From a36b34837e88bb9d5a15cd72db8fa6e4849be73d Mon Sep 17 00:00:00 2001
From: Surponess <byx1056547649@163.com>
Date: Sun, 26 Apr 2026 07:41:44 +0800
Subject: [PATCH] =?UTF-8?q?=E6=96=B0=E5=A2=9E=E8=BD=AF=E4=BB=B6=E5=89=8D?=
 =?UTF-8?q?=E7=AB=AF=E5=88=9D=E7=89=88?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 document/vx.json                              |   11 +
 src/软件前端/.claude/settings.local.json  |    8 +
 src/软件前端/css/style.css                |  383 ++++++
 src/软件前端/index.html                   |  118 ++
 src/软件前端/js/map.js                    |  202 ++++
 src/软件前端/js/roslib.min.js             |    1 +
 src/软件前端/js/ui.js                     |  335 ++++++
 src/软件前端/js/websocket.js              |  683 +++++++++++
 .../__pycache__/drone_manager.cpython-313.pyc |  Bin 0 -> 14694 bytes
 src/软件前端/server/app.py                |   39 +
 src/软件前端/server/drone_manager.py      |    7 +
 src/软件前端/server/requirements.txt      |    1 +
 src/软件前端/使用说明.md              |  310 +++++
 src/软件前端/前端设计.html            | 1026 +++++++++++++++++
 vx.json                                       |   24 +
 15 files changed, 3148 insertions(+)
 create mode 100644 document/vx.json
 create mode 100644 src/软件前端/.claude/settings.local.json
 create mode 100644 src/软件前端/css/style.css
 create mode 100644 src/软件前端/index.html
 create mode 100644 src/软件前端/js/map.js
 create mode 100644 src/软件前端/js/roslib.min.js
 create mode 100644 src/软件前端/js/ui.js
 create mode 100644 src/软件前端/js/websocket.js
 create mode 100644 src/软件前端/server/__pycache__/drone_manager.cpython-313.pyc
 create mode 100644 src/软件前端/server/app.py
 create mode 100644 src/软件前端/server/drone_manager.py
 create mode 100644 src/软件前端/server/requirements.txt
 create mode 100644 src/软件前端/使用说明.md
 create mode 100644 src/软件前端/前端设计.html
 create mode 100644 vx.json

diff --git a/document/vx.json b/document/vx.json
new file mode 100644
index 0000000..abf7fb5
--- /dev/null
+++ b/document/vx.json
@@ -0,0 +1,11 @@
+{
+    "created_time": "2026-04-20T02:11:45Z",
+    "files": [
+    ],
+    "folders": [
+    ],
+    "id": "1542",
+    "modified_time": "2026-04-20T02:11:45Z",
+    "signature": "4031563627892149089",
+    "version": 3
+}
diff --git a/src/软件前端/.claude/settings.local.json b/src/软件前端/.claude/settings.local.json
new file mode 100644
index 0000000..640f442
--- /dev/null
+++ b/src/软件前端/.claude/settings.local.json
@@ -0,0 +1,8 @@
+{
+  "permissions": {
+    "allow": [
+      "Bash(curl -sL \"https://unpkg.com/roslib@2.1.0/dist/\")",
+      "Bash(curl -sL \"https://unpkg.com/roslib@1.3.0/build/roslib.min.js\" -o \"d:/29578/Documents/Study/computer/S_E/软件体系结构与设计/软件前端/js/roslib.min.js\" -w \"%{http_code} %{size_download}\")"
+    ]
+  }
+}
diff --git a/src/软件前端/css/style.css b/src/软件前端/css/style.css
new file mode 100644
index 0000000..b3e15fc
--- /dev/null
+++ b/src/软件前端/css/style.css
@@ -0,0 +1,383 @@
+/* ===== 全局样式 ===== */
+* {
+    margin: 0;
+    padding: 0;
+    box-sizing: border-box;
+}
+
+body {
+    font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', 'PingFang SC', 'Microsoft YaHei', sans-serif;
+    background: #f0f2f5;
+    height: 100vh;
+    display: flex;
+    flex-direction: column;
+    overflow: hidden;
+    color: #333;
+}
+
+/* ===== 顶部状态栏 ===== */
+.top-bar {
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    height: 48px;
+    padding: 0 16px;
+    background: #1a1a2e;
+    color: #e0e0e0;
+    flex-shrink: 0;
+    z-index: 1000;
+}
+
+.top-bar-left {
+    display: flex;
+    align-items: center;
+    gap: 16px;
+}
+
+.logo {
+    font-size: 15px;
+    font-weight: 700;
+    color: #fff;
+    letter-spacing: 1px;
+}
+
+.status-item {
+    font-size: 13px;
+    color: #aaa;
+}
+
+.status-item strong {
+    color: #e0e0e0;
+}
+
+.top-bar-right {
+    display: flex;
+    align-items: center;
+    gap: 8px;
+}
+
+.top-bar-right input {
+    width: 220px;
+    padding: 5px 10px;
+    border: 1px solid #444;
+    border-radius: 4px;
+    background: #2a2a3e;
+    color: #e0e0e0;
+    font-size: 13px;
+}
+
+/* ===== 连接模式切换 ===== */
+.conn-mode-group {
+    display: flex;
+    border-radius: 4px;
+    overflow: hidden;
+    border: 1px solid #444;
+}
+
+.mode-btn {
+    padding: 4px 12px;
+    background: #2a2a3e;
+    color: #aaa;
+    border: none;
+    cursor: pointer;
+    font-size: 12px;
+    font-weight: 600;
+    transition: all 0.2s;
+}
+
+.mode-btn:hover { color: #ddd; }
+
+.mode-btn.active {
+    background: #007aff;
+    color: #fff;
+}
+
+.conn-mode-tag {
+    font-size: 11px;
+    padding: 2px 8px;
+    border-radius: 3px;
+    background: #2a2a3e;
+    color: #888;
+    white-space: nowrap;
+}
+
+/* ===== 标签 ===== */
+.tag {
+    display: inline-block;
+    padding: 2px 10px;
+    border-radius: 10px;
+    font-size: 12px;
+    font-weight: 600;
+}
+
+.tag-success { background: #f6ffed; color: #52c41a; }
+.tag-danger  { background: #fff1f0; color: #ff4d4f; }
+.tag-warning { background: #fffbe6; color: #faad14; }
+.tag-info    { background: #e6f7ff; color: #007aff; }
+
+/* ===== 按钮 ===== */
+.btn {
+    padding: 7px 14px;
+    border: none;
+    border-radius: 6px;
+    cursor: pointer;
+    font-size: 13px;
+    font-weight: 600;
+    transition: opacity 0.2s;
+}
+
+.btn:disabled {
+    opacity: 0.4;
+    cursor: not-allowed;
+}
+
+.btn:not(:disabled):hover { opacity: 0.85; }
+
+.btn-primary   { background: #007aff; color: #fff; }
+.btn-success   { background: #52c41a; color: #fff; }
+.btn-warning   { background: #faad14; color: #fff; }
+.btn-danger    { background: #ff4d4f; color: #fff; }
+.btn-secondary { background: #e0e0e0; color: #333; }
+.btn.wide      { width: 100%; }
+
+.btn-link {
+    background: none;
+    border: none;
+    color: #999;
+    cursor: pointer;
+    font-size: 12px;
+}
+
+.btn-link:hover { color: #007aff; }
+
+.btn-group {
+    display: flex;
+    gap: 8px;
+    margin-bottom: 8px;
+}
+
+.btn-group .btn { flex: 1; }
+
+/* ===== 主内容区 ===== */
+.main-content {
+    display: flex;
+    flex: 1;
+    min-height: 0;
+}
+
+/* ===== 地图 ===== */
+.map-container {
+    flex: 1;
+    min-width: 0;
+    z-index: 1;
+}
+
+/* ===== 右侧控制面板 ===== */
+.control-panel {
+    width: 300px;
+    flex-shrink: 0;
+    background: #fff;
+    border-left: 1px solid #e0e0e0;
+    overflow-y: auto;
+    display: flex;
+    flex-direction: column;
+}
+
+.panel-section {
+    padding: 12px;
+    border-bottom: 1px solid #f0f0f0;
+}
+
+.panel-header {
+    font-size: 14px;
+    font-weight: 700;
+    color: #333;
+    margin-bottom: 10px;
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+}
+
+.panel-header span:last-child {
+    font-weight: 400;
+    font-size: 12px;
+    color: #999;
+}
+
+/* ===== 航点列表 ===== */
+.waypoint-list {
+    max-height: 220px;
+    overflow-y: auto;
+    margin-bottom: 8px;
+}
+
+.empty-hint {
+    text-align: center;
+    color: #bbb;
+    font-size: 13px;
+    padding: 20px 0;
+}
+
+.wp-item {
+    display: flex;
+    align-items: center;
+    padding: 6px 8px;
+    border-radius: 6px;
+    margin-bottom: 4px;
+    background: #f8f9fa;
+    cursor: pointer;
+    font-size: 13px;
+    transition: background 0.15s;
+}
+
+.wp-item:hover { background: #e6f7ff; }
+
+.wp-item.active { background: #e6f7ff; border: 1px solid #91d5ff; }
+
+.wp-index {
+    width: 22px;
+    height: 22px;
+    border-radius: 50%;
+    background: #007aff;
+    color: #fff;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    font-size: 11px;
+    font-weight: 700;
+    margin-right: 8px;
+    flex-shrink: 0;
+}
+
+.wp-info {
+    flex: 1;
+    min-width: 0;
+}
+
+.wp-coord {
+    font-size: 11px;
+    color: #666;
+    white-space: nowrap;
+    overflow: hidden;
+    text-overflow: ellipsis;
+}
+
+.wp-alt {
+    font-size: 11px;
+    color: #999;
+}
+
+.wp-delete {
+    width: 20px;
+    height: 20px;
+    border: none;
+    background: none;
+    color: #ccc;
+    cursor: pointer;
+    font-size: 16px;
+    line-height: 1;
+    flex-shrink: 0;
+}
+
+.wp-delete:hover { color: #ff4d4f; }
+
+.wp-params {
+    display: flex;
+    gap: 10px;
+    font-size: 12px;
+    color: #666;
+}
+
+.wp-params input {
+    width: 60px;
+    padding: 3px 6px;
+    border: 1px solid #ddd;
+    border-radius: 4px;
+    font-size: 12px;
+    text-align: center;
+}
+
+/* ===== 数据面板 ===== */
+.data-grid {
+    display: grid;
+    grid-template-columns: 1fr 1fr;
+    gap: 8px;
+}
+
+.data-item {
+    background: #f8f9fa;
+    border-radius: 6px;
+    padding: 8px;
+    text-align: center;
+}
+
+.data-label {
+    display: block;
+    font-size: 11px;
+    color: #999;
+    margin-bottom: 2px;
+}
+
+.data-value {
+    font-size: 13px;
+    font-weight: 600;
+    color: #333;
+}
+
+/* ===== 底部日志栏 ===== */
+.log-bar {
+    height: 120px;
+    flex-shrink: 0;
+    background: #1e1e1e;
+    display: flex;
+    flex-direction: column;
+}
+
+.log-header {
+    display: flex;
+    justify-content: space-between;
+    align-items: center;
+    padding: 4px 12px;
+    font-size: 12px;
+    color: #888;
+    background: #2a2a2a;
+    border-bottom: 1px solid #333;
+}
+
+.log-content {
+    flex: 1;
+    overflow-y: auto;
+    padding: 4px 12px;
+    font-family: 'Consolas', 'Monaco', monospace;
+    font-size: 12px;
+    line-height: 1.6;
+}
+
+.log-entry {
+    white-space: nowrap;
+}
+
+.log-entry .time { color: #666; margin-right: 8px; }
+.log-entry.success { color: #52c41a; }
+.log-entry.error   { color: #ff4d4f; }
+.log-entry.warning { color: #faad14; }
+.log-entry.info    { color: #aaa; }
+
+/* ===== Leaflet 自定义 ===== */
+.drone-icon {
+    width: 24px;
+    height: 24px;
+    position: relative;
+}
+
+.drone-icon-inner {
+    width: 0;
+    height: 0;
+    border-left: 10px solid transparent;
+    border-right: 10px solid transparent;
+    border-bottom: 20px solid #007aff;
+    position: absolute;
+    top: 2px;
+    left: 2px;
+    transform-origin: center 60%;
+}
diff --git a/src/软件前端/index.html b/src/软件前端/index.html
new file mode 100644
index 0000000..fde94cb
--- /dev/null
+++ b/src/软件前端/index.html
@@ -0,0 +1,118 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>P600 无人机定点巡航控制系统</title>
+    <link rel="stylesheet" href="https://unpkg.com/leaflet@1.9.4/dist/leaflet.css" />
+    <link rel="stylesheet" href="/css/style.css" />
+</head>
+<body>
+    <!-- 顶部状态栏 -->
+    <header class="top-bar">
+        <div class="top-bar-left">
+            <span class="logo">P600 定点巡航控制系统</span>
+            <span id="conn-status" class="tag tag-danger">未连接</span>
+            <span class="status-item">模式: <strong id="flight-mode">--</strong></span>
+            <span class="status-item">电量: <strong id="battery">--%</strong></span>
+            <span class="status-item">GPS: <strong id="gps-status">--</strong></span>
+            <span class="status-item">速度: <strong id="speed">-- m/s</strong></span>
+            <span class="status-item">高度: <strong id="altitude">-- m</strong></span>
+        </div>
+        <div class="top-bar-right">
+            <div class="conn-mode-group">
+                <button id="btn-mode-sim" class="mode-btn active" title="Prometheus SITL 仿真 (rosbridge WebSocket)">仿真模式</button>
+                <button id="btn-mode-real" class="mode-btn" title="P600 实机 WiFi 数传 (rosbridge WebSocket)">实机模式</button>
+            </div>
+            <input type="text" id="drone-url" value="ws://localhost:9090" placeholder="rosbridge 地址" />
+            <button id="btn-connect" class="btn btn-primary">连接无人机</button>
+            <span id="conn-mode-tag" class="conn-mode-tag">rosbridge</span>
+        </div>
+    </header>
+
+    <!-- 主内容区 -->
+    <div class="main-content">
+        <!-- 地图区域 -->
+        <div id="map" class="map-container"></div>
+
+        <!-- 右侧控制面板 -->
+        <aside class="control-panel">
+            <!-- 航点列表 -->
+            <div class="panel-section">
+                <div class="panel-header">
+                    <span>航点列表</span>
+                    <span id="wp-count">0 个航点</span>
+                </div>
+                <div id="waypoint-list" class="waypoint-list">
+                    <div class="empty-hint">在地图上点击以添加航点</div>
+                </div>
+                <div class="wp-params">
+                    <label>默认高度: <input type="number" id="default-alt" value="15" min="1" max="100" /> 米</label>
+                    <label>默认悬停: <input type="number" id="default-hold" value="0" min="0" max="60" /> 秒</label>
+                </div>
+            </div>
+
+            <!-- 任务操作 -->
+            <div class="panel-section">
+                <div class="panel-header">任务操作</div>
+                <div class="btn-group">
+                    <button id="btn-upload" class="btn btn-primary wide" disabled>上传任务</button>
+                </div>
+                <div class="btn-group">
+                    <button id="btn-start" class="btn btn-success wide" disabled>开始任务</button>
+                </div>
+                <div class="btn-group">
+                    <button id="btn-pause" class="btn btn-warning" disabled>暂停</button>
+                    <button id="btn-resume" class="btn btn-success" disabled>继续</button>
+                </div>
+                <div class="btn-group">
+                    <button id="btn-rth" class="btn btn-danger" disabled>返航</button>
+                    <button id="btn-land" class="btn btn-danger" disabled>降落</button>
+                </div>
+                <div class="btn-group">
+                    <button id="btn-clear" class="btn btn-secondary wide">清除所有航点</button>
+                </div>
+            </div>
+
+            <!-- 实时数据 -->
+            <div class="panel-section">
+                <div class="panel-header">实时数据</div>
+                <div class="data-grid">
+                    <div class="data-item">
+                        <span class="data-label">纬度</span>
+                        <span class="data-value" id="data-lat">--</span>
+                    </div>
+                    <div class="data-item">
+                        <span class="data-label">经度</span>
+                        <span class="data-value" id="data-lng">--</span>
+                    </div>
+                    <div class="data-item">
+                        <span class="data-label">航向</span>
+                        <span class="data-value" id="data-heading">--</span>
+                    </div>
+                    <div class="data-item">
+                        <span class="data-label">当前航点</span>
+                        <span class="data-value" id="data-wp">--</span>
+                    </div>
+                </div>
+            </div>
+        </aside>
+    </div>
+
+    <!-- 底部日志栏 -->
+    <footer class="log-bar">
+        <div class="log-header">
+            <span>操作日志</span>
+            <button id="btn-clear-log" class="btn-link">清空</button>
+        </div>
+        <div id="log-content" class="log-content"></div>
+    </footer>
+
+    <!-- JS 依赖 -->
+    <script src="https://unpkg.com/leaflet@1.9.4/dist/leaflet.js"></script>
+    <script src="/js/roslib.min.js"></script>
+    <script src="/js/map.js"></script>
+    <script src="/js/websocket.js"></script>
+    <script src="/js/ui.js"></script>
+</body>
+</html>
diff --git a/src/软件前端/js/map.js b/src/软件前端/js/map.js
new file mode 100644
index 0000000..4cb05c0
--- /dev/null
+++ b/src/软件前端/js/map.js
@@ -0,0 +1,202 @@
+/**
+ * 地图模块 - 基于 Leaflet.js
+ * 负责: 地图初始化、航点管理、航线绘制、无人机位置显示
+ */
+
+const MapModule = (() => {
+    let map = null;
+    let waypoints = [];       // 航点数据数组
+    let markers = [];         // 航点 Leaflet Marker 对象
+    let polyline = null;      // 航线折线
+    let droneMarker = null;   // 无人机位置标记
+    let trailLine = null;     // 飞行轨迹
+    let trailCoords = [];     // 轨迹坐标历史
+
+    const DEFAULT_LAT = 30.0;
+    const DEFAULT_LNG = 120.0;
+    const DEFAULT_ZOOM = 16;
+
+    function init() {
+        map = L.map('map', {
+            center: [DEFAULT_LAT, DEFAULT_LNG],
+            zoom: DEFAULT_ZOOM,
+            zoomControl: true
+        });
+
+        // OpenStreetMap 底图（免费，无需 Key）
+        L.tileLayer('https://tile.openstreetmap.org/{z}/{x}/{y}.png', {
+            attribution: '&copy; OpenStreetMap',
+            maxZoom: 19
+        }).addTo(map);
+
+        // 点击地图添加航点
+        map.on('click', onMapClick);
+
+        // 初始化航线（空折线）
+        polyline = L.polyline([], {
+            color: '#007aff',
+            weight: 2,
+            opacity: 0.7,
+            dashArray: '8, 6'
+        }).addTo(map);
+
+        // 初始化飞行轨迹
+        trailLine = L.polyline([], {
+            color: '#ff4d4f',
+            weight: 2,
+            opacity: 0.6
+        }).addTo(map);
+
+        // 创建无人机图标
+        const droneIcon = L.divIcon({
+            className: 'drone-icon',
+            html: '<div class="drone-icon-inner" id="drone-arrow"></div>',
+            iconSize: [24, 24],
+            iconAnchor: [12, 12]
+        });
+
+        droneMarker = L.marker([DEFAULT_LAT, DEFAULT_LNG], {
+            icon: droneIcon,
+            visible: false
+        }).addTo(map);
+    }
+
+    function onMapClick(e) {
+        addWaypoint(e.latlng.lat, e.latlng.lng);
+    }
+
+    function addWaypoint(lat, lng) {
+        const defaultAlt = parseInt(document.getElementById('default-alt').value) || 15;
+        const defaultHold = parseInt(document.getElementById('default-hold').value) || 0;
+        const index = waypoints.length + 1;
+
+        const wp = {
+            id: Date.now(),
+            lat: parseFloat(lat.toFixed(6)),
+            lng: parseFloat(lng.toFixed(6)),
+            alt: defaultAlt,
+            hold_time: defaultHold
+        };
+        waypoints.push(wp);
+
+        // 添加地图标记
+        const marker = L.marker([wp.lat, wp.lng], {
+            draggable: true
+        }).addTo(map);
+
+        marker.bindPopup(`<b>航点 ${index}</b><br>高度: ${wp.alt}m<br>悬停: ${wp.hold_time}s`);
+
+        // 拖拽更新航点坐标
+        marker.on('dragend', function () {
+            const pos = marker.getLatLng();
+            const wpIdx = markers.indexOf(marker);
+            if (wpIdx >= 0) {
+                waypoints[wpIdx].lat = parseFloat(pos.lat.toFixed(6));
+                waypoints[wpIdx].lng = parseFloat(pos.lng.toFixed(6));
+                marker.setPopupContent(`<b>航点 ${wpIdx + 1}</b><br>高度: ${waypoints[wpIdx].alt}m`);
+                updatePolyline();
+                UIModule.updateWaypointList();
+            }
+        });
+
+        markers.push(marker);
+        updatePolyline();
+        UIModule.updateWaypointList();
+        UIModule.updateButtons();
+    }
+
+    function removeWaypoint(index) {
+        if (index < 0 || index >= waypoints.length) return;
+
+        waypoints.splice(index, 1);
+        const marker = markers.splice(index, 1)[0];
+        map.removeLayer(marker);
+
+        // 重新编号弹窗
+        markers.forEach((m, i) => {
+            m.setPopupContent(`<b>航点 ${i + 1}</b><br>高度: ${waypoints[i].alt}m`);
+        });
+
+        updatePolyline();
+        UIModule.updateWaypointList();
+        UIModule.updateButtons();
+    }
+
+    function clearWaypoints() {
+        markers.forEach(m => map.removeLayer(m));
+        waypoints = [];
+        markers = [];
+        updatePolyline();
+        UIModule.updateWaypointList();
+        UIModule.updateButtons();
+    }
+
+    function updatePolyline() {
+        const coords = waypoints.map(wp => [wp.lat, wp.lng]);
+        polyline.setLatLngs(coords);
+    }
+
+    function updateDronePosition(lat, lng, heading) {
+        if (!droneMarker) return;
+        droneMarker.setLatLng([lat, lng]);
+        if (!droneMarker.visible) {
+            droneMarker.visible = true;
+        }
+
+        // 旋转无人机图标（航向）
+        const arrow = document.getElementById('drone-arrow');
+        if (arrow) {
+            arrow.style.transform = `rotate(${heading}deg)`;
+        }
+
+        // 记录轨迹
+        trailCoords.push([lat, lng]);
+        if (trailCoords.length > 500) trailCoords.shift();
+        trailLine.setLatLngs(trailCoords);
+    }
+
+    function centerOnDrone(lat, lng) {
+        map.setView([lat, lng], map.getZoom());
+    }
+
+    function panTo(lat, lng) {
+        map.panTo([lat, lng]);
+    }
+
+    function getWaypoints() {
+        return waypoints.map(wp => ({
+            lat: wp.lat,
+            lng: wp.lng,
+            alt: wp.alt,
+            hold_time: wp.hold_time
+        }));
+    }
+
+    function getWaypointCount() {
+        return waypoints.length;
+    }
+
+    function updateWaypointAlt(index, alt) {
+        if (index >= 0 && index < waypoints.length) {
+            waypoints[index].alt = alt;
+            markers[index].setPopupContent(
+                `<b>航点 ${index + 1}</b><br>高度: ${alt}m<br>悬停: ${waypoints[index].hold_time}s`
+            );
+        }
+    }
+
+    return {
+        init,
+        addWaypoint,
+        removeWaypoint,
+        clearWaypoints,
+        updateDronePosition,
+        centerOnDrone,
+        panTo,
+        getWaypoints,
+        getWaypointCount,
+        updateWaypointAlt,
+        DEFAULT_LAT,
+        DEFAULT_LNG
+    };
+})();
diff --git a/src/软件前端/js/roslib.min.js b/src/软件前端/js/roslib.min.js
new file mode 100644
index 0000000..506562b
--- /dev/null
+++ b/src/软件前端/js/roslib.min.js
@@ -0,0 +1 @@
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t=i.goals[e.status.goal_id.id];t&&(t.emit("status",e.status),t.emit("result",e.result))}),this.timeout&&setTimeout(function(){t||i.emit("timeout")},this.timeout)}s.prototype.__proto__=e.prototype,s.prototype.cancel=function(){var e=new r;this.cancelTopic.publish(e)},s.prototype.dispose=function(){this.goalTopic.unadvertise(),this.cancelTopic.unadvertise(),this.omitStatus||this.statusListener.unsubscribe(),this.omitFeedback||this.feedbackListener.unsubscribe(),this.omitResult||this.resultListener.unsubscribe()},t.exports=s},{"../core/Message":15,"../core/Topic":22,eventemitter2:2}],11:[function(e,t,i){var s=e("../core/Topic"),e=(e("../core/Message"),e("eventemitter2").EventEmitter2);function n(e){var t=this,e=(this.ros=(e=e||{}).ros,this.serverName=e.serverName,this.actionName=e.actionName,this.timeout=e.timeout,this.omitFeedback=e.omitFeedback,this.omitStatus=e.omitStatus,this.omitResult=e.omitResult,new s({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"})),i=new s({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),n=new s({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"}),r=new s({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"});e.subscribe(function(e){t.emit("goal",e)}),n.subscribe(function(e){e.status_list.forEach(function(e){t.emit("status",e)})}),i.subscribe(function(e){t.emit("status",e.status),t.emit("feedback",e.feedback)}),r.subscribe(function(e){t.emit("status",e.status),t.emit("result",e.result)})}n.prototype.__proto__=e.prototype,t.exports=n},{"../core/Message":15,"../core/Topic":22,eventemitter2:2}],12:[function(e,t,i){var n=e("../core/Message"),e=e("eventemitter2").EventEmitter2;function r(e){var t=this,e=(this.actionClient=e.actionClient,this.goalMessage=e.goalMessage,this.isFinished=!1,new Date);this.goalID="goal_"+Math.random()+"_"+e.getTime(),this.goalMessage=new n({goal_id:{stamp:{secs:0,nsecs:0},id:this.goalID},goal:this.goalMessage}),this.on("status",function(e){t.status=e}),this.on("result",function(e){t.isFinished=!0,t.result=e}),this.on("feedback",function(e){t.feedback=e}),this.actionClient.goals[this.goalID]=this}r.prototype.__proto__=e.prototype,r.prototype.send=function(e){var t=this;t.actionClient.goalTopic.publish(t.goalMessage),e&&setTimeout(function(){t.isFinished||t.emit("timeout")},e)},r.prototype.cancel=function(){var e=new n({id:this.goalID});this.actionClient.cancelTopic.publish(e)},t.exports=r},{"../core/Message":15,eventemitter2:2}],13:[function(e,t,i){var s=e("../core/Topic"),o=e("../core/Message"),e=e("eventemitter2").EventEmitter2;function n(e){function t(e,t){return!(e.secs>t.secs)&&(e.secs<t.secs||e.nsecs<t.nsecs)}var i=this,n=(this.ros=(e=e||{}).ros,this.serverName=e.serverName,this.actionName=e.actionName,this.feedbackPublisher=new s({ros:this.ros,name:this.serverName+"/feedback",messageType:this.actionName+"Feedback"}),this.feedbackPublisher.advertise(),new s({ros:this.ros,name:this.serverName+"/status",messageType:"actionlib_msgs/GoalStatusArray"})),e=(n.advertise(),this.resultPublisher=new s({ros:this.ros,name:this.serverName+"/result",messageType:this.actionName+"Result"}),this.resultPublisher.advertise(),new s({ros:this.ros,name:this.serverName+"/goal",messageType:this.actionName+"Goal"})),r=new s({ros:this.ros,name:this.serverName+"/cancel",messageType:"actionlib_msgs/GoalID"});this.statusMessage=new o({header:{stamp:{secs:0,nsecs:100},frame_id:""},status_list:[]}),this.currentGoal=null,this.nextGoal=null,e.subscribe(function(e){i.currentGoal?(i.nextGoal=e,i.emit("cancel")):(i.statusMessage.status_list=[{goal_id:e.goal_id,status:1}],i.currentGoal=e,i.emit("goal",e.goal))}),r.subscribe(function(e){0===e.stamp.secs&&0===e.stamp.secs&&""===e.id?(i.nextGoal=null,i.currentGoal&&i.emit("cancel")):(i.currentGoal&&e.id===i.currentGoal.goal_id.id?i.emit("cancel"):i.nextGoal&&e.id===i.nextGoal.goal_id.id&&(i.nextGoal=null),i.nextGoal&&t(i.nextGoal.goal_id.stamp,e.stamp)&&(i.nextGoal=null),i.currentGoal&&t(i.currentGoal.goal_id.stamp,e.stamp)&&i.emit("cancel"))}),setInterval(function(){var e=new Date,t=Math.floor(e.getTime()/1e3),e=Math.round(1e9*(e.getTime()/1e3-t));i.statusMessage.header.stamp.secs=t,i.statusMessage.header.stamp.nsecs=e,n.publish(i.statusMessage)},500)}n.prototype.__proto__=e.prototype,n.prototype.setSucceeded=function(e){e=new o({status:{goal_id:this.currentGoal.goal_id,status:3},result:e});this.resultPublisher.publish(e),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},n.prototype.setAborted=function(e){e=new o({status:{goal_id:this.currentGoal.goal_id,status:4},result:e});this.resultPublisher.publish(e),this.statusMessage.status_list=[],this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},n.prototype.sendFeedback=function(e){e=new o({status:{goal_id:this.currentGoal.goal_id,status:1},feedback:e});this.feedbackPublisher.publish(e)},n.prototype.setPreempted=function(){this.statusMessage.status_list=[];var e=new o({status:{goal_id:this.currentGoal.goal_id,status:2}});this.resultPublisher.publish(e),this.nextGoal?(this.currentGoal=this.nextGoal,this.nextGoal=null,this.emit("goal",this.currentGoal.goal)):this.currentGoal=null},t.exports=n},{"../core/Message":15,"../core/Topic":22,eventemitter2:2}],14:[function(e,t,i){var n=e("../core/Ros");e("../mixin")(n,["ActionClient","SimpleActionServer"],t.exports={ActionClient:e("./ActionClient"),ActionListener:e("./ActionListener"),Goal:e("./Goal"),SimpleActionServer:e("./SimpleActionServer")})},{"../core/Ros":17,"../mixin":29,"./ActionClient":10,"./ActionListener":11,"./Goal":12,"./SimpleActionServer":13}],15:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],16:[function(e,t,i){var n=e("./Service"),r=e("./ServiceRequest");function s(e){this.ros=(e=e||{}).ros,this.name=e.name}s.prototype.get=function(t){var e=new n({ros:this.ros,name:"/rosapi/get_param",serviceType:"rosapi/GetParam"}),i=new r({name:this.name});e.callService(i,function(e){e=JSON.parse(e.value);t(e)})},s.prototype.set=function(e,t){var i=new n({ros:this.ros,name:"/rosapi/set_param",serviceType:"rosapi/SetParam"}),e=new r({name:this.name,value:JSON.stringify(e)});i.callService(e,t)},s.prototype.delete=function(e){var t=new n({ros:this.ros,name:"/rosapi/delete_param",serviceType:"rosapi/DeleteParam"}),i=new r({name:this.name});t.callService(i,e)},t.exports=s},{"./Service":18,"./ServiceRequest":19}],17:[function(e,t,i){var n=e("ws"),r=e("../util/workerSocket"),s=e("./SocketAdapter.js"),o=e("./Service"),a=e("./ServiceRequest"),c=e("object-assign"),e=e("eventemitter2").EventEmitter2;function l(e){e=e||{};var t=this;this.socket=null,this.idCounter=0,this.isConnected=!1,this.transportLibrary=e.transportLibrary||"websocket",this.transportOptions=e.transportOptions||{},this._sendFunc=function(e){t.sendEncodedMessage(e)},void 0===e.groovyCompatibility?this.groovyCompatibility=!0:this.groovyCompatibility=e.groovyCompatibility,this.setMaxListeners(0),e.url&&this.connect(e.url)}l.prototype.__proto__=e.prototype,l.prototype.connect=function(e){if("socket.io"===this.transportLibrary)this.socket=c(io(e,{"force new connection":!0}),s(this)),this.socket.on("connect",this.socket.onopen),this.socket.on("data",this.socket.onmessage),this.socket.on("close",this.socket.onclose),this.socket.on("error",this.socket.onerror);else if("RTCPeerConnection"===this.transportLibrary.constructor.name)this.socket=c(this.transportLibrary.createDataChannel(e,this.transportOptions),s(this));else if("websocket"===this.transportLibrary){var t;this.socket&&this.socket.readyState!==n.CLOSED||((t=new n(e)).binaryType="arraybuffer",this.socket=c(t,s(this)))}else{if("workersocket"!==this.transportLibrary)throw"Unknown transportLibrary: "+this.transportLibrary.toString();this.socket=c(new r(e),s(this))}},l.prototype.close=function(){this.socket&&this.socket.close()},l.prototype.authenticate=function(e,t,i,n,r,s,o){this.callOnConnection({op:"auth",mac:e,client:t,dest:i,rand:n,t:r,level:s,end:o})},l.prototype.sendEncodedMessage=function(e){var t=null,i=this,t="socket.io"===this.transportLibrary?function(e){i.socket.emit("operation",e)}:function(e){i.socket.send(e)};this.isConnected?t(e):i.once("connection",function(){t(e)})},l.prototype.callOnConnection=function(e){this.transportOptions.encoder?this.transportOptions.encoder(e,this._sendFunc):this._sendFunc(JSON.stringify(e))},l.prototype.setStatusLevel=function(e,t){this.callOnConnection({op:"set_level",level:e,id:t})},l.prototype.getActionServers=function(t,i){var e=new o({ros:this,name:"/rosapi/action_servers",serviceType:"rosapi/GetActionServers"}),n=new a({});"function"==typeof i?e.callService(n,function(e){t(e.action_servers)},function(e){i(e)}):e.callService(n,function(e){t(e.action_servers)})},l.prototype.getTopics=function(t,i){var e=new o({ros:this,name:"/rosapi/topics",serviceType:"rosapi/Topics"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e)},function(e){i(e)}):e.callService(n,function(e){t(e)})},l.prototype.getTopicsForType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/topics_for_type",serviceType:"rosapi/TopicsForType"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.topics)},function(e){i(e)}):n.callService(e,function(e){t(e.topics)})},l.prototype.getServices=function(t,i){var e=new o({ros:this,name:"/rosapi/services",serviceType:"rosapi/Services"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.services)},function(e){i(e)}):e.callService(n,function(e){t(e.services)})},l.prototype.getServicesForType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/services_for_type",serviceType:"rosapi/ServicesForType"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.services)},function(e){i(e)}):n.callService(e,function(e){t(e.services)})},l.prototype.getServiceRequestDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_request_details",serviceType:"rosapi/ServiceRequestDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getServiceResponseDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_response_details",serviceType:"rosapi/ServiceResponseDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getNodes=function(t,i){var e=new o({ros:this,name:"/rosapi/nodes",serviceType:"rosapi/Nodes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.nodes)},function(e){i(e)}):e.callService(n,function(e){t(e.nodes)})},l.prototype.getNodeDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/node_details",serviceType:"rosapi/NodeDetails"}),e=new a({node:e});"function"==typeof i?n.callService(e,function(e){t(e.subscribing,e.publishing,e.services)},function(e){i(e)}):n.callService(e,function(e){t(e)})},l.prototype.getParams=function(t,i){var e=new o({ros:this,name:"/rosapi/get_param_names",serviceType:"rosapi/GetParamNames"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e.names)},function(e){i(e)}):e.callService(n,function(e){t(e.names)})},l.prototype.getTopicType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/topic_type",serviceType:"rosapi/TopicType"}),e=new a({topic:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getServiceType=function(e,t,i){var n=new o({ros:this,name:"/rosapi/service_type",serviceType:"rosapi/ServiceType"}),e=new a({service:e});"function"==typeof i?n.callService(e,function(e){t(e.type)},function(e){i(e)}):n.callService(e,function(e){t(e.type)})},l.prototype.getMessageDetails=function(e,t,i){var n=new o({ros:this,name:"/rosapi/message_details",serviceType:"rosapi/MessageDetails"}),e=new a({type:e});"function"==typeof i?n.callService(e,function(e){t(e.typedefs)},function(e){i(e)}):n.callService(e,function(e){t(e.typedefs)})},l.prototype.decodeTypeDefs=function(e){function u(e,t){for(var i={},n=0;n<e.fieldnames.length;n++){var r=e.fieldarraylen[n],s=e.fieldnames[n],o=e.fieldtypes[n];if(-1===o.indexOf("/"))i[s]=-1===r?o:[o];else{for(var a,c=!1,l=0;l<t.length;l++)if(t[l].type.toString()===o.toString()){c=t[l];break}c?(a=u(c,t),-1!==r&&(i[s]=[a])):h.emit("error","Cannot find "+o+" in decodeTypeDefs")}}return i}var h=this;return u(e[0],e)},l.prototype.getTopicsAndRawTypes=function(t,i){var e=new o({ros:this,name:"/rosapi/topics_and_raw_types",serviceType:"rosapi/TopicsAndRawTypes"}),n=new a;"function"==typeof i?e.callService(n,function(e){t(e)},function(e){i(e)}):e.callService(n,function(e){t(e)})},t.exports=l},{"../util/workerSocket":49,"./Service":18,"./ServiceRequest":19,"./SocketAdapter.js":21,eventemitter2:2,"object-assign":3,ws:46}],18:[function(e,t,i){var r=e("./ServiceResponse"),e=(e("./ServiceRequest"),e("eventemitter2").EventEmitter2);function n(e){this.ros=(e=e||{}).ros,this.name=e.name,this.serviceType=e.serviceType,this.isAdvertised=!1,this._serviceCallback=null}n.prototype.__proto__=e.prototype,n.prototype.callService=function(e,t,i){var n;this.isAdvertised||(n="call_service:"+this.name+":"+ ++this.ros.idCounter,(t||i)&&this.ros.once(n,function(e){void 0!==e.result&&!1===e.result?"function"==typeof i&&i(e.values):"function"==typeof t&&t(new r(e.values))}),n={op:"call_service",id:n,service:this.name,type:this.serviceType,args:e},this.ros.callOnConnection(n))},n.prototype.advertise=function(e){this.isAdvertised||"function"!=typeof e||(this._serviceCallback=e,this.ros.on(this.name,this._serviceResponse.bind(this)),this.ros.callOnConnection({op:"advertise_service",type:this.serviceType,service:this.name}),this.isAdvertised=!0)},n.prototype.unadvertise=function(){this.isAdvertised&&(this.ros.callOnConnection({op:"unadvertise_service",service:this.name}),this.isAdvertised=!1)},n.prototype._serviceResponse=function(e){var t={},i=this._serviceCallback(e.args,t),t={op:"service_response",service:this.name,values:new r(t),result:i};e.id&&(t.id=e.id),this.ros.callOnConnection(t)},t.exports=n},{"./ServiceRequest":19,"./ServiceResponse":20,eventemitter2:2}],19:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],20:[function(e,t,i){var n=e("object-assign");t.exports=function(e){n(this,e)}},{"object-assign":3}],21:[function(e,t,i){"use strict";var n=e("../util/decompressPng"),a=e("cbor-js"),c=e("../util/cborTypedArrayTags"),l=null;"undefined"!=typeof bson&&(l=bson().BSON),t.exports=function(t){var r=null;function s(e){"publish"===e.op?t.emit(e.topic,e.msg):"service_response"===e.op?t.emit(e.id,e):"call_service"===e.op?t.emit(e.service,e):"status"===e.op&&(e.id?t.emit("status:"+e.id,e):t.emit("status",e))}function o(e,t){"png"===e.op?n(e.data,t):t(e)}return t.transportOptions.decoder&&(r=t.transportOptions.decoder),{onopen:function(e){t.isConnected=!0,t.emit("connection",e)},onclose:function(e){t.isConnected=!1,t.emit("close",e)},onerror:function(e){t.emit("error",e)},onmessage:function(e){if(r)r(e.data,function(e){s(e)});else if("undefined"!=typeof Blob&&e.data instanceof Blob){var t=e.data,i=function(e){o(e,s)};if(!l)throw"Cannot process BSON encoded message without BSON header.";var n=new FileReader;n.onload=function(){var e=new Uint8Array(this.result),e=l.deserialize(e);i(e)},n.readAsArrayBuffer(t)}else e.data instanceof ArrayBuffer?s(a.decode(e.data,c)):o(JSON.parse("string"==typeof e?e:e.data),s)}}}},{"../util/cborTypedArrayTags":44,"../util/decompressPng":48,"cbor-js":1}],22:[function(e,t,i){var n=e("eventemitter2").EventEmitter2,r=e("./Message");function s(e){this.ros=(e=e||{}).ros,this.name=e.name,this.messageType=e.messageType,this.isAdvertised=!1,this.compression=e.compression||"none",this.throttle_rate=e.throttle_rate||0,this.latch=e.latch||!1,this.queue_size=e.queue_size||100,this.queue_length=e.queue_length||0,this.reconnect_on_close=void 0===e.reconnect_on_close||e.reconnect_on_close,this.compression&&"png"!==this.compression&&"cbor"!==this.compression&&"cbor-raw"!==this.compression&&"none"!==this.compression&&(this.emit("warning",this.compression+" compression is not supported. No compression will be used."),this.compression="none"),this.throttle_rate<0&&(this.emit("warning",this.throttle_rate+" is not allowed. Set to 0"),this.throttle_rate=0);var t=this;this.reconnect_on_close?this.callForSubscribeAndAdvertise=function(e){t.ros.callOnConnection(e),t.waitForReconnect=!1,t.reconnectFunc=function(){t.waitForReconnect||(t.waitForReconnect=!0,t.ros.callOnConnection(e),t.ros.once("connection",function(){t.waitForReconnect=!1}))},t.ros.on("close",t.reconnectFunc)}:this.callForSubscribeAndAdvertise=this.ros.callOnConnection,this._messageCallback=function(e){t.emit("message",new r(e))}}s.prototype.__proto__=n.prototype,s.prototype.subscribe=function(e){"function"==typeof e&&this.on("message",e),this.subscribeId||(this.ros.on(this.name,this._messageCallback),this.subscribeId="subscribe:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"subscribe",id:this.subscribeId,type:this.messageType,topic:this.name,compression:this.compression,throttle_rate:this.throttle_rate,queue_length:this.queue_length}))},s.prototype.unsubscribe=function(e){e&&(this.off("message",e),this.listeners("message").length)||this.subscribeId&&(this.ros.off(this.name,this._messageCallback),this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unsubscribe"),this.ros.callOnConnection({op:"unsubscribe",id:this.subscribeId,topic:this.name}),this.subscribeId=null)},s.prototype.advertise=function(){var e;this.isAdvertised||(this.advertiseId="advertise:"+this.name+":"+ ++this.ros.idCounter,this.callForSubscribeAndAdvertise({op:"advertise",id:this.advertiseId,type:this.messageType,topic:this.name,latch:this.latch,queue_size:this.queue_size}),this.isAdvertised=!0,this.reconnect_on_close||(e=this).ros.on("close",function(){e.isAdvertised=!1}))},s.prototype.unadvertise=function(){this.isAdvertised&&(this.reconnect_on_close&&this.ros.off("close",this.reconnectFunc),this.emit("unadvertise"),this.ros.callOnConnection({op:"unadvertise",id:this.advertiseId,topic:this.name}),this.isAdvertised=!1)},s.prototype.publish=function(e){this.isAdvertised||this.advertise(),this.ros.idCounter++;e={op:"publish",id:"publish:"+this.name+":"+this.ros.idCounter,topic:this.name,msg:e,latch:this.latch};this.ros.callOnConnection(e)},t.exports=s},{"./Message":15,eventemitter2:2}],23:[function(e,t,i){var n=e("../mixin"),t=t.exports={Ros:e("./Ros"),Topic:e("./Topic"),Message:e("./Message"),Param:e("./Param"),Service:e("./Service"),ServiceRequest:e("./ServiceRequest"),ServiceResponse:e("./ServiceResponse")};n(t.Ros,["Param","Service","Topic"],t)},{"../mixin":29,"./Message":15,"./Param":16,"./Ros":17,"./Service":18,"./ServiceRequest":19,"./ServiceResponse":20,"./Topic":22}],24:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.position=new n((e=e||{}).position),this.orientation=new r(e.orientation)}s.prototype.applyTransform=function(e){this.position.multiplyQuaternion(e.rotation),this.position.add(e.translation);e=e.rotation.clone();e.multiply(this.orientation),this.orientation=e},s.prototype.clone=function(){return new s(this)},s.prototype.multiply=function(e){e=e.clone();return e.applyTransform({rotation:this.orientation,translation:this.position}),e},s.prototype.getInverse=function(){var e=this.clone();return e.orientation.invert(),e.position.multiplyQuaternion(e.orientation),e.position.x*=-1,e.position.y*=-1,e.position.z*=-1,e},t.exports=s},{"./Quaternion":25,"./Vector3":27}],25:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0,this.w="number"==typeof e.w?e.w:1}n.prototype.conjugate=function(){this.x*=-1,this.y*=-1,this.z*=-1},n.prototype.norm=function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},n.prototype.normalize=function(){var e=Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w);0===e?(this.x=0,this.y=0,this.z=0,this.w=1):(this.x=this.x*(e=1/e),this.y=this.y*e,this.z=this.z*e,this.w=this.w*e)},n.prototype.invert=function(){this.conjugate(),this.normalize()},n.prototype.multiply=function(e){var t=this.x*e.w+this.y*e.z-this.z*e.y+this.w*e.x,i=-this.x*e.z+this.y*e.w+this.z*e.x+this.w*e.y,n=this.x*e.y-this.y*e.x+this.z*e.w+this.w*e.z,e=-this.x*e.x-this.y*e.y-this.z*e.z+this.w*e.w;this.x=t,this.y=i,this.z=n,this.w=e},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],26:[function(e,t,i){var n=e("./Vector3"),r=e("./Quaternion");function s(e){this.translation=new n((e=e||{}).translation),this.rotation=new r(e.rotation)}s.prototype.clone=function(){return new s(this)},t.exports=s},{"./Quaternion":25,"./Vector3":27}],27:[function(e,t,i){function n(e){this.x=(e=e||{}).x||0,this.y=e.y||0,this.z=e.z||0}n.prototype.add=function(e){this.x+=e.x,this.y+=e.y,this.z+=e.z},n.prototype.subtract=function(e){this.x-=e.x,this.y-=e.y,this.z-=e.z},n.prototype.multiplyQuaternion=function(e){var t=e.w*this.x+e.y*this.z-e.z*this.y,i=e.w*this.y+e.z*this.x-e.x*this.z,n=e.w*this.z+e.x*this.y-e.y*this.x,r=-e.x*this.x-e.y*this.y-e.z*this.z;this.x=t*e.w+r*-e.x+i*-e.z-n*-e.y,this.y=i*e.w+r*-e.y+n*-e.x-t*-e.z,this.z=n*e.w+r*-e.z+t*-e.y-i*-e.x},n.prototype.clone=function(){return new n(this)},t.exports=n},{}],28:[function(e,t,i){t.exports={Pose:e("./Pose"),Quaternion:e("./Quaternion"),Transform:e("./Transform"),Vector3:e("./Vector3")}},{"./Pose":24,"./Quaternion":25,"./Transform":26,"./Vector3":27}],29:[function(e,t,i){t.exports=function(i,e,n){e.forEach(function(e){var t=n[e];i.prototype[e]=function(e){return e.ros=this,new t(e)}})}},{}],30:[function(e,t,i){var n=e("../actionlib/ActionClient"),r=e("../actionlib/Goal"),s=e("../core/Service.js"),o=e("../core/ServiceRequest.js"),a=e("../core/Topic.js"),c=e("../math/Transform");function l(e){this.ros=(e=e||{}).ros,this.fixedFrame=e.fixedFrame||"/base_link",this.angularThres=e.angularThres||2,this.transThres=e.transThres||.01,this.rate=e.rate||10,this.updateDelay=e.updateDelay||50;var t=e.topicTimeout||2,i=Math.floor(t),t=Math.floor(1e9*(t-i));this.topicTimeout={secs:i,nsecs:t},this.serverName=e.serverName||"/tf2_web_republisher",this.repubServiceName=e.repubServiceName||"/republish_tfs",this.currentGoal=!1,this.currentTopic=!1,this.frameInfos={},this.republisherUpdateRequested=!1,this._subscribeCB=null,this._isDisposed=!1,this.actionClient=new n({ros:e.ros,serverName:this.serverName,actionName:"tf2_web_republisher/TFSubscriptionAction",omitStatus:!0,omitResult:!0}),this.serviceClient=new s({ros:e.ros,name:this.repubServiceName,serviceType:"tf2_web_republisher/RepublishTFs"})}l.prototype.processTFArray=function(e){e.transforms.forEach(function(e){var t=e.child_frame_id,i=("/"===t[0]&&(t=t.substring(1)),this.frameInfos[t]);i&&(i.transform=new c({translation:e.transform.translation,rotation:e.transform.rotation}),i.cbs.forEach(function(e){e(i.transform)}))},this)},l.prototype.updateGoal=function(){var e={source_frames:Object.keys(this.frameInfos),target_frame:this.fixedFrame,angular_thres:this.angularThres,trans_thres:this.transThres,rate:this.rate};this.ros.groovyCompatibility?(this.currentGoal&&this.currentGoal.cancel(),this.currentGoal=new r({actionClient:this.actionClient,goalMessage:e}),this.currentGoal.on("feedback",this.processTFArray.bind(this)),this.currentGoal.send()):(e.timeout=this.topicTimeout,e=new o(e),this.serviceClient.callService(e,this.processResponse.bind(this))),this.republisherUpdateRequested=!1},l.prototype.processResponse=function(e){this._isDisposed||(this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB),this.currentTopic=new a({ros:this.ros,name:e.topic_name,messageType:"tf2_web_republisher/TFArray"}),this._subscribeCB=this.processTFArray.bind(this),this.currentTopic.subscribe(this._subscribeCB))},l.prototype.subscribe=function(e,t){"/"===e[0]&&(e=e.substring(1)),this.frameInfos[e]?this.frameInfos[e].transform&&t(this.frameInfos[e].transform):(this.frameInfos[e]={cbs:[]},this.republisherUpdateRequested||(setTimeout(this.updateGoal.bind(this),this.updateDelay),this.republisherUpdateRequested=!0)),this.frameInfos[e].cbs.push(t)},l.prototype.unsubscribe=function(e,t){"/"===e[0]&&(e=e.substring(1));for(var i=this.frameInfos[e],n=i&&i.cbs||[],r=n.length;r--;)n[r]===t&&n.splice(r,1);t&&0!==n.length||delete this.frameInfos[e]},l.prototype.dispose=function(){this._isDisposed=!0,this.actionClient.dispose(),this.currentTopic&&this.currentTopic.unsubscribe(this._subscribeCB)},t.exports=l},{"../actionlib/ActionClient":10,"../actionlib/Goal":12,"../core/Service.js":18,"../core/ServiceRequest.js":19,"../core/Topic.js":22,"../math/Transform":26}],31:[function(e,t,i){var n=e("../core/Ros");e("../mixin")(n,["TFClient"],t.exports={TFClient:e("./TFClient")})},{"../core/Ros":17,"../mixin":29,"./TFClient":30}],32:[function(e,t,i){var n=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.dimension=null,this.type=r.URDF_BOX,e=e.xml.getAttribute("size").split(" "),this.dimension=new n({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})}},{"../math/Vector3":27,"./UrdfTypes":41}],33:[function(e,t,i){t.exports=function(e){e=e.xml.getAttribute("rgba").split(" "),this.r=parseFloat(e[0]),this.g=parseFloat(e[1]),this.b=parseFloat(e[2]),this.a=parseFloat(e[3])}},{}],34:[function(e,t,i){var n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_CYLINDER,this.length=parseFloat(e.xml.getAttribute("length")),this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":41}],35:[function(e,t,i){var c=e("../math/Pose"),l=e("../math/Vector3"),u=e("../math/Quaternion");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.type=e.xml.getAttribute("type");var t,i,n,r,s,o,a=e.xml.getElementsByTagName("parent");0<a.length&&(this.parent=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("child")).length&&(this.child=a[0].getAttribute("link")),0<(a=e.xml.getElementsByTagName("limit")).length&&(this.minval=parseFloat(a[0].getAttribute("lower")),this.maxval=parseFloat(a[0].getAttribute("upper"))),0===(a=e.xml.getElementsByTagName("origin")).length?this.origin=new c:(e=a[0].getAttribute("xyz"),t=new l,e&&(e=e.split(" "),t=new l({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])})),e=a[0].getAttribute("rpy"),a=new u,e&&(e=e.split(" "),o=parseFloat(e[0])/2,i=parseFloat(e[1])/2,e=parseFloat(e[2])/2,n=Math.sin(o)*Math.cos(i)*Math.cos(e)-Math.cos(o)*Math.sin(i)*Math.sin(e),r=Math.cos(o)*Math.sin(i)*Math.cos(e)+Math.sin(o)*Math.cos(i)*Math.sin(e),s=Math.cos(o)*Math.cos(i)*Math.sin(e)-Math.sin(o)*Math.sin(i)*Math.cos(e),o=Math.cos(o)*Math.cos(i)*Math.cos(e)+Math.sin(o)*Math.sin(i)*Math.sin(e),(a=new u({x:n,y:r,z:s,w:o})).normalize()),this.origin=new c({position:t,orientation:a}))}},{"../math/Pose":24,"../math/Quaternion":25,"../math/Vector3":27}],36:[function(e,t,i){var n=e("./UrdfVisual");t.exports=function(e){this.name=e.xml.getAttribute("name"),this.visuals=[];for(var t=e.xml.getElementsByTagName("visual"),i=0;i<t.length;i++)this.visuals.push(new n({xml:t[i]}))}},{"./UrdfVisual":42}],37:[function(e,t,i){var n=e("./UrdfColor");function r(e){this.textureFilename=null,this.color=null,this.name=e.xml.getAttribute("name");var t=e.xml.getElementsByTagName("texture"),t=(0<t.length&&(this.textureFilename=t[0].getAttribute("filename")),e.xml.getElementsByTagName("color"));0<t.length&&(this.color=new n({xml:t[0]}))}r.prototype.isLink=function(){return null===this.color&&null===this.textureFilename};var s=e("object-assign");r.prototype.assign=function(e){return s(this,e)},t.exports=r},{"./UrdfColor":33,"object-assign":3}],38:[function(e,t,i){var n=e("../math/Vector3"),r=e("./UrdfTypes");t.exports=function(e){this.scale=null,this.type=r.URDF_MESH,this.filename=e.xml.getAttribute("filename"),(e=e.xml.getAttribute("scale"))&&(e=e.split(" "),this.scale=new n({x:parseFloat(e[0]),y:parseFloat(e[1]),z:parseFloat(e[2])}))}},{"../math/Vector3":27,"./UrdfTypes":41}],39:[function(e,t,i){var l=e("./UrdfMaterial"),u=e("./UrdfLink"),h=e("./UrdfJoint"),f=e("@xmldom/xmldom").DOMParser;t.exports=function(e){var t=(e=e||{}).xml,e=e.string,e=(this.materials={},this.links={},this.joints={},(t=e?(new f).parseFromString(e,"text/xml"):t).documentElement);this.name=e.getAttribute("name");for(var i=e.childNodes,n=0;n<i.length;n++){var r=i[n];if("material"===r.tagName){var s=new l({xml:r});void 0!==this.materials[s.name]?this.materials[s.name].isLink()?this.materials[s.name].assign(s):console.warn("Material "+s.name+"is not unique."):this.materials[s.name]=s}else if("link"===r.tagName){var o=new u({xml:r});if(void 0!==this.links[o.name])console.warn("Link "+o.name+" is not unique.");else{for(var a=0;a<o.visuals.length;a++){var c=o.visuals[a].material;null!==c&&c.name&&(void 0!==this.materials[c.name]?o.visuals[a].material=this.materials[c.name]:this.materials[c.name]=c)}this.links[o.name]=o}}else"joint"===r.tagName&&(s=new h({xml:r}),this.joints[s.name]=s)}}},{"./UrdfJoint":35,"./UrdfLink":36,"./UrdfMaterial":37,"@xmldom/xmldom":45}],40:[function(e,t,i){var n=e("./UrdfTypes");t.exports=function(e){this.type=n.URDF_SPHERE,this.radius=parseFloat(e.xml.getAttribute("radius"))}},{"./UrdfTypes":41}],41:[function(e,t,i){t.exports={URDF_SPHERE:0,URDF_BOX:1,URDF_CYLINDER:2,URDF_MESH:3}},{}],42:[function(e,t,i){var p=e("../math/Pose"),m=e("../math/Vector3"),v=e("../math/Quaternion"),d=e("./UrdfCylinder"),y=e("./UrdfBox"),g=e("./UrdfMaterial"),b=e("./UrdfMesh"),w=e("./UrdfSphere");t.exports=function(e){var t,i,n,r,s=e.xml;this.origin=null,this.geometry=null,this.material=null,this.name=e.xml.getAttribute("name");0===(e=s.getElementsByTagName("origin")).length?this.origin=new p:(h=e[0].getAttribute("xyz"),t=new m,h&&(h=h.split(" "),t=new m({x:parseFloat(h[0]),y:parseFloat(h[1]),z:parseFloat(h[2])})),h=e[0].getAttribute("rpy"),e=new v,h&&(h=h.split(" "),r=parseFloat(h[0])/2,o=parseFloat(h[1])/2,h=parseFloat(h[2])/2,f=Math.sin(r)*Math.cos(o)*Math.cos(h)-Math.cos(r)*Math.sin(o)*Math.sin(h),i=Math.cos(r)*Math.sin(o)*Math.cos(h)+Math.sin(r)*Math.cos(o)*Math.sin(h),n=Math.cos(r)*Math.cos(o)*Math.sin(h)-Math.sin(r)*Math.sin(o)*Math.cos(h),r=Math.cos(r)*Math.cos(o)*Math.cos(h)+Math.sin(r)*Math.sin(o)*Math.sin(h),(e=new v({x:f,y:i,z:n,w:r})).normalize()),this.origin=new p({position:t,orientation:e}));var o=s.getElementsByTagName("geometry");if(0<o.length){for(var a=o[0],c=null,l=0;l<a.childNodes.length;l++){var u=a.childNodes[l];if(1===u.nodeType){c=u;break}}var h=c.nodeName;"sphere"===h?this.geometry=new w({xml:c}):"box"===h?this.geometry=new y({xml:c}):"cylinder"===h?this.geometry=new d({xml:c}):"mesh"===h?this.geometry=new b({xml:c}):console.warn("Unknown geometry type "+h)}var f=s.getElementsByTagName("material");0<f.length&&(this.material=new g({xml:f[0]}))}},{"../math/Pose":24,"../math/Quaternion":25,"../math/Vector3":27,"./UrdfBox":32,"./UrdfCylinder":34,"./UrdfMaterial":37,"./UrdfMesh":38,"./UrdfSphere":40}],43:[function(e,t,i){t.exports=e("object-assign")({UrdfBox:e("./UrdfBox"),UrdfColor:e("./UrdfColor"),UrdfCylinder:e("./UrdfCylinder"),UrdfLink:e("./UrdfLink"),UrdfMaterial:e("./UrdfMaterial"),UrdfMesh:e("./UrdfMesh"),UrdfModel:e("./UrdfModel"),UrdfSphere:e("./UrdfSphere"),UrdfVisual:e("./UrdfVisual")},e("./UrdfTypes"))},{"./UrdfBox":32,"./UrdfColor":33,"./UrdfCylinder":34,"./UrdfLink":36,"./UrdfMaterial":37,"./UrdfMesh":38,"./UrdfModel":39,"./UrdfSphere":40,"./UrdfTypes":41,"./UrdfVisual":42,"object-assign":3}],44:[function(e,t,i){"use strict";var u=Math.pow(2,32),n=!1;function h(){n||(n=!0,console.warn("CBOR 64-bit integer array values may lose precision. No further warnings."))}var r={64:Uint8Array,69:Uint16Array,70:Uint32Array,72:Int8Array,77:Int16Array,78:Int32Array,85:Float32Array,86:Float64Array},s={71:function(e){h();for(var t=e.byteLength,i=e.byteOffset,n=t/8,e=e.buffer.slice(i,i+t),r=new Uint32Array(e),s=new Array(n),o=0;o<n;o++){var a=2*o,c=r[a],a=r[1+a];s[o]=c+u*a}return s},79:function(e){h();for(var t=e.byteLength,i=e.byteOffset,n=t/8,e=e.buffer.slice(i,i+t),r=new Uint32Array(e),s=new Int32Array(e),o=new Array(n),a=0;a<n;a++){var c=2*a,l=r[c],c=s[1+c];o[a]=l+u*c}return o}};void 0!==t&&t.exports&&(t.exports=function(e,t){var i,n;return t in r?(i=e.byteLength,n=e.byteOffset,new r[t](e.buffer.slice(n,n+i))):t in s?s[t](e):e})},{}],45:[function(e,t,i){i.DOMImplementation=window.DOMImplementation,i.XMLSerializer=window.XMLSerializer,i.DOMParser=window.DOMParser},{}],46:[function(e,t,i){t.exports="undefined"!=typeof window?window.WebSocket:WebSocket},{}],47:[function(e,t,i){t.exports=function(){return document.createElement("canvas")}},{}],48:[function(e,t,i){"use strict";var a=e("canvas"),n=a.Image||window.Image;t.exports=function(e,s){var o=new n;o.onload=function(){for(var e=new a,t=e.getContext("2d"),i=(e.width=o.width,e.height=o.height,t.imageSmoothingEnabled=!1,t.webkitImageSmoothingEnabled=!1,t.mozImageSmoothingEnabled=!1,t.drawImage(o,0,0),t.getImageData(0,0,o.width,o.height).data),n="",r=0;r<i.length;r+=4)n+=String.fromCharCode(i[r],i[r+1],i[r+2]);s(JSON.parse(n))},o.src="data:image/png;base64,"+e}},{canvas:47}],49:[function(t,e,i){try{var n=t("webworkify")}catch(e){n=t("webworkify-webpack")}var r=t("./workerSocketImpl");function s(e){this.socket_=n(r),this.socket_.addEventListener("message",this.handleWorkerMessage_.bind(this)),this.socket_.postMessage({uri:e})}s.prototype.handleWorkerMessage_=function(e){var t=e.data;if(t instanceof ArrayBuffer||"string"==typeof t)this.onmessage(e);else{e=t.type;if("close"===e)this.onclose(null);else if("open"===e)this.onopen(null);else{if("error"!==e)throw"Unknown message from workersocket";this.onerror(null)}}},s.prototype.send=function(e){this.socket_.postMessage(e)},s.prototype.close=function(){this.socket_.postMessage({close:!0})},e.exports=s},{"./workerSocketImpl":50,webworkify:7,"webworkify-webpack":6}],50:[function(e,t,i){var s=e("ws");t.exports=function(t){var i=null;function n(e){e=e.data;e instanceof ArrayBuffer?t.postMessage(e,[e]):t.postMessage(e)}function r(e){t.postMessage({type:e.type})}t.addEventListener("message",function(e){e=e.data;if("string"==typeof e)i.send(e);else if(e.hasOwnProperty("close"))i.close(),i=null;else{if(!e.hasOwnProperty("uri"))throw"Unknown message to WorkerSocket";e=e.uri;(i=new s(e)).binaryType="arraybuffer",i.onmessage=n,i.onclose=r,i.onopen=r,i.onerror=r}})}},{ws:46}]},{},[9]);
\ No newline at end of file
diff --git a/src/软件前端/js/ui.js b/src/软件前端/js/ui.js
new file mode 100644
index 0000000..d882cd7
--- /dev/null
+++ b/src/软件前端/js/ui.js
@@ -0,0 +1,335 @@
+/**
+ * UI 交互模块
+ * 负责: 按钮事件绑定、状态管理、航点列表渲染、日志输出
+ */
+
+const UIModule = (() => {
+    // 应用状态
+    let droneConnected = false;
+    let missionUploaded = false;
+    let missionRunning = false;
+    let missionPaused = false;
+    let connectionMode = 'sim';  // 'sim' 仿真 | 'real' 实机
+
+    // 连接预设 (rosbridge WebSocket 地址)
+    const PRESETS = {
+        sim:  { url: 'ws://localhost:9090',             label: '仿真 rosbridge',  desc: 'Prometheus SITL 仿真 (本地 rosbridge 端口 9090)' },
+        real: { url: 'ws://192.168.1.31:9090',          label: '实机 rosbridge',  desc: 'P600 实机 WiFi 数传 (rosbridge 192.168.1.31:9090)' }
+    };
+
+    function init() {
+        // 初始化地图
+        MapModule.init();
+
+        // 初始化 WebSocket
+        WsModule.init();
+
+        // 绑定按钮事件
+        document.getElementById('btn-connect').addEventListener('click', onConnect);
+        document.getElementById('btn-upload').addEventListener('click', onUpload);
+        document.getElementById('btn-start').addEventListener('click', onStart);
+        document.getElementById('btn-pause').addEventListener('click', onPause);
+        document.getElementById('btn-resume').addEventListener('click', onResume);
+        document.getElementById('btn-rth').addEventListener('click', onReturnHome);
+        document.getElementById('btn-land').addEventListener('click', onLand);
+        document.getElementById('btn-clear').addEventListener('click', onClear);
+        document.getElementById('btn-clear-log').addEventListener('click', onClearLog);
+
+        // 绑定连接模式切换
+        document.getElementById('btn-mode-sim').addEventListener('click', () => switchMode('sim'));
+        document.getElementById('btn-mode-real').addEventListener('click', () => switchMode('real'));
+
+        // 连接地址输入框变化时更新标签
+        document.getElementById('drone-url').addEventListener('input', onUrlInput);
+
+        updateButtons();
+        addLog('info', '系统就绪，当前模式: 仿真 (rosbridge)');
+        addLog('info', '提示: 浏览器通过 roslibjs 直接连接 rosbridge_server，无需 MAVSDK 后端');
+    }
+
+    // ---------- 连接模式切换 ----------
+
+    function switchMode(mode) {
+        if (droneConnected) {
+            addLog('warning', '请先断开当前连接再切换模式');
+            return;
+        }
+        connectionMode = mode;
+        const preset = PRESETS[mode];
+
+        // 更新按钮状态
+        document.getElementById('btn-mode-sim').classList.toggle('active', mode === 'sim');
+        document.getElementById('btn-mode-real').classList.toggle('active', mode === 'real');
+
+        // 自动填入预设地址
+        document.getElementById('drone-url').value = preset.url;
+        document.getElementById('conn-mode-tag').textContent = preset.label;
+
+        addLog('info', `已切换到${preset.label}模式: ${preset.desc}`);
+
+        if (mode === 'sim') {
+            addLog('info', '仿真模式说明: 先启动 Prometheus SITL (roslaunch prometheus_gazebo sitl.launch)，再启动 rosbridge (roslaunch rosbridge_server rosbridge_websocket.launch)');
+        } else {
+            addLog('info', '实机模式说明: 请确保电脑已连接 P600 的 WiFi 数传，rosbridge 需在机载电脑上运行');
+        }
+    }
+
+    function onUrlInput() {
+        const url = document.getElementById('drone-url').value.trim();
+        const tag = document.getElementById('conn-mode-tag');
+        if (url.startsWith('ws://')) {
+            tag.textContent = 'rosbridge';
+        } else if (url.startsWith('wss://')) {
+            tag.textContent = 'rosbridge (SSL)';
+        } else {
+            tag.textContent = '未知';
+        }
+    }
+
+    // ---------- 按钮事件处理 ----------
+
+    function onConnect() {
+        const url = document.getElementById('drone-url').value.trim();
+        if (!url) {
+            addLog('error', '请输入 rosbridge 连接地址');
+            return;
+        }
+        if (!url.startsWith('ws://') && !url.startsWith('wss://')) {
+            addLog('error', '地址格式错误，应以 ws:// 开头 (例如 ws://localhost:9090)');
+            return;
+        }
+        WsModule.connectDrone(url);
+    }
+
+    function onUpload() {
+        const waypoints = MapModule.getWaypoints();
+        if (waypoints.length === 0) {
+            addLog('error', '请先在地图上添加航点');
+            return;
+        }
+        WsModule.uploadMission(waypoints);
+    }
+
+    function onStart() {
+        WsModule.startMission();
+    }
+
+    function onPause() {
+        WsModule.pauseMission();
+    }
+
+    function onResume() {
+        WsModule.resumeMission();
+    }
+
+    function onReturnHome() {
+        WsModule.returnHome();
+    }
+
+    function onLand() {
+        WsModule.land();
+    }
+
+    function onClear() {
+        MapModule.clearWaypoints();
+        missionUploaded = false;
+        updateButtons();
+        addLog('info', '已清除所有航点');
+    }
+
+    function onClearLog() {
+        document.getElementById('log-content').innerHTML = '';
+    }
+
+    // ---------- 状态回调（由 WsModule 触发） ----------
+
+    function onTelemetry(data) {
+        if (data.type === 'telemetry') {
+            // 更新顶栏数据
+            document.getElementById('battery').textContent = data.battery.toFixed(0) + '%';
+            document.getElementById('speed').textContent = data.speed.toFixed(1) + ' m/s';
+            document.getElementById('altitude').textContent = data.alt.toFixed(1) + ' m';
+            document.getElementById('gps-status').textContent = data.gps_status;
+            document.getElementById('flight-mode').textContent = data.flight_mode;
+
+            // 更新右侧数据面板
+            document.getElementById('data-lat').textContent = data.lat.toFixed(6);
+            document.getElementById('data-lng').textContent = data.lng.toFixed(6);
+            document.getElementById('data-heading').textContent = data.heading.toFixed(0) + '°';
+            document.getElementById('data-wp').textContent = data.current_wp;
+
+            // 更新无人机位置 — 只要坐标有效就更新
+            if (droneConnected && (data.lat !== 0 || data.alt > 0.1)) {
+                MapModule.updateDronePosition(data.lat, data.lng, data.heading);
+            }
+        }
+
+        if (data.type === 'mission_progress') {
+            document.getElementById('data-wp').textContent =
+                data.current + ' / ' + data.total;
+        }
+    }
+
+    function onStatus(data) {
+        addLog(data.type, data.message);
+
+        // 根据状态消息更新应用状态
+        const msg = data.message;
+
+        if (msg.includes('连接成功') || msg.includes('已连接')) {
+            droneConnected = true;
+            document.getElementById('conn-status').className = 'tag tag-success';
+            document.getElementById('conn-status').textContent = '已连接';
+            document.getElementById('btn-connect').textContent = '已连接';
+            document.getElementById('btn-connect').disabled = true;
+            updateButtons();
+        }
+
+        if (msg.includes('上传成功')) {
+            missionUploaded = true;
+            updateButtons();
+        }
+
+        if (msg.includes('任务已开始')) {
+            missionRunning = true;
+            missionPaused = false;
+            updateButtons();
+        }
+
+        if (msg.includes('已暂停')) {
+            missionRunning = false;
+            missionPaused = true;
+            updateButtons();
+        }
+
+        if (msg.includes('已继续')) {
+            missionRunning = true;
+            missionPaused = false;
+            updateButtons();
+        }
+
+        if (msg.includes('返航') || msg.includes('降落') || msg.includes('失败')) {
+            if (msg.includes('返航') || msg.includes('降落')) {
+                missionRunning = false;
+                missionPaused = false;
+                updateButtons();
+            }
+        }
+
+        if (msg.includes('任务完成')) {
+            missionRunning = false;
+            missionPaused = false;
+            missionUploaded = false;
+            updateButtons();
+        }
+    }
+
+    function onDroneDisconnected() {
+        droneConnected = false;
+        missionUploaded = false;
+        missionRunning = false;
+        missionPaused = false;
+        document.getElementById('conn-status').className = 'tag tag-danger';
+        document.getElementById('conn-status').textContent = '未连接';
+        document.getElementById('btn-connect').textContent = '连接无人机';
+        document.getElementById('btn-connect').disabled = false;
+        updateButtons();
+        addLog('error', '无人机连接断开');
+    }
+
+    // ---------- 按钮状态管理 ----------
+
+    function updateButtons() {
+        const wpCount = MapModule.getWaypointCount();
+
+        setBtn('btn-upload', droneConnected && wpCount > 0 && !missionRunning && !missionPaused);
+        setBtn('btn-start', droneConnected && missionUploaded && !missionRunning && !missionPaused);
+        setBtn('btn-pause', droneConnected && missionRunning);
+        setBtn('btn-resume', droneConnected && missionPaused);
+        setBtn('btn-rth', droneConnected);
+        setBtn('btn-land', droneConnected);
+    }
+
+    function setBtn(id, enabled) {
+        document.getElementById(id).disabled = !enabled;
+    }
+
+    // ---------- 航点列表渲染 ----------
+
+    function updateWaypointList() {
+        const container = document.getElementById('waypoint-list');
+        const waypoints = MapModule.getWaypoints();
+
+        document.getElementById('wp-count').textContent = waypoints.length + ' 个航点';
+
+        if (waypoints.length === 0) {
+            container.innerHTML = '<div class="empty-hint">在地图上点击以添加航点</div>';
+            return;
+        }
+
+        container.innerHTML = waypoints.map((wp, i) => `
+            <div class="wp-item" data-index="${i}">
+                <span class="wp-index">${i + 1}</span>
+                <div class="wp-info">
+                    <div class="wp-coord">${wp.lat}, ${wp.lng}</div>
+                    <div class="wp-alt">${wp.alt}m | 悬停 ${wp.hold_time}s</div>
+                </div>
+                <button class="wp-delete" data-index="${i}" title="删除">&times;</button>
+            </div>
+        `).join('');
+
+        // 绑定点击定位事件
+        container.querySelectorAll('.wp-item').forEach(item => {
+            item.addEventListener('click', (e) => {
+                if (e.target.classList.contains('wp-delete')) return;
+                const idx = parseInt(item.dataset.index);
+                const wps = MapModule.getWaypoints();
+                if (wps[idx]) {
+                    MapModule.panTo(wps[idx].lat, wps[idx].lng);
+                }
+            });
+        });
+
+        // 绑定删除事件
+        container.querySelectorAll('.wp-delete').forEach(btn => {
+            btn.addEventListener('click', () => {
+                MapModule.removeWaypoint(parseInt(btn.dataset.index));
+            });
+        });
+    }
+
+    // ---------- 日志输出 ----------
+
+    function addLog(type, message) {
+        const container = document.getElementById('log-content');
+        const now = new Date();
+        const time = now.toTimeString().split(' ')[0];
+
+        const entry = document.createElement('div');
+        entry.className = 'log-entry ' + type;
+        entry.innerHTML = `<span class="time">[${time}]</span>${message}`;
+        container.appendChild(entry);
+
+        // 自动滚动到底部
+        container.scrollTop = container.scrollHeight;
+
+        // 限制日志条数
+        while (container.children.length > 200) {
+            container.removeChild(container.firstChild);
+        }
+    }
+
+    return {
+        init,
+        onTelemetry,
+        onStatus,
+        onDroneDisconnected,
+        updateWaypointList,
+        updateButtons
+    };
+})();
+
+// 页面加载完成后初始化
+document.addEventListener('DOMContentLoaded', () => {
+    UIModule.init();
+});
diff --git a/src/软件前端/js/websocket.js b/src/软件前端/js/websocket.js
new file mode 100644
index 0000000..1fc3151
--- /dev/null
+++ b/src/软件前端/js/websocket.js
@@ -0,0 +1,683 @@
+/**
+ * MAVROS 通信模块 - 基于 roslibjs
+ * 直接通过 MAVROS 话题和服务控制无人机
+ *
+ * 架构: 浏览器 ──roslibjs──► rosbridge_server ──ROS话题──► MAVROS ──MAVLink──► PX4
+ *
+ * 使用的话题:
+ *   订阅: /uav1/mavros/state              (mavros_msgs/State)
+ *   订阅: /uav1/mavros/local_position/pose (geometry_msgs/PoseStamped)
+ *   订阅: /uav1/mavros/global_position/raw/fix (sensor_msgs/NavSatFix)
+ *   订阅: /uav1/mavros/battery             (sensor_msgs/BatteryState)
+ *   发布: /uav1/mavros/setpoint_position/local  (geometry_msgs/PoseStamped)
+ *   服务: /uav1/mavros/cmd/arming          (mavros_msgs/CommandBool)
+ *   服务: /uav1/mavros/set_mode            (mavros_msgs/SetMode)
+ */
+
+const WsModule = (() => {
+    let ros = null;
+    let rosConnected = false;
+    let droneConnected = false;
+    let fcuReady = false;  // true when MAVROS reports valid mode (FCU connection established)
+
+    // ========== 配置: UAV 命名空间 ==========
+    // 仿真环境默认: '/uav1'   实机可能: '' 或 '/uav1'
+    // 如果话题不对，改这里
+    let uavNS = '/uav1';
+
+    function topicName(name) { return uavNS + name; }
+    function serviceName(name) { return uavNS + name; }
+
+    // ROS handles
+    let stateSub = null;
+    let localPosSub = null;
+    let gpsSub = null;
+    let batterySub = null;
+    let setpointPub = null;
+
+    // Telemetry state
+    let telemetry = {
+        lat: 0, lng: 0, alt: 0,
+        speed: 0, battery: 100, heading: 0,
+        flightMode: 'UNKNOWN', gpsStatus: 'No Fix',
+        armed: false,
+        localPos: { x: 0, y: 0, z: 0 }  // ENU: x=East, y=North, z=Up
+    };
+
+    // Origin for lat/lng <-> ENU conversion
+    let origin = { lat: null, lng: null };
+    let originSet = false;
+    let originFromGps = false;  // true if origin was set from real GPS
+
+    // Navigation state
+    let rawWaypoints = [];     // Original lat/lng waypoints
+    let navWaypoints = [];     // Converted ENU waypoints
+    let currentWPIndex = 0;
+    let navActive = false;
+    let navPaused = false;
+    let publishTimer = null;
+    let wpCheckTimer = null;
+    let telemetryTimer = null;  // Throttled UI update timer
+
+    const WP_REACH_DIST = 2.0;     // meters
+    const PUBLISH_INTERVAL = 100;   // ms (10 Hz, OFFBOARD needs >= 2Hz)
+
+    // ---- Coordinate conversion ----
+
+    function latLngToENU(lat, lng, alt) {
+        if (!originSet) return { x: 0, y: 0, z: alt };
+        const latRad = origin.lat * Math.PI / 180;
+        const x = (lng - origin.lng) * Math.cos(latRad) * 111319.488;  // East
+        const y = (lat - origin.lat) * 111319.488;                      // North
+        return { x, y, z: alt };                                         // Up
+    }
+
+    function enuToLatLng(x, y) {
+        if (!originSet) return { lat: 0, lng: 0 };
+        const latRad = origin.lat * Math.PI / 180;
+        const lat = origin.lat + y / 111319.488;
+        const lng = origin.lng + x / (111319.488 * Math.cos(latRad));
+        return { lat, lng };
+    }
+
+    // Quaternion to yaw (degrees, ENU: 0=East, CCW+)
+    function quatToYawDeg(qx, qy, qz, qw) {
+        const siny = 2 * (qw * qz + qx * qy);
+        const cosy = 1 - 2 * (qy * qy + qz * qz);
+        let yaw = Math.atan2(siny, cosy) * 180 / Math.PI;
+        // Convert to compass heading: 0=North, CW+
+        return (90 - yaw + 360) % 360;
+    }
+
+    // ---- Init & Connection ----
+
+    function init() {}
+
+    function isConnected() { return rosConnected; }
+
+    function connectDrone(url) {
+        try {
+            if (typeof ROSLIB === 'undefined') {
+                UIModule.onStatus({ type: 'error', message: 'roslibjs 库未加载' });
+                return;
+            }
+
+            if (ros) {
+                try { ros.close(); } catch (e) { /* ignore */ }
+            }
+
+            UIModule.onStatus({ type: 'info', message: `正在连接 rosbridge: ${url} ...` });
+
+            ros = new ROSLIB.Ros({ url: url });
+
+            ros.on('connection', () => {
+                rosConnected = true;
+                UIModule.onStatus({ type: 'info', message: 'rosbridge 已连接，正在检测 MAVROS 话题...' });
+                setupSubscriptions();
+            });
+
+            ros.on('error', (error) => {
+                UIModule.onStatus({ type: 'error', message: `rosbridge 连接错误: ${error || '未知'}` });
+            });
+
+            ros.on('close', () => {
+                const wasConnected = rosConnected;
+                rosConnected = false;
+                droneConnected = false;
+                stopAll();
+                if (wasConnected) {
+                    UIModule.onDroneDisconnected();
+                }
+            });
+        } catch (e) {
+            UIModule.onStatus({ type: 'error', message: `连接失败: ${e.message || e}` });
+        }
+    }
+
+    // ---- Topic subscriptions ----
+
+    function setupSubscriptions() {
+        // Try to detect which namespace has MAVROS
+        trySubscribesWithFallback();
+    }
+
+    // Set a default origin for coordinate conversion (no GPS needed)
+    function setDefaultOrigin() {
+        if (originSet) return;
+        // Use map default center as origin - simulation doesn't need real GPS
+        origin.lat = MapModule.DEFAULT_LAT || 30.0;
+        origin.lng = MapModule.DEFAULT_LNG || 120.0;
+        originSet = true;
+        originFromGps = false;
+        UIModule.onStatus({ type: 'info', message: `仿真模式: 使用默认坐标原点 (${origin.lat}, ${origin.lng})，无需GPS` });
+    }
+
+    function trySubscribesWithFallback() {
+        let gotState = false;
+        const tryNS = uavNS;
+
+        // Subscribe to MAVROS state
+        stateSub = new ROSLIB.Topic({
+            ros: ros,
+            name: topicName('/mavros/state'),
+            messageType: 'mavros_msgs/State'
+        });
+
+        const stateTimeout = setTimeout(() => {
+            if (!gotState) {
+                // Try without namespace
+                if (tryNS !== '') {
+                    uavNS = '';
+                    UIModule.onStatus({ type: 'warning', message: `未收到 ${tryNS}/mavros/state，尝试无命名空间...` });
+                    trySubscribesWithFallback();
+                } else {
+                    UIModule.onStatus({ type: 'error', message: '未检测到 MAVROS 话题，请确认仿真/实机已启动' });
+                }
+            }
+        }, 5000);
+
+        stateSub.subscribe((msg) => {
+            clearTimeout(stateTimeout);
+            gotState = true;
+
+            telemetry.armed = msg.armed || false;
+            telemetry.flightMode = msg.mode || 'UNKNOWN';
+
+            // Check if FCU is truly connected (has valid mode)
+            const modeValid = msg.connected && msg.mode && msg.mode.length > 0;
+
+            if (!droneConnected) {
+                droneConnected = true;
+                if (modeValid) {
+                    fcuReady = true;
+                    UIModule.onStatus({ type: 'success', message: `无人机已连接 (模式: ${msg.mode}, ${msg.armed ? '已解锁' : '未解锁'})` });
+                } else {
+                    UIModule.onStatus({ type: 'warning', message: `MAVROS 已连接，但飞控未就绪 (mode=空)。等待 PX4 初始化...` });
+                }
+                setDefaultOrigin();
+            }
+
+            // Detect when FCU becomes ready
+            if (!fcuReady && modeValid) {
+                fcuReady = true;
+                UIModule.onStatus({ type: 'success', message: `飞控已就绪! 当前模式: ${msg.mode}, 状态: ${msg.armed ? '已解锁' : '未解锁'}` });
+            }
+        });
+
+        // Local position (ENU: x=East, y=North, z=Up)
+        localPosSub = new ROSLIB.Topic({
+            ros: ros,
+            name: topicName('/mavros/local_position/pose'),
+            messageType: 'geometry_msgs/PoseStamped'
+        });
+
+        localPosSub.subscribe((msg) => {
+            if (msg.pose && msg.pose.position) {
+                telemetry.localPos = {
+                    x: msg.pose.position.x,  // East
+                    y: msg.pose.position.y,  // North
+                    z: msg.pose.position.z   // Up
+                };
+            }
+            if (msg.pose && msg.pose.orientation) {
+                const o = msg.pose.orientation;
+                telemetry.heading = quatToYawDeg(o.x, o.y, o.z, o.w);
+            }
+        });
+
+        // GPS (for lat/lng display and origin)
+        gpsSub = new ROSLIB.Topic({
+            ros: ros,
+            name: topicName('/mavros/global_position/raw/fix'),
+            messageType: 'sensor_msgs/NavSatFix'
+        });
+
+        gpsSub.subscribe((msg) => {
+            telemetry.lat = msg.latitude || 0;
+            telemetry.lng = msg.longitude || 0;
+
+            if (msg.status) {
+                telemetry.gpsStatus = msg.status.status >= 0 ? '3D Fix' : 'No Fix';
+            }
+
+            // Update origin from real GPS (overrides default origin)
+            if (msg.latitude !== 0 && Math.abs(msg.latitude) > 1) {
+                if (!originFromGps) {
+                    origin.lat = msg.latitude;
+                    origin.lng = msg.longitude;
+                    originSet = true;
+                    originFromGps = true;
+                    UIModule.onStatus({ type: 'info', message: `GPS 坐标已更新: ${origin.lat.toFixed(6)}, ${origin.lng.toFixed(6)}` });
+                    MapModule.centerOnDrone(msg.latitude, msg.longitude);
+                }
+            }
+        });
+
+        // Battery
+        batterySub = new ROSLIB.Topic({
+            ros: ros,
+            name: topicName('/mavros/battery'),
+            messageType: 'sensor_msgs/BatteryState'
+        });
+
+        batterySub.subscribe((msg) => {
+            telemetry.battery = (msg.percentage != null) ? msg.percentage * 100 : 100;
+        });
+
+        // Setpoint publisher — PoseStamped is the standard MAVROS position control interface
+        setpointPub = new ROSLIB.Topic({
+            ros: ros,
+            name: topicName('/mavros/setpoint_position/local'),
+            messageType: 'geometry_msgs/PoseStamped'
+        });
+
+        // Start throttled telemetry loop (5Hz, decoupled from subscription rate)
+        startTelemetryLoop();
+    }
+
+    function pushTelemetry() {
+        let displayLat = telemetry.lat;
+        let displayLng = telemetry.lng;
+        if ((!displayLat || displayLat === 0) && originSet) {
+            const ll = enuToLatLng(telemetry.localPos.x, telemetry.localPos.y);
+            displayLat = ll.lat;
+            displayLng = ll.lng;
+        }
+
+        UIModule.onTelemetry({
+            type: 'telemetry',
+            lat: displayLat,
+            lng: displayLng,
+            alt: telemetry.localPos.z,
+            speed: telemetry.speed,
+            battery: telemetry.battery,
+            heading: telemetry.heading,
+            flight_mode: telemetry.flightMode,
+            gps_status: telemetry.gpsStatus,
+            current_wp: (currentWPIndex + 1) + '/' + navWaypoints.length
+        });
+    }
+
+    function startTelemetryLoop() {
+        if (telemetryTimer) clearInterval(telemetryTimer);
+        pushTelemetry();
+        telemetryTimer = setInterval(pushTelemetry, 200); // 5Hz UI update
+    }
+
+    function stopTelemetryLoop() {
+        if (telemetryTimer) { clearInterval(telemetryTimer); telemetryTimer = null; }
+    }
+
+    // ---- Setpoint publishing ----
+
+    let spSeq = 0;
+
+    function publishSetpoint(east, north, up) {
+        if (!setpointPub || !rosConnected) return;
+
+        const msg = new ROSLIB.Message({
+            header: {
+                seq: spSeq++,
+                stamp: { secs: Math.floor(Date.now() / 1000), nsecs: 0 },
+                frame_id: 'map'
+            },
+            pose: {
+                position: { x: east, y: north, z: up },
+                orientation: { x: 0, y: 0, z: 0, w: 1 }
+            }
+        });
+
+        setpointPub.publish(msg);
+    }
+
+    function startPublishLoop(east, north, up) {
+        stopPublishing();
+        publishSetpoint(east, north, up);
+        publishTimer = setInterval(() => {
+            publishSetpoint(east, north, up);
+        }, PUBLISH_INTERVAL);
+    }
+
+    function stopPublishing() {
+        if (publishTimer) { clearInterval(publishTimer); publishTimer = null; }
+        if (wpCheckTimer) { clearInterval(wpCheckTimer); wpCheckTimer = null; }
+    }
+
+    function stopAll() {
+        stopPublishing();
+        stopTelemetryLoop();
+    }
+
+    // ---- ROS Service calls ----
+
+    // Simple one-shot versions for arm/disarm/land buttons
+
+    // ---- Mission operations ----
+
+    function uploadMission(waypoints) {
+        if (waypoints.length === 0) {
+            UIModule.onStatus({ type: 'error', message: '航点列表为空' });
+            return;
+        }
+
+        // Store raw waypoints
+        rawWaypoints = waypoints;
+        currentWPIndex = 0;
+
+        // Convert to ENU (origin should always be set by now)
+        if (originSet) {
+            convertWaypoints();
+            UIModule.onStatus({ type: 'success', message: `任务上传成功，共 ${navWaypoints.length} 个航点` });
+        } else {
+            // Fallback (shouldn't happen, but just in case)
+            UIModule.onStatus({ type: 'success', message: `已暂存 ${waypoints.length} 个航点` });
+        }
+    }
+
+    function convertWaypoints() {
+        if (!originSet || !rawWaypoints || rawWaypoints.length === 0) return false;
+        navWaypoints = rawWaypoints.map(wp => {
+            const enu = latLngToENU(wp.lat, wp.lng, wp.alt);
+            return { ...enu, hold_time: wp.hold_time || 0 };
+        });
+        return true;
+    }
+
+    function startMission() {
+        if (!rosConnected || !droneConnected) {
+            UIModule.onStatus({ type: 'error', message: '未连接无人机' });
+            return;
+        }
+        if (!fcuReady) {
+            UIModule.onStatus({ type: 'error', message: '飞控未就绪 (MAVROS 模式为空)。请等待 PX4 完全启动后重试。也可尝试在终端执行: rosservice call ' + serviceName('/mavros/set_mode') + ' "{base_mode: 0, custom_mode: \'OFFBOARD\'}"  验证模式切换是否正常' });
+            return;
+        }
+        if (rawWaypoints.length === 0) {
+            UIModule.onStatus({ type: 'error', message: '请先上传任务' });
+            return;
+        }
+
+        // Convert waypoints
+        if (navWaypoints.length === 0 && rawWaypoints.length > 0) {
+            if (!originSet) setDefaultOrigin();
+            convertWaypoints();
+        }
+        if (navWaypoints.length === 0) {
+            UIModule.onStatus({ type: 'error', message: '航点转换失败，请重新上传任务' });
+            return;
+        }
+
+        // Step 1: Start sending takeoff setpoints at target altitude
+        // PX4 requires setpoints BEFORE switching OFFBOARD, and altitude must be positive
+        const firstWP = navWaypoints[0];
+        const startX = telemetry.localPos.x || 0;
+        const startY = telemetry.localPos.y || 0;
+        const takeoffAlt = firstWP.z;
+        startPublishLoop(startX, startY, takeoffAlt);
+        UIModule.onStatus({ type: 'info', message: '正在发送位置设定值 (10Hz)...' });
+
+        // Step 2: Wait for setpoints to flow, then switch OFFBOARD
+        setTimeout(() => {
+            callSetModeWithRetry('OFFBOARD', 3, (ok) => {
+                if (!ok) {
+                    stopPublishing();
+                    UIModule.onStatus({ type: 'error', message: 'OFFBOARD 模式切换失败，任务中止。请在终端验证: rosservice call ' + serviceName('/mavros/set_mode') + ' "{base_mode: 0, custom_mode: \'OFFBOARD\'}"' });
+                    return;
+                }
+
+                // Step 3: Arm
+                setTimeout(() => {
+                    callArmingWithRetry(true, 3, (ok) => {
+                        if (!ok) {
+                            stopPublishing();
+                            UIModule.onStatus({ type: 'error', message: '电机解锁失败，任务中止。请检查: 1) 传感器是否校准 2) GPS是否定位 3) 安全检查是否通过' });
+                            return;
+                        }
+
+                        // Step 4: Wait for takeoff, then navigate
+                        setTimeout(() => {
+                            UIModule.onStatus({ type: 'info', message: '正在起飞...' });
+
+                            // Check if drone reached takeoff altitude
+                            let takeoffDone = false;
+                            const takeoffCheck = setInterval(() => {
+                                const curZ = telemetry.localPos.z || 0;
+                                if (curZ > takeoffAlt - 1.0 && curZ > 0.5) {
+                                    clearInterval(takeoffCheck);
+                                    takeoffDone = true;
+                                    navActive = true;
+                                    navPaused = false;
+                                    UIModule.onStatus({ type: 'success', message: '起飞完成，开始巡航' });
+                                    navigateToWaypoint(0);
+                                }
+                            }, 500);
+
+                            // Fallback: start navigation after 15s regardless
+                            setTimeout(() => {
+                                clearInterval(takeoffCheck);
+                                if (!takeoffDone) {
+                                    navActive = true;
+                                    navPaused = false;
+                                    UIModule.onStatus({ type: 'info', message: '任务已开始执行' });
+                                    navigateToWaypoint(0);
+                                }
+                            }, 15000);
+                        }, 1000);
+                    });
+                }, 500);
+            });
+        }, 3000);
+    }
+
+    // Retry wrappers for service calls
+    function callSetModeWithRetry(mode, retries, callback) {
+        UIModule.onStatus({ type: 'info', message: `正在切换 ${mode} 模式...` });
+        const service = new ROSLIB.Service({
+            ros: ros,
+            name: serviceName('/mavros/set_mode'),
+            serviceType: 'mavros_msgs/SetMode'
+        });
+        service.callService(
+            new ROSLIB.ServiceRequest({ base_mode: 0, custom_mode: mode }),
+            (result) => {
+                if (result && result.mode_sent) {
+                    UIModule.onStatus({ type: 'success', message: `模式已切换: ${mode}` });
+                    callback(true);
+                } else if (retries > 0) {
+                    UIModule.onStatus({ type: 'warning', message: `模式切换未成功，剩余重试 ${retries} 次...` });
+                    setTimeout(() => callSetModeWithRetry(mode, retries - 1, callback), 2000);
+                } else {
+                    UIModule.onStatus({ type: 'error', message: `模式切换失败: ${JSON.stringify(result)}` });
+                    callback(false);
+                }
+            },
+            (error) => {
+                if (retries > 0) {
+                    UIModule.onStatus({ type: 'warning', message: `模式切换服务错误，重试中...` });
+                    setTimeout(() => callSetModeWithRetry(mode, retries - 1, callback), 2000);
+                } else {
+                    UIModule.onStatus({ type: 'error', message: `模式切换服务失败: ${error || '不可用'}` });
+                    callback(false);
+                }
+            }
+        );
+    }
+
+    function callArmingWithRetry(arm, retries, callback) {
+        UIModule.onStatus({ type: 'info', message: arm ? '正在解锁电机...' : '正在上锁电机...' });
+        const service = new ROSLIB.Service({
+            ros: ros,
+            name: serviceName('/mavros/cmd/arming'),
+            serviceType: 'mavros_msgs/CommandBool'
+        });
+        service.callService(
+            new ROSLIB.ServiceRequest({ value: arm }),
+            (result) => {
+                if (result && result.success) {
+                    UIModule.onStatus({ type: 'success', message: arm ? '电机已解锁' : '电机已上锁' });
+                    callback(true);
+                } else if (retries > 0) {
+                    UIModule.onStatus({ type: 'warning', message: `${arm ? '解锁' : '上锁'}未成功 (result=${result.result})，剩余重试 ${retries} 次...` });
+                    setTimeout(() => callArmingWithRetry(arm, retries - 1, callback), 2000);
+                } else {
+                    UIModule.onStatus({ type: 'error', message: `${arm ? '解锁' : '上锁'}失败: result=${result ? result.result : 'N/A'}` });
+                    callback(false);
+                }
+            },
+            (error) => {
+                if (retries > 0) {
+                    UIModule.onStatus({ type: 'warning', message: `${arm ? '解锁' : '上锁'}服务错误，重试中...` });
+                    setTimeout(() => callArmingWithRetry(arm, retries - 1, callback), 2000);
+                } else {
+                    UIModule.onStatus({ type: 'error', message: `${arm ? '解锁' : '上锁'}服务失败` });
+                    callback(false);
+                }
+            }
+        );
+    }
+
+    // Simple one-shot mode switch (no retry, used by returnHome/land)
+    function callSetMode(mode) {
+        callSetModeWithRetry(mode, 1, () => {});
+    }
+
+    function navigateToWaypoint(index) {
+        if (!navActive || navPaused) return;
+
+        if (index >= navWaypoints.length) {
+            UIModule.onStatus({ type: 'success', message: '所有航点已到达，任务完成' });
+            const p = telemetry.localPos;
+            startPublishLoop(p.x, p.y, p.z);
+            navActive = false;
+            return;
+        }
+
+        currentWPIndex = index;
+        const wp = navWaypoints[index];
+
+        UIModule.onStatus({ type: 'info', message: `飞往航点 ${index + 1}/${navWaypoints.length} (${wp.x.toFixed(1)}, ${wp.y.toFixed(1)}, ${wp.z.toFixed(1)}m)` });
+        startPublishLoop(wp.x, wp.y, wp.z);
+        checkWaypointReached(index);
+    }
+
+    function checkWaypointReached(index) {
+        if (wpCheckTimer) clearInterval(wpCheckTimer);
+
+        const wpTimeout = setTimeout(() => {
+            // Fallback: if waypoint not reached in 30s, advance anyway
+            if (navActive && !navPaused) {
+                UIModule.onStatus({ type: 'warning', message: `航点 ${index + 1} 到达超时，跳至下一航点` });
+                navigateToWaypoint(index + 1);
+            }
+        }, 30000);
+
+        wpCheckTimer = setInterval(() => {
+            if (!navActive || navPaused) {
+                clearInterval(wpCheckTimer);
+                clearTimeout(wpTimeout);
+                return;
+            }
+
+            const wp = navWaypoints[index];
+            if (!wp) { clearTimeout(wpTimeout); return; }
+
+            const p = telemetry.localPos;
+            const dx = p.x - wp.x;
+            const dy = p.y - wp.y;
+            const dz = p.z - wp.z;
+            const dist = Math.sqrt(dx * dx + dy * dy + dz * dz);
+
+            if (dist < WP_REACH_DIST) {
+                clearInterval(wpCheckTimer);
+                clearTimeout(wpTimeout);
+                wpCheckTimer = null;
+
+                UIModule.onTelemetry({
+                    type: 'mission_progress',
+                    current: index + 1,
+                    total: navWaypoints.length
+                });
+
+                const holdTime = wp.hold_time || 0;
+                if (holdTime > 0) {
+                    UIModule.onStatus({ type: 'info', message: `航点 ${index + 1} 已到达，悬停 ${holdTime} 秒` });
+                    setTimeout(() => {
+                        if (navActive && !navPaused) navigateToWaypoint(index + 1);
+                    }, holdTime * 1000);
+                } else {
+                    navigateToWaypoint(index + 1);
+                }
+            }
+        }, 500);
+    }
+
+    function pauseMission() {
+        if (!navActive || navPaused) return;
+        navPaused = true;
+        if (wpCheckTimer) { clearInterval(wpCheckTimer); wpCheckTimer = null; }
+        const p = telemetry.localPos;
+        startPublishLoop(p.x, p.y, p.z);
+        UIModule.onStatus({ type: 'info', message: '任务已暂停（悬停中）' });
+    }
+
+    function resumeMission() {
+        if (!navActive || !navPaused) return;
+        navPaused = false;
+        navigateToWaypoint(currentWPIndex);
+        UIModule.onStatus({ type: 'info', message: '任务已继续' });
+    }
+
+    function returnHome() {
+        stopPublishing();
+        navActive = false;
+        navPaused = false;
+
+        UIModule.onStatus({ type: 'warning', message: '正在返航...' });
+
+        // Fly to origin at current altitude
+        startPublishLoop(0, 0, telemetry.localPos.z);
+
+        const homeCheck = setInterval(() => {
+            const p = telemetry.localPos;
+            const dist = Math.sqrt(p.x * p.x + p.y * p.y);
+            if (dist < WP_REACH_DIST) {
+                clearInterval(homeCheck);
+                // Switch to AUTO.LAND for safe landing
+                callSetMode('AUTO.LAND');
+                setTimeout(() => stopPublishing(), 3000);
+                UIModule.onStatus({ type: 'info', message: '已到达起飞点上方，正在降落...' });
+            }
+        }, 500);
+    }
+
+    function land() {
+        stopPublishing();
+        navActive = false;
+        navPaused = false;
+        // Use PX4 AUTO.LAND mode (safest)
+        callSetMode('AUTO.LAND');
+        UIModule.onStatus({ type: 'warning', message: '正在降落 (AUTO.LAND)...' });
+    }
+
+    function arm() {
+        callArmingWithRetry(true, 2, () => {});
+    }
+
+    function disarm() {
+        callArmingWithRetry(false, 2, () => {});
+    }
+
+    return {
+        init,
+        isConnected,
+        connectDrone,
+        uploadMission,
+        startMission,
+        pauseMission,
+        resumeMission,
+        returnHome,
+        land,
+        arm,
+        disarm
+    };
+})();
diff --git a/src/软件前端/server/__pycache__/drone_manager.cpython-313.pyc b/src/软件前端/server/__pycache__/drone_manager.cpython-313.pyc
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diff --git a/src/软件前端/server/app.py b/src/软件前端/server/app.py
new file mode 100644
index 0000000..17d8d13
--- /dev/null
+++ b/src/软件前端/server/app.py
@@ -0,0 +1,39 @@
+"""
+Flask 静态文件服务器 - 托管前端页面
+浏览器通过 roslibjs 直接连接 rosbridge_server，无需 Python 后端处理无人机逻辑
+"""
+
+import os
+from flask import Flask, send_from_directory
+
+# 项目根目录（server 的上级目录）
+BASE_DIR = os.path.dirname(os.path.dirname(os.path.abspath(__file__)))
+
+app = Flask(__name__, static_folder=BASE_DIR)
+
+
+@app.route("/")
+def index():
+    return send_from_directory(BASE_DIR, "index.html")
+
+
+@app.route("/css/<path:filename>")
+def css_files(filename):
+    return send_from_directory(os.path.join(BASE_DIR, "css"), filename)
+
+
+@app.route("/js/<path:filename>")
+def js_files(filename):
+    return send_from_directory(os.path.join(BASE_DIR, "js"), filename)
+
+
+if __name__ == "__main__":
+    print("=" * 50)
+    print("  P600 无人机定点巡航控制系统")
+    print("  打开浏览器访问: http://localhost:5000")
+    print()
+    print("  架构: 浏览器 ──roslibjs──► rosbridge_server ──ROS──► PX4")
+    print("  rosbridge 地址默认: ws://localhost:9090 (仿真)")
+    print("                       ws://192.168.1.31:9090 (实机)")
+    print("=" * 50)
+    app.run(host="0.0.0.0", port=5000, debug=False)
diff --git a/src/软件前端/server/drone_manager.py b/src/软件前端/server/drone_manager.py
new file mode 100644
index 0000000..46db332
--- /dev/null
+++ b/src/软件前端/server/drone_manager.py
@@ -0,0 +1,7 @@
+# 此文件已弃用 - 新架构通过 roslibjs + rosbridge_server 直接在浏览器端控制无人机
+# 无需 Python 后端处理无人机逻辑
+#
+# 新架构:
+#   浏览器 (roslibjs) ──WebSocket──► rosbridge_server ──ROS话题──► Prometheus/MAVROS ──► PX4
+#
+# 如需参考旧版 MAVSDK 实现，请查看 git 历史
diff --git a/src/软件前端/server/requirements.txt b/src/软件前端/server/requirements.txt
new file mode 100644
index 0000000..5bd19d3
--- /dev/null
+++ b/src/软件前端/server/requirements.txt
@@ -0,0 +1 @@
+flask==3.0.0
diff --git a/src/软件前端/使用说明.md b/src/软件前端/使用说明.md
new file mode 100644
index 0000000..799d213
--- /dev/null
+++ b/src/软件前端/使用说明.md
@@ -0,0 +1,310 @@
+# P600 无人机定点巡航控制系统 - 使用说明
+
+## 系统简介
+
+本系统是一个基于 Web 的 P600 无人机定点巡航控制前端，支持在地图上选择航点并让无人机按指定路径飞行。前端通过 **roslibjs** 直接连接机载 **rosbridge_server**，利用 ROS 话题和服务控制无人机，兼容**仿真模式**（Prometheus SITL）和**实机模式**（P600 WiFi 数传）。
+
+## 系统架构
+
+```
+Windows 浏览器 ──WebSocket──► rosbridge_server ──ROS话题/服务──► PX4 飞控
+  (地图+控制面板)               (机载/仿真 ROS)        (Prometheus/MAVROS)
+```
+
+- 前端通过 Leaflet 地图进行航点规划，通过 **roslibjs** 与 rosbridge_server 实时通信
+- rosbridge_server 将 WebSocket 消息转换为 ROS 话题发布/订阅和服务调用
+- 控制指令通过 `/prometheus/control_command` 话题发送到 Prometheus 控制节点
+- 无人机状态通过 `/prometheus/drone_state` 话题接收
+- 解锁/模式切换通过 MAVROS 服务（`/mavros/cmd/arming`、`/mavros/set_mode`）实现
+- QGC 可同时连接同一无人机做监控，互不干扰
+
+## 项目文件结构
+
+```
+软件前端/
+├── index.html              # 主页面
+├── css/
+│   └── style.css           # 样式文件
+├── js/
+│   ├── map.js              # 地图模块（Leaflet 航点管理）
+│   ├── websocket.js        # 通信模块（roslibjs + rosbridge）
+│   └── ui.js               # 交互逻辑（按钮状态、日志）
+└── server/
+    ├── app.py              # Flask 静态文件服务器（仅托管页面）
+    └── requirements.txt    # Python 依赖（仅 flask）
+```
+
+---
+
+## 一、环境准备
+
+### 1.1 安装 Python 依赖（仅用于启动静态文件服务器）
+
+```bash
+cd server
+pip install -r requirements.txt
+```
+
+依赖内容：
+
+| 包名 | 版本 | 作用 |
+|------|------|------|
+| flask | 3.0.0 | Web 框架，托管前端页面 |
+
+### 1.2 确认 Python 版本
+
+需要 **Python 3.8+**：
+
+```bash
+python --version
+```
+
+### 1.3 ROS 端依赖（在无人机机载电脑或仿真环境中）
+
+需要在 ROS 环境中安装并运行以下组件：
+
+| 组件 | 作用 |
+|------|------|
+| rosbridge_suite | WebSocket-ROS 桥接，允许浏览器通过 WebSocket 与 ROS 通信 |
+| prometheus_msgs | Prometheus 自定义消息类型（ControlCommand、DroneState） |
+| MAVROS | ROS-MAVLink 桥接，提供服务调用（解锁、模式切换等） |
+
+安装 rosbridge_suite：
+
+```bash
+sudo apt install ros-<ros版本>-rosbridge-suite
+# 例如 Ubuntu 20.04 + ROS Noetic:
+sudo apt install ros-noetic-rosbridge-suite
+```
+
+---
+
+## 二、仿真模式使用
+
+> 适用场景：在电脑上调试，不需要真机，使用 Prometheus SITL 仿真
+
+### 2.1 启动仿真环境（在 Ubuntu 虚拟机中）
+
+```bash
+# 1. 启动 Prometheus SITL 仿真
+cd ~/Prometheus/...
+roslaunch prometheus_gazebo sitl.launch
+
+# 2. 在新终端中启动 rosbridge_server
+roslaunch rosbridge_server rosbridge_websocket.launch
+```
+
+等待 Gazebo 窗口出现、PX4 终端显示 `pxh>` 即表示仿真就绪。rosbridge 默认监听端口 **9090**。
+
+> **提示**：如果后端运行在 Windows 上，仿真在虚拟机中，需要确保虚拟机网络为**桥接模式**，并能从 Windows 访问虚拟机 IP。
+
+### 2.2 启动前端页面服务器
+
+```bash
+cd server
+python app.py
+```
+
+浏览器访问：`http://localhost:5000`
+
+### 2.3 前端操作
+
+1. 页面顶栏点击 **「仿真模式」**，地址栏自动填入 `ws://localhost:9090`
+   - 如果仿真在虚拟机中，地址改为 `ws://<虚拟机IP>:9090`
+2. 点击 **「连接无人机」**，等待连接成功提示
+3. 在左侧地图上**点击添加航点**（可拖拽调整位置）
+4. 在右侧面板设置每个航点的**高度**和**悬停时间**
+5. 点击 **「上传任务」** → **「开始任务」**
+6. 系统将自动：切换 OFFBOARD 模式 → 解锁电机 → 起飞 → 按航点顺序飞行
+7. 可随时 **「暂停」** / **「继续」** / **「返航」** / **「降落」**
+
+---
+
+## 三、实机模式使用
+
+> 适用场景：连接真实的 P600 无人机进行飞行
+
+### 3.1 前置准备
+
+1. P600 无人机**已上电**
+2. 电脑连接 P600 的 **WiFi 数传**（WiFi 名称和密码见无人机底部标签）
+3. 确认能 ping 通机载电脑 IP（默认 `192.168.1.31`）
+4. 确认机载电脑上 **rosbridge_server 已启动**：
+   ```bash
+   # SSH 登录机载电脑后执行
+   roslaunch rosbridge_server rosbridge_websocket.launch
+   ```
+   如果 rosbridge 已集成在 Prometheus 启动脚本中则无需手动启动。
+
+### 3.2 启动前端页面服务器
+
+```bash
+cd server
+python app.py
+```
+
+浏览器访问：`http://localhost:5000`
+
+### 3.3 前端操作
+
+1. 页面顶栏点击 **「实机模式」**，地址栏自动填入 `ws://192.168.1.31:9090`
+2. 点击 **「连接无人机」**，等待连接成功
+3. 在地图上规划航点 → 上传任务 → 开始任务（操作流程与仿真相同）
+
+> **注意**：实机飞行时，QGC 可同时连接（MAVLink 协议支持多客户端），用于辅助监控无人机状态。
+
+---
+
+## 四、界面说明
+
+### 4.1 顶部状态栏
+
+| 区域 | 内容 |
+|------|------|
+| 左侧 | 系统名称、连接状态标签、飞行模式、电量、GPS 状态、速度、高度 |
+| 右侧 | 仿真/实机模式切换、rosbridge 地址输入框、连接按钮 |
+
+### 4.2 左侧地图区域
+
+- **左键点击**：添加航点（蓝色编号标记）
+- **蓝色虚线**：航点之间的飞行路径
+- **蓝色三角图标**：无人机实时位置（随航向旋转）
+- **红色实线**：无人机已飞过的航迹
+- **拖拽标记**：移动航点位置
+
+### 4.3 右侧控制面板
+
+| 模块 | 功能 |
+|------|------|
+| 航点列表 | 显示所有航点的经纬度、高度；点击可定位；可单独删除 |
+| 默认参数 | 设置新建航点的默认高度（米）和悬停时间（秒） |
+| 任务操作 | 上传任务、开始任务、暂停/继续、返航、降落、清除航点 |
+| 实时数据 | 纬度、经度、航向、当前航点进度 |
+
+### 4.4 底部日志栏
+
+- 实时显示操作记录和状态消息
+- 颜色区分：绿色=成功，红色=错误，黄色=警告，灰色=信息
+
+---
+
+## 五、工作原理
+
+### 5.1 通信流程
+
+```
+浏览器 (roslibjs) ──WebSocket──► rosbridge_server (端口 9090)
+                                     │
+                    ┌────────────────┼────────────────┐
+                    ▼                ▼                ▼
+            /prometheus/      /prometheus/       /mavros/
+            control_command   drone_state        cmd/arming
+            (发布控制指令)     (订阅无人机状态)   (服务调用)
+```
+
+### 5.2 航点导航机制
+
+本系统采用**前端控制的逐航点导航**模式：
+
+1. 用户在地图上添加航点（经纬度 + 高度）
+2. 点击「上传任务」时，前端将经纬度转换为 ENU 坐标（以东经北天为坐标轴）
+3. 点击「开始任务」后，系统按以下顺序执行：
+   - 先发布控制指令（OFFBOARD 模式需要先有指令流）
+   - 切换 OFFBOARD 模式（MAVROS 服务调用）
+   - 解锁电机（MAVROS 服务调用）
+   - 发送起飞指令（Prometheus TAKEOFF 命令）
+   - 逐个航点发送 MOVE 指令，以 10Hz 频率持续发布
+   - 检测到达航点（距离 < 2 米），自动切换到下一个航点
+4. 所有航点完成后自动悬停
+
+### 5.3 坐标转换
+
+- 地图使用 WGS84 经纬度坐标
+- ROS/Prometheus 使用 ENU（东-北-天）局部坐标系
+- 系统在首次获取 GPS 定位时自动设置坐标原点
+- 所有航点在「上传任务」时从经纬度转换为相对于原点的 ENU 坐标
+
+---
+
+## 六、按钮状态说明
+
+| 状态 | 上传任务 | 开始任务 | 暂停 | 继续 | 返航 | 降落 |
+|------|----------|----------|------|------|------|------|
+| 未连接 | 禁用 | 禁用 | 禁用 | 禁用 | 禁用 | 禁用 |
+| 已连接（有航点） | 启用 | 禁用 | 禁用 | 禁用 | 启用 | 启用 |
+| 任务已上传 | 禁用 | 启用 | 禁用 | 禁用 | 启用 | 启用 |
+| 任务执行中 | 禁用 | 禁用 | 启用 | 禁用 | 启用 | 启用 |
+| 任务已暂停 | 禁用 | 禁用 | 禁用 | 启用 | 启用 | 启用 |
+
+---
+
+## 七、完整操作流程
+
+```
+  ┌──────────┐     ┌──────────┐     ┌──────────┐     ┌──────────┐
+  │ 启动 ROS  │────►│  连接前端  │────►│ 地图添加航点│────►│  上传任务  │
+  │ SITL/实机 │     │ 选择模式   │     │ 点击地图   │     │ 转换坐标   │
+  └──────────┘     └──────────┘     └──────────┘     └────┬─────┘
+                                                           │
+  ┌──────────┐     ┌──────────┐     ┌──────────┐          │
+  │  任务完成  │◄────│  飞行监控  │◄────│  开始任务  │◄─────────┘
+  │ 或返航降落 │     │ 实时遥测   │     │ 解锁→起飞  │
+  └──────────┘     └──────────┘     └──────────┘
+```
+
+---
+
+## 八、连接参数参考
+
+| 参数 | 仿真模式 | 实机模式 |
+|------|----------|----------|
+| 协议 | WebSocket | WebSocket |
+| rosbridge 地址 | `ws://localhost:9090` | `ws://192.168.1.31:9090` |
+| 连接对象 | 本地/虚拟机 rosbridge | P600 机载电脑 rosbridge |
+| 网络要求 | 本地或虚拟机网络 | P600 WiFi 数传 |
+| ROS 话题（控制） | `/prometheus/control_command` | `/prometheus/control_command` |
+| ROS 话题（状态） | `/prometheus/drone_state` | `/prometheus/drone_state` |
+| ROS 话题（GPS） | `/mavros/global_position/raw/fix` | `/mavros/global_position/raw/fix` |
+| ROS 服务（解锁） | `/mavros/cmd/arming` | `/mavros/cmd/arming` |
+| ROS 服务（模式） | `/mavros/set_mode` | `/mavros/set_mode` |
+
+---
+
+## 九、常见问题
+
+### 连接超时怎么办？
+
+**仿真模式：**
+- 确认 Prometheus SITL 已启动（`roslaunch prometheus_gazebo sitl.launch`）
+- 确认 rosbridge_server 已启动（`roslaunch rosbridge_server rosbridge_websocket.launch`）
+- 如果仿真在虚拟机中，确认 Windows 能 ping 通虚拟机 IP
+- 确认虚拟机网络为桥接模式
+
+**实机模式：**
+- 确认电脑已连接 P600 的 WiFi 数传
+- 在终端执行 `ping 192.168.1.31` 确认网络通畅
+- 确认无人机已上电
+- 确认机载电脑上 rosbridge_server 正在运行
+- 关闭 VPN/防火墙等可能干扰网络的软件
+
+### 航点任务执行失败？
+
+- 确认无人机 GPS 已定位（状态栏显示 "3D Fix"）
+- 航点高度建议设置在 10 米以上
+- 确认无人机已通过安全检查（传感器校准、解锁检查等）
+- 检查日志中的 ROS 话题和服务调用是否成功
+
+### Prometheus 话题收不到数据？
+
+- 确认 Prometheus 控制节点正在运行
+- 在 ROS 端检查话题是否存在：`rostopic list | grep prometheus`
+- 检查话题数据：`rostopic echo /prometheus/drone_state`
+- 确认 `prometheus_msgs` 包已正确编译和 source
+
+### 如何同时使用 QGC 监控？
+
+MAVLink 协议支持多客户端同时连接。QGC 通过 MAVLink 连接（UDP 14550），本系统通过 rosbridge 连接（WebSocket 9090），两者互不干扰，监控的是同一架无人机。
+
+### 默认航点参数可以改吗？
+
+可以。右侧面板的「默认高度」和「默认悬停时间」会影响后续新建的航点。已创建的航点参数不受影响。
diff --git a/src/软件前端/前端设计.html b/src/软件前端/前端设计.html
new file mode 100644
index 0000000..1e1faa5
--- /dev/null
+++ b/src/软件前端/前端设计.html
@@ -0,0 +1,1026 @@
+<!DOCTYPE html>
+<html lang="zh-CN">
+<head>
+    <meta charset="UTF-8">
+    <meta name="viewport" content="width=device-width, initial-scale=1.0">
+    <title>最后一公里补给系统 - UI原型（带跳转）</title>
+    <style>
+        * {
+            margin: 0;
+            padding: 0;
+            box-sizing: border-box;
+        }
+
+        body {
+            font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', 'PingFang SC', 'Microsoft YaHei', sans-serif;
+            background: #f5f5f5;
+            padding: 20px;
+        }
+
+        .container {
+            max-width: 1200px;
+            margin: 0 auto;
+        }
+
+        h1 {
+            text-align: center;
+            color: #333;
+            margin-bottom: 20px;
+        }
+
+        .device-tabs {
+            display: flex;
+            justify-content: center;
+            gap: 20px;
+            margin-bottom: 20px;
+        }
+
+        .device-tab {
+            padding: 15px 30px;
+            background: #e0e0e0;
+            border: none;
+            border-radius: 8px;
+            cursor: pointer;
+            font-size: 16px;
+            font-weight: 600;
+            transition: all 0.3s;
+        }
+
+        .device-tab.active {
+            background: #007AFF;
+            color: white;
+        }
+
+        .device-tab:hover {
+            transform: translateY(-2px);
+        }
+
+        .interface-nav {
+            display: flex;
+            justify-content: center;
+            gap: 10px;
+            margin-bottom: 20px;
+            flex-wrap: wrap;
+        }
+
+        .nav-btn {
+            padding: 8px 16px;
+            background: #007AFF;
+            color: white;
+            border: none;
+            border-radius: 8px;
+            cursor: pointer;
+            font-size: 14px;
+            transition: all 0.3s;
+        }
+
+        .nav-btn:hover, .nav-btn.active {
+            background: #0056b3;
+            transform: translateY(-2px);
+        }
+
+        .interface-container {
+            background: white;
+            border-radius: 16px;
+            padding: 30px;
+            box-shadow: 0 2px 8px rgba(0,0,0,0.1);
+        }
+
+        .interface-title {
+            font-size: 20px;
+            color: #333;
+            margin-bottom: 15px;
+            padding-bottom: 10px;
+            border-bottom: 2px solid #007AFF;
+        }
+
+        .phone-frame {
+            width: 375px;
+            height: 750px;
+            border: 12px solid #1a1a1a;
+            border-radius: 40px;
+            margin: 0 auto;
+            background: #fff;
+            overflow: hidden;
+            position: relative;
+        }
+
+        .phone-notch {
+            position: absolute;
+            top: 0;
+            left: 50%;
+            transform: translateX(-50%);
+            width: 150px;
+            height: 30px;
+            background: #1a1a1a;
+            border-radius: 0 0 20px 20px;
+            z-index: 100;
+        }
+
+        .phone-screen {
+            height: 100%;
+            padding: 40px 15px 20px;
+            overflow-y: auto;
+            background: #f8f8f8;
+        }
+
+        .status-bar {
+            display: flex;
+            justify-content: space-between;
+            font-size: 12px;
+            color: #666;
+            margin-bottom: 15px;
+        }
+
+        .user-card {
+            background: linear-gradient(135deg, #667eea 0%, #764ba2 100%);
+            border-radius: 16px;
+            padding: 20px;
+            color: white;
+            margin-bottom: 20px;
+        }
+
+        .user-name {
+            font-size: 18px;
+            font-weight: bold;
+            margin-bottom: 5px;
+        }
+
+        .user-unit {
+            font-size: 14px;
+            opacity: 0.9;
+        }
+
+        .section-title {
+            font-size: 16px;
+            font-weight: 600;
+            color: #333;
+            margin: 20px 0 10px;
+        }
+
+        .button-large {
+            width: 100%;
+            padding: 15px;
+            background: linear-gradient(135deg, #007AFF 0%, #0056b3 100%);
+            color: white;
+            border: none;
+            border-radius: 12px;
+            font-size: 16px;
+            font-weight: 600;
+            cursor: pointer;
+            margin-bottom: 20px;
+        }
+
+        .button-large:hover {
+            opacity: 0.9;
+        }
+
+        .inventory-item {
+            background: white;
+            border-radius: 12px;
+            padding: 15px;
+            margin-bottom: 10px;
+        }
+
+        .inventory-header {
+            display: flex;
+            justify-content: space-between;
+            margin-bottom: 8px;
+            font-weight: 600;
+        }
+
+        .progress-bar {
+            height: 8px;
+            background: #e0e0e0;
+            border-radius: 4px;
+            overflow: hidden;
+        }
+
+        .progress-fill {
+            height: 100%;
+            background: #4CAF50;
+            border-radius: 4px;
+        }
+
+        .location-info {
+            background: white;
+            border-radius: 12px;
+            padding: 15px;
+            display: flex;
+            justify-content: space-between;
+            align-items: center;
+            margin-bottom: 10px;
+        }
+
+        .location-text {
+            font-size: 14px;
+            color: #333;
+        }
+
+        .location-btn {
+            padding: 8px 16px;
+            background: #007AFF;
+            color: white;
+            border: none;
+            border-radius: 8px;
+            font-size: 12px;
+            cursor: pointer;
+        }
+
+        .card {
+            background: white;
+            border-radius: 12px;
+            padding: 15px;
+            margin-bottom: 10px;
+        }
+
+        .card-title {
+            font-size: 14px;
+            color: #666;
+            margin-bottom: 10px;
+        }
+
+        .card-row {
+            display: flex;
+            justify-content: space-between;
+            padding: 8px 0;
+            border-bottom: 1px solid #f0f0f0;
+            font-size: 14px;
+        }
+
+        .card-row:last-child {
+            border-bottom: none;
+        }
+
+        .tag {
+            display: inline-block;
+            padding: 4px 12px;
+            border-radius: 12px;
+            font-size: 12px;
+            font-weight: 600;
+        }
+
+        .tag-danger { background: #FFF3F3; color: #FF4D4F; }
+        .tag-success { background: #F6FFED; color: #52C41A; }
+        .tag-warning { background: #FFFBE6; color: #FAAD14; }
+
+        .form-group {
+            margin-bottom: 15px;
+        }
+
+        .form-label {
+            font-size: 14px;
+            color: #333;
+            margin-bottom: 5px;
+            display: block;
+        }
+
+        .form-input {
+            width: 100%;
+            padding: 12px;
+            border: 1px solid #e0e0e0;
+            border-radius: 8px;
+            font-size: 14px;
+        }
+
+        .select-box {
+            width: 100%;
+            padding: 12px;
+            border: 1px solid #e0e0e0;
+            border-radius: 8px;
+            background: white;
+            font-size: 14px;
+        }
+
+        .radio-group {
+            display: flex;
+            gap: 10px;
+        }
+
+        .radio-label {
+            flex: 1;
+            padding: 10px;
+            background: #f5f5f5;
+            border-radius: 8px;
+            text-align: center;
+            cursor: pointer;
+            border: 2px solid transparent;
+        }
+
+        .radio-label.active {
+            background: #E6F7FF;
+            border-color: #007AFF;
+            color: #007AFF;
+        }
+
+        .control-btn {
+            padding: 8px 16px;
+            border: none;
+            border-radius: 8px;
+            font-size: 12px;
+            cursor: pointer;
+        }
+
+        .control-btn.primary { background: #007AFF; color: white; }
+        .control-btn.secondary { background: #E0E0E0; color: #333; }
+
+        .annotate-item {
+            display: flex;
+            align-items: center;
+            padding: 8px 0;
+            border-bottom: 1px solid #f0f0f0;
+        }
+
+        .annotate-dot {
+            width: 10px;
+            height: 10px;
+            border-radius: 50%;
+            margin-right: 10px;
+        }
+
+        .annotate-dot.red { background: #FF4D4F; }
+        .annotate-dot.green { background: #52C41A; }
+
+        .annotate-section {
+            background: white;
+            border-radius: 12px;
+            padding: 15px;
+            margin-bottom: 10px;
+        }
+
+        .select-btn {
+            width: 100%;
+            padding: 10px;
+            background: #52C41A;
+            color: white;
+            border: none;
+            border-radius: 8px;
+            cursor: pointer;
+            margin-top: 5px;
+        }
+
+        .avoid-btn {
+            width: 100%;
+            padding: 10px;
+            background: #FF4D4F;
+            color: white;
+            border: none;
+            border-radius: 8px;
+            cursor: pointer;
+            margin-top: 5px;
+        }
+
+        .stat-item {
+            display: flex;
+            justify-content: space-between;
+            padding: 8px 0;
+            border-bottom: 1px solid #f0f0f0;
+        }
+
+        .stat-label { color: #666; }
+        .stat-value { font-weight: 600; color: #333; }
+
+        .hidden { display: none; }
+
+        .nav-link {
+            color: #007AFF;
+            cursor: pointer;
+            text-decoration: underline;
+        }
+
+        .nav-link:hover {
+            color: #0056b3;
+        }
+
+        .menu-item {
+            display: flex;
+            justify-content: space-between;
+            align-items: center;
+            padding: 12px 0;
+            border-bottom: 1px solid #f0f0f0;
+            cursor: pointer;
+        }
+
+        .menu-item:hover {
+            background: #f5f5f5;
+        }
+
+        .menu-item:last-child {
+            border-bottom: none;
+        }
+
+        .task-status {
+            display: inline-flex;
+            align-items: center;
+            padding: 4px 12px;
+            border-radius: 12px;
+            font-size: 12px;
+            font-weight: 600;
+        }
+
+        .task-status.running { background: #F6FFED; color: #52C41A; }
+
+        .risk-score {
+            display: inline-block;
+            padding: 2px 10px;
+            background: #E6F7FF;
+            color: #007AFF;
+            border-radius: 4px;
+            font-size: 12px;
+        }
+    </style>
+</head>
+<body>
+    <div class="container">
+        <h1>📱 最后一公里补给系统 - UI原型</h1>
+
+        <!-- 设备切换标签 -->
+        <div class="device-tabs">
+            <button class="device-tab active" onclick="switchDevice('soldier')">📱 单兵终端APP</button>
+            <button class="device-tab" onclick="switchDevice('logistics')">🖥️ 后勤保障系统</button>
+        </div>
+
+        <!-- 单兵终端APP界面导航 -->
+        <div id="soldier-nav" class="interface-nav">
+            <button class="nav-btn active" onclick="showInterface(1)">首页</button>
+            <button class="nav-btn" onclick="showInterface(2)">需求上报</button>
+            <button class="nav-btn" onclick="showInterface(3)">任务监控</button>
+            <button class="nav-btn" onclick="showInterface(4)">投放点选择</button>
+            <button class="nav-btn" onclick="showInterface(5)">无人机状态</button>
+            <button class="nav-btn" onclick="showInterface(6)">位置更新</button>
+            <button class="nav-btn" onclick="showInterface(7)">个人中心</button>
+            <button class="nav-btn" onclick="showInterface(8)">系统设置</button>
+        </div>
+
+        <!-- 后勤保障系统界面导航 -->
+        <div id="logistics-nav" class="interface-nav hidden">
+            <button class="nav-btn active" onclick="showInterface(9)">任务调度</button>
+            <button class="nav-btn" onclick="showInterface(10)">需求详情</button>
+            <button class="nav-btn" onclick="showInterface(11)">无人机监控</button>
+        </div>
+
+        <div class="interface-container">
+            <!-- ==================== 单兵终端APP界面 ==================== -->
+
+            <!-- 界面1: 首页 -->
+            <div id="interface-1">
+                <h2 class="interface-title">📱 单兵终端APP - 首页</h2>
+                <div class="phone-frame">
+                    <div class="phone-notch"></div>
+                    <div class="phone-screen">
+                        <div class="status-bar">
+                            <span>📡 信号: 98%</span>
+                            <span>🔋 电池: 85%</span>
+                        </div>
+
+                        <div class="user-card">
+                            <div class="user-name">👤 前线士兵：张三</div>
+                            <div class="user-unit">所属：第3步兵师/1连</div>
+                        </div>
+
+                        <div class="section-title">💊 紧急物资需求上报</div>
+                        <button class="button-large" onclick="showInterface(2)">✍️ 按键上报需求</button>
+
+                        <div class="section-title">📦 当前库存状态</div>
+
+                        <div class="inventory-item">
+                            <div class="inventory-header"><span>弹药</span><span>150发 / 176发</span></div>
+                            <div class="progress-bar"><div class="progress-fill" style="width: 85%;"></div></div>
+                        </div>
+
+                        <div class="inventory-item">
+                            <div class="inventory-header"><span>食物</span><span>5份 / 8份</span></div>
+                            <div class="progress-bar"><div class="progress-fill" style="width: 60%; background: #FF9800;"></div></div>
+                        </div>
+
+                        <div class="inventory-item">
+                            <div class="inventory-header"><span>医药</span><span>3箱 / 4箱</span></div>
+                            <div class="progress-bar"><div class="progress-fill" style="width: 80%;"></div></div>
+                        </div>
+
+                        <div class="inventory-item">
+                            <div class="inventory-header"><span>饮水</span><span>4箱 / 4箱</span></div>
+                            <div class="progress-bar"><div class="progress-fill" style="width: 90%; background: #4CAF50;"></div></div>
+                        </div>
+
+                        <div class="location-info">
+                            <span class="location-text">📍 当前位置：A区街角12号</span>
+                            <span class="location-btn nav-link" onclick="showInterface(6)">更新</span>
+                        </div>
+
+                        <div class="location-info">
+                            <span class="location-text">📋 当前任务：#001 运输中</span>
+                            <span class="location-btn nav-link" onclick="showInterface(3)">查看</span>
+                        </div>
+
+                        <div class="card" style="text-align: center; margin-top: 10px;">
+                            <span class="nav-link" onclick="showInterface(7)">👤 个人中心</span>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 界面2: 需求上报 -->
+            <div id="interface-2" class="hidden">
+                <h2 class="interface-title">📝 单兵终端APP - 物资需求上报</h2>
+                <div class="phone-frame">
+                    <div class="phone-notch"></div>
+                    <div class="phone-screen">
+                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
+
+                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
+                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
+                            <span style="font-weight: 600;">📝 填写物资信息</span>
+                            <span></span>
+                        </div>
+
+                        <div class="form-group">
+                            <label class="form-label">📦 物资类型</label>
+                            <select class="select-box">
+                                <option>☑️ 弹药 (选择)</option>
+                                <option>☐ 食物</option>
+                                <option>☐ 医药</option>
+                                <option>☐ 饮水</option>
+                            </select>
+                        </div>
+
+                        <div class="form-group">
+                            <label class="form-label">📏 数量</label>
+                            <input type="text" class="form-input" value="20" style="width: 80px; display: inline-block;"> 发
+                        </div>
+
+                        <div class="form-group">
+                            <label class="form-label">⚡ 紧急程度</label>
+                            <div class="radio-group">
+                                <div class="radio-label">○ 一般</div>
+                                <div class="radio-label">○ 重要</div>
+                                <div class="radio-label active">◉ 紧急</div>
+                            </div>
+                        </div>
+
+                        <div class="form-group">
+                            <label class="form-label">📍 期望投放点</label>
+                            <div style="background: white; padding: 10px; border-radius: 8px; margin-bottom: 8px;">当前位置：A区街角12号</div>
+                            <button class="control-btn primary" style="width: 100%;" onclick="showInterface(4)">🎯 选择投放点</button>
+                        </div>
+
+                        <div class="annotate-section">
+                            <label class="form-label">🗺️ 战场标注（可选）</label>
+                            <button class="control-btn primary" style="width: 100%; margin-bottom: 10px;">+ 标注危险/安全区</button>
+                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">已标注：</div>
+                            <div class="annotate-item"><span class="annotate-dot red"></span><span>B区道路（危险区域）</span></div>
+                            <div class="annotate-item"><span class="annotate-dot green"></span><span>2号楼地下（安全区域）</span></div>
+                        </div>
+
+                        <button class="button-large" style="background: linear-gradient(135deg, #52C41A 0%, #389E0D 100%);" onclick="showInterface(3)">✅ 确认上报</button>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 界面3: 任务监控 -->
+            <div id="interface-3" class="hidden">
+                <h2 class="interface-title">📋 单兵终端APP - 任务监控</h2>
+                <div class="phone-frame">
+                    <div class="phone-notch"></div>
+                    <div class="phone-screen">
+                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
+
+                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
+                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
+                            <span style="font-weight: 600;">📋 当前任务</span>
+                            <span></span>
+                        </div>
+
+                        <div class="card">
+                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">📋 任务ID</div>
+                            <div style="font-size: 16px; font-weight: 600; margin-bottom: 10px;">#2024-05-20-001</div>
+                            <span class="task-status running">🟢 执行中</span>
+                            <div style="font-size: 14px; color: #666; margin-top: 10px;">预计到达：12:30</div>
+                        </div>
+
+                        <div class="card">
+                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">━━━━━━━━━━━━━━━━━━ 60%</div>
+                            <div style="font-size: 12px; color: #666;">剩余时间：12分钟</div>
+                        </div>
+
+                        <div class="section-title">📍 飞行路径</div>
+                        <div style="background: #E6F7FF; border-radius: 12px; padding: 15px; margin-bottom: 15px;">
+                            <div style="font-size: 12px; color: #007AFF; margin-bottom: 5px;">🚀 起点</div>
+                            <div style="font-size: 16px; font-weight: 600; margin-bottom: 10px;">后方阵地</div>
+                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">📍 目标</div>
+                            <div style="font-size: 14px; color: #333;">A区街角12号背侧</div>
+                        </div>
+
+                        <div class="card">
+                            <div style="font-size: 14px; color: #666; margin-bottom: 10px;">📦 投放点位置</div>
+                            <div style="border: 2px dashed #FF4D4F; border-radius: 8px; padding: 15px; text-align: center;">
+                                <div style="font-size: 24px; margin-bottom: 5px;">📦</div>
+                                <div style="font-weight: 600; color: #FF4D4F;">投放点</div>
+                                <div class="risk-score">安全系数: 92%</div>
+                            </div>
+                        </div>
+
+                        <div class="card" style="background: #FFF3F3; border: 1px solid #FFCCC7;">
+                            <div style="font-size: 14px; color: #FF4D4F;">🚨 紧急操作</div>
+                            <div style="display: flex; gap: 8px; margin-top: 10px;">
+                                <button class="control-btn primary" onclick="showInterface(6)">📍 更新位置</button>
+                                <button class="control-btn secondary" onclick="showInterface(5)">🚀 查看无人机</button>
+                            </div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 界面4: 投放点选择 -->
+            <div id="interface-4" class="hidden">
+                <h2 class="interface-title">🎯 单兵终端APP - 投放点选择</h2>
+                <div class="phone-frame">
+                    <div class="phone-notch"></div>
+                    <div class="phone-screen">
+                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
+
+                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
+                            <span class="nav-link" onclick="showInterface(2)">← 返回</span>
+                            <span style="font-weight: 600;">🎯 选择投放点</span>
+                            <span></span>
+                        </div>
+
+                        <div style="font-size: 18px; font-weight: 600; margin-bottom: 20px;">🎯 推荐投放点列表</div>
+
+                        <div class="card">
+                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">📍 安全点 #1</div>
+                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">安全系数: 92% | 距离: 5m</div>
+                            <div style="font-size: 12px; color: #666; margin-bottom: 10px;">原因: 深掩体保护，视角盲区</div>
+                            <button class="select-btn">✅ 选择此点</button>
+                        </div>
+
+                        <div class="card">
+                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">📍 安全点 #2</div>
+                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">安全系数: 85% | 距离: 12m</div>
+                            <div style="font-size: 12px; color: #666; margin-bottom: 10px;">原因: 钢筋混凝土建筑内部</div>
+                            <button class="select-btn">✅ 选择此点</button>
+                        </div>
+
+                        <div class="card" style="background: #FFF3F3; border: 1px solid #FFCCC7;">
+                            <div style="font-size: 14px; color: #666; margin-bottom: 5px;">⚠️ 陷阱点 #3</div>
+                            <div style="font-size: 12px; color: #666; margin-bottom: 5px;">安全系数: 35% | 距离: 20m</div>
+                            <div style="font-size: 12px; color: #666; margin-bottom: 10px;">原因: 孤立断墙，成瞄准点</div>
+                            <button class="avoid-btn">❌ 避开此点</button>
+                        </div>
+
+                        <button class="button-large" style="background: linear-gradient(135deg, #52C41A 0%, #389E0D 100%);" onclick="showInterface(3)">✅ 确认选择</button>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 界面5: 无人机状态监控(单兵) -->
+            <div id="interface-5" class="hidden">
+                <h2 class="interface-title">🚀 单兵终端APP - 无人机状态</h2>
+                <div class="phone-frame">
+                    <div class="phone-notch"></div>
+                    <div class="phone-screen">
+                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
+
+                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
+                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
+                            <span style="font-weight: 600;">🚀 无人机状态</span>
+                            <span></span>
+                        </div>
+
+                        <div class="card">
+                            <div class="stat-item"><span class="stat-label">无人机ID</span><span class="stat-value">无人机-01</span></div>
+                            <div class="stat-item"><span class="stat-label">任务ID</span><span class="stat-value">#001</span></div>
+                            <div class="stat-item"><span class="stat-label">状态</span><span class="stat-value"><span class="tag tag-success">🟢 飞行中</span></span></div>
+                            <div class="stat-item"><span class="stat-label">当前位置</span><span class="stat-value">A区街角12号</span></div>
+                            <div class="stat-item"><span class="stat-label">剩余电量</span><span class="stat-value">85%</span></div>
+                            <div class="stat-item"><span class="stat-label">预计到达</span><span class="stat-value">12:30</span></div>
+                        </div>
+
+                        <div class="section-title">📊 实时数据</div>
+                        <div class="card">
+                            <div class="stat-item"><span class="stat-label">速度</span><span class="stat-value">8.5m/s</span></div>
+                            <div class="stat-item"><span class="stat-label">高度</span><span class="stat-value">15m</span></div>
+                            <div class="stat-item"><span class="stat-label">距离目标</span><span class="stat-value">500m</span></div>
+                            <div class="stat-item"><span class="stat-label">温度</span><span class="stat-value">38°C</span></div>
+                        </div>
+
+                        <div class="section-title">📋 最近动态</div>
+                        <div class="card">
+                            <div style="font-size: 12px; color: #666; padding: 8px 0; border-bottom: 1px solid #f0f0f0;"><span style="color: #999;">12:25:30</span> 到达投放点</div>
+                            <div style="font-size: 12px; color: #666; padding: 8px 0; border-bottom: 1px solid #f0f0f0;"><span style="color: #999;">12:20:45</span> 接收任务指令</div>
+                            <div style="font-size: 12px; color: #666; padding: 8px 0;"><span style="color: #999;">12:10:00</span> 任务分配</div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 界面6: 位置更新 -->
+            <div id="interface-6" class="hidden">
+                <h2 class="interface-title">📍 单兵终端APP - 位置更新</h2>
+                <div class="phone-frame">
+                    <div class="phone-notch"></div>
+                    <div class="phone-screen">
+                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
+
+                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
+                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
+                            <span style="font-weight: 600;">📍 位置更新</span>
+                            <span></span>
+                        </div>
+
+                        <div class="card">
+                            <div class="stat-item"><span class="stat-label">请求位置</span><span class="stat-value">A区街角12号</span></div>
+                            <div class="stat-item"><span class="stat-label">当前位置</span><span class="stat-value">A区街角15号</span></div>
+                            <div class="stat-item"><span class="stat-label">偏移距离</span><span class="stat-value" style="color: #FF4D4F;">50m</span></div>
+                            <div class="stat-item"><span class="stat-label">偏移时间</span><span class="stat-value">5分钟前</span></div>
+                        </div>
+
+                        <div class="card" style="background: #F0F0F0; border: 2px dashed #007AFF; height: 120px; display: flex; align-items: center; justify-content: center;">
+                            <div style="text-align: center;">
+                                <div style="font-size: 30px; margin-bottom: 5px;">🗺️</div>
+                                <div style="color: #666;">地图区域</div>
+                            </div>
+                        </div>
+
+                        <div class="card" style="background: #FFF7E6; border: 1px solid #FFD591;">
+                            <div style="font-size: 12px; color: #FA8C16; margin-bottom: 8px;">⚠️ 注意事项</div>
+                            <div style="font-size: 12px; color: #666;">• 无人机距离新位置：约50米</div>
+                            <div style="font-size: 12px; color: #666;">• 无人机剩余电量：85%（可支持返回）</div>
+                        </div>
+
+                        <div style="display: flex; gap: 10px; margin-top: 15px;">
+                            <button class="control-btn primary" style="flex: 1;" onclick="showInterface(3)">✅ 更新投放点</button>
+                            <button class="control-btn secondary" style="flex: 1;">前往原投放点</button>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 界面7: 个人中心 -->
+            <div id="interface-7" class="hidden">
+                <h2 class="interface-title">👤 单兵终端APP - 个人中心</h2>
+                <div class="phone-frame">
+                    <div class="phone-notch"></div>
+                    <div class="phone-screen">
+                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
+
+                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
+                            <span class="nav-link" onclick="showInterface(1)">← 返回首页</span>
+                            <span style="font-weight: 600;">👤 个人中心</span>
+                            <span></span>
+                        </div>
+
+                        <div class="user-card">
+                            <div style="font-size: 24px; margin-bottom: 5px;">👤</div>
+                            <div style="font-size: 18px; font-weight: 600; margin-bottom: 5px;">前线士兵：张三</div>
+                            <div style="font-size: 14px; opacity: 0.9;">所属：第3步兵师/1连 | 职位：狙击手</div>
+                        </div>
+
+                        <div class="section-title">📊 任务统计</div>
+                        <div class="card">
+                            <div style="display: flex; justify-content: space-around; text-align: center;">
+                                <div><div style="font-size: 24px; font-weight: 600; color: #52C41A;">128</div><div style="font-size: 12px; color: #666;">已完成</div></div>
+                                <div><div style="font-size: 24px; font-weight: 600; color: #1890FF;">3</div><div style="font-size: 12px; color: #666;">进行中</div></div>
+                                <div><div style="font-size: 24px; font-weight: 600; color: #FFA940;">5</div><div style="font-size: 12px; color: #666;">待处理</div></div>
+                                <div><div style="font-size: 24px; font-weight: 600; color: #FF4D4F;">2</div><div style="font-size: 12px; color: #666;">已取消</div></div>
+                            </div>
+                        </div>
+
+                        <div class="section-title">📋 功能菜单</div>
+                        <div class="card">
+                            <div class="menu-item" onclick="showInterface(1)"><span>🏠 返回首页</span><span style="color: #999;">→</span></div>
+                            <div class="menu-item" onclick="showInterface(2)"><span>✍️ 新建需求</span><span style="color: #999;">→</span></div>
+                            <div class="menu-item" onclick="showInterface(5)"><span>🚀 无人机状态</span><span style="color: #999;">→</span></div>
+                            <div class="menu-item" onclick="showInterface(8)"><span>⚙️ 系统设置</span><span style="color: #999;">→</span></div>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 界面8: 系统设置 -->
+            <div id="interface-8" class="hidden">
+                <h2 class="interface-title">⚙️ 单兵终端APP - 系统设置</h2>
+                <div class="phone-frame">
+                    <div class="phone-notch"></div>
+                    <div class="phone-screen">
+                        <div class="status-bar"><span>🔋 电池: 85%</span></div>
+
+                        <div style="display: flex; justify-content: space-between; align-items: center; margin-bottom: 15px;">
+                            <span class="nav-link" onclick="showInterface(7)">← 返回</span>
+                            <span style="font-weight: 600;">⚙️ 系统设置</span>
+                            <span></span>
+                        </div>
+
+                        <div class="section-title">📋 常规设置</div>
+                        <div class="card">
+                            <div class="menu-item"><span>🌐 语言</span><span style="color: #666;">🇨🇳 简体中文 →</span></div>
+                            <div class="menu-item"><span>🌙 主题模式</span><span style="color: #666;">◉ 深色 →</span></div>
+                            <div class="menu-item"><span>🔔 消息通知</span><span style="color: #52C41A;">●</span></div>
+                            <div class="menu-item"><span>📥 自动更新</span><span style="color: #52C41A;">●</span></div>
+                        </div>
+
+                        <div class="section-title">🔒 安全设置</div>
+                        <div class="card">
+                            <div class="menu-item"><span>🔐 启用生物识别</span><span style="color: #52C41A;">●</span></div>
+                            <div class="menu-item"><span>🔑 修改登录密码</span><span style="color: #007AFF;">修改 →</span></div>
+                            <div class="menu-item"><span>📧 联系方式</span><span style="color: #666;">138****8888</span></div>
+                        </div>
+
+                        <div class="section-title">ℹ️ 关于</div>
+                        <div class="card">
+                            <div class="stat-item"><span class="stat-label">版本</span><span class="stat-value">v1.0.0</span></div>
+                            <div class="stat-item"><span class="stat-label">开发者</span><span class="stat-value">XXX团队</span></div>
+                        </div>
+
+                        <div class="card" style="background: #FFF3F3; border: 1px solid #FFCCC7;">
+                            <div style="font-size: 14px; color: #FF4D4F; margin-bottom: 10px;">🚨 紧急按钮</div>
+                            <button class="button-large" style="background: linear-gradient(135deg, #FF4D4F 0%, #D9363E 100%);">⚠️ 一键求救</button>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- ==================== 后勤保障系统界面 ==================== -->
+
+            <!-- 界面9: 任务调度 -->
+            <div id="interface-9" class="hidden">
+                <h2 class="interface-title">🖥️ 后勤保障系统 - 任务调度</h2>
+                <div style="background: #F5F5F5; border-radius: 12px; padding: 15px;">
+                    <div class="stat-item"><span class="stat-label">待处理需求</span><span class="stat-value" style="color: #FF4D4F;">5</span></div>
+                    <div class="stat-item"><span class="stat-label">执行中任务</span><span class="stat-value" style="color: #52C41A;">3</span></div>
+                    <div class="stat-item"><span class="stat-label">已完成</span><span class="stat-value">128</span></div>
+                    <div class="stat-item"><span class="stat-label">无人机状态</span><span class="stat-value">3空闲, 2飞行中</span></div>
+                </div>
+
+                <div class="section-title" style="margin-top: 20px;">📋 待处理需求列表</div>
+
+                <div class="card" style="background: #F0F7FF; border-left: 4px solid #007AFF; cursor: pointer;" onclick="showInterface(10)">
+                    <div class="stat-item"><span class="stat-label">任务ID</span><span class="stat-value">#001</span></div>
+                    <div class="stat-item"><span class="stat-label">人员</span><span class="stat-value">张三</span></div>
+                    <div class="stat-item"><span class="stat-label">物资</span><span class="stat-value">20发弹药</span></div>
+                    <div class="stat-item"><span class="stat-label">位置</span><span class="stat-value">A区街角12号</span></div>
+                    <div class="stat-item"><span class="stat-label">紧急程度</span><span class="stat-value"><span class="tag tag-danger">🔴 紧急</span></span></div>
+                </div>
+
+                <div class="card" style="background: #F6FFED; border-left: 4px solid #52C41A; cursor: pointer;" onclick="showInterface(10)">
+                    <div class="stat-item"><span class="stat-label">任务ID</span><span class="stat-value">#002</span></div>
+                    <div class="stat-item"><span class="stat-label">人员</span><span class="stat-value">李四</span></div>
+                    <div class="stat-item"><span class="stat-label">物资</span><span class="stat-value">5份食物</span></div>
+                    <div class="stat-item"><span class="stat-label">位置</span><span class="stat-value">B区巷道5号</span></div>
+                </div>
+
+                <button class="control-btn primary" style="width: 100%; margin-top: 10px;" onclick="showInterface(11)">🚀 查看无人机状态</button>
+            </div>
+
+            <!-- 界面10: 需求详情 -->
+            <div id="interface-10" class="hidden">
+                <h2 class="interface-title">📋 后勤保障系统 - 需求详情</h2>
+                <div style="background: #F5F5F5; border-radius: 12px; padding: 15px;">
+                    <div style="display: flex; gap: 8px; margin-bottom: 15px;">
+                        <span class="nav-link" onclick="showInterface(9)">← 返回列表</span>
+                        <span style="font-weight: 600;">需求详情 #001</span>
+                    </div>
+
+                    <div class="card">
+                        <div class="stat-item"><span class="stat-label">📋 任务ID</span><span class="stat-value">#2024-05-20-001</span></div>
+                        <div class="stat-item"><span class="stat-label">提交时间</span><span class="stat-value">12:00</span></div>
+                        <div class="stat-item"><span class="stat-label">人员</span><span class="stat-value">张三 (第3步兵师/1连)</span></div>
+                        <div class="stat-item"><span class="stat-label">状态</span><span class="stat-value" style="color: #FF4D4F;">待调度</span></div>
+                    </div>
+
+                    <div class="section-title">📦 物资信息</div>
+                    <div class="card">
+                        <div class="stat-item"><span class="stat-label">物品名称</span><span class="stat-value">弹药</span></div>
+                        <div class="stat-item"><span class="stat-label">数量</span><span class="stat-value">20发</span></div>
+                        <div class="stat-item"><span class="stat-label">紧急程度</span><span class="stat-value"><span class="tag tag-danger">🔴 紧急</span></span></div>
+                    </div>
+
+                    <div class="section-title">📍 位置信息</div>
+                    <div class="card">
+                        <div class="stat-item"><span class="stat-label">请求位置</span><span class="stat-value">A区街角12号</span></div>
+                        <div class="stat-item"><span class="stat-label">当前位置</span><span class="stat-value">A区街角12号</span></div>
+                    </div>
+
+                    <div class="section-title">⚙️ 调度选项</div>
+                    <div class="card">
+                        <div class="stat-item"><span class="stat-label">路径策略</span><span class="stat-value"><span class="tag tag-success">最安全 ← 选中</span></span></div>
+                        <div class="stat-item"><span class="stat-label">无人机选择</span><span class="stat-value">无人机-02</span></div>
+                        <div class="stat-item"><span class="stat-label">预计到达时间</span><span class="stat-value">12:28</span></div>
+
+                        <div style="display: flex; gap: 8px; margin-top: 15px;">
+                            <button class="control-btn primary" style="flex: 1;">✅ 确认调度</button>
+                            <button class="control-btn secondary" style="flex: 1;">❌ 拒绝</button>
+                        </div>
+                    </div>
+                </div>
+            </div>
+
+            <!-- 界面11: 无人机状态监控(后勤) -->
+            <div id="interface-11" class="hidden">
+                <h2 class="interface-title">🚀 后勤保障系统 - 无人机状态监控</h2>
+                <div style="background: #F5F5F5; border-radius: 12px; padding: 15px;">
+                    <div style="display: flex; gap: 8px; margin-bottom: 15px;">
+                        <span class="nav-link" onclick="showInterface(9)">← 返回列表</span>
+                        <span style="font-weight: 600;">🚀 无人机监控</span>
+                        <span></span>
+                    </div>
+
+                    <div class="card" style="background: #F0F7FF; border-left: 4px solid #007AFF;">
+                        <div class="stat-item"><span class="stat-label">无人机ID</span><span class="stat-value">无人机-01</span></div>
+                        <div class="stat-item"><span class="stat-label">所属人员</span><span class="stat-value">张三</span></div>
+                        <div class="stat-item"><span class="stat-label">任务ID</span><span class="stat-value">#001</span></div>
+                        <div class="stat-item"><span class="stat-label">状态</span><span class="stat-value"><span class="tag tag-success">🟢 飞行中</span></span></div>
+                        <div class="stat-item"><span class="stat-label">当前位置</span><span class="stat-value">A区街角12号背侧</span></div>
+                        <div class="stat-item"><span class="stat-label">剩余电量</span><span class="stat-value">85%</span></div>
+                        <div class="stat-item"><span class="stat-label">预计到达</span><span class="stat-value">12:30</span></div>
+                    </div>
+
+                    <div class="section-title">📊 实时数据</div>
+                    <div class="card">
+                        <div class="stat-item"><span class="stat-label">速度</span><span class="stat-value">8.5m/s</span></div>
+                        <div class="stat-item"><span class="stat-label">高度</span><span class="stat-value">15m</span></div>
+                        <div class="stat-item"><span class="stat-label">距离目标</span><span class="stat-value">500m</span></div>
+                        <div class="stat-item"><span class="stat-label">信号强度</span><span class="stat-value">98%</span></div>
+                    </div>
+
+                    <div class="section-title">⚙️ 控制面板</div>
+                    <div class="card">
+                        <div style="display: flex; gap: 10px; flex-wrap: wrap;">
+                            <button class="control-btn primary" style="flex: 1;">⏸️ 暂停任务</button>
+                            <button class="control-btn primary" style="flex: 1; background: #FF4D4F;">🛬 紧急返航</button>
+                        </div>
+                        <button class="control-btn secondary" style="width: 100%; margin-top: 8px;">重新规划路径</button>
+                    </div>
+                </div>
+            </div>
+        </div>
+    </div>
+
+    <script>
+        // 当前设备类型
+        let currentDevice = 'soldier';
+        // 当前界面ID
+        let currentInterface = 1;
+
+        // 切换设备
+        function switchDevice(device) {
+            currentDevice = device;
+
+            // 更新设备标签
+            document.querySelectorAll('.device-tab').forEach(tab => tab.classList.remove('active'));
+            event.target.classList.add('active');
+
+            // 显示/隐藏导航
+            document.getElementById('soldier-nav').classList.toggle('hidden', device !== 'soldier');
+            document.getElementById('logistics-nav').classList.toggle('hidden', device !== 'logistics');
+
+            // 显示第一个界面
+            if (device === 'soldier') {
+                showInterface(1);
+            } else {
+                showInterface(9);
+            }
+        }
+
+        // 显示界面
+        function showInterface(num) {
+            currentInterface = num;
+
+            // 隐藏所有界面
+            for (let i = 1; i <= 11; i++) {
+                const el = document.getElementById('interface-' + i);
+                if (el) el.classList.add('hidden');
+            }
+
+            // 显示目标界面
+            const target = document.getElementById('interface-' + num);
+            if (target) target.classList.remove('hidden');
+
+            // 更新导航按钮状态
+            document.querySelectorAll('.nav-btn').forEach(btn => btn.classList.remove('active'));
+
+            // 找到对应的导航按钮并激活
+            const navBtns = document.querySelectorAll('.nav-btn');
+            if (num >= 1 && num <= 8) {
+                // 单兵终端APP
+                const soldierNav = document.getElementById('soldier-nav');
+                const btns = soldierNav.querySelectorAll('.nav-btn');
+                const index = num - 1;
+                if (btns[index]) btns[index].classList.add('active');
+            } else {
+                // 后勤保障系统
+                const logisticsNav = document.getElementById('logistics-nav');
+                const btns = logisticsNav.querySelectorAll('.nav-btn');
+                const index = num - 9;
+                if (btns[index]) btns[index].classList.add('active');
+            }
+
+            // 滚动到顶部
+            window.scrollTo({ top: 0, behavior: 'smooth' });
+        }
+
+        // 初始化
+        showInterface(1);
+    </script>
+</body>
+</html>
\ No newline at end of file
diff --git a/vx.json b/vx.json
new file mode 100644
index 0000000..890ee4f
--- /dev/null
+++ b/vx.json
@@ -0,0 +1,24 @@
+{
+    "created_time": "2026-04-20T02:11:45Z",
+    "files": [
+        {
+            "attachment_folder": "",
+            "created_time": "2026-04-20T02:11:45Z",
+            "id": "1543",
+            "modified_time": "2026-04-20T02:11:45Z",
+            "name": "README.md",
+            "signature": "1126905480722352993",
+            "tags": [
+            ]
+        }
+    ],
+    "folders": [
+        {
+            "name": "document"
+        }
+    ],
+    "id": "1541",
+    "modified_time": "2026-04-20T02:11:45Z",
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+    "version": 3
+}