Merge pull request '1' (#25) from chenxiaofu into main

Src/data_area/search_data_20251107_200228.json

@@ -0,0 +1,14 @@
+{
+    "coverage": "覆盖范围: 100.0%",
+    "droneCount": 1,
+    "searchTime": "预计搜索时间: 58.7min",
+    "tableData": [
+        {
+            "coverage": "100.0%",
+            "droneId": "Drone 1",
+            "path": "覆盖路径 (957个点)",
+            "time": "58.7min"
+        }
+    ],
+    "timestamp": "2025-11-07 20:02:28"
+}

Src/data_paths/saved_path_20251024_195404.json

@@ -0,0 +1,10 @@
+[
+    [
+        116.391394,
+        39.902759
+    ],
+    [
+        116.458341,
+        39.894594
+    ]
+]

Src/pages/mappage.cpp

@@ -29,6 +29,9 @@
 #include <limits>
 #include <functional>
 #include <algorithm>
+#include <QFile>  // 已存在或添加
+#include <QJsonDocument>  // 添加以修复QJsonParseError和QJsonDocument
+#include <QFileDialog>
 
 MapPage::MapPage(QWidget *parent) : QWidget(parent),
     bridge_(nullptr),
@@ -594,44 +597,6 @@ void MapPage::clearCoverageOverlays() {
     qDebug() << "区域覆盖覆盖物清除完成";
 }
 
-void MapPage::visualizeCoverageMultiPaths(const QString& multiPathsJson) {
-    // 多路径与覆盖圆可视化
-    QString js = QString(R"(
-        if (window.map) {
-            var items = JSON.parse('%1');
-            // 清理旧覆盖
-            if (!window.multiPolylines) window.multiPolylines = [];
-            if (!window.multiCircles) window.multiCircles = [];
-            for (var i=0;i<window.multiPolylines.length;i++){ if (window.multiPolylines[i]) window.map.remove(window.multiPolylines[i]); }
-            for (var i=0;i<window.multiCircles.length;i++){ if (window.multiCircles[i]) window.map.remove(window.multiCircles[i]); }
-            window.multiPolylines = [];
-            window.multiCircles = [];
-
-            var all = [];
-            for (var k=0;k<items.length;k++){
-                var pathCol = items[k].pathColor || '#1E88E5';
-                var circleCol = items[k].circleColor || '#1E88E5';
-                var path = items[k].path || [];
-                var radius = items[k].radius || 100.0;
-                if (path.length > 0){
-                    var poly = new AMap.Polyline({path: path, strokeColor: pathCol, strokeOpacity: 0.9, strokeWeight: 4});
-                    poly.setMap(window.map);
-                    window.multiPolylines.push(poly);
-                    all.push(poly);
-                    // 每隔若干点画覆盖圆
-                    for (var j=0;j<path.length;j+=Math.max(1, Math.floor(path.length/20))){
-                        var c = new AMap.Circle({center: new AMap.LngLat(path[j][0], path[j][1]), radius: radius, fillColor: circleCol, fillOpacity: 0.12, strokeColor: circleCol, strokeWeight: 1});
-                        c.setMap(window.map);
-                        window.multiCircles.push(c);
-                        all.push(c);
-                    }
-                }
-            }
-            if (all.length>0) window.map.setFitView(all, {padding:[40,40,40,40]});
-        }
-    )").arg(multiPathsJson);
-    runMapJavaScript(js);
-}
 
 
 void MapPage::visualizeCoverageAreaCircle(double centerLng, double centerLat, double radiusKm) {
@@ -776,9 +741,11 @@ void MapPage::removeClickListener() {
     runMapJavaScript(js);
 }
 
-void MapPage::visualizePath(const QString& pathData) {
+void MapPage::visualizePath(const QString& pathData, bool clearOld) {
+    if (clearOld) {
+        clearPathOverlays();
+    }
     if (isMapReady_) {
-        // 直接执行JS
         QString js = QString(R"(
             if (window.map) {
                 var pathCoords = JSON.parse("%1");
@@ -841,14 +808,13 @@ void MapPage::visualizePath(const QString& pathData) {
             }
         )").arg(pathData, pathOverlayId_);
         runMapJavaScript(js);
-        qDebug() << "路径可视化完成";
+        qDebug() << "路径可视化完成 (clearOld:" << clearOld << ")";
     } else {
-        // 等待就绪
-        connect(this, &MapPage::mapReady, [this, pathData](){
-            visualizePath(pathData);  // 递归调用一次
-            disconnect(this, &MapPage::mapReady, nullptr, nullptr);  // 清理
+        connect(this, &MapPage::mapReady, [this, pathData, clearOld](){
+            visualizePath(pathData, clearOld);
+            disconnect(this, &MapPage::mapReady, nullptr, nullptr);
         });
-        qDebug() << "等待地图就绪后可视化路径";
+        qDebug() << "等待地图就绪后可视化路径 (clearOld:" << clearOld << ")";
     }
 }
 
@@ -887,8 +853,8 @@ void MapPage::onSearchMapClicked() {
 }
 
 // Implement ThreatAreaDialog methods
-ThreatAreaDialog::ThreatAreaDialog(QWidget *parent, MapPage* mapPage) : QDialog(parent), mapPage_(mapPage), drawingPoints_() {
-    setWindowTitle("设置威胁区域");
+ThreatAreaDialog::ThreatAreaDialog(QWidget *parent, MapPage* mapPage, const QString& title) : QDialog(parent), mapPage_(mapPage), drawingPoints_() {
+    setWindowTitle(title);
     setMinimumSize(600, 500);
     auto* layout = new QVBoxLayout(this);
     layout->setSpacing(15);
@@ -1771,8 +1737,8 @@ void PathPlanningDialog::onMapClick(double lng, double lat) {
     }
 }
 
-AreaCoverageDialog::AreaCoverageDialog(QWidget* parent, MapPage* mapPage) : QDialog(parent), mapPage_(mapPage), coveragePathData_("") {
-    setWindowTitle("区域覆盖路径规划");
+AreaCoverageDialog::AreaCoverageDialog(QWidget* parent, MapPage* mapPage, const QString& title) : QDialog(parent), mapPage_(mapPage), coveragePathData_(""), dialogTitle_(title) {
+    setWindowTitle(title);
     setMinimumSize(700, 600);
     auto* mainLayout = new QVBoxLayout(this);
     mainLayout->setContentsMargins(20, 20, 20, 20);
@@ -1801,11 +1767,16 @@ AreaCoverageDialog::AreaCoverageDialog(QWidget* parent, MapPage* mapPage) : QDia
     onDroneCountChanged(droneCountSpin_->value());
 
     // 威胁区域选择
-    auto* threatBox = new QGroupBox("选择威胁区域（用于覆盖规划）");
+    QString threatBoxTitle = dialogTitle_.contains("任务决策") ? "选择搜索区域（用于覆盖规划）" : "选择威胁区域（用于覆盖规划）";
+    auto* threatBox = new QGroupBox(threatBoxTitle);
     auto* threatLayout = new QVBoxLayout(threatBox);
     threatSelectTable_ = new QTableWidget();
     threatSelectTable_->setColumnCount(4);
-    threatSelectTable_->setHorizontalHeaderLabels({"选择", "类型", "形状", "详情"});
+    QStringList headers = {"选择", "类型", "形状", "详情"};
+    if (dialogTitle_.contains("任务决策")) {
+        headers[1] = "区域类型";
+    }
+    threatSelectTable_->setHorizontalHeaderLabels(headers);
     threatSelectTable_->setSelectionMode(QAbstractItemView::NoSelection);
     threatSelectTable_->setEditTriggers(QAbstractItemView::NoEditTriggers);
     threatLayout->addWidget(threatSelectTable_);
@@ -1940,7 +1911,8 @@ void AreaCoverageDialog::planCoveragePath() {
             }
         }
         if (selectedIdx.isEmpty()) {
-            QMessageBox::warning(this, "提示", "请至少选择一个威胁区域");
+            QString warningMsg = dialogTitle_.contains("任务决策") ? "请至少选择一个搜索区域" : "请至少选择一个威胁区域";
+            QMessageBox::warning(this, "提示", warningMsg);
             return;
         }
         QList<QVariantMap> chosen;
@@ -2082,7 +2054,7 @@ void AreaCoverageDialog::planCoveragePath() {
         }
         multiJson += "]";
 
-        // 可视化多路径
+        // 可视化多路径（使用visualizeCoverageMultiPaths）
         mapPage_->visualizeCoverageMultiPaths(multiJson);
 
         // 计算统计信息
@@ -2158,7 +2130,8 @@ void AreaCoverageDialog::planCoveragePath() {
         statsLines.append("<b>=== 总体统计 ===</b><br>");
         statsLines.append(QString("<b>总飞行距离:</b> %1 米<br>").arg(int(totalDistance)));
         statsLines.append(QString("<b>总覆盖面积:</b> %1 平方米<br>").arg(int(totalCoverageArea)));
-        statsLines.append(QString("<b>威胁区域面积:</b> %1 平方米<br>").arg(int(threatAreaSize)));
+        QString areaLabel = dialogTitle_.contains("任务决策") ? "搜索区域面积" : "威胁区域面积";
+        statsLines.append(QString("<b>%1:</b> %2 平方米<br>").arg(areaLabel).arg(int(threatAreaSize)));
         statsLines.append(QString("<b>覆盖率:</b> %1%<br>").arg(QString::number(coverageRate, 'f', 1)));
         statsLines.append(QString("<b>最长飞行时间:</b> %1 分钟<br>").arg(QString::number(maxFlightTime, 'f', 1)));
         
@@ -2189,7 +2162,10 @@ void AreaCoverageDialog::planCoveragePath() {
         coveragePathData_ = multiJson;
         
         // 完成提示
-        QMessageBox::information(this, "成功", QString("威胁区域覆盖路径已生成（%1 架无人机，覆盖率 %2%）").arg(droneCount).arg(QString::number(coverageRate, 'f', 1)));
+        QString successMsg = dialogTitle_.contains("任务决策") ? 
+            QString("搜索区域覆盖路径已生成（%1 架无人机，覆盖率 %2%）").arg(droneCount).arg(QString::number(coverageRate, 'f', 1)) :
+            QString("威胁区域覆盖路径已生成（%1 架无人机，覆盖率 %2%）").arg(droneCount).arg(QString::number(coverageRate, 'f', 1));
+        QMessageBox::information(this, "成功", successMsg);
         return;
     }
 }
@@ -2295,7 +2271,8 @@ void AreaCoverageDialog::onSelectNoneThreats() {
 
 void AreaCoverageDialog::onRefreshThreats() {
     populateThreatList();
-    QMessageBox::information(this, "成功", "威胁区域列表已刷新");
+    QString refreshMsg = dialogTitle_.contains("任务决策") ? "搜索区域列表已刷新" : "威胁区域列表已刷新";
+    QMessageBox::information(this, "成功", refreshMsg);
 }
 
 void AreaCoverageDialog::onPathDroneChanged(int index) {
@@ -2379,9 +2356,6 @@ void AreaCoverageDialog::onPlayAnimation() {
     )");
     
     mapPage_->runMapJavaScript(animationJs);
-    
-    // 自动关闭对话框，便于观看动画
-    this->hide();
 }
 
 void AreaCoverageDialog::onStopAnimation() {
@@ -2601,18 +2575,71 @@ void MapPage::onMapReadyFromJS() {
     emit mapReady();
 }
 
+void MapPage::setThreatButtonText(const QString& text) {
+    if (setThreatBtn_) {
+        setThreatBtn_->setText(text);
+    }
+}
+
 void MapPage::loadSavedPath() {
-    QFile file("task_path.json");
-    if (file.open(QIODevice::ReadOnly)) {
-        QString pathData = file.readAll();
-        file.close();
-        if (!pathData.isEmpty()) {
-            visualizePath(pathData);
-            QMessageBox::information(this, "成功", "已加载并展示保存的路径");
-        } else {
-            QMessageBox::warning(this, "错误", "保存路径为空");
-        }
-    } else {
-        QMessageBox::warning(this, "错误", "无法打开保存文件");
+    QString fileName = QFileDialog::getOpenFileName(this, "打开保存路径", "", "JSON Files (*.json)");
+    if (fileName.isEmpty()) return;
+
+    QFile file(fileName);
+    if (!file.open(QIODevice::ReadOnly)) {
+        QMessageBox::warning(this, "错误", "无法打开文件: " + fileName);
+        return;
     }
+    QString pathData = file.readAll();
+    file.close();
+    
+    // 验证JSON
+    QJsonParseError err;
+    QJsonDocument doc = QJsonDocument::fromJson(pathData.toUtf8(), &err);
+    if (err.error != QJsonParseError::NoError || !doc.isArray()) {
+        QMessageBox::warning(this, "错误", "无效的JSON格式: " + err.errorString());
+        return;
+    }
+    
+    visualizePath(pathData, true);  // 加载时清除旧路径
+    QMessageBox::information(this, "成功", "已加载并展示路径: " + fileName);
+}
+
+// Add the new function implementation here
+void MapPage::visualizeCoverageMultiPaths(const QString& multiPathsJson) {
+    QString js = QString(R"(
+        if (window.map) {
+            var items = JSON.parse('%1');
+            // 清理旧覆盖
+            if (!window.multiPolylines) window.multiPolylines = [];
+            if (!window.multiCircles) window.multiCircles = [];
+            for (var i=0;i<window.multiPolylines.length;i++){ if (window.multiPolylines[i]) window.map.remove(window.multiPolylines[i]); }
+            for (var i=0;i<window.multiCircles.length;i++){ if (window.multiCircles[i]) window.map.remove(window.multiCircles[i]); }
+            window.multiPolylines = [];
+            window.multiCircles = [];
+
+            var all = [];
+            for (var k=0;k<items.length;k++){
+                var pathCol = items[k].pathColor || '#1E88E5';
+                var circleCol = items[k].circleColor || '#1E88E5';
+                var path = items[k].path || [];
+                var radius = items[k].radius || 100.0;
+                if (path.length > 0){
+                    var poly = new AMap.Polyline({path: path, strokeColor: pathCol, strokeOpacity: 0.9, strokeWeight: 4});
+                    poly.setMap(window.map);
+                    window.multiPolylines.push(poly);
+                    all.push(poly);
+                    // 每隔若干点画覆盖圆
+                    for (var j=0;j<path.length;j+=Math.max(1, Math.floor(path.length/20))){
+                        var c = new AMap.Circle({center: new AMap.LngLat(path[j][0], path[j][1]), radius: radius, fillColor: circleCol, fillOpacity: 0.12, strokeColor: circleCol, strokeWeight: 1});
+                        c.setMap(window.map);
+                        window.multiCircles.push(c);
+                        all.push(c);
+                    }
+                }
+            }
+            if (all.length>0) window.map.setFitView(all, {padding:[40,40,40,40]});
+        }
+    )").arg(multiPathsJson);
+    runMapJavaScript(js);
 }

Src/pages/mappage.h

@@ -57,7 +57,7 @@ class AreaSearchDialog;
 class ThreatAreaDialog : public QDialog {
     Q_OBJECT
 public:
-    ThreatAreaDialog(QWidget* parent = nullptr, MapPage* mapPage = nullptr);
+    ThreatAreaDialog(QWidget* parent = nullptr, MapPage* mapPage = nullptr, const QString& title = "设置威胁区域");
 private slots:
     void addArea();
     void updateThreatStats();
@@ -128,7 +128,7 @@ private:
 class AreaCoverageDialog : public QDialog {
     Q_OBJECT
 public:
-    AreaCoverageDialog(QWidget* parent = nullptr, MapPage* mapPage = nullptr);
+    AreaCoverageDialog(QWidget* parent = nullptr, MapPage* mapPage = nullptr, const QString& title = "区域覆盖规划");
     QString getCoveragePathData() const { return coveragePathData_; }
 private slots:
     void planCoveragePath();
@@ -144,6 +144,7 @@ private slots:
     void onResetAnimation();
 private:
     void populateThreatList();
+    QString dialogTitle_;
     QSpinBox* droneCountSpin_;
     QTableWidget* droneParamsTable_;
     QTableWidget* threatSelectTable_;
@@ -206,6 +207,9 @@ public:
 
     QComboBox* getHeightCombo() const { return heightCombo_; }
     QPushButton* getDownloadMapBtn() const { return downloadMapBtn_; }
+    
+    // 设置威胁区域按钮文本的方法
+    void setThreatButtonText(const QString& text);
 
 signals:
     void heightChanged(const QString& height);
@@ -235,14 +239,14 @@ public slots:
     void addClickListener();
     void removeClickListener();
     void handleMapClick(double lng, double lat);
-    void visualizePath(const QString& pathData);
-    void visualizeCoverageMultiPaths(const QString& multiPathsJson);
+    void visualizePath(const QString& pathData, bool clearOld = false);
     void clearPathOverlays();
     void runMapJavaScript(const QString& js);
     double parseLng(const QString& coord) const;
     double parseLat(const QString& coord) const;
     void showMarker(double lng, double lat, const QString& label, const QString& color, int index);
     void visualizeCoveragePath(const QString& pathData);
+    void visualizeCoverageMultiPaths(const QString& multiPathsJson);
     void clearCoverageOverlays();
     void visualizeCoverageAreaCircle(double centerLng, double centerLat, double radiusKm);
     void visualizeCoverageAreaPolygon(const QList<QPair<double,double>>& vertices);

Src/pages/taskdecisionpage.cpp

@@ -3,18 +3,12 @@
 #include "mappage.h"  // For PathPlanningDialog and MapPage
 #include <QFile> // Added for file operations
 #include <QDateTime> // Added for saving paths
-#include <QHeaderView>
-#include <QMenu>
-#include <QInputDialog>
-#include <QDialog>
-#include <QFormLayout>
-#include <QDialogButtonBox>
-#include <QComboBox>
-#include <QSpinBox>
-#include <QLineEdit>
-#include <QTextEdit>
-#include <QGroupBox>
-#include <QCheckBox>
+#include <QJsonDocument> // Added for JSON formatting
+#include <QJsonObject>  // Added for QJsonObject
+#include <QJsonArray>   // Added for QJsonArray
+#include <QDialogButtonBox>  // Added for dialog buttons
+#include <QDir>  // Added for QDir
+#include <cmath>  // Added for math functions (sin, cos, sqrt, atan2, M_PI)
 
 TaskDecisionPage::TaskDecisionPage(QWidget* parent)
     : QWidget(parent)
@@ -38,19 +32,33 @@ TaskDecisionPage::TaskDecisionPage(QWidget* parent)
     connect(targetManager_, &TargetManager::targetStatusChanged, this, &TaskDecisionPage::updateTargetTable);
     connect(targetManager_, &TargetManager::targetPriorityChanged, this, &TaskDecisionPage::updateTargetTable);
     connect(targetManager_, &TargetManager::targetStrikeMethodChanged, this, &TaskDecisionPage::updateTargetTable);
+
+    taskData_ = new TaskDataObject();
+    // Remove: QMessageBox and initTaskData
 }
 
 void TaskDecisionPage::setupUI() {
-    auto* mainLayout = new QHBoxLayout(this);
+    auto* mainLayout = new QVBoxLayout(this);  // Change to VBox for stacking
     mainLayout->setContentsMargins(10, 10, 10, 10);
-
+    
+    stack_ = new QStackedWidget();
+    mainLayout->addWidget(stack_);
+    
+    // Page 0: Welcome page with new task button
+    stack_->addWidget(createWelcomeWidget());
+    
+    // Page 1: Main decision UI
+    QWidget* decisionWidget = new QWidget();
+    auto* decisionLayout = new QHBoxLayout(decisionWidget);
+    
+    // Add existing UI to decisionLayout
     // 左侧步骤导航
     stepList_ = new QListWidget();
     stepList_->setFixedWidth(200);
     stepList_->addItems({"1. 目标位置确认", "2. 路径规划", "3. 区域搜索策略", "4. 打击目标清单", "5. 任务预览与生成"});
     connect(stepList_, &QListWidget::currentRowChanged, this, &TaskDecisionPage::onStepChanged);
-    mainLayout->addWidget(stepList_);
-
+    decisionLayout->addWidget(stepList_);
+    
     // 中间内容区
     auto* contentLayout = new QVBoxLayout();
     contentStack_ = new QStackedWidget();
@@ -60,7 +68,7 @@ void TaskDecisionPage::setupUI() {
     contentStack_->addWidget(createStep4Widget());
     contentStack_->addWidget(createStep5Widget());
     contentLayout->addWidget(contentStack_, 1);
-
+    
     // 底部导航
     auto* bottomLayout = new QHBoxLayout();
     prevBtn_ = new QPushButton("上一步");
@@ -75,10 +83,12 @@ void TaskDecisionPage::setupUI() {
     bottomLayout->addStretch(1);
     bottomLayout->addWidget(generateBtn_);
     contentLayout->addLayout(bottomLayout);
-
-    mainLayout->addLayout(contentLayout, 1);
-
+    
+    decisionLayout->addLayout(contentLayout, 1);
+    stack_->addWidget(decisionWidget);
+    
     // 初始化
+    stack_->setCurrentIndex(0);  // Start with welcome page
     onStepChanged(0);
 }
 
@@ -134,16 +144,13 @@ QWidget* TaskDecisionPage::createStep2Widget() {
             MapPage* previewMap = new MapPage();
             previewMap->setWindowTitle("路径预览");
             previewMap->resize(800, 600);
-
-            // 等待页面加载完成后可视化路径
             connect(previewMap->getMapView()->page(), &QWebEnginePage::loadFinished, [previewMap, this](bool ok){
                 if (ok) {
-                    previewMap->visualizePath(pathData_);
+                    previewMap->visualizePath(pathData_, true);  // 清除旧路径
                 } else {
                     QMessageBox::warning(this, "错误", "地图加载失败，无法预览路径");
                 }
             });
-
             previewMap->show();
         }
     });
@@ -170,7 +177,7 @@ QWidget* TaskDecisionPage::createStep2Widget() {
             histPreview->setWindowTitle("历史路径预览");
             histPreview->resize(800, 600);
             connect(histPreview->getMapView()->page(), &QWebEnginePage::loadFinished, [histPreview, histPath](bool ok){
-                if (ok) histPreview->visualizePath(histPath);
+                if (ok) histPreview->visualizePath(histPath, true);
             });
             histPreview->show();
         }
@@ -185,26 +192,22 @@ QWidget* TaskDecisionPage::createStep3Widget() {
 
     layout->addWidget(new QLabel("步骤3: 规划区域搜索策略"));
 
-    areaSize_ = new QLineEdit();
-    areaSize_->setPlaceholderText("区域大小/形状 (e.g., 圆形,半径5km)");
-    layout->addWidget(areaSize_);
-
-    droneCount_ = new QSpinBox();
-    droneCount_->setRange(1, 10);
-    layout->addWidget(droneCount_);
-
-    auto* recBtn = new QPushButton("推荐无人机数量");
-    connect(recBtn, &QPushButton::clicked, this, &TaskDecisionPage::onRecommendDrones);
-    layout->addWidget(recBtn);
-
-    auto* replanBtn = new QPushButton("重新规划");
-    connect(replanBtn, &QPushButton::clicked, this, &TaskDecisionPage::onReplanSearch);
-    layout->addWidget(replanBtn);
+    // 新增区域覆盖规划按钮
+    auto* areaCoverageBtn = new QPushButton("区域覆盖规划");
+    areaCoverageBtn->setProperty("primary", true);
+    connect(areaCoverageBtn, &QPushButton::clicked, this, &TaskDecisionPage::onAreaCoveragePlanning);
+    layout->addWidget(areaCoverageBtn);
 
     searchTable_ = new QTableWidget(0, 4);
-    searchTable_->setHorizontalHeaderLabels({"无人机ID", "搜索路径", "时间", "范围占比"});
+    searchTable_->setHorizontalHeaderLabels({"无人机ID", "搜索路径", "时间", "覆盖率"});
     layout->addWidget(searchTable_);
 
+    // 新增保存数据按钮
+    auto* saveDataBtn = new QPushButton("保存数据");
+    saveDataBtn->setProperty("secondary", true);
+    connect(saveDataBtn, &QPushButton::clicked, this, &TaskDecisionPage::onSaveSearchData);
+    layout->addWidget(saveDataBtn);
+
     searchTime_ = new QLabel("预计搜索时间: N/A");
     coverage_ = new QLabel("覆盖范围: N/A");
     layout->addWidget(searchTime_);
@@ -286,6 +289,7 @@ void TaskDecisionPage::onStepChanged(int step) {
     prevBtn_->setEnabled(step > 0);
     nextBtn_->setEnabled(step < 4);
     generateBtn_->setEnabled(step == 4);
+    generateBtn_->setVisible(step == 4);  // Show only in last step
 
     // 调试信息
     qDebug() << "Step changed to:" << step << "Stack index:" << contentStack_->currentIndex();
@@ -342,25 +346,191 @@ void TaskDecisionPage::onGeneratePath() {
     });
 }
 
-void TaskDecisionPage::onRecommendDrones() {
-    // 模拟推荐（基于区域大小）
-    droneCount_->setValue(3);  // 示例
-    QMessageBox::information(this, "推荐", "推荐使用3架无人机");
+void TaskDecisionPage::onAreaCoveragePlanning() {
+    // 创建独立的地图画布窗口
+    MapPage* coverageMap = new MapPage(this);
+    coverageMap->setWindowTitle("区域覆盖规划 - 任务决策");
+    coverageMap->resize(1200, 800);
+    
+    // 设置威胁区域按钮文本为"设置搜索区域"
+    coverageMap->setThreatButtonText("设置搜索区域");
+    
+    coverageMap->show();
+    
+    // 等待地图加载完成后打开区域覆盖规划对话框
+    connect(coverageMap->getMapView()->page(), &QWebEnginePage::loadFinished, [this, coverageMap](bool ok) {
+        if (ok) {
+            // 创建区域覆盖规划对话框
+            AreaCoverageDialog* coverageDialog = new AreaCoverageDialog(this, coverageMap, "区域覆盖规划 - 任务决策");
+            coverageDialog->show();
+            
+            // 连接对话框关闭信号，清理资源
+            connect(coverageDialog, &QDialog::finished, [this, coverageMap, coverageDialog](int result) {
+                if (result == QDialog::Accepted) {
+                    // 获取覆盖路径数据
+                    QString coveragePathData = coverageDialog->getCoveragePathData();
+                    if (!coveragePathData.isEmpty()) {
+                        // 更新搜索数据
+                        searchData_ = coveragePathData;
+                        
+                        // 解析覆盖路径数据并更新搜索表格
+                        updateSearchTableFromCoverageData(coveragePathData);
+                        
+                        QMessageBox::information(coverageDialog, "成功", "区域覆盖规划已完成！");
+                    }
+                }
+                coverageMap->close();
+                coverageMap->deleteLater();
+                coverageDialog->deleteLater();
+            });
+        }
+    });
+}
+
+void TaskDecisionPage::onSaveSearchData() {
+    // 检查是否有搜索数据
+    if (searchData_.isEmpty()) {
+        QMessageBox::warning(this, "警告", "没有可保存的搜索数据！请先进行区域覆盖规划。");
+        return;
+    }
+
+    // 创建data_area目录（相对于项目根目录）
+    QString projectRoot = QDir::currentPath();
+    QDir dataDir(projectRoot + "/Src/data_area");
+    if (!dataDir.exists()) {
+        if (!dataDir.mkpath(".")) {
+            QMessageBox::critical(this, "错误", "无法创建data_area目录！");
+            return;
+        }
+    }
+
+    // 生成文件名（包含时间戳）
+    QDateTime currentTime = QDateTime::currentDateTime();
+    QString fileName = QString("search_data_%1.json").arg(currentTime.toString("yyyyMMdd_hhmmss"));
+    QString filePath = dataDir.absoluteFilePath(fileName);
+
+    // 准备保存的数据
+    QJsonObject searchDataObj;
+    searchDataObj["timestamp"] = currentTime.toString("yyyy-MM-dd hh:mm:ss");
+    searchDataObj["coverage"] = coverage_->text();
+    searchDataObj["searchTime"] = searchTime_->text();
+    
+    // 添加表格数据
+    QJsonArray tableData;
+    for (int i = 0; i < searchTable_->rowCount(); ++i) {
+        QJsonObject rowData;
+        rowData["droneId"] = searchTable_->item(i, 0) ? searchTable_->item(i, 0)->text() : "";
+        rowData["path"] = searchTable_->item(i, 1) ? searchTable_->item(i, 1)->text() : "";
+        rowData["time"] = searchTable_->item(i, 2) ? searchTable_->item(i, 2)->text() : "";
+        rowData["coverage"] = searchTable_->item(i, 3) ? searchTable_->item(i, 3)->text() : "";
+        tableData.append(rowData);
+    }
+    searchDataObj["droneCount"] = tableData.size(); // Use table data size as drone count
+    searchDataObj["tableData"] = tableData;
+
+    // 保存到文件
+    QJsonDocument doc(searchDataObj);
+    QFile file(filePath);
+    if (file.open(QIODevice::WriteOnly)) {
+        file.write(doc.toJson());
+        file.close();
+        QMessageBox::information(this, "成功", QString("搜索数据已保存到：\n%1").arg(filePath));
+    } else {
+        QMessageBox::critical(this, "错误", "无法保存文件！");
+    }
 }
 
-void TaskDecisionPage::onReplanSearch() {
-    // 模拟规划
-    searchTable_->setRowCount(droneCount_->value());
-    for (int i = 0; i < droneCount_->value(); ++i) {
+void TaskDecisionPage::updateSearchTableFromCoverageData(const QString& coveragePathData) {
+    // 解析JSON格式的覆盖路径数据
+    QJsonParseError error;
+    QJsonDocument doc = QJsonDocument::fromJson(coveragePathData.toUtf8(), &error);
+    
+    if (error.error != QJsonParseError::NoError) {
+        qDebug() << "JSON解析错误:" << error.errorString();
+        return;
+    }
+    
+    QJsonArray droneArray = doc.array();
+    int droneCount = droneArray.size();
+    
+    // 更新搜索表格
+    if (searchTable_ != nullptr) {
+        searchTable_->setRowCount(droneCount);
+    } else {
+        qDebug() << "searchTable_ is null, cannot update.";
+    }
+    
+    double totalDistance = 0.0;
+    double totalCoverageArea = 0.0;
+    double maxFlightTime = 0.0;
+    QList<double> droneCoverageAreas; // 存储每台无人机的覆盖面积
+    
+    for (int i = 0; i < droneCount; ++i) {
+        QJsonObject droneObj = droneArray[i].toObject();
+        QJsonArray pathArray = droneObj["path"].toArray();
+        
+        // 无人机ID
         searchTable_->setItem(i, 0, new QTableWidgetItem(QString("Drone %1").arg(i+1)));
-        searchTable_->setItem(i, 1, new QTableWidgetItem("路径描述"));
-        searchTable_->setItem(i, 2, new QTableWidgetItem("5min"));
-        searchTable_->setItem(i, 3, new QTableWidgetItem("30%"));
+        
+        // 搜索路径描述
+        QString pathDesc = QString("覆盖路径 (%1个点)").arg(pathArray.size());
+        searchTable_->setItem(i, 1, new QTableWidgetItem(pathDesc));
+        
+        // 计算路径长度和飞行时间
+        double pathDistance = 0.0;
+        for (int j = 1; j < pathArray.size(); ++j) {
+            QJsonArray point1 = pathArray[j-1].toArray();
+            QJsonArray point2 = pathArray[j].toArray();
+            
+            double lng1 = point1[0].toDouble();
+            double lat1 = point1[1].toDouble();
+            double lng2 = point2[0].toDouble();
+            double lat2 = point2[1].toDouble();
+            
+            // 使用Haversine公式计算距离
+            double dLat = (lat2 - lat1) * M_PI / 180.0;
+            double dLng = (lng2 - lng1) * M_PI / 180.0;
+            double a = sin(dLat/2) * sin(dLat/2) + cos(lat1 * M_PI / 180.0) * cos(lat2 * M_PI / 180.0) * sin(dLng/2) * sin(dLng/2);
+            double c = 2 * atan2(sqrt(a), sqrt(1-a));
+            pathDistance += 6371000.0 * c; // 地球半径米
+        }
+        
+        totalDistance += pathDistance;
+        
+        // 假设飞行速度为15m/s
+        double flightTime = pathDistance / 15.0 / 60.0; // 转换为分钟
+        if (flightTime > maxFlightTime) maxFlightTime = flightTime;
+        
+        searchTable_->setItem(i, 2, new QTableWidgetItem(QString("%1min").arg(QString::number(flightTime, 'f', 1))));
+        
+        // 计算每台无人机的覆盖面积
+        double radius = droneObj["radius"].toDouble();
+        double droneCoverageArea = pathArray.size() * M_PI * radius * radius;
+        totalCoverageArea += droneCoverageArea;
+        
+        // 存储每台无人机的覆盖面积，用于后续计算相对覆盖率
+        droneCoverageAreas.append(droneCoverageArea);
     }
-    searchTime_->setText("预计搜索时间: 15min");
-    coverage_->setText("覆盖范围: 90%");
-    searchData_ = "搜索策略生成";
-    QMessageBox::information(this, "规划", "搜索策略已重新规划！");
+    
+    // 重新计算每台无人机的相对覆盖率，使总和为100%
+    for (int i = 0; i < droneCount; ++i) {
+        double relativeCoveragePercent = (droneCoverageAreas[i] / totalCoverageArea) * 100.0;
+        searchTable_->setItem(i, 3, new QTableWidgetItem(QString("%1%").arg(QString::number(relativeCoveragePercent, 'f', 1))));
+    }
+    
+    // 计算总覆盖率并更新统计信息
+    double totalCoveragePercent = 100.0;
+    double overlapAdjustment = 0.0; // 简单重叠调整，例如假设10%重叠
+    for (int i = 0; i < droneCount; ++i) {
+        QString coverageStr = droneArray[i].toObject()["coverage"].toString();
+        double droneCoverage = coverageStr.remove("%").toDouble();
+        totalCoveragePercent += droneCoverage;
+        if (i > 0) overlapAdjustment += droneCoverage * 0.1; // 假设每对无人机重叠10%
+    }
+    totalCoveragePercent -= overlapAdjustment;
+    totalCoveragePercent = std::max(0.0, std::min(100.0, totalCoveragePercent));
+    searchTime_->setText(QString("预计搜索时间: %1min").arg(QString::number(maxFlightTime, 'f', 1)));
+    coverage_->setText(QString("覆盖范围: %1%").arg(QString::number(totalCoveragePercent, 'f', 1)));
 }
 
 void TaskDecisionPage::onAddTargetType() {
@@ -369,36 +539,40 @@ void TaskDecisionPage::onAddTargetType() {
 }
 
 void TaskDecisionPage::onGenerateTask() {
-    // 汇总数据生成预览
+    // Validation
+    if (pathData_.isEmpty() && searchData_.isEmpty() && targetTable_->rowCount() == 0) {
+        QMessageBox::warning(this, "警告", "所有数据为空，无法生成任务包。请完成至少一个步骤。");
+        return;
+    }
+    
+    // 汇总数据生成预览（模拟）
     QString preview = "任务摘要:\n";
     preview += QString("目标明确: %1\n").arg(isTargetClear_ ? "是" : "否");
     preview += "路径: " + pathData_ + "\n";
     if (!isTargetClear_) preview += "搜索策略: " + searchData_ + "\n";
-    
     preview += "打击清单:\n";
-    auto targets = targetManager_->getTargetsSortedByPriority();
-    for (auto* target : targets) {
-        preview += QString("- %1 (%2) - 优先级: %3, 打击方式: %4, 状态: %5\n")
-                  .arg(target->getName())
-                  .arg(target->getTypeString())
-                  .arg(target->getPriority())
-                  .arg(target->getStrikeMethodString())
-                  .arg(target->getStatusString());
+    for (int i = 0; i < targetTable_->rowCount(); ++i) {
+        auto* type = qobject_cast<QComboBox*>(targetTable_->cellWidget(i, 0));
+        auto* pri = qobject_cast<QSpinBox*>(targetTable_->cellWidget(i, 1));
+        auto* way = qobject_cast<QComboBox*>(targetTable_->cellWidget(i, 2));
+        preview += QString("%1 (优先级 %2, 方式 %3)\n").arg(type->currentText()).arg(pri->value()).arg(way->currentText());
     }
-    
-    preview += QString("\n统计信息:\n");
-    preview += QString("目标总数: %1\n").arg(targetManager_->getTargetCount());
-    preview += QString("高优先级目标: %1\n").arg(targetManager_->getHighPriorityTargets().size());
-    
     taskPreview_->setText(preview);
 
-    // 生成任务包（模拟保存JSON）
-    QFile file("task_path.json");
-    if (file.open(QIODevice::WriteOnly)) {
-        file.write(pathData_.toUtf8());
-        file.close();
+    // 生成任务包（保存到data_paths目录）
+    if (!pathData_.isEmpty()) {
+        QDir dataDir;
+        if (!dataDir.exists("Src/data_paths")) {
+            dataDir.mkdir("Src/data_paths");
+        }
+        QFile file("Src/data_paths/task_path.json");
+        if (file.open(QIODevice::WriteOnly)) {
+            file.write(pathData_.toUtf8());
+            file.close();
+        }
     }
-    QMessageBox::information(this, "生成", "任务数据包已生成！路径保存到task_path.json");
+    saveTaskData();
+    QMessageBox::information(this, "生成", "任务数据包已生成！路径保存到 Src/data_paths/task_path.json");
 }
 
 void TaskDecisionPage::onNextStep() {
@@ -434,11 +608,21 @@ void TaskDecisionPage::saveCurrentPath() {
         QMessageBox::warning(this, "错误", "无当前路径可保存");
         return;
     }
-    QFile file(QString("saved_path_%1.json").arg(QDateTime::currentDateTime().toString("yyyyMMdd_hhmmss")));
+    
+    // 确保data_paths目录存在
+    QDir dataDir;
+    if (!dataDir.exists("Src/data_paths")) {
+        dataDir.mkdir("Src/data_paths");
+    }
+    
+    QJsonDocument doc = QJsonDocument::fromJson(pathData_.toUtf8());
+    QString formatted = doc.toJson(QJsonDocument::Indented);  // 添加换行/缩进
+    QString fileName = QString("Src/data_paths/saved_path_%1.json").arg(QDateTime::currentDateTime().toString("yyyyMMdd_hhmmss"));
+    QFile file(fileName);
     if (file.open(QIODevice::WriteOnly)) {
-        file.write(pathData_.toUtf8());
+        file.write(formatted.toUtf8());
         file.close();
-        QMessageBox::information(this, "成功", "当前路径已保存到文件");
+        QMessageBox::information(this, "成功", QString("当前路径已保存到: %1").arg(fileName));
     } else {
         QMessageBox::warning(this, "错误", "保存失败");
     }
@@ -868,3 +1052,62 @@ void TaskDecisionPage::showBatchUpdateDialog() {
     
     dialog.exec();
 }
+
+void TaskDecisionPage::initTaskData(bool isNew) {
+    if (isNew) {
+        taskData_->pathData = "";
+        taskData_->searchData = "";
+        taskData_->strikeList = QJsonArray();
+    } else {
+        // Optionally load from file, but for now, assume new
+        initTaskData(true);
+    }
+}
+
+void TaskDecisionPage::saveTaskData() {
+    // Update strikeList from table
+    taskData_->strikeList = QJsonArray();
+    for (int i = 0; i < targetTable_->rowCount(); ++i) {
+        QJsonObject item;
+        item["type"] = qobject_cast<QComboBox*>(targetTable_->cellWidget(i, 0))->currentText();
+        item["priority"] = qobject_cast<QSpinBox*>(targetTable_->cellWidget(i, 1))->value();
+        item["method"] = qobject_cast<QComboBox*>(targetTable_->cellWidget(i, 2))->currentText();
+        taskData_->strikeList.append(item);
+    }
+    // Save to file
+    QJsonDocument doc(taskData_->toJson());
+    QFile file("task_data.json");
+    if (file.open(QIODevice::WriteOnly)) {
+        file.write(doc.toJson());
+        file.close();
+    }
+}
+
+void TaskDecisionPage::viewTaskData() {
+    QJsonDocument doc(taskData_->toJson());
+    QMessageBox::information(this, "任务数据", doc.toJson(QJsonDocument::Indented));
+}
+
+void TaskDecisionPage::onNewTaskClicked() {
+    QMessageBox::StandardButton reply = QMessageBox::question(this, "新建任务", "是否新建一个任务？", QMessageBox::Yes | QMessageBox::No);
+    if (reply == QMessageBox::Yes) {
+        initTaskData(true);
+        stack_->setCurrentIndex(1);  // Switch to main decision page
+        onStepChanged(0);  // Proceed to step 1
+    }
+}
+
+QWidget* TaskDecisionPage::createWelcomeWidget() {
+    QWidget* welcome = new QWidget();
+    auto* layout = new QVBoxLayout(welcome);
+    layout->setAlignment(Qt::AlignCenter);
+    
+    QLabel* label = new QLabel("欢迎进入任务决策页面");
+    layout->addWidget(label);
+    
+    newTaskBtn_ = new QPushButton("新建任务");
+    connect(newTaskBtn_, &QPushButton::clicked, this, &TaskDecisionPage::onNewTaskClicked);
+    layout->addWidget(newTaskBtn_);
+    
+    return welcome;
+}

Src/pages/taskdecisionpage.h

@@ -23,6 +23,29 @@
 #include <QInputDialog>
 #include <QMessageBox>
 #include "../models/targetdata.h"
+#include <QJsonObject>
+#include <QJsonArray>
+
+class TaskDataObject {
+public:
+    QString pathData;
+    QString searchData;
+    QJsonArray strikeList;  // Array of objects: {type, priority, method}
+
+    QJsonObject toJson() const {
+        QJsonObject obj;
+        obj["pathData"] = pathData;
+        obj["searchData"] = searchData;
+        obj["strikeList"] = strikeList;
+        return obj;
+    }
+
+    void fromJson(const QJsonObject& obj) {
+        pathData = obj["pathData"].toString();
+        searchData = obj["searchData"].toString();
+        strikeList = obj["strikeList"].toArray();
+    }
+};
 
 class TaskDecisionPage : public QWidget {
     Q_OBJECT
@@ -34,8 +57,8 @@ private slots:
     void onStepChanged(int step);
     void onTargetClearChanged(bool clear);
     void onGeneratePath();
-    void onRecommendDrones();
-    void onReplanSearch();
+    void onAreaCoveragePlanning();
+    void onSaveSearchData();
     void onAddTargetType();
     void onGenerateTask();
     void onNextStep();
@@ -53,8 +76,10 @@ private slots:
     void onBatchUpdatePriority();
     void onBatchUpdateStrikeMethod();
     void onClearAllTargets();
+    void onNewTaskClicked(); // New slot for new task confirmation
 
 private:
+    QWidget* createWelcomeWidget();
     void setupUI();
     QWidget* createStep1Widget();  // 目标位置确认
     QWidget* createStep2Widget();  // 路径规划
@@ -73,6 +98,10 @@ private:
     void updateTargetInTable(TargetData* target);
     void showTargetEditDialog(TargetData* target = nullptr);
     void showBatchUpdateDialog();
+    void updateSearchTableFromCoverageData(const QString& coveragePathData);
+    void initTaskData(bool isNew);
+    void saveTaskData();
+    void viewTaskData();
 
     // 成员变量
     QStackedWidget* contentStack_;
@@ -82,6 +111,8 @@ private:
     QPushButton* generateBtn_;
     QPushButton* previewBtn_;
     QListWidget* historyList_;  // 新增：历史路径列表
+    QPushButton* newTaskBtn_;  // New button for new task
+    QStackedWidget* stack_;  // To switch between welcome and main page
 
     // 步骤1
     QRadioButton* clearYes_;
@@ -94,7 +125,6 @@ private:
     QTextEdit* pathResult_;
 
     // 步骤3
-    QLineEdit* areaSize_;
     QSpinBox* droneCount_;
     QTableWidget* searchTable_;
     QLabel* searchTime_;
@@ -125,6 +155,7 @@ private:
     // 目标管理
     TargetManager* targetManager_;
     QMap<QString, int> targetRowMap_;  // 目标ID到表格行的映射
+    TaskDataObject* taskData_;  // New member
 
 };
 

Src/pages/visionmodelpage.cpp

@@ -272,7 +272,7 @@ void VisionModelPage::runYOLOv5Detection(const QString& imagePath) {
     progressTimer_->start(100);
     
     // 构建Python命令
-    QString pythonScript = QDir::currentPath() + "/vision_models/services/yolov5_detection_service_simple.py";
+    QString pythonScript = "/home/linchengfu/桌面/project/Drone_project/Src/vision_models/services/yolov5_detection_service_simple.py";
     QStringList arguments;
     arguments << pythonScript << "--image" << imagePath;