self.create_task_management_tab(), "任务管理") - self.tab_widget.addTab(self.create_monitoring_tab(), "实时监控") - self.tab_widget.addTab(self.create_system_settings_tab(), "系统设置") - - main_layout.addWidget(self.tab_widget) - - def create_drone_management_tab(self): - tab = QWidget() - layout = QVBoxLayout(tab) - - # 添加无人机管理相关的控件 - layout.addWidget(QLabel("无人机管理功能待实现")) - - return tab - - def create_task_management_tab(self): - tab = QWidget() - layout = QVBoxLayout(tab) - - # 添加任务管理相关的控件 - layout.addWidget(QLabel("任务管理功能待实现")) - - return tab - - def create_monitoring_tab(self): - tab = QWidget() - layout = QVBoxLayout(tab) - - # 添加实时监控相关的控件 - layout.addWidget(QLabel("实时监控功能待实现")) - - return tab - - def create_system_settings_tab(self): - tab = QWidget() - layout = QVBoxLayout(tab) - - # 添加系统设置相关的控件 - layout.addWidget(QLabel("系统设置功能待实现")) - - return tab - - def handle_logout(self): - reply = QMessageBox.question(self, '确认退出', - '确定要退出登录吗？', - QMessageBox.Yes | QMessageBox.No, - QMessageBox.No) - - if reply == QMessageBox.Yes: - # TODO: 实现实际的登出逻辑 - self.close() - # 这里应该触发登录窗口的显示 \ No newline at end of file diff --git a/Src/command_center/ui/map_data_model.py b/Src/command_center/ui/map_data_model.py new file mode 100644 index 00000000..8a5b009a --- /dev/null +++ b/Src/command_center/ui/map_data_model.py @@ -0,0 +1,39 @@ +from PyQt5.QtCore import QObject, pyqtSignal + +class MapDataModel(QObject): + data_changed = pyqtSignal() + + def __init__(self): + super().__init__() + self.map_pixmap = None + self.threat_points = [] + self.start_point = None + self.goal_point = None + self.paths = [] + + def set_map(self, pixmap): + self.map_pixmap = pixmap + self.data_changed.emit() + + def add_threat_point(self, point): + self.threat_points.append(point) + self.data_changed.emit() + + def set_start_point(self, point): + self.start_point = point + self.data_changed.emit() + + def set_goal_point(self, point): + self.goal_point = point + self.data_changed.emit() + + def clear_all(self): + self.threat_points.clear() + self.start_point = None + self.goal_point = None + self.paths = [] + self.data_changed.emit() + + def set_paths(self, paths): + self.paths = paths + self.data_changed.emit() \ No newline at end of file diff --git a/Src/command_center/ui/path_layer_view.py b/Src/command_center/ui/path_layer_view.py index c4e40da4..15b928d4 100644 --- a/Src/command_center/ui/path_layer_view.py +++ b/Src/command_center/ui/path_layer_view.py @@ -1,63 +1,80 @@ from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, QPushButton, QTableWidget, QTableWidgetItem) -from PyQt5.QtCore import Qt +from PyQt5.QtCore import Qt, QPointF +from .base_map_view import BaseMapView -class PathLayerView(QWidget): - def __init__(self): - super().__init__() - self.init_ui() +class PathLayerView(BaseMapView): + def __init__(self, map_data_model): + super().__init__(map_data_model) + self.add_path_mode = False + self.current_path = [] + self.init_additional_ui() - def init_ui(self): - # 创建主布局 - main_layout = QVBoxLayout() + def init_additional_ui(self): + # 创建路径控制按钮 + path_control_layout = QHBoxLayout() - # 创建路径列表 - self.path_table = QTableWidget() - self.path_table.setColumnCount(4) - self.path_table.setHorizontalHeaderLabels(["ID", "起点", "终点", "状态"]) - self.path_table.setStyleSheet("QTableWidget { border: 1px solid #ccc; }") - main_layout.addWidget(self.path_table) + self.add_path_btn = QPushButton("添加路径点") + self.add_path_btn.setCheckable(True) + self.add_path_btn.clicked.connect(self.toggle_add_path_mode) - # 创建控制按钮 - button_layout = QHBoxLayout() - self.add_path_btn = QPushButton("添加路径") - self.edit_path_btn = QPushButton("编辑路径") - self.delete_path_btn = QPushButton("删除路径") - self.simulate_path_btn = QPushButton("模拟路径") + self.complete_path_btn = QPushButton("完成路径") + self.complete_path_btn.clicked.connect(self.complete_path) + self.complete_path_btn.setEnabled(False) - button_layout.addWidget(self.add_path_btn) - button_layout.addWidget(self.edit_path_btn) - button_layout.addWidget(self.delete_path_btn) - button_layout.addWidget(self.simulate_path_btn) + self.clear_paths_btn = QPushButton("清除所有路径") + self.clear_paths_btn.clicked.connect(self.clear_all_paths) - main_layout.addLayout(button_layout) + path_control_layout.addWidget(self.add_path_btn) + path_control_layout.addWidget(self.complete_path_btn) + path_control_layout.addWidget(self.clear_paths_btn) - # 创建路径详情区域 - self.path_detail = QLabel("路径详情") - self.path_detail.setAlignment(Qt.AlignCenter) - self.path_detail.setStyleSheet("background-color: #f0f0f0; border: 1px solid #ccc;") - main_layout.addWidget(self.path_detail) + # 将按钮添加到主布局 + layout = self.layout() + if layout: + layout.addLayout(path_control_layout) + else: + print("Error: Layout not found in PathLayerView") - self.setLayout(main_layout) + def toggle_add_path_mode(self): + self.add_path_mode = self.add_path_btn.isChecked() + if self.add_path_mode: + self.add_path_btn.setText("取消添加点") + self.complete_path_btn.setEnabled(bool(self.current_path)) + else: + self.add_path_btn.setText("添加路径点") + self.complete_path_btn.setEnabled(False) + + def complete_path(self): + if len(self.current_path) > 1: + # Add a copy to the main data model + self.map_data_model.paths.append(list(self.current_path)) + self.map_data_model.data_changed.emit() + self.current_path = [] + self.add_path_mode = False + self.add_path_btn.setChecked(False) + self.add_path_btn.setText("添加路径点") + self.complete_path_btn.setEnabled(False) + self.update_map() + + def clear_all_paths(self): + self.current_path = [] + self.map_data_model.paths = [] + self.map_data_model.data_changed.emit() + self.update_map() - # 连接信号 - self.add_path_btn.clicked.connect(self.add_path) - self.edit_path_btn.clicked.connect(self.edit_path) - self.delete_path_btn.clicked.connect(self.delete_path) - self.simulate_path_btn.clicked.connect(self.simulate_path) - - def add_path(self): - # TODO: 实现添加路径功能 - pass - - def edit_path(self): - # TODO: 实现编辑路径功能 - pass - - def delete_path(self): - # TODO: 实现删除路径功能 - pass - - def simulate_path(self): - # TODO: 实现路径模拟功能 - pass \ No newline at end of file + def handle_map_click(self, map_point: QPointF): + """Handles clicks forwarded from BaseMapView.""" + if self.add_path_mode: + img_x = int(map_point.x()) + img_y = int(map_point.y()) + # 添加路径点到当前路径 + self.current_path.append((img_x, img_y)) + self.complete_path_btn.setEnabled(True) + + print(f"Added path point: {img_x}, {img_y}") + # self.update_map() + + # Remove the old mousePressEvent + # def mousePressEvent(self, event): + # pass \ No newline at end of file diff --git a/Src/command_center/ui/path_planning_view.py b/Src/command_center/ui/path_planning_view.py index e2d84cf3..74cb42bf 100644 --- a/Src/command_center/ui/path_planning_view.py +++ b/Src/command_center/ui/path_planning_view.py @@ -1,6 +1,10 @@ +# -*- coding: utf-8 -*- +# File: path_planning_view.py +# Purpose: 定义路径规划标签页的 UI，提供设置路径规划参数和触发规划操作的界面。 + from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, QPushButton, QGroupBox, QFormLayout, QComboBox, - QSpinBox, QDoubleSpinBox) + QSpinBox, QDoubleSpinBox, QMessageBox) from PyQt5.QtCore import Qt class PathPlanningView(QWidget): @@ -76,13 +80,16 @@ class PathPlanningView(QWidget): self.export_path_btn.clicked.connect(self.export_path) def plan_path(self): - # TODO: 实现路径规划功能 + QMessageBox.information(self, "功能确认", "规划路径 (功能待实现)") + # TODO: Implement path planning logic pass def clear_path(self): - # TODO: 实现清除路径功能 + QMessageBox.information(self, "功能确认", "清除路径 (功能待实现)") + # TODO: Clear path from MapDataModel or internal state pass def export_path(self): - # TODO: 实现导出路径功能 + QMessageBox.information(self, "功能确认", "导出路径 (功能待实现)") + # TODO: Implement path export functionality pass \ No newline at end of file diff --git a/Src/command_center/ui/path_simulation_view.py b/Src/command_center/ui/path_simulation_view.py deleted file mode 100644 index 2f21a1b1..00000000 --- a/Src/command_center/ui/path_simulation_view.py +++ /dev/null @@ -1,109 +0,0 @@ -from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, - QPushButton, QGroupBox, QFormLayout, QProgressBar, - QSpinBox, QDoubleSpinBox) -from PyQt5.QtCore import Qt, QTimer - -class PathSimulationView(QWidget): - def __init__(self): - super().__init__() - self.init_ui() - self.simulation_timer = QTimer() - self.simulation_timer.timeout.connect(self.update_simulation) - self.simulation_progress = 0 - - def init_ui(self): - # 创建主布局 - main_layout = QVBoxLayout() - - # 创建模拟控制组 - control_group = QGroupBox("模拟控制") - control_layout = QFormLayout() - - self.speed_spinbox = QDoubleSpinBox() - self.speed_spinbox.setRange(0.1, 10.0) - self.speed_spinbox.setValue(1.0) - self.speed_spinbox.setSingleStep(0.1) - - self.interval_spinbox = QSpinBox() - self.interval_spinbox.setRange(10, 1000) - self.interval_spinbox.setValue(100) - self.interval_spinbox.setSingleStep(10) - - control_layout.addRow("模拟速度:", self.speed_spinbox) - control_layout.addRow("更新间隔(ms):", self.interval_spinbox) - - control_group.setLayout(control_layout) - main_layout.addWidget(control_group) - - # 创建模拟进度条 - self.progress_bar = QProgressBar() - self.progress_bar.setRange(0, 100) - self.progress_bar.setValue(0) - main_layout.addWidget(self.progress_bar) - - # 创建控制按钮 - button_layout = QHBoxLayout() - self.start_btn = QPushButton("开始模拟") - self.pause_btn = QPushButton("暂停") - self.stop_btn = QPushButton("停止") - self.reset_btn = QPushButton("重置") - - button_layout.addWidget(self.start_btn) - button_layout.addWidget(self.pause_btn) - button_layout.addWidget(self.stop_btn) - button_layout.addWidget(self.reset_btn) - - main_layout.addLayout(button_layout) - - # 创建状态显示组 - status_group = QGroupBox("模拟状态") - status_layout = QFormLayout() - - self.time_label = QLabel("0.0s") - self.distance_label = QLabel("0.0m") - self.altitude_label = QLabel("0.0m") - self.speed_label = QLabel("0.0m/s") - - status_layout.addRow("已用时间:", self.time_label) - status_layout.addRow("飞行距离:", self.distance_label) - status_layout.addRow("当前高度:", self.altitude_label) - status_layout.addRow("当前速度:", self.speed_label) - - status_group.setLayout(status_layout) - main_layout.addWidget(status_group) - - self.setLayout(main_layout) - - # 连接信号 - self.start_btn.clicked.connect(self.start_simulation) - self.pause_btn.clicked.connect(self.pause_simulation) - self.stop_btn.clicked.connect(self.stop_simulation) - self.reset_btn.clicked.connect(self.reset_simulation) - - def start_simulation(self): - self.simulation_timer.start(self.interval_spinbox.value()) - - def pause_simulation(self): - self.simulation_timer.stop() - - def stop_simulation(self): - self.simulation_timer.stop() - self.simulation_progress = 0 - self.progress_bar.setValue(0) - - def reset_simulation(self): - self.simulation_progress = 0 - self.progress_bar.setValue(0) - self.time_label.setText("0.0s") - self.distance_label.setText("0.0m") - self.altitude_label.setText("0.0m") - self.speed_label.setText("0.0m/s") - - def update_simulation(self): - # TODO: 实现模拟更新逻辑 - self.simulation_progress += self.speed_spinbox.value() - if self.simulation_progress > 100: - self.simulation_progress = 100 - self.simulation_timer.stop() - - self.progress_bar.setValue(int(self.simulation_progress)) \ No newline at end of file diff --git a/Src/command_center/ui/simple_map_view.py b/Src/command_center/ui/simple_map_view.py new file mode 100644 index 00000000..f8ef21d1 --- /dev/null +++ b/Src/command_center/ui/simple_map_view.py @@ -0,0 +1,71 @@ +# -*- coding: utf-8 -*- +# File: simple_map_view.py +# Purpose: 定义地图视图标签页，继承自 BaseMapView，主要负责威胁点的交互。 + +from PyQt5.QtWidgets import QWidget, QVBoxLayout, QLabel, QPushButton, QFileDialog +from PyQt5.QtGui import QPixmap, QPainter, QPen, QColor +from PyQt5.QtCore import Qt, pyqtSignal, QPointF +from .base_map_view import BaseMapView + +class SimpleMapView(BaseMapView): + # 当威胁点变化时发出信号，便于主程序联动路径规划 + threat_points_changed = pyqtSignal(list) + + def __init__(self, map_data_model): + super().__init__(map_data_model) + self.add_threat_point_mode = False + self.init_additional_ui() + # Force re-connection of load map action in case it was overwritten + if hasattr(self, 'load_map_action'): + print("SimpleMapView: Forcing re-connection of load_map_action") + try: + self.load_map_action.triggered.disconnect() + except TypeError: # No connections exist + pass + self.load_map_action.triggered.connect(self.load_map_image) + else: + print("SimpleMapView: Warning - load_map_action not found in base class?") + + def init_additional_ui(self): + # 添加威胁点标记按钮 + self.threat_point_btn = QPushButton("标记威胁点") + self.threat_point_btn.setCheckable(True) + self.threat_point_btn.clicked.connect(self.toggle_threat_point_mode) + + # 将按钮添加到布局中 + layout = self.layout() + if layout: + layout.addWidget(self.threat_point_btn) + else: + print("Error: Layout not found in SimpleMapView") # Error handling + + def toggle_threat_point_mode(self): + print("SimpleMapView: toggle_threat_point_mode called") # Debug print + is_checked = self.threat_point_btn.isChecked() + print(f"SimpleMapView: threat_point_btn isChecked: {is_checked}") + self.add_threat_point_mode = is_checked + print(f"SimpleMapView: self.add_threat_point_mode set to: {self.add_threat_point_mode}") + if self.add_threat_point_mode: + self.threat_point_btn.setText("取消标记") + else: + self.threat_point_btn.setText("标记威胁点") + + def handle_map_click(self, map_point: QPointF): + """Handles clicks forwarded from BaseMapView.""" + print(f"SimpleMapView: handle_map_click called, mode: {self.add_threat_point_mode}") # Debug print + if self.add_threat_point_mode: + img_x = int(map_point.x()) + img_y = int(map_point.y()) + print(f"SimpleMapView: Adding threat point at ({img_x}, {img_y})") # Debug print + # 添加威胁点到数据模型 + self.map_data_model.add_threat_point((img_x, img_y)) + # Emit signal (optional, BaseMapView already emits on data change) + # self.threat_points_changed.emit(self.map_data_model.threat_points) + + # Remove the old mousePressEvent if it exists + # def mousePressEvent(self, event): # <--- REMOVE THIS METHOD + # pass + + # load_map_image and update_map are now handled by BaseMapView + # We might need specific update logic here in the future if SimpleMapView + # needs drawing beyond what BaseMapView provides. \ No newline at end of file diff --git a/Src/command_center/ui/status_dashboard.py b/Src/command_center/ui/status_dashboard.py index 6e13ecdc..af2feed6 100644 --- a/Src/command_center/ui/status_dashboard.py +++ b/Src/command_center/ui/status_dashboard.py @@ -1,3 +1,7 @@ +# -*- coding: utf-8 -*- +# File: status_dashboard.py +# Purpose: 定义状态仪表板标签页的 UI，显示系统整体状态和性能指标。 + from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, QProgressBar, QGroupBox) from PyQt5.QtCore import Qt diff --git a/Src/command_center/ui/threat_layer_view.py b/Src/command_center/ui/threat_layer_view.py index e77b9cb6..9b8b2823 100644 --- a/Src/command_center/ui/threat_layer_view.py +++ b/Src/command_center/ui/threat_layer_view.py @@ -1,56 +1,71 @@ from PyQt5.QtWidgets import (QWidget, QVBoxLayout, QHBoxLayout, QLabel, - QPushButton, QTableWidget, QTableWidgetItem) -from PyQt5.QtCore import Qt + QPushButton, QTableWidget, QTableWidgetItem, QSpinBox) +from PyQt5.QtCore import Qt, QPointF +from .base_map_view import BaseMapView -class ThreatLayerView(QWidget): - def __init__(self): - super().__init__() - self.init_ui() +class ThreatLayerView(BaseMapView): + def __init__(self, map_data_model): + super().__init__(map_data_model) + self.add_threat_mode = False + self.threat_radius = 50 # 默认威胁半径 + self.init_additional_ui() - def init_ui(self): - # 创建主布局 - main_layout = QVBoxLayout() + def init_additional_ui(self): + # 创建威胁控制面板 + threat_control_layout = QHBoxLayout() - # 创建威胁列表 - self.threat_table = QTableWidget() - self.threat_table.setColumnCount(4) - self.threat_table.setHorizontalHeaderLabels(["ID", "类型", "位置", "威胁等级"]) - self.threat_table.setStyleSheet("QTableWidget { border: 1px solid #ccc; }") - main_layout.addWidget(self.threat_table) + # 威胁点标记按钮 + self.add_threat_btn = QPushButton("添加威胁区域") + self.add_threat_btn.setCheckable(True) + self.add_threat_btn.clicked.connect(self.toggle_add_threat_mode) - # 创建控制按钮 - button_layout = QHBoxLayout() - self.add_threat_btn = QPushButton("添加威胁") - self.edit_threat_btn = QPushButton("编辑威胁") - self.delete_threat_btn = QPushButton("删除威胁") + # 威胁半径控制 + radius_label = QLabel("威胁半径:") + self.radius_spinbox = QSpinBox() + self.radius_spinbox.setRange(10, 200) + self.radius_spinbox.setValue(self.threat_radius) + self.radius_spinbox.valueChanged.connect(self.set_threat_radius) - button_layout.addWidget(self.add_threat_btn) - button_layout.addWidget(self.edit_threat_btn) - button_layout.addWidget(self.delete_threat_btn) + # 清除威胁按钮 + self.clear_threat_btn = QPushButton("清除威胁") + self.clear_threat_btn.clicked.connect(self.clear_threats) - main_layout.addLayout(button_layout) + # 添加控件到布局 + threat_control_layout.addWidget(self.add_threat_btn) + threat_control_layout.addWidget(self.clear_threat_btn) - # 创建威胁详情区域 - self.threat_detail = QLabel("威胁详情") - self.threat_detail.setAlignment(Qt.AlignCenter) - self.threat_detail.setStyleSheet("background-color: #f0f0f0; border: 1px solid #ccc;") - main_layout.addWidget(self.threat_detail) - - self.setLayout(main_layout) - - # 连接信号 - self.add_threat_btn.clicked.connect(self.add_threat) - self.edit_threat_btn.clicked.connect(self.edit_threat) - self.delete_threat_btn.clicked.connect(self.delete_threat) - - def add_threat(self): - # TODO: 实现添加威胁功能 - pass + # 将控制面板添加到主布局 + layout = self.layout() + if layout: + layout.addLayout(threat_control_layout) + else: + print("Error: Layout not found in ThreatLayerView") + + def toggle_add_threat_mode(self): + self.add_threat_mode = self.add_threat_btn.isChecked() + if self.add_threat_mode: + self.add_threat_btn.setText("取消添加") + else: + self.add_threat_btn.setText("添加威胁区域") + + def set_threat_radius(self, value): + self.threat_radius = value - def edit_threat(self): - # TODO: 实现编辑威胁功能 - pass + def clear_threats(self): + self.map_data_model.threat_points = [] + self.map_data_model.data_changed.emit() + self.update_map() # Force redraw - def delete_threat(self): - # TODO: 实现删除威胁功能 - pass \ No newline at end of file + def handle_map_click(self, map_point: QPointF): + """Handles clicks forwarded from BaseMapView.""" + if self.add_threat_mode: + img_x = int(map_point.x()) + img_y = int(map_point.y()) + # 添加威胁点到数据模型 + # Note: Threat radius is stored but not visualized yet + self.map_data_model.add_threat_point((img_x, img_y)) + # BaseMapView will redraw automatically due to data_changed signal + + # Remove the old mousePressEvent + # def mousePressEvent(self, event): + # pass \ No newline at end of file -- 2.34.1