diff --git a/Src/build.sh b/Src/build.sh
old mode 100755
new mode 100644
diff --git a/Src/pages/dronedata.cpp b/Src/pages/dronedata.cpp
old mode 100755
new mode 100644
diff --git a/Src/pages/dronedata.h b/Src/pages/dronedata.h
old mode 100755
new mode 100644
diff --git a/Src/pages/dronemanagementpage.cpp b/Src/pages/dronemanagementpage.cpp
old mode 100755
new mode 100644
diff --git a/Src/pages/dronemanagementpage.h b/Src/pages/dronemanagementpage.h
old mode 100755
new mode 100644
diff --git a/Src/pages/mapbridge.cpp b/Src/pages/mapbridge.cpp
index 1f5490e..c462d65 100644
--- a/Src/pages/mapbridge.cpp
+++ b/Src/pages/mapbridge.cpp
@@ -11,7 +11,6 @@ void MapBridge::onClick(double lng, double lat)
     emit mapClicked(lng, lat);
 }
 
-void MapBridge::onMapReady()
-{
-    qDebug() << "Map is ready in C++";
+void MapBridge::onMapReady() {
+    emit mapReady();
 }
diff --git a/Src/pages/mapbridge.h b/Src/pages/mapbridge.h
index bf93eae..401dd5f 100644
--- a/Src/pages/mapbridge.h
+++ b/Src/pages/mapbridge.h
@@ -11,10 +11,11 @@ public:
 
 signals:
     void mapClicked(double lng, double lat);
+    void mapReady();
 
 public slots:
     Q_INVOKABLE void onClick(double lng, double lat);
-    Q_INVOKABLE void onMapReady();
+    void onMapReady();
 };
 
 #endif // MAPBRIDGE_H
diff --git a/Src/pages/mappage.cpp b/Src/pages/mappage.cpp
index 5a04621..1d1d1c7 100644
--- a/Src/pages/mappage.cpp
+++ b/Src/pages/mappage.cpp
@@ -70,6 +70,7 @@ MapPage::MapPage(QWidget *parent) : QWidget(parent),
     if (page) {
         connect(page, &CustomWebEnginePage::consoleMessage, this, &MapPage::onConsoleMessage);
     }
+    connect(bridge_, &MapBridge::mapReady, this, &MapPage::onMapReadyFromJS);
 }
 
 MapPage::~MapPage() {}
@@ -302,6 +303,10 @@ void MapPage::setupMapArea() {
                     }
                 });
             });
+            // 通知C++地图就绪
+            if (window.bridge) {
+                window.bridge.onMapReady();
+            }
         }
     </script>
 </head>
@@ -363,6 +368,10 @@ QWidget* MapPage::createControlBarWidget() {
     connect(areaCoverageBtn_, &QPushButton::clicked, this, &MapPage::onAreaCoverageClicked);
     layout->addWidget(areaCoverageBtn_);
 
+    auto* loadPathBtn = new QPushButton("加载保存路径");
+    connect(loadPathBtn, &QPushButton::clicked, this, &MapPage::loadSavedPath);
+    layout->addWidget(loadPathBtn);
+
     return bar;
 }
 
@@ -585,6 +594,98 @@ 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) {
+    // 使用统一的 areaOverlayId_ 存放区域 overlay（Circle）
+    // km -> m
+    double radiusM = radiusKm * 1000.0;
+    QString js = QString(R"(
+        if (window.map) {
+            if (window.%1) { window.map.remove(window.%1); window.%1 = null; }
+            var circle = new AMap.Circle({
+                center: new AMap.LngLat(%2, %3),
+                radius: %4,
+                fillColor: '#3F51B5',
+                fillOpacity: 0.15,
+                strokeColor: '#3F51B5',
+                strokeWeight: 2
+            });
+            circle.setMap(window.map);
+            window.%1 = circle;
+            window.map.setFitView([circle], {padding:[40,40,40,40]});
+        }
+    )").arg(areaOverlayId_)
+       .arg(centerLng, 0, 'f', 6)
+       .arg(centerLat, 0, 'f', 6)
+       .arg(radiusM, 0, 'f', 3);
+    runMapJavaScript(js);
+}
+
+void MapPage::visualizeCoverageAreaPolygon(const QList<QPair<double,double>>& vertices) {
+    // 使用统一的 areaOverlayId_ 存放区域 overlay（Polygon）
+    QString path = "[";
+    for (int i = 0; i < vertices.size(); ++i) {
+        if (i > 0) path += ",";
+        path += QString("[%1,%2]").arg(vertices[i].first, 0, 'f', 6).arg(vertices[i].second, 0, 'f', 6);
+    }
+    path += "]";
+    QString js = QString(R"(
+        if (window.map) {
+            if (window.%1) { window.map.remove(window.%1); window.%1 = null; }
+            var polygon = new AMap.Polygon({
+                path: %2,
+                fillColor: '#3F51B5',
+                fillOpacity: 0.15,
+                strokeColor: '#3F51B5',
+                strokeWeight: 2
+            });
+            polygon.setMap(window.map);
+            window.%1 = polygon;
+            window.map.setFitView([polygon], {padding:[40,40,40,40]});
+        }
+    )").arg(areaOverlayId_).arg(path);
+    runMapJavaScript(js);
+}
+
 
 double MapPage::parseLng(const QString& coord) const {
     // Handle both "[lng, lat]" and "lng, lat"
@@ -676,69 +777,79 @@ void MapPage::removeClickListener() {
 }
 
 void MapPage::visualizePath(const QString& pathData) {
-    QString js = QString(R"(
-        if (window.map) {
-            var pathCoords = JSON.parse("%1");
-            console.log('Visualizing path with ' + pathCoords.length + ' points');
-            
-            // Remove existing path overlay if any
-            if (window.%2) {
-                window.map.remove(window.%2);
-                window.%2 = null;
-            }
-            
-            // Create new polyline
-            var polyline = new AMap.Polyline({
-                path: pathCoords,
-                strokeColor: "#3366FF",
-                strokeOpacity: 1,
-                strokeWeight: 5,
-                strokeStyle: "solid",
-                strokeDasharray: [10, 5],
-                zIndex: 1
-            });
-            polyline.setMap(window.map);
-            window.%2 = polyline;
-            
-            // Clear existing intermediate markers
-            if (!window.intermediates) {
-                window.intermediates = [];
-            }
-            for (var i = 0; i < window.intermediates.length; i++) {
-                if (window.intermediates[i]) {
-                    window.map.remove(window.intermediates[i]);
+    if (isMapReady_) {
+        // 直接执行JS
+        QString js = QString(R"(
+            if (window.map) {
+                var pathCoords = JSON.parse("%1");
+                console.log('Visualizing path with ' + pathCoords.length + ' points');
+                
+                // Remove existing path overlay if any
+                if (window.%2) {
+                    window.map.remove(window.%2);
+                    window.%2 = null;
                 }
-            }
-            window.intermediates = [];
-            
-            // Add intermediate markers as small dots (excluding start and end)
-            for (var i = 1; i < pathCoords.length - 1; i++) {
-                var marker = new AMap.Marker({
-                    position: pathCoords[i],
-                    content: '<div style="width:8px;height:8px;background:#9C27B0;border-radius:50%%;border:2px solid #FFFFFF;box-shadow:0 0 2px rgba(0,0,0,0.5);"></div>',
-                    zIndex: 10,
-                    offset: new AMap.Pixel(-4, -4)
+                
+                // Create new polyline
+                var polyline = new AMap.Polyline({
+                    path: pathCoords,
+                    strokeColor: "#3366FF",
+                    strokeOpacity: 1,
+                    strokeWeight: 5,
+                    strokeStyle: "solid",
+                    strokeDasharray: [10, 5],
+                    zIndex: 1
                 });
-                marker.setMap(window.map);
-                window.intermediates.push(marker);
-            }
-            
-            // Fit view to show all elements
-            var allOverlays = [];
-            if (window.startMarker) allOverlays.push(window.startMarker);
-            if (window.endMarker) allOverlays.push(window.endMarker);
-            allOverlays.push(polyline);
-            allOverlays = allOverlays.concat(window.intermediates);
-            
-            if (allOverlays.length > 0) {
-                window.map.setFitView(allOverlays, {padding: [50, 50, 50, 50]});
+                polyline.setMap(window.map);
+                window.%2 = polyline;
+                
+                // Clear existing intermediate markers
+                if (!window.intermediates) {
+                    window.intermediates = [];
+                }
+                for (var i = 0; i < window.intermediates.length; i++) {
+                    if (window.intermediates[i]) {
+                        window.map.remove(window.intermediates[i]);
+                    }
+                }
+                window.intermediates = [];
+                
+                // Add intermediate markers as small dots (excluding start and end)
+                for (var i = 1; i < pathCoords.length - 1; i++) {
+                    var marker = new AMap.Marker({
+                        position: pathCoords[i],
+                        content: '<div style="width:8px;height:8px;background:#9C27B0;border-radius:50%%;border:2px solid #FFFFFF;box-shadow:0 0 2px rgba(0,0,0,0.5);"></div>',
+                        zIndex: 10,
+                        offset: new AMap.Pixel(-4, -4)
+                    });
+                    marker.setMap(window.map);
+                    window.intermediates.push(marker);
+                }
+                
+                // Fit view to show all elements
+                var allOverlays = [];
+                if (window.startMarker) allOverlays.push(window.startMarker);
+                if (window.endMarker) allOverlays.push(window.endMarker);
+                allOverlays.push(polyline);
+                allOverlays = allOverlays.concat(window.intermediates);
+                
+                if (allOverlays.length > 0) {
+                    window.map.setFitView(allOverlays, {padding: [50, 50, 50, 50]});
+                }
+                
+                console.log('Path visualization completed with ' + window.intermediates.length + ' intermediate point markers (no labels)');
             }
-            
-            console.log('Path visualization completed with ' + window.intermediates.length + ' intermediate point markers (no labels)');
-        }
-    )").arg(pathData, pathOverlayId_);
-    runMapJavaScript(js);
-    qDebug() << "路径可视化完成";
+        )").arg(pathData, pathOverlayId_);
+        runMapJavaScript(js);
+        qDebug() << "路径可视化完成";
+    } 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
+        });
+        qDebug() << "等待地图就绪后可视化路径";
+    }
 }
 
 void MapPage::onPageLoaded(bool ok) {
@@ -1148,23 +1259,25 @@ PathPlanningDialog::PathPlanningDialog(QWidget *parent, MapPage* mapPage) : QDia
     auto* selectLayout = new QHBoxLayout();
     selectStartBtn_ = new QPushButton("选择起点");
     connect(selectStartBtn_, &QPushButton::clicked, [this](){
-        QMessageBox::information(this, "提示", "现在可以点击地图选择起点。");
+        if (!mapPage_) return;
+        QMessageBox::information(this, "提示", "现在在地图上点击选择起点。");
         selectingStart_ = true;
         selectingEnd_ = false;
         mapPage_->addClickListener();
-        // 隐藏本对话框，显示地图界面进行点击
-        this->hide();
+        mapPage_->show();  // 确保地图可见
+        // 无需隐藏对话框，因为非模态
     });
     selectLayout->addWidget(selectStartBtn_);
     
     selectEndBtn_ = new QPushButton("选择终点");
     connect(selectEndBtn_, &QPushButton::clicked, [this](){
-        QMessageBox::information(this, "提示", "现在可以点击地图选择终点。");
+        if (!mapPage_) return;
+        QMessageBox::information(this, "提示", "现在在地图上点击选择终点。");
         selectingStart_ = false;
         selectingEnd_ = true;
         mapPage_->addClickListener();
-        // 隐藏本对话框，显示地图界面进行点击
-        this->hide();
+        mapPage_->show();  // 确保地图可见
+        // 无需隐藏对话框，因为非模态
     });
     selectLayout->addWidget(selectEndBtn_);
     layout->addLayout(selectLayout);
@@ -1180,7 +1293,11 @@ PathPlanningDialog::PathPlanningDialog(QWidget *parent, MapPage* mapPage) : QDia
     layout->addLayout(applyLayout);
     
     // Connect to map click signal
-    connect(mapPage_, &MapPage::mapClicked, this, &PathPlanningDialog::onMapClick);
+    if (mapPage_) {
+        connect(mapPage_, &MapPage::mapClicked, this, &PathPlanningDialog::onMapClick);
+    } else {
+        qDebug() << "Warning: No MapPage provided for PathPlanningDialog, map clicking disabled.";
+    }
     
     pathTable_ = new QTableWidget();
     pathTable_->setColumnCount(2);
@@ -1554,7 +1671,7 @@ void PathPlanningDialog::planPath() {
             return true;
         };
 
-        // 贪心可见性“拉直”：每次连接最远可见点
+        // 贪心可见性"拉直"：每次连接最远可见点
         QList<QPair<double,double>> smooth;
         smooth.append(pathPoints.first());
         int i = 0;
@@ -1643,16 +1760,14 @@ void PathPlanningDialog::onMapClick(double lng, double lat) {
         selectingStart_ = false;
         mapPage_->removeClickListener();
         QMessageBox::information(this, "成功", "起点已选择");
-        // 选取完成后恢复显示对话框
-        this->show();
+        // 无需隐藏地图或显示对话框，用户可继续交互
     } else if (selectingEnd_) {
         endInput_->setText(coord);
         mapPage_->showMarker(lng, lat, "E", "#FF9800", 1);
         selectingEnd_ = false;
         mapPage_->removeClickListener();
         QMessageBox::information(this, "成功", "终点已选择");
-        // 选取完成后恢复显示对话框
-        this->show();
+        // 无需隐藏地图或显示对话框
     }
 }
 
@@ -1663,59 +1778,85 @@ AreaCoverageDialog::AreaCoverageDialog(QWidget* parent, MapPage* mapPage) : QDia
     mainLayout->setContentsMargins(20, 20, 20, 20);
     mainLayout->setSpacing(15);
 
-    // Shape selection
-    auto* shapeLayout = new QHBoxLayout();
-    shapeLayout->addWidget(new QLabel("区域形状:"));
-    shapeCombo_ = new QComboBox();
-    shapeCombo_->addItems({"圆形", "多边形"});
-    connect(shapeCombo_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &AreaCoverageDialog::onShapeChanged);
-    shapeLayout->addWidget(shapeCombo_);
-    shapeLayout->addStretch();
-    mainLayout->addLayout(shapeLayout);
-
-    // Dynamic inputs based on shape
-    QWidget* inputWidget = new QWidget();
-    auto* inputLayout = new QVBoxLayout(inputWidget);
-    mainLayout->addWidget(inputWidget);
-
-    // Circle inputs (default)
-    circleWidget_ = setupCircleInputs();
-    inputLayout->addWidget(circleWidget_);
-
-    // Polygon inputs (hidden initially)
-    polygonWidget_ = setupPolygonInputs();
-    inputLayout->addWidget(polygonWidget_);
-
-    // Search mode
-    auto* modeGroupBox = new QGroupBox("搜索模式");
-    auto* modeLayout = new QHBoxLayout(modeGroupBox);
-    efficiencyRadio_ = new QRadioButton("高效率");
-    fullRangeRadio_ = new QRadioButton("全范围");
-    efficiencyRadio_->setChecked(true);
-    modeGroup_ = new QButtonGroup(this);
-    modeGroup_->addButton(efficiencyRadio_);
-    modeGroup_->addButton(fullRangeRadio_);
-    modeLayout->addWidget(efficiencyRadio_);
-    modeLayout->addWidget(fullRangeRadio_);
-    modeLayout->addStretch();
-    mainLayout->addWidget(modeGroupBox);
-
-    // Drone count
+    // 取消区域形状/中心/半径输入，改为威胁区域选择
+
+    // Drone params
     auto* droneLayout = new QHBoxLayout();
     droneLayout->addWidget(new QLabel("无人机数量:"));
     droneCountSpin_ = new QSpinBox();
     droneCountSpin_->setRange(1, 10);
     droneCountSpin_->setValue(1);
+    connect(droneCountSpin_, QOverload<int>::of(&QSpinBox::valueChanged), this, &AreaCoverageDialog::onDroneCountChanged);
     droneLayout->addWidget(droneCountSpin_);
+    // 威胁区域由下方列表选择
     droneLayout->addStretch();
     mainLayout->addLayout(droneLayout);
 
-    // Path table
+    // 每机参数表（半径m、速度m/s、路径颜色、搜索圈颜色）
+    droneParamsTable_ = new QTableWidget();
+    droneParamsTable_->setColumnCount(4);
+    droneParamsTable_->setHorizontalHeaderLabels({"搜索半径(米)", "初速度(米/秒)", "路径颜色", "搜索圈颜色"});
+    droneParamsTable_->setMinimumHeight(120);
+    mainLayout->addWidget(droneParamsTable_);
+    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）");
+    auto* threatLayout = new QVBoxLayout(threatBox);
+    threatSelectTable_ = new QTableWidget();
+    threatSelectTable_->setColumnCount(4);
+    threatSelectTable_->setHorizontalHeaderLabels({"选择", "类型", "形状", "详情"});
+    threatSelectTable_->setSelectionMode(QAbstractItemView::NoSelection);
+    threatSelectTable_->setEditTriggers(QAbstractItemView::NoEditTriggers);
+    threatLayout->addWidget(threatSelectTable_);
+    auto* threatBtnLayout = new QHBoxLayout();
+    selectAllBtn_ = new QPushButton("全选");
+    selectNoneBtn_ = new QPushButton("全不选");
+    refreshThreatsBtn_ = new QPushButton("刷新");
+    connect(selectAllBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::onSelectAllThreats);
+    connect(selectNoneBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::onSelectNoneThreats);
+    connect(refreshThreatsBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::onRefreshThreats);
+    threatBtnLayout->addStretch();
+    threatBtnLayout->addWidget(refreshThreatsBtn_);
+    threatBtnLayout->addWidget(selectAllBtn_);
+    threatBtnLayout->addWidget(selectNoneBtn_);
+    threatLayout->addLayout(threatBtnLayout);
+    mainLayout->addWidget(threatBox);
+    populateThreatList();
+
+    // Path table with drone selector
+    auto* pathBox = new QGroupBox("无人机路径坐标");
+    auto* pathLayout = new QVBoxLayout(pathBox);
+    auto* selectorLayout = new QHBoxLayout();
+    selectorLayout->addWidget(new QLabel("选择无人机:"));
+    pathDroneSelector_ = new QComboBox();
+    pathDroneSelector_->addItem("全部无人机");
+    connect(pathDroneSelector_, QOverload<int>::of(&QComboBox::currentIndexChanged), this, &AreaCoverageDialog::onPathDroneChanged);
+    selectorLayout->addWidget(pathDroneSelector_);
+    selectorLayout->addStretch();
+    pathLayout->addLayout(selectorLayout);
     pathTable_ = new QTableWidget();
-    pathTable_->setColumnCount(2);
-    pathTable_->setHorizontalHeaderLabels({"经度", "纬度"});
+    pathTable_->setColumnCount(3);
+    pathTable_->setHorizontalHeaderLabels({"无人机编号", "经度", "纬度"});
     pathTable_->setMinimumHeight(150);
-    mainLayout->addWidget(pathTable_);
+    pathLayout->addWidget(pathTable_);
+    mainLayout->addWidget(pathBox);
+
+    // 统计信息
+    auto* statsBox = new QGroupBox("搜索统计");
+    auto* statsLayout = new QVBoxLayout(statsBox);
+    statsLabel_ = new QLabel("等待路径规划...");
+    statsLabel_->setWordWrap(true);
+    statsLabel_->setStyleSheet("padding: 10px; background: #f5f5f5; border-radius: 5px;");
+    // 添加滚动区域
+    auto* scrollArea = new QScrollArea();
+    scrollArea->setWidget(statsLabel_);
+    scrollArea->setWidgetResizable(true);
+    scrollArea->setMinimumHeight(150);
+    scrollArea->setMaximumHeight(300);
+    scrollArea->setStyleSheet("QScrollArea { border: 1px solid #ddd; border-radius: 5px; }");
+    statsLayout->addWidget(scrollArea);
+    mainLayout->addWidget(statsBox);
 
     // Plan buttons
     auto* planButtonsLayout = new QHBoxLayout();
@@ -1726,6 +1867,21 @@ AreaCoverageDialog::AreaCoverageDialog(QWidget* parent, MapPage* mapPage) : QDia
     clearBtn_ = new QPushButton("清除规划");
     connect(clearBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::clearCoverage);
     planButtonsLayout->addWidget(clearBtn_);
+    
+    playAnimationBtn_ = new QPushButton("播放动画");
+    connect(playAnimationBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::onPlayAnimation);
+    planButtonsLayout->addWidget(playAnimationBtn_);
+    
+    stopAnimationBtn_ = new QPushButton("停止动画");
+    stopAnimationBtn_->setEnabled(false);
+    connect(stopAnimationBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::onStopAnimation);
+    planButtonsLayout->addWidget(stopAnimationBtn_);
+    
+    resetAnimationBtn_ = new QPushButton("重置动画");
+    resetAnimationBtn_->setEnabled(false);
+    connect(resetAnimationBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::onResetAnimation);
+    planButtonsLayout->addWidget(resetAnimationBtn_);
+    
     planButtonsLayout->addStretch();
     mainLayout->addLayout(planButtonsLayout);
 
@@ -1740,248 +1896,568 @@ AreaCoverageDialog::AreaCoverageDialog(QWidget* parent, MapPage* mapPage) : QDia
     buttonLayout->addWidget(cancelBtn);
     mainLayout->addLayout(buttonLayout);
 
-    // Connect map clicks
-    connect(mapPage_, &MapPage::mapClicked, this, &AreaCoverageDialog::onMapClick);
-
-    // Connect table selection for polygon
-    connect(verticesTable_, &QTableWidget::currentCellChanged, this, [this](int currentRow, int currentColumn, int previousRow, int previousColumn) {
-        Q_UNUSED(currentColumn);
-        Q_UNUSED(previousRow);
-        Q_UNUSED(previousColumn);
-        currentVertexRow_ = currentRow;
-    });
-
-    onShapeChanged(0); // Initialize with circle
+    // 不再需要地图点选/形状输入
 }
 
-QWidget* AreaCoverageDialog::setupCircleInputs() {
-    auto* circleWidget = new QWidget();
-    auto* circleLayout = new QFormLayout(circleWidget);
-    centerLngInput_ = new QLineEdit();
-    centerLngInput_->setPlaceholderText("中心经度");
-    circleLayout->addRow("中心经度:", centerLngInput_);
-    centerLatInput_ = new QLineEdit();
-    centerLatInput_->setPlaceholderText("中心纬度");
-    circleLayout->addRow("中心纬度:", centerLatInput_);
-    radiusInput_ = new QLineEdit();
-    radiusInput_->setPlaceholderText("半径 (km)");
-    radiusInput_->setText("1.0");
-    circleLayout->addRow("半径 (km):", radiusInput_);
-    return circleWidget;
-}
-
-QWidget* AreaCoverageDialog::setupPolygonInputs() {
-    auto* polyWidget = new QWidget();
-    auto* polyLayout = new QVBoxLayout(polyWidget);
-
-    verticesTable_ = new QTableWidget();
-    verticesTable_->setColumnCount(2);
-    verticesTable_->setHorizontalHeaderLabels({"经度", "纬度"});
-    polyLayout->addWidget(verticesTable_);
-
-    auto* polyButtonsLayout = new QHBoxLayout();
-    addVertexBtn_ = new QPushButton("添加顶点");
-    connect(addVertexBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::addVertex);
-    polyButtonsLayout->addWidget(addVertexBtn_);
-    removeVertexBtn_ = new QPushButton("移除顶点");
-    connect(removeVertexBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::removeVertex);
-    polyButtonsLayout->addWidget(removeVertexBtn_);
-    selectVertexBtn_ = new QPushButton("地图选择顶点");
-    connect(selectVertexBtn_, &QPushButton::clicked, this, &AreaCoverageDialog::selectVertexOnMap);
-    polyButtonsLayout->addWidget(selectVertexBtn_);
-    polyButtonsLayout->addStretch();
-    polyLayout->addLayout(polyButtonsLayout);
-
-    return polyWidget;
-}
-
-void AreaCoverageDialog::onShapeChanged(int index) {
-    if (index == 0) { // Circle
-        circleWidget_->setVisible(true);
-        polygonWidget_->setVisible(false);
-    } else { // Polygon
-        circleWidget_->setVisible(false);
-        polygonWidget_->setVisible(true);
-    }
-}
-
-void AreaCoverageDialog::addVertex() {
-    int row = verticesTable_->rowCount();
-    verticesTable_->insertRow(row);
-    verticesTable_->setItem(row, 0, new QTableWidgetItem("0.000000"));
-    verticesTable_->setItem(row, 1, new QTableWidgetItem("0.000000"));
-    vertices_.append(qMakePair(0.0, 0.0));
-}
-
-void AreaCoverageDialog::removeVertex() {
-    int row = verticesTable_->currentRow();
-    if (row >= 0) {
-        vertices_.removeAt(row);
-        verticesTable_->removeRow(row);
-    }
-}
-
-void AreaCoverageDialog::selectVertexOnMap() {
-    if (currentVertexRow_ < 0) {
-        addVertex();
-        currentVertexRow_ = verticesTable_->rowCount() - 1;
-    }
-    QMessageBox::information(this, "提示", "点击地图选择顶点位置");
-    selectingVertex_ = true;
-    mapPage_->addClickListener();
-}
-
-void AreaCoverageDialog::onMapClick(double lng, double lat) {
-    if (selectingVertex_) {
-        if (currentVertexRow_ >= 0 && currentVertexRow_ < verticesTable_->rowCount()) {
-            verticesTable_->setItem(currentVertexRow_, 0, new QTableWidgetItem(QString::number(lng, 'f', 6)));
-            verticesTable_->setItem(currentVertexRow_, 1, new QTableWidgetItem(QString::number(lat, 'f', 6)));
-            vertices_[currentVertexRow_] = qMakePair(lng, lat);
-            mapPage_->showMarker(lng, lat, QString::number(currentVertexRow_ + 1), "#2196F3", currentVertexRow_);
-            selectingVertex_ = false;
-            mapPage_->removeClickListener();
-            QMessageBox::information(this, "成功", "顶点已更新");
+void AreaCoverageDialog::onMapClick(double, double) {}
+
+void AreaCoverageDialog::onDroneCountChanged(int value) {
+    if (value < 1) value = 1;
+    if (value > 10) value = 10;
+    droneParamsTable_->setRowCount(value);
+    QStringList colors = {"红色", "蓝色", "紫色", "粉色", "绿色", "橙色", "青色", "棕色", "黄色", "灰色"};
+    for (int i = 0; i < value; ++i) {
+        if (!droneParamsTable_->item(i, 0)) droneParamsTable_->setItem(i, 0, new QTableWidgetItem());
+        if (!droneParamsTable_->item(i, 1)) droneParamsTable_->setItem(i, 1, new QTableWidgetItem());
+        if (!droneParamsTable_->cellWidget(i, 2)) {
+            QComboBox* pathColorCombo = new QComboBox();
+            pathColorCombo->addItems(colors);
+            pathColorCombo->setCurrentIndex(i % colors.size());
+            droneParamsTable_->setCellWidget(i, 2, pathColorCombo);
         }
+        if (!droneParamsTable_->cellWidget(i, 3)) {
+            QComboBox* circleColorCombo = new QComboBox();
+            circleColorCombo->addItems(colors);
+            circleColorCombo->setCurrentIndex((i + 1) % colors.size());
+            droneParamsTable_->setCellWidget(i, 3, circleColorCombo);
+        }
+        // 默认值：半径 80/100/120...，速度 10/12/14...
+        if (droneParamsTable_->item(i, 0)->text().isEmpty()) droneParamsTable_->item(i, 0)->setText(QString::number(80 + i * 20));
+        if (droneParamsTable_->item(i, 1)->text().isEmpty()) droneParamsTable_->item(i, 1)->setText(QString::number(10 + i * 2));
     }
 }
 
 void AreaCoverageDialog::planCoveragePath() {
-    // Update vertices from table for polygon
-    if (shapeCombo_->currentIndex() == 1) {
-        vertices_.clear();
-        for (int i = 0; i < verticesTable_->rowCount(); ++i) {
-            double lng = verticesTable_->item(i, 0) ? verticesTable_->item(i, 0)->text().toDouble() : 0.0;
-            double lat = verticesTable_->item(i, 1) ? verticesTable_->item(i, 1)->text().toDouble() : 0.0;
-            vertices_.append(qMakePair(lng, lat));
+    if (mapPage_) {
+        const auto &areas = mapPage_->getThreatAreas();
+        if (threatSelectTable_->rowCount() == 0) populateThreatList();
+        QList<int> selectedIdx;
+        for (int r = 0; r < threatSelectTable_->rowCount(); ++r) {
+            QWidget* cell = threatSelectTable_->cellWidget(r, 0);
+            QCheckBox* cb = cell ? cell->findChild<QCheckBox*>() : nullptr;
+            if (cb && cb->isChecked()) {
+                if (r >= 0 && r < threatRowToIndex_.size()) selectedIdx.append(threatRowToIndex_[r]);
+            }
         }
-    }
-
-    // Validate inputs based on shape
-    if (shapeCombo_->currentIndex() == 0) { // Circle
-        bool ok1 = centerLngInput_->text().toDouble() != 0.0;
-        bool ok2 = centerLatInput_->text().toDouble() != 0.0;
-        bool ok3;
-        double radiusKm = radiusInput_->text().toDouble(&ok3);
-        if (!ok1 || !ok2 || !ok3 || radiusKm <= 0) {
-            QMessageBox::warning(this, "错误", "无效的圆形参数");
+        if (selectedIdx.isEmpty()) {
+            QMessageBox::warning(this, "提示", "请至少选择一个威胁区域");
             return;
         }
-        // Generate spiral path
-        generateMockCoveragePath(); // Will use circle params
-    } else { // Polygon
-        if (vertices_.size() < 3) {
-            QMessageBox::warning(this, "错误", "多边形至少需要3个顶点");
+        QList<QVariantMap> chosen;
+        for (int idx : selectedIdx) if (idx >= 0 && idx < areas.size()) chosen.append(areas[idx]);
+        if (chosen.isEmpty()) {
+            QMessageBox::warning(this, "提示", "选择结果为空");
             return;
         }
-        // Generate zigzag path
-        generateMockCoveragePath(); // Will use vertices
-    }
+        // 计算威胁区域联合包围盒
+        double minLng = 180, maxLng = -180, minLat = 90, maxLat = -90;
+        for (const auto &a : chosen) {
+            QString shape = a.value("shape").toString();
+            if (shape == "circle" || shape == "圆形") {
+                double clng = a.value("centerLng").toDouble();
+                double clat = a.value("centerLat").toDouble();
+                double r_m = a.value("radius").toDouble();
+                double d = r_m / 111000.0 + 0.002;
+                minLng = std::min(minLng, clng - d);
+                maxLng = std::max(maxLng, clng + d);
+                minLat = std::min(minLat, clat - d);
+                maxLat = std::max(maxLat, clat + d);
+            } else {
+                QList<QVariant> pts = a.value("points").toList();
+                for (const auto &pv : pts) {
+                    auto p = pv.toMap();
+                    minLng = std::min(minLng, p.value("lng").toDouble());
+                    maxLng = std::max(maxLng, p.value("lng").toDouble());
+                    minLat = std::min(minLat, p.value("lat").toDouble());
+                    maxLat = std::max(maxLat, p.value("lat").toDouble());
+                }
+            }
+        }
 
-    // Visualize area first (mock polygon or circle)
-    // For simplicity, skip detailed area overlay, focus on path
+        // 读取无人机参数
+        int droneCount = droneCountSpin_->value();
+        QList<double> radii;
+        QList<double> speeds;
+        QList<QString> pathColors;
+        QList<QString> circleColors;
+        radii.reserve(droneCount);
+        speeds.reserve(droneCount);
+        pathColors.reserve(droneCount);
+        circleColors.reserve(droneCount);
+        QMap<QString, QString> colorMap = {
+            {"红色", "#E53935"}, {"蓝色", "#1E88E5"}, {"紫色", "#8E24AA"}, {"粉色", "#F06292"},
+            {"绿色", "#43A047"}, {"橙色", "#FB8C00"}, {"青色", "#00ACC1"}, {"棕色", "#6D4C41"},
+            {"黄色", "#FDD835"}, {"灰色", "#757575"}
+        };
+        for (int i = 0; i < droneCount; ++i) {
+            bool okR = false, okS = false;
+            double r = droneParamsTable_->item(i, 0) ? droneParamsTable_->item(i, 0)->text().toDouble(&okR) : 0.0;
+            double s = droneParamsTable_->item(i, 1) ? droneParamsTable_->item(i, 1)->text().toDouble(&okS) : 0.0;
+            if (!okR || r <= 0.0) r = 80.0 + i * 20.0;
+            if (!okS || s <= 0.0) s = 10.0 + i * 2.0;
+            
+            QString pathColorName = "红色";
+            QComboBox* pathColorCombo = qobject_cast<QComboBox*>(droneParamsTable_->cellWidget(i, 2));
+            if (pathColorCombo) pathColorName = pathColorCombo->currentText();
+            QString pathHexColor = colorMap.value(pathColorName, "#E53935");
+            
+            QString circleColorName = "蓝色";
+            QComboBox* circleColorCombo = qobject_cast<QComboBox*>(droneParamsTable_->cellWidget(i, 3));
+            if (circleColorCombo) circleColorName = circleColorCombo->currentText();
+            QString circleHexColor = colorMap.value(circleColorName, "#1E88E5");
+            
+            radii.append(r);
+            speeds.append(s);
+            pathColors.append(pathHexColor);
+            circleColors.append(circleHexColor);
+        }
 
-    // Show path in table and store data
-    pathTable_->setRowCount(0);
-    // Assume generateMockCoveragePath populates a list of points
-    // For now, mock some points
-    QList<QPair<double, double>> mockPath;
-    double radiusKm = radiusInput_->text().toDouble(); // Define radius
-    if (shapeCombo_->currentIndex() == 0) {
-        // Spiral around center
-        double centerLng = centerLngInput_->text().toDouble();
-        double centerLat = centerLatInput_->text().toDouble();
-        double r = 0.0;
-        double step = radiusKm / 20.0; // 20 steps
-        for (int i = 0; i < 100; ++i) { // 100 points
-            double angle = i * 0.2; // radians
-            r += step / 10.0; // Increase radius slowly
-            double dx = r * cos(angle);
-            double dy = r * sin(angle);
-            // Approximate km to degrees: ~1/111 deg per km
-            double pointLng = centerLng + (dx / 111.0);
-            double pointLat = centerLat + (dy / 111.0);
-            mockPath.append(qMakePair(pointLng, pointLat));
-            if (r >= radiusKm) break;
+        // 网格化并按无人机拆分点集（借鉴区域搜索JS思路）
+        double spanLng = std::max(1e-6, maxLng - minLng);
+        double spanLat = std::max(1e-6, maxLat - minLat);
+        // 使用第一架无人机半径估计网格间距
+        double avgRadius = 0.0;
+        for (double r : radii) avgRadius += r;
+        avgRadius = (droneCount > 0) ? (avgRadius / double(droneCount)) : 100.0;
+        double gridSpacingDegLat = (avgRadius * 0.7) / 111000.0; // 间距=0.7*半径，兼顾重叠
+        double centerLat = (minLat + maxLat) / 2.0;
+        double gridSpacingDegLng = (avgRadius * 0.7) / (111000.0 * std::max(0.1, std::cos(centerLat * 3.14159265358979323846 / 180.0)));
+        int rows = std::max(2, int(std::ceil(spanLat / gridSpacingDegLat)) + 1);
+        int cols = std::max(2, int(std::ceil(spanLng / gridSpacingDegLng)) + 1);
+
+        QList<QPair<double,double>> allPoints;
+        allPoints.reserve(rows * cols);
+        for (int r = 0; r < rows; ++r) {
+            double lat = minLat + r * gridSpacingDegLat;
+            if (lat > maxLat) lat = maxLat;
+            for (int c = 0; c < cols; ++c) {
+                double lng = minLng + c * gridSpacingDegLng;
+                if (lng > maxLng) lng = maxLng;
+                allPoints.append(qMakePair(lng, lat));
+            }
         }
-    } else {
-        // Zigzag along polygon bounding box
-        double minLng = 180, maxLng = -180, minLat = 90, maxLat = -90;
-        for (auto& v : vertices_) {
-            minLng = qMin(minLng, v.first);
-            maxLng = qMax(maxLng, v.first);
-            minLat = qMin(minLat, v.second);
-            maxLat = qMax(maxLat, v.second);
+
+        // 将点按无人机平均分配并做蛇形排序以减少跳跃
+        QList<QList<QPair<double,double>>> perDronePaths;
+        for (int i = 0; i < droneCount; ++i) {
+            perDronePaths.append(QList<QPair<double,double>>());
+        }
+        int pointsPerDrone = std::max(1, int(std::ceil(double(allPoints.size()) / double(droneCount))));
+        for (int i = 0; i < droneCount; ++i) {
+            int startIndex = i * pointsPerDrone;
+            int endIndex = std::min(startIndex + pointsPerDrone, allPoints.size());
+            QList<QPair<double,double>> pts;
+            for (int k = startIndex; k < endIndex; ++k) pts.append(allPoints[k]);
+            // 蛇形：行内往返
+            QList<QPair<double,double>> ordered;
+            if (!pts.isEmpty()) {
+                // 简化：按行重建
+                int count = pts.size();
+                int perRow = cols;
+                for (int idx = 0; idx < count; ) {
+                    int take = std::min(perRow, count - idx);
+                    QList<QPair<double,double>> rowPts;
+                    for (int t = 0; t < take; ++t) rowPts.append(pts[idx + t]);
+                    if (((idx / perRow) % 2) == 1) std::reverse(rowPts.begin(), rowPts.end());
+                    for (auto &p : rowPts) ordered.append(p);
+                    idx += take;
+                }
+            }
+            perDronePaths[i] = ordered;
+        }
+
+        // 生成多路径 JSON：[{pathColor, circleColor, radius, path:[[lng,lat],...]}]
+        QString multiJson = "[";
+        for (int i = 0; i < droneCount; ++i) {
+            if (i) multiJson += ",";
+            QString pathColor = pathColors[i];
+            QString circleColor = circleColors[i];
+            multiJson += "{\"pathColor\":\"" + pathColor + "\",\"circleColor\":\"" + circleColor + "\",\"radius\":" + QString::number(radii[i], 'f', 2) + ",\"path\":[";
+            const auto &pts = perDronePaths[i];
+            for (int j = 0; j < pts.size(); ++j) {
+                if (j) multiJson += ",";
+                multiJson += QString("[%1,%2]").arg(pts[j].first, 0, 'f', 6).arg(pts[j].second, 0, 'f', 6);
+            }
+            multiJson += "]}";
         }
-        double width = maxLng - minLng;
-        double height = maxLat - minLat;
-        int numLines = 10;
-        for (int line = 0; line < numLines; ++line) {
-            double y = minLat + (height / numLines) * line;
-            for (double x = minLng; x <= maxLng; x += width / 20.0) {
-                mockPath.append(qMakePair(x, y));
+        multiJson += "]";
+
+        // 可视化多路径
+        mapPage_->visualizeCoverageMultiPaths(multiJson);
+
+        // 计算统计信息
+        double totalDistance = 0.0;
+        double totalCoverageArea = 0.0;
+        double maxFlightTime = 0.0;
+        QStringList statsLines;
+        statsLines.append("<b>=== 搜索统计 ===</b><br>");
+        statsLines.append(QString("<b>无人机数量:</b> %1 架<br>").arg(droneCount));
+        statsLines.append("<br>");
+        
+        for (int i = 0; i < droneCount; ++i) {
+            const auto &pts = perDronePaths[i];
+            // 计算路径长度（使用Haversine公式估算）
+            double pathDist = 0.0;
+            for (int j = 1; j < pts.size(); ++j) {
+                double lat1 = pts[j-1].second, lng1 = pts[j-1].first;
+                double lat2 = pts[j].second, lng2 = pts[j].first;
+                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));
+                pathDist += 6371000.0 * c; // 地球半径米
             }
-            // Zigzag back
-            if (line < numLines - 1) {
-                y = minLat + (height / numLines) * (line + 1);
-                for (double x = maxLng; x >= minLng; x -= width / 20.0) {
-                    mockPath.append(qMakePair(x, y));
+            totalDistance += pathDist;
+            
+            // 计算覆盖面积（近似：点数 * π * r²）
+            double coverageArea = pts.size() * M_PI * radii[i] * radii[i];
+            totalCoverageArea += coverageArea;
+            
+            // 计算飞行时间（秒转分钟）
+            double flightTime = pathDist / speeds[i] / 60.0;
+            if (flightTime > maxFlightTime) maxFlightTime = flightTime;
+            
+            statsLines.append(QString("<b>无人机 %1:</b><br>").arg(i + 1));
+            statsLines.append(QString("  飞行距离: %1 米<br>").arg(int(pathDist)));
+            statsLines.append(QString("  覆盖面积: %1 平方米<br>").arg(int(coverageArea)));
+            statsLines.append(QString("  预计时间: %1 分钟<br>").arg(QString::number(flightTime, 'f', 1)));
+            statsLines.append("<br>");
+        }
+        
+        // 计算威胁区域总面积
+        double threatAreaSize = 0.0;
+        for (const auto &a : chosen) {
+            QString shape = a.value("shape").toString();
+            if (shape == "circle" || shape == "圆形") {
+                double r = a.value("radius").toDouble();
+                threatAreaSize += M_PI * r * r;
+            } else {
+                // 矩形近似
+                QList<QVariant> pts = a.value("points").toList();
+                if (pts.size() >= 2) {
+                    double minLng = 180, maxLng = -180, minLat = 90, maxLat = -90;
+                    for (const auto &pv : pts) {
+                        auto p = pv.toMap();
+                        minLng = std::min(minLng, p.value("lng").toDouble());
+                        maxLng = std::max(maxLng, p.value("lng").toDouble());
+                        minLat = std::min(minLat, p.value("lat").toDouble());
+                        maxLat = std::max(maxLat, p.value("lat").toDouble());
+                    }
+                    double latSpan = (maxLat - minLat) * M_PI / 180.0;
+                    double lngSpan = (maxLng - minLng) * M_PI / 180.0;
+                    double avgLat = (minLat + maxLat) / 2.0 * M_PI / 180.0;
+                    threatAreaSize += 6371000.0 * latSpan * 6371000.0 * lngSpan * cos(avgLat);
                 }
             }
         }
+        
+        // 计算覆盖率
+        double coverageRate = (threatAreaSize > 0) ? (totalCoverageArea / threatAreaSize * 100.0) : 0.0;
+        if (coverageRate > 100.0) coverageRate = 100.0;
+        
+        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)));
+        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)));
+        
+        statsLabel_->setText(statsLines.join(""));
+
+        // 更新无人机选择器和路径表格
+        pathDroneSelector_->clear();
+        pathDroneSelector_->addItem("全部无人机");
+        for (int i = 0; i < droneCount; ++i) {
+            pathDroneSelector_->addItem(QString("无人机 %1").arg(i + 1));
+        }
+        // 显示所有无人机的路径坐标
+        int totalPoints = 0;
+        for (int i = 0; i < droneCount; ++i) totalPoints += perDronePaths[i].size();
+        pathTable_->setRowCount(totalPoints);
+        int row = 0;
+        for (int i = 0; i < droneCount; ++i) {
+            const auto &pts = perDronePaths[i];
+            for (int j = 0; j < pts.size(); ++j) {
+                pathTable_->setItem(row, 0, new QTableWidgetItem(QString("无人机 %1").arg(i + 1)));
+                pathTable_->setItem(row, 1, new QTableWidgetItem(QString::number(pts[j].first, 'f', 6)));
+                pathTable_->setItem(row, 2, new QTableWidgetItem(QString::number(pts[j].second, 'f', 6)));
+                ++row;
+            }
+        }
+
+        // 保存路径数据用于动画
+        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)));
+        return;
     }
+}
 
-    // Adjust for drone count: divide path into segments
-    int drones = droneCountSpin_->value();
-    if (drones > 1) {
-        // For mock, just use full path; in real, assign segments
+void AreaCoverageDialog::clearCoverage() {
+    if (mapPage_) {
+        // 先停止动画
+        onStopAnimation();
+        
+        // 清除多路径覆盖物
+        QString clearJs = R"(
+            if (window.map) {
+                if (window.multiPolylines) {
+                    for (var i=0;i<window.multiPolylines.length;i++){
+                        if (window.multiPolylines[i]) window.map.remove(window.multiPolylines[i]);
+                    }
+                    window.multiPolylines = [];
+                }
+                if (window.multiCircles) {
+                    for (var i=0;i<window.multiCircles.length;i++){
+                        if (window.multiCircles[i]) window.map.remove(window.multiCircles[i]);
+                    }
+                    window.multiCircles = [];
+                }
+            }
+        )";
+        mapPage_->runMapJavaScript(clearJs);
+    }
+    pathTable_->setRowCount(0);
+    pathDroneSelector_->clear();
+    pathDroneSelector_->addItem("全部无人机");
+    statsLabel_->setText("等待路径规划...");
+    coveragePathData_ = "";
+    // 恢复按钮状态
+    playAnimationBtn_->setEnabled(true);
+    stopAnimationBtn_->setEnabled(false);
+    resetAnimationBtn_->setEnabled(false);
+    // 取消选择
+    for (int r = 0; r < (threatSelectTable_ ? threatSelectTable_->rowCount() : 0); ++r) {
+        QWidget* cell = threatSelectTable_->cellWidget(r, 0);
+        QCheckBox* cb = cell ? cell->findChild<QCheckBox*>() : nullptr;
+        if (cb) cb->setChecked(false);
     }
+    QMessageBox::information(this, "成功", "覆盖规划已清除");
+}
+
+void AreaCoverageDialog::populateThreatList() {
+    threatSelectTable_->setRowCount(0);
+    threatRowToIndex_.clear();
+    if (!mapPage_) return;
+    const auto &areas = mapPage_->getThreatAreas();
+    threatSelectTable_->setRowCount(areas.size());
+    int r = 0;
+    for (const auto &a : areas) {
+        // 勾选框
+        QWidget* w = new QWidget();
+        auto* layout = new QHBoxLayout(w);
+        layout->setContentsMargins(0,0,0,0);
+        auto* cb = new QCheckBox();
+        layout->addWidget(cb);
+        layout->addStretch();
+        w->setLayout(layout);
+        threatSelectTable_->setCellWidget(r, 0, w);
+
+        // 类型/形状/详情
+        QString type = a.value("type").toString();
+        QString shape = a.value("shape").toString();
+        QString detail;
+        if (shape == "circle" || shape == "圆形") {
+            detail = QString("center=(%1,%2), r=%3m")
+                         .arg(a.value("centerLng").toDouble(),0,'f',5)
+                         .arg(a.value("centerLat").toDouble(),0,'f',5)
+                         .arg(a.value("radius").toDouble(),0,'f',1);
+        } else {
+            QList<QVariant> pts = a.value("points").toList();
+            detail = QString("pts=%1").arg(pts.size());
+        }
+        threatSelectTable_->setItem(r, 1, new QTableWidgetItem(type.isEmpty()?"威胁":type));
+        threatSelectTable_->setItem(r, 2, new QTableWidgetItem(shape));
+        threatSelectTable_->setItem(r, 3, new QTableWidgetItem(detail));
 
-    // Populate table (sample first 20 points)
-    int displayCount = qMin(20, (int)mockPath.size());
-    pathTable_->setRowCount(displayCount);
-    for (int i = 0; i < displayCount; ++i) {
-        pathTable_->setItem(i, 0, new QTableWidgetItem(QString::number(mockPath[i].first, 'f', 6)));
-        pathTable_->setItem(i, 1, new QTableWidgetItem(QString::number(mockPath[i].second, 'f', 6)));
+        threatRowToIndex_.append(r);
+        ++r;
     }
+    threatSelectTable_->resizeColumnsToContents();
+}
 
-    // Generate JSON
-    QString json = "[";
-    for (int i = 0; i < (int)mockPath.size(); ++i) {
-        if (i > 0) json += ",";
-        json += QString("[%1,%2]").arg(mockPath[i].first, 0, 'f', 6).arg(mockPath[i].second, 0, 'f', 6);
+void AreaCoverageDialog::onSelectAllThreats() {
+    for (int r = 0; r < (threatSelectTable_ ? threatSelectTable_->rowCount() : 0); ++r) {
+        QWidget* cell = threatSelectTable_->cellWidget(r, 0);
+        QCheckBox* cb = cell ? cell->findChild<QCheckBox*>() : nullptr;
+        if (cb) cb->setChecked(true);
     }
-    json += "]";
-    coveragePathData_ = json;
+}
 
-    // Visualize immediately
-    if (mapPage_) {
-        mapPage_->visualizeCoveragePath(coveragePathData_);
+void AreaCoverageDialog::onSelectNoneThreats() {
+    for (int r = 0; r < (threatSelectTable_ ? threatSelectTable_->rowCount() : 0); ++r) {
+        QWidget* cell = threatSelectTable_->cellWidget(r, 0);
+        QCheckBox* cb = cell ? cell->findChild<QCheckBox*>() : nullptr;
+        if (cb) cb->setChecked(false);
     }
+}
 
-    bool isEfficiency = efficiencyRadio_->isChecked();
-    QString mode = isEfficiency ? "高效率" : "全范围";
-    QMessageBox::information(this, "成功", QString("覆盖路径规划完成 (%1模式, %2架无人机)").arg(mode).arg(drones));
+void AreaCoverageDialog::onRefreshThreats() {
+    populateThreatList();
+    QMessageBox::information(this, "成功", "威胁区域列表已刷新");
 }
 
-void AreaCoverageDialog::generateMockCoveragePath() {
-    // Placeholder: actual generation in planCoveragePath
-    qDebug() << "生成模拟覆盖路径";
+void AreaCoverageDialog::onPathDroneChanged(int index) {
+    // 根据选择的无人机过滤路径表格
+    if (index == 0) {
+        // 显示全部
+        for (int r = 0; r < pathTable_->rowCount(); ++r) {
+            pathTable_->setRowHidden(r, false);
+        }
+    } else {
+        // 只显示选中的无人机（index-1对应无人机编号）
+        QString targetDrone = QString("无人机 %1").arg(index);
+        for (int r = 0; r < pathTable_->rowCount(); ++r) {
+            QTableWidgetItem* item = pathTable_->item(r, 0);
+            if (item) {
+                pathTable_->setRowHidden(r, item->text() != targetDrone);
+            }
+        }
+    }
 }
 
-void AreaCoverageDialog::clearCoverage() {
-    if (mapPage_) {
-        mapPage_->clearCoverageOverlays();
+void AreaCoverageDialog::onPlayAnimation() {
+    if (!mapPage_ || coveragePathData_.isEmpty()) {
+        QMessageBox::warning(this, "提示", "请先完成路径规划");
+        return;
     }
-    pathTable_->setRowCount(0);
-    coveragePathData_ = "";
-    vertices_.clear();
-    verticesTable_->setRowCount(0);
-    centerLngInput_->clear();
-    centerLatInput_->clear();
-    radiusInput_->clear();
-    QMessageBox::information(this, "成功", "覆盖规划已清除");
+    
+    // 启用/禁用按钮
+    playAnimationBtn_->setEnabled(false);
+    stopAnimationBtn_->setEnabled(true);
+    resetAnimationBtn_->setEnabled(false);
+    
+    // 启动动画
+    QString animationJs = QString(R"(
+        if (window.map && window.multiPolylines) {
+            // 清除现有动画标记
+            if (window.animationMarkers) {
+                for (var i=0;i<window.animationMarkers.length;i++){
+                    if (window.animationMarkers[i]) window.map.remove(window.animationMarkers[i]);
+                }
+            }
+            window.animationMarkers = [];
+            window.animationIntervals = [];
+            
+            // 为每架无人机创建动画
+            for (var i=0;i<window.multiPolylines.length;i++){
+                var polyline = window.multiPolylines[i];
+                if (polyline) {
+                    var path = polyline.getPath();
+                    var color = window.multiPolylines[i].getOptions().strokeColor || '#1E88E5';
+                    
+                    // 创建无人机标记
+                    var marker = new AMap.Marker({
+                        position: path[0],
+                        icon: new AMap.Icon({
+                            image: 'data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iMzIiIGhlaWdodD0iMzIiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyI+PGNpcmNsZSBjeD0iMTYiIGN5PSIxNiIgcj0iMTIiIGZpbGw9IiM0Q0FGNTAiIHN0cm9rZT0iI2ZmZiIgc3Ryb2tlLXdpZHRoPSIzIi8+PHN2ZyB4PSI4IiB5PSI4IiB3aWR0aD0iMTYiIGhlaWdodD0iMTYiPjxwYXRoIGQ9Ik04IDhsOCA4bC04IDh6IiBmaWxsPSIjZmZmIi8+PC9zdmc+PC9zdmc+',
+                            size: [32, 32],
+                            imageOffset: [0, 0]
+                        }),
+                        zIndex: 100
+                    });
+                    marker.setMap(window.map);
+                    window.animationMarkers.push(marker);
+                    
+                    // 使用立即执行函数创建独立的闭包，避免变量共享问题
+                    (function(marker, path, droneIndex){
+                        var currentIndex = 0;
+                        var interval = setInterval(function(){
+                            if (currentIndex >= path.length) {
+                                clearInterval(interval);
+                                return;
+                            }
+                            marker.setPosition(path[currentIndex]);
+                            currentIndex++;
+                        }, 300); // 300ms间隔，更慢的动画速度
+                        window.animationIntervals.push(interval);
+                    })(marker, path, i);
+                }
+            }
+        }
+    )");
+    
+    mapPage_->runMapJavaScript(animationJs);
+    
+    // 自动关闭对话框，便于观看动画
+    this->hide();
 }
 
+void AreaCoverageDialog::onStopAnimation() {
+    if (!mapPage_) return;
+    
+    // 停止动画
+    QString stopJs = R"(
+        if (window.animationIntervals) {
+            for (var i=0;i<window.animationIntervals.length;i++){
+                clearInterval(window.animationIntervals[i]);
+            }
+            window.animationIntervals = [];
+        }
+        if (window.animationMarkers) {
+            for (var i=0;i<window.animationMarkers.length;i++){
+                if (window.animationMarkers[i]) window.map.remove(window.animationMarkers[i]);
+            }
+            window.animationMarkers = [];
+        }
+    )";
+    
+    mapPage_->runMapJavaScript(stopJs);
+    
+    // 恢复按钮状态
+    playAnimationBtn_->setEnabled(true);
+    stopAnimationBtn_->setEnabled(false);
+    resetAnimationBtn_->setEnabled(true);
+}
+
+void AreaCoverageDialog::onResetAnimation() {
+    if (!mapPage_) return;
+    
+    // 停止当前动画
+    onStopAnimation();
+    
+    // 重置动画标记到起始位置
+    QString resetJs = R"(
+        if (window.map && window.multiPolylines) {
+            // 清除现有动画标记
+            if (window.animationMarkers) {
+                for (var i=0;i<window.animationMarkers.length;i++){
+                    if (window.animationMarkers[i]) window.map.remove(window.animationMarkers[i]);
+                }
+            }
+            window.animationMarkers = [];
+            
+            // 将无人机标记重置到起始位置
+            for (var i=0;i<window.multiPolylines.length;i++){
+                var polyline = window.multiPolylines[i];
+                if (polyline) {
+                    var path = polyline.getPath();
+                    
+                    // 创建无人机标记在起始位置
+                    var marker = new AMap.Marker({
+                        position: path[0],
+                        icon: new AMap.Icon({
+                            image: 'data:image/svg+xml;base64,PHN2ZyB3aWR0aD0iMzIiIGhlaWdodD0iMzIiIHhtbG5zPSJodHRwOi8vd3d3LnczLm9yZy8yMDAwL3N2ZyI+PGNpcmNsZSBjeD0iMTYiIGN5PSIxNiIgcj0iMTIiIGZpbGw9IiM0Q0FGNTAiIHN0cm9rZT0iI2ZmZiIgc3Ryb2tlLXdpZHRoPSIzIi8+PHN2ZyB4PSI4IiB5PSI4IiB3aWR0aD0iMTYiIGhlaWdodD0iMTYiPjxwYXRoIGQ9Ik04IDhsOCA4bC04IDh6IiBmaWxsPSIjZmZmIi8+PC9zdmc+PC9zdmc+',
+                            size: [32, 32],
+                            imageOffset: [0, 0]
+                        }),
+                        zIndex: 100
+                    });
+                    marker.setMap(window.map);
+                    window.animationMarkers.push(marker);
+                }
+            }
+        }
+    )";
+    
+    mapPage_->runMapJavaScript(resetJs);
+    
+    // 更新按钮状态
+    playAnimationBtn_->setEnabled(true);
+    stopAnimationBtn_->setEnabled(false);
+    resetAnimationBtn_->setEnabled(false);
+}
 
 // Implement LocateDialog methods
 LocateDialog::LocateDialog(QWidget *parent) : QDialog(parent), lng_(0.0), lat_(0.0) {
@@ -2119,3 +2595,24 @@ void MapPage::addThreatOverlay(const QString& shape, const QVariantMap& params)
     runMapJavaScript(js + " console.log('Overlay added: " + overlayId + "'); ");
     threatAreas_.append(paramsWithId); // 存储带 ID
 }
+
+void MapPage::onMapReadyFromJS() {
+    isMapReady_ = true;
+    emit mapReady();
+}
+
+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");
+    }
+}
diff --git a/Src/pages/mappage.h b/Src/pages/mappage.h
index 4eeb185..0dd8a7e 100644
--- a/Src/pages/mappage.h
+++ b/Src/pages/mappage.h
@@ -25,6 +25,8 @@
 #include <QRadioButton>
 #include <QSpinBox>
 #include <QButtonGroup>
+#include <QCheckBox>
+#include <QScrollArea>
 #include <QList>
 #include <QPair>
 #include "mapbridge.h"
@@ -129,39 +131,39 @@ public:
     AreaCoverageDialog(QWidget* parent = nullptr, MapPage* mapPage = nullptr);
     QString getCoveragePathData() const { return coveragePathData_; }
 private slots:
-    void onShapeChanged(int index);
-    void addVertex();
-    void removeVertex();
-    void selectVertexOnMap();
     void planCoveragePath();
     void clearCoverage();
     void onMapClick(double lng, double lat);
+    void onDroneCountChanged(int value);
+    void onSelectAllThreats();
+    void onSelectNoneThreats();
+    void onRefreshThreats();
+    void onPathDroneChanged(int index);
+    void onPlayAnimation();
+    void onStopAnimation();
+    void onResetAnimation();
 private:
-    QWidget* setupCircleInputs();
-    QWidget* setupPolygonInputs();
-    void generateMockCoveragePath();
-    QComboBox* shapeCombo_;
-    QLineEdit* centerLngInput_;
-    QLineEdit* centerLatInput_;
-    QLineEdit* radiusInput_;
-    QTableWidget* verticesTable_;
-    QPushButton* addVertexBtn_;
-    QPushButton* removeVertexBtn_;
-    QPushButton* selectVertexBtn_;
-    QButtonGroup* modeGroup_;
-    QRadioButton* efficiencyRadio_;
-    QRadioButton* fullRangeRadio_;
+    void populateThreatList();
     QSpinBox* droneCountSpin_;
+    QTableWidget* droneParamsTable_;
+    QTableWidget* threatSelectTable_;
+    QComboBox* colorCombo_;
+    QPushButton* selectAllBtn_;
+    QPushButton* selectNoneBtn_;
+    QPushButton* refreshThreatsBtn_;
     QTableWidget* pathTable_;
+    QComboBox* pathDroneSelector_;
+    QLabel* statsLabel_;
     QPushButton* planBtn_;
     QPushButton* clearBtn_;
-    QWidget* circleWidget_;
-    QWidget* polygonWidget_;
+    QPushButton* playAnimationBtn_;
+    QPushButton* stopAnimationBtn_;
+    QPushButton* resetAnimationBtn_;
     MapPage* mapPage_;
     QString coveragePathData_;
     bool selectingVertex_ = false;
     int currentVertexRow_ = -1;
-    QList<QPair<double, double>> vertices_;
+    QList<int> threatRowToIndex_;
 };
 
 class LocateDialog : public QDialog {
@@ -200,6 +202,7 @@ class MapPage : public QWidget {
 public:
     explicit MapPage(QWidget* parent = nullptr);
     ~MapPage();
+    QWebEngineView* getMapView() const { return mapView_; }
 
     QComboBox* getHeightCombo() const { return heightCombo_; }
     QPushButton* getDownloadMapBtn() const { return downloadMapBtn_; }
@@ -211,6 +214,7 @@ signals:
     void pathPlanningRequested();
     void areaCoverageRequested();
     void mapClicked(double lng, double lat);
+    void mapReady();  // 新信号：地图初始化完成
 
 private slots:
     void onHeightChanged();
@@ -224,12 +228,15 @@ private slots:
     void onSearchMapClicked();
     void onConsoleMessage(QWebEnginePage::JavaScriptConsoleMessageLevel level, const QString &message, int lineNumber, const QString &sourceID);
     void onPageLoaded(bool ok);
+    void loadSavedPath();
+    void onMapReadyFromJS();
 
 public slots:
     void addClickListener();
     void removeClickListener();
     void handleMapClick(double lng, double lat);
     void visualizePath(const QString& pathData);
+    void visualizeCoverageMultiPaths(const QString& multiPathsJson);
     void clearPathOverlays();
     void runMapJavaScript(const QString& js);
     double parseLng(const QString& coord) const;
@@ -237,6 +244,8 @@ public slots:
     void showMarker(double lng, double lat, const QString& label, const QString& color, int index);
     void visualizeCoveragePath(const QString& pathData);
     void clearCoverageOverlays();
+    void visualizeCoverageAreaCircle(double centerLng, double centerLat, double radiusKm);
+    void visualizeCoverageAreaPolygon(const QList<QPair<double,double>>& vertices);
     void enableDrawingMode(const QString& shape);
     void disableDrawingMode();
     void addThreatOverlay(const QString& shape, const QVariantMap& params);
@@ -285,6 +294,7 @@ private:
     QString drawingShape_;
     QList<QPair<double, double>> drawingPoints_;
     QList<QVariantMap> threatAreas_;
+    bool isMapReady_ = false;  // 跟踪地图就绪状态
 
 public:
     const QList<QVariantMap>& getThreatAreas() const { return threatAreas_; }
diff --git a/Src/pages/taskdata.cpp b/Src/pages/taskdata.cpp
old mode 100755
new mode 100644
diff --git a/Src/pages/taskdata.h b/Src/pages/taskdata.h
old mode 100755
new mode 100644
diff --git a/Src/pages/taskdecisionpage.cpp b/Src/pages/taskdecisionpage.cpp
index 7363d6d..92b0e38 100644
--- a/Src/pages/taskdecisionpage.cpp
+++ b/Src/pages/taskdecisionpage.cpp
@@ -1,5 +1,8 @@
 #include "taskdecisionpage.h"
 #include <QMessageBox>
+#include "mappage.h"  // For PathPlanningDialog and MapPage
+#include <QFile> // Added for file operations
+#include <QDateTime> // Added for saving paths
 
 TaskDecisionPage::TaskDecisionPage(QWidget* parent)
     : QWidget(parent)
@@ -10,7 +13,9 @@ TaskDecisionPage::TaskDecisionPage(QWidget* parent)
     , generateBtn_(nullptr)
     , currentStep_(0)
     , isTargetClear_(true)
-    , previewMapPage_(nullptr)
+    , pathData_("")
+    , searchData_("")
+    , pathHistory_()  // 初始化空列表
 {
     setupUI();
 }
@@ -53,11 +58,6 @@ void TaskDecisionPage::setupUI() {
 
     mainLayout->addLayout(contentLayout, 1);
 
-    // 右侧预览区：嵌入MapPage
-    previewMapPage_ = new MapPage();
-    previewMapPage_->setMinimumWidth(300);
-    mainLayout->addWidget(previewMapPage_);
-
     // 初始化
     onStepChanged(0);
 }
@@ -102,9 +102,59 @@ QWidget* TaskDecisionPage::createStep2Widget() {
     pathResult_->setReadOnly(true);
     layout->addWidget(pathResult_);
 
-    auto* btn = new QPushButton("生成路径");
-    connect(btn, &QPushButton::clicked, this, &TaskDecisionPage::onGeneratePath);
-    layout->addWidget(btn);
+    auto* btnLayout = new QHBoxLayout();
+    auto* genBtn = new QPushButton("生成路径");
+    connect(genBtn, &QPushButton::clicked, this, &TaskDecisionPage::onGeneratePath);
+    btnLayout->addWidget(genBtn);
+
+    previewBtn_ = new QPushButton("预览路径");
+    previewBtn_->setEnabled(false);
+    connect(previewBtn_, &QPushButton::clicked, this, [this](){
+        if (!pathData_.isEmpty()) {
+            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_);
+                } else {
+                    QMessageBox::warning(this, "错误", "地图加载失败，无法预览路径");
+                }
+            });
+
+            previewMap->show();
+        }
+    });
+    btnLayout->addWidget(previewBtn_);
+
+    // 新增：保存按钮
+    auto* saveBtn = new QPushButton("保存当前路径");
+    connect(saveBtn, &QPushButton::clicked, this, &TaskDecisionPage::saveCurrentPath);
+    btnLayout->addWidget(saveBtn);
+
+    layout->addLayout(btnLayout);
+
+    // 新增：历史路径列表
+    historyList_ = new QListWidget();
+    historyList_->setSelectionMode(QAbstractItemView::SingleSelection);
+    layout->addWidget(new QLabel("历史路径:"));
+    layout->addWidget(historyList_);
+
+    // 双击历史项预览
+    connect(historyList_, &QListWidget::itemDoubleClicked, this, [this](QListWidgetItem* item){
+        QString histPath = item->data(Qt::UserRole).toString();
+        if (!histPath.isEmpty()) {
+            MapPage* histPreview = new MapPage();
+            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);
+            });
+            histPreview->show();
+        }
+    });
 
     return widget;
 }
@@ -195,15 +245,40 @@ void TaskDecisionPage::onTargetClearChanged(bool clear) {
     roughCoord_->setVisible(!clear);
 }
 
+// 修改onGeneratePath()为非模态
 void TaskDecisionPage::onGeneratePath() {
-    // 模拟调用地图规划
-    pathData_ = "路径生成: 从起点到目标，长度5km，时间10min";
-    pathResult_->setText(pathData_);
-    QMessageBox::information(this, "路径规划", "路径已生成！");
-
-    // 更新预览地图：绘制路径
-    QString js = "window.map.add(new AMap.Polyline({path: [[116.3,39.9], [116.4,39.9], [116.4,40.0]], strokeColor: '#FF0000'}));";
-    previewMapPage_->runMapJavaScript(js);
+    QString start = startCoord_->text();
+    QString target = isTargetClear_ ? targetCoord_->text() : roughCoord_->text();
+
+    if (start.isEmpty() || target.isEmpty()) {
+        QMessageBox::warning(this, "错误", "请输入起点和目标坐标");
+        return;
+    }
+
+    MapPage* planningMap = new MapPage(this); // 指定parent为TaskDecisionPage，确保窗口管理
+    planningMap->setWindowTitle("路径规划地图");
+    planningMap->resize(800, 600); // 设置合理大小
+    planningMap->show(); // 立即显示地图窗口
+
+    PathPlanningDialog* dialog = new PathPlanningDialog(this, planningMap);
+    dialog->show(); // 非模态显示对话框
+
+    connect(dialog, &QDialog::finished, [this, dialog, planningMap](int result){
+        if (result == QDialog::Accepted) {
+            pathData_ = dialog->getPathData();
+            pathResult_->setText(pathData_);
+            previewBtn_->setEnabled(true);
+
+            // 添加到历史
+            pathHistory_.append(pathData_);
+            updateHistoryList();
+
+            QMessageBox::information(this, "路径规划", "路径已生成并保存到历史，可预览！");
+        }
+        planningMap->hide(); // 隐藏地图
+        delete dialog;
+        delete planningMap; // 清理
+    });
 }
 
 void TaskDecisionPage::onRecommendDrones() {
@@ -225,10 +300,6 @@ void TaskDecisionPage::onReplanSearch() {
     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！");
-
-    // 更新预览地图：绘制搜索区域
-    QString js = "window.map.add(new AMap.Polygon({path: [[116.3,39.9], [116.5,39.9], [116.5,40.1], [116.3,40.1]], fillColor: '#00FF00'}));";
-    previewMapPage_->runMapJavaScript(js);
 }
 
 void TaskDecisionPage::onAddTargetType() {
@@ -264,7 +335,12 @@ void TaskDecisionPage::onGenerateTask() {
     taskPreview_->setText(preview);
 
     // 生成任务包（模拟保存JSON）
-    QMessageBox::information(this, "生成", "任务数据包已生成！");
+    QFile file("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");
 }
 
 void TaskDecisionPage::onNextStep() {
@@ -283,3 +359,29 @@ void TaskDecisionPage::onPrevStep() {
         onStepChanged(currentStep_ - 1);
     }
 }
+
+// 新增函数：更新历史列表
+void TaskDecisionPage::updateHistoryList() {
+    historyList_->clear();
+    for (int i = 0; i < pathHistory_.size(); ++i) {
+        QListWidgetItem* item = new QListWidgetItem(QString("路径 %1").arg(i+1));
+        item->setData(Qt::UserRole, pathHistory_[i]);
+        historyList_->addItem(item);
+    }
+}
+
+// 新增函数：保存当前路径到文件（可选扩展）
+void TaskDecisionPage::saveCurrentPath() {
+    if (pathData_.isEmpty()) {
+        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")));
+    if (file.open(QIODevice::WriteOnly)) {
+        file.write(pathData_.toUtf8());
+        file.close();
+        QMessageBox::information(this, "成功", "当前路径已保存到文件");
+    } else {
+        QMessageBox::warning(this, "错误", "保存失败");
+    }
+}
diff --git a/Src/pages/taskdecisionpage.h b/Src/pages/taskdecisionpage.h
index eaddb00..7014dc9 100644
--- a/Src/pages/taskdecisionpage.h
+++ b/Src/pages/taskdecisionpage.h
@@ -16,7 +16,7 @@
 #include <QHBoxLayout>
 #include <QGroupBox>
 #include <QSpinBox>  // 添加以支持QSpinBox
-#include "mappage.h"  // 添加用于嵌入MapPage
+#include <QList> // 添加以支持QList
 
 class TaskDecisionPage : public QWidget {
     Q_OBJECT
@@ -42,6 +42,8 @@ private:
     QWidget* createStep3Widget();  // 区域搜索策略
     QWidget* createStep4Widget();  // 打击目标清单
     QWidget* createStep5Widget();  // 任务预览与生成
+    void updateHistoryList();
+    void saveCurrentPath();
 
     // 成员变量
     QStackedWidget* contentStack_;
@@ -49,6 +51,8 @@ private:
     QPushButton* prevBtn_;
     QPushButton* nextBtn_;
     QPushButton* generateBtn_;
+    QPushButton* previewBtn_;
+    QListWidget* historyList_;  // 新增：历史路径列表
 
     // 步骤1
     QRadioButton* clearYes_;
@@ -79,9 +83,8 @@ private:
     // 假设的路径/搜索数据（实际中从地图调用）
     QString pathData_;
     QString searchData_;
+    QList<QString> pathHistory_;  // 新增：存储历史路径
 
-    // 预览地图：使用MapPage
-    MapPage* previewMapPage_;
 };
 
 #endif // TASKDECISIONPAGE_H
diff --git a/Src/pages/taskdetailspage.cpp b/Src/pages/taskdetailspage.cpp
old mode 100755
new mode 100644
diff --git a/Src/pages/taskdetailspage.h b/Src/pages/taskdetailspage.h
old mode 100755
new mode 100644
diff --git a/build/Drone_project b/build/Drone_project
old mode 100755
new mode 100644
index 6cbecca..82e41b6
Binary files a/build/Drone_project and b/build/Drone_project differ
diff --git a/build/Makefile b/build/Makefile
index b6be297..2d1ae68 100644
--- a/build/Makefile
+++ b/build/Makefile
@@ -37,7 +37,7 @@ MOVE          = mv -f
 TAR           = tar -cf
 COMPRESS      = gzip -9f
 DISTNAME      = Drone_project1.0.0
-DISTDIR = /home/wangjing/uav/Drone_project/build/.tmp/Drone_project1.0.0
+DISTDIR = /home/chenxiaofu/DRONE/Drone_project/build/.tmp/Drone_project1.0.0
 LINK          = g++
 LFLAGS        = -Wl,-O1 -Wl,-rpath-link,/usr/lib/x86_64-linux-gnu
 LIBS          = $(SUBLIBS) /usr/lib/x86_64-linux-gnu/libQt5WebEngineWidgets.so /usr/lib/x86_64-linux-gnu/libQt5PrintSupport.so /usr/lib/x86_64-linux-gnu/libQt5Widgets.so /usr/lib/x86_64-linux-gnu/libQt5WebEngineCore.so /usr/lib/x86_64-linux-gnu/libQt5Quick.so /usr/lib/x86_64-linux-gnu/libQt5Gui.so /usr/lib/x86_64-linux-gnu/libQt5QmlModels.so /usr/lib/x86_64-linux-gnu/libQt5WebChannel.so /usr/lib/x86_64-linux-gnu/libQt5Qml.so /usr/lib/x86_64-linux-gnu/libQt5Network.so /usr/lib/x86_64-linux-gnu/libQt5Positioning.so /usr/lib/x86_64-linux-gnu/libQt5Core.so -lGL -lpthread   
@@ -142,6 +142,9 @@ DIST          = /usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/spec_pre.prf \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_input_support_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_kms_support_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_linuxaccessibility_support_private.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_location.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_multimedia.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_multimediawidgets.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_network.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_network_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_opengl.pri \
@@ -159,6 +162,7 @@ DIST          = /usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/spec_pre.prf \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_qmlworkerscript.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_quick.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_quickwidgets.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_serialport.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_service_support_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_sql.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_sql_private.pri \
@@ -170,6 +174,8 @@ DIST          = /usr/lib/x86_64-linux-gnu/qt5/mkspecs/features/spec_pre.prf \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webengine.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webenginecore.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webenginewidgets.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webkit.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webkitwidgets.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_widgets.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_widgets_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_xcb_qpa_lib_private.pri \
@@ -274,6 +280,9 @@ Makefile: ../drone_ui.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++/qmake.
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_input_support_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_kms_support_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_linuxaccessibility_support_private.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_location.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_multimedia.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_multimediawidgets.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_network.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_network_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_opengl.pri \
@@ -291,6 +300,7 @@ Makefile: ../drone_ui.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++/qmake.
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_qmlworkerscript.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_quick.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_quickwidgets.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_serialport.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_service_support_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_sql.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_sql_private.pri \
@@ -302,6 +312,8 @@ Makefile: ../drone_ui.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++/qmake.
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webengine.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webenginecore.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webenginewidgets.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webkit.pri \
+		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webkitwidgets.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_widgets.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_widgets_private.pri \
 		/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_xcb_qpa_lib_private.pri \
@@ -366,6 +378,9 @@ Makefile: ../drone_ui.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++/qmake.
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_input_support_private.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_kms_support_private.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_linuxaccessibility_support_private.pri:
+/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_location.pri:
+/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_multimedia.pri:
+/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_multimediawidgets.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_network.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_network_private.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_opengl.pri:
@@ -383,6 +398,7 @@ Makefile: ../drone_ui.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++/qmake.
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_qmlworkerscript.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_quick.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_quickwidgets.pri:
+/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_serialport.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_service_support_private.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_sql.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_sql_private.pri:
@@ -394,6 +410,8 @@ Makefile: ../drone_ui.pro /usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++/qmake.
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webengine.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webenginecore.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webenginewidgets.pri:
+/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webkit.pri:
+/usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_webkitwidgets.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_widgets.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_widgets_private.pri:
 /usr/lib/x86_64-linux-gnu/qt5/mkspecs/modules/qt_lib_xcb_qpa_lib_private.pri:
@@ -489,75 +507,71 @@ moc_mainwindow.cpp: ../Src/ui/mainwindow.h \
 		../Src/pages/visionmodelpage.h \
 		../Src/utils/stylehelper.h \
 		../Src/pages/taskdecisionpage.h \
-		../Src/pages/mappage.h \
-		../Src/pages/mapbridge.h \
 		../Src/pages/dronemanagementpage.h \
 		../Src/pages/taskdetailspage.h \
 		../Src/pages/taskdata.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/ui/mainwindow.h -o moc_mainwindow.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/ui/mainwindow.h -o moc_mainwindow.cpp
 
 moc_dronedata.cpp: ../Src/models/dronedata.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/models/dronedata.h -o moc_dronedata.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/models/dronedata.h -o moc_dronedata.cpp
 
 moc_detectiondata.cpp: ../Src/models/detectiondata.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/models/detectiondata.h -o moc_detectiondata.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/models/detectiondata.h -o moc_detectiondata.cpp
 
 moc_videopage.cpp: ../Src/pages/videopage.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/videopage.h -o moc_videopage.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/videopage.h -o moc_videopage.cpp
 
 moc_mappage.cpp: ../Src/pages/mappage.h \
 		../Src/pages/mapbridge.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/mappage.h -o moc_mappage.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/mappage.h -o moc_mappage.cpp
 
 moc_mapbridge.cpp: ../Src/pages/mapbridge.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/mapbridge.h -o moc_mapbridge.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/mapbridge.h -o moc_mapbridge.cpp
 
 moc_datapage.cpp: ../Src/pages/datapage.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/datapage.h -o moc_datapage.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/datapage.h -o moc_datapage.cpp
 
 moc_taskdata.cpp: ../Src/pages/taskdata.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/taskdata.h -o moc_taskdata.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/taskdata.h -o moc_taskdata.cpp
 
 moc_visionmodelpage.cpp: ../Src/pages/visionmodelpage.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/visionmodelpage.h -o moc_visionmodelpage.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/visionmodelpage.h -o moc_visionmodelpage.cpp
 
 moc_taskdecisionpage.cpp: ../Src/pages/taskdecisionpage.h \
-		../Src/pages/mappage.h \
-		../Src/pages/mapbridge.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/taskdecisionpage.h -o moc_taskdecisionpage.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/taskdecisionpage.h -o moc_taskdecisionpage.cpp
 
 moc_dronemanagementpage.cpp: ../Src/pages/dronemanagementpage.h \
 		../Src/models/dronedata.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/dronemanagementpage.h -o moc_dronemanagementpage.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/dronemanagementpage.h -o moc_dronemanagementpage.cpp
 
 moc_taskdetailspage.cpp: ../Src/pages/taskdetailspage.h \
 		../Src/pages/taskdata.h \
 		../Src/models/dronedata.h \
 		moc_predefs.h \
 		/usr/lib/qt5/bin/moc
-	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/wangjing/uav/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/wangjing/uav/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/taskdetailspage.h -o moc_taskdetailspage.cpp
+	/usr/lib/qt5/bin/moc $(DEFINES) --include /home/chenxiaofu/DRONE/Drone_project/build/moc_predefs.h -I/usr/lib/x86_64-linux-gnu/qt5/mkspecs/linux-g++ -I/home/chenxiaofu/DRONE/Drone_project -I/usr/include/x86_64-linux-gnu/qt5 -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtPrintSupport -I/usr/include/x86_64-linux-gnu/qt5/QtWidgets -I/usr/include/x86_64-linux-gnu/qt5/QtWebEngineCore -I/usr/include/x86_64-linux-gnu/qt5/QtQuick -I/usr/include/x86_64-linux-gnu/qt5/QtGui -I/usr/include/x86_64-linux-gnu/qt5/QtQmlModels -I/usr/include/x86_64-linux-gnu/qt5/QtWebChannel -I/usr/include/x86_64-linux-gnu/qt5/QtQml -I/usr/include/x86_64-linux-gnu/qt5/QtNetwork -I/usr/include/x86_64-linux-gnu/qt5/QtPositioning -I/usr/include/x86_64-linux-gnu/qt5/QtCore -I. -I/usr/include/c++/11 -I/usr/include/x86_64-linux-gnu/c++/11 -I/usr/include/c++/11/backward -I/usr/lib/gcc/x86_64-linux-gnu/11/include -I/usr/local/include -I/usr/include/x86_64-linux-gnu -I/usr/include ../Src/pages/taskdetailspage.h -o moc_taskdetailspage.cpp
 
 compiler_moc_objc_header_make_all:
 compiler_moc_objc_header_clean:
@@ -581,8 +595,6 @@ main.o: ../Src/core/main.cpp ../Src/ui/mainwindow.h \
 		../Src/pages/visionmodelpage.h \
 		../Src/utils/stylehelper.h \
 		../Src/pages/taskdecisionpage.h \
-		../Src/pages/mappage.h \
-		../Src/pages/mapbridge.h \
 		../Src/pages/dronemanagementpage.h \
 		../Src/pages/taskdetailspage.h \
 		../Src/pages/taskdata.h
@@ -594,12 +606,12 @@ mainwindow.o: ../Src/ui/mainwindow.cpp ../Src/ui/mainwindow.h \
 		../Src/pages/visionmodelpage.h \
 		../Src/utils/stylehelper.h \
 		../Src/pages/taskdecisionpage.h \
-		../Src/pages/mappage.h \
-		../Src/pages/mapbridge.h \
 		../Src/pages/dronemanagementpage.h \
 		../Src/pages/taskdetailspage.h \
 		../Src/pages/taskdata.h \
 		../Src/pages/videopage.h \
+		../Src/pages/mappage.h \
+		../Src/pages/mapbridge.h \
 		../Src/pages/datapage.h
 	$(CXX) -c $(CXXFLAGS) $(INCPATH) -o mainwindow.o ../Src/ui/mainwindow.cpp
 
diff --git a/build/mainwindow.o b/build/mainwindow.o
index 9f067a8..2076f73 100644
Binary files a/build/mainwindow.o and b/build/mainwindow.o differ
diff --git a/build/mapbridge.o b/build/mapbridge.o
index 3c0d964..a2988dd 100644
Binary files a/build/mapbridge.o and b/build/mapbridge.o differ
diff --git a/build/mappage.o b/build/mappage.o
index 8e5cf3f..c454c5b 100644
Binary files a/build/mappage.o and b/build/mappage.o differ
diff --git a/build/moc_mapbridge.cpp b/build/moc_mapbridge.cpp
index f07542b..04a5498 100644
--- a/build/moc_mapbridge.cpp
+++ b/build/moc_mapbridge.cpp
@@ -22,8 +22,8 @@ QT_BEGIN_MOC_NAMESPACE
 QT_WARNING_PUSH
 QT_WARNING_DISABLE_DEPRECATED
 struct qt_meta_stringdata_MapBridge_t {
-    QByteArrayData data[7];
-    char stringdata0[49];
+    QByteArrayData data[8];
+    char stringdata0[58];
 };
 #define QT_MOC_LITERAL(idx, ofs, len) \
     Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -37,12 +37,13 @@ QT_MOC_LITERAL(1, 10, 10), // "mapClicked"
 QT_MOC_LITERAL(2, 21, 0), // ""
 QT_MOC_LITERAL(3, 22, 3), // "lng"
 QT_MOC_LITERAL(4, 26, 3), // "lat"
-QT_MOC_LITERAL(5, 30, 7), // "onClick"
-QT_MOC_LITERAL(6, 38, 10) // "onMapReady"
+QT_MOC_LITERAL(5, 30, 8), // "mapReady"
+QT_MOC_LITERAL(6, 39, 7), // "onClick"
+QT_MOC_LITERAL(7, 47, 10) // "onMapReady"
 
     },
-    "MapBridge\0mapClicked\0\0lng\0lat\0onClick\0"
-    "onMapReady"
+    "MapBridge\0mapClicked\0\0lng\0lat\0mapReady\0"
+    "onClick\0onMapReady"
 };
 #undef QT_MOC_LITERAL
 
@@ -52,22 +53,24 @@ static const uint qt_meta_data_MapBridge[] = {
        8,       // revision
        0,       // classname
        0,    0, // classinfo
-       3,   14, // methods
+       4,   14, // methods
        0,    0, // properties
        0,    0, // enums/sets
        0,    0, // constructors
        0,       // flags
-       1,       // signalCount
+       2,       // signalCount
 
  // signals: name, argc, parameters, tag, flags
-       1,    2,   29,    2, 0x06 /* Public */,
+       1,    2,   34,    2, 0x06 /* Public */,
+       5,    0,   39,    2, 0x06 /* Public */,
 
  // slots: name, argc, parameters, tag, flags
-       5,    2,   34,    2, 0x0a /* Public */,
-       6,    0,   39,    2, 0x0a /* Public */,
+       6,    2,   40,    2, 0x0a /* Public */,
+       7,    0,   45,    2, 0x0a /* Public */,
 
  // signals: parameters
     QMetaType::Void, QMetaType::Double, QMetaType::Double,    3,    4,
+    QMetaType::Void,
 
  // slots: parameters
     QMetaType::Void, QMetaType::Double, QMetaType::Double,    3,    4,
@@ -83,8 +86,9 @@ void MapBridge::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, v
         (void)_t;
         switch (_id) {
         case 0: _t->mapClicked((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
-        case 1: _t->onClick((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
-        case 2: _t->onMapReady(); break;
+        case 1: _t->mapReady(); break;
+        case 2: _t->onClick((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
+        case 3: _t->onMapReady(); break;
         default: ;
         }
     } else if (_c == QMetaObject::IndexOfMethod) {
@@ -96,6 +100,13 @@ void MapBridge::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, v
                 return;
             }
         }
+        {
+            using _t = void (MapBridge::*)();
+            if (*reinterpret_cast<_t *>(_a[1]) == static_cast<_t>(&MapBridge::mapReady)) {
+                *result = 1;
+                return;
+            }
+        }
     }
 }
 
@@ -128,13 +139,13 @@ int MapBridge::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     if (_id < 0)
         return _id;
     if (_c == QMetaObject::InvokeMetaMethod) {
-        if (_id < 3)
+        if (_id < 4)
             qt_static_metacall(this, _c, _id, _a);
-        _id -= 3;
+        _id -= 4;
     } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
-        if (_id < 3)
+        if (_id < 4)
             *reinterpret_cast<int*>(_a[0]) = -1;
-        _id -= 3;
+        _id -= 4;
     }
     return _id;
 }
@@ -145,5 +156,11 @@ void MapBridge::mapClicked(double _t1, double _t2)
     void *_a[] = { nullptr, const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t1))), const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t2))) };
     QMetaObject::activate(this, &staticMetaObject, 0, _a);
 }
+
+// SIGNAL 1
+void MapBridge::mapReady()
+{
+    QMetaObject::activate(this, &staticMetaObject, 1, nullptr);
+}
 QT_WARNING_POP
 QT_END_MOC_NAMESPACE
diff --git a/build/moc_mapbridge.o b/build/moc_mapbridge.o
index 89e5e05..595fa7a 100644
Binary files a/build/moc_mapbridge.o and b/build/moc_mapbridge.o differ
diff --git a/build/moc_mappage.cpp b/build/moc_mappage.cpp
index a679c2a..de875a9 100644
--- a/build/moc_mappage.cpp
+++ b/build/moc_mappage.cpp
@@ -10,6 +10,7 @@
 #include "../Src/pages/mappage.h"
 #include <QtCore/qbytearray.h>
 #include <QtCore/qmetatype.h>
+#include <QtCore/QList>
 #if !defined(Q_MOC_OUTPUT_REVISION)
 #error "The header file 'mappage.h' doesn't include <QObject>."
 #elif Q_MOC_OUTPUT_REVISION != 67
@@ -378,8 +379,8 @@ int PathPlanningDialog::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     return _id;
 }
 struct qt_meta_stringdata_AreaCoverageDialog_t {
-    QByteArrayData data[12];
-    char stringdata0[132];
+    QByteArrayData data[17];
+    char stringdata0[226];
 };
 #define QT_MOC_LITERAL(idx, ofs, len) \
     Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -389,23 +390,30 @@ struct qt_meta_stringdata_AreaCoverageDialog_t {
 static const qt_meta_stringdata_AreaCoverageDialog_t qt_meta_stringdata_AreaCoverageDialog = {
     {
 QT_MOC_LITERAL(0, 0, 18), // "AreaCoverageDialog"
-QT_MOC_LITERAL(1, 19, 14), // "onShapeChanged"
-QT_MOC_LITERAL(2, 34, 0), // ""
-QT_MOC_LITERAL(3, 35, 5), // "index"
-QT_MOC_LITERAL(4, 41, 9), // "addVertex"
-QT_MOC_LITERAL(5, 51, 12), // "removeVertex"
-QT_MOC_LITERAL(6, 64, 17), // "selectVertexOnMap"
-QT_MOC_LITERAL(7, 82, 16), // "planCoveragePath"
-QT_MOC_LITERAL(8, 99, 13), // "clearCoverage"
-QT_MOC_LITERAL(9, 113, 10), // "onMapClick"
-QT_MOC_LITERAL(10, 124, 3), // "lng"
-QT_MOC_LITERAL(11, 128, 3) // "lat"
+QT_MOC_LITERAL(1, 19, 16), // "planCoveragePath"
+QT_MOC_LITERAL(2, 36, 0), // ""
+QT_MOC_LITERAL(3, 37, 13), // "clearCoverage"
+QT_MOC_LITERAL(4, 51, 10), // "onMapClick"
+QT_MOC_LITERAL(5, 62, 3), // "lng"
+QT_MOC_LITERAL(6, 66, 3), // "lat"
+QT_MOC_LITERAL(7, 70, 19), // "onDroneCountChanged"
+QT_MOC_LITERAL(8, 90, 5), // "value"
+QT_MOC_LITERAL(9, 96, 18), // "onSelectAllThreats"
+QT_MOC_LITERAL(10, 115, 19), // "onSelectNoneThreats"
+QT_MOC_LITERAL(11, 135, 16), // "onRefreshThreats"
+QT_MOC_LITERAL(12, 152, 18), // "onPathDroneChanged"
+QT_MOC_LITERAL(13, 171, 5), // "index"
+QT_MOC_LITERAL(14, 177, 15), // "onPlayAnimation"
+QT_MOC_LITERAL(15, 193, 15), // "onStopAnimation"
+QT_MOC_LITERAL(16, 209, 16) // "onResetAnimation"
 
     },
-    "AreaCoverageDialog\0onShapeChanged\0\0"
-    "index\0addVertex\0removeVertex\0"
-    "selectVertexOnMap\0planCoveragePath\0"
-    "clearCoverage\0onMapClick\0lng\0lat"
+    "AreaCoverageDialog\0planCoveragePath\0"
+    "\0clearCoverage\0onMapClick\0lng\0lat\0"
+    "onDroneCountChanged\0value\0onSelectAllThreats\0"
+    "onSelectNoneThreats\0onRefreshThreats\0"
+    "onPathDroneChanged\0index\0onPlayAnimation\0"
+    "onStopAnimation\0onResetAnimation"
 };
 #undef QT_MOC_LITERAL
 
@@ -415,7 +423,7 @@ static const uint qt_meta_data_AreaCoverageDialog[] = {
        8,       // revision
        0,       // classname
        0,    0, // classinfo
-       7,   14, // methods
+      11,   14, // methods
        0,    0, // properties
        0,    0, // enums/sets
        0,    0, // constructors
@@ -423,22 +431,30 @@ static const uint qt_meta_data_AreaCoverageDialog[] = {
        0,       // signalCount
 
  // slots: name, argc, parameters, tag, flags
-       1,    1,   49,    2, 0x08 /* Private */,
-       4,    0,   52,    2, 0x08 /* Private */,
-       5,    0,   53,    2, 0x08 /* Private */,
-       6,    0,   54,    2, 0x08 /* Private */,
-       7,    0,   55,    2, 0x08 /* Private */,
-       8,    0,   56,    2, 0x08 /* Private */,
-       9,    2,   57,    2, 0x08 /* Private */,
+       1,    0,   69,    2, 0x08 /* Private */,
+       3,    0,   70,    2, 0x08 /* Private */,
+       4,    2,   71,    2, 0x08 /* Private */,
+       7,    1,   76,    2, 0x08 /* Private */,
+       9,    0,   79,    2, 0x08 /* Private */,
+      10,    0,   80,    2, 0x08 /* Private */,
+      11,    0,   81,    2, 0x08 /* Private */,
+      12,    1,   82,    2, 0x08 /* Private */,
+      14,    0,   85,    2, 0x08 /* Private */,
+      15,    0,   86,    2, 0x08 /* Private */,
+      16,    0,   87,    2, 0x08 /* Private */,
 
  // slots: parameters
-    QMetaType::Void, QMetaType::Int,    3,
     QMetaType::Void,
     QMetaType::Void,
+    QMetaType::Void, QMetaType::Double, QMetaType::Double,    5,    6,
+    QMetaType::Void, QMetaType::Int,    8,
+    QMetaType::Void,
+    QMetaType::Void,
+    QMetaType::Void,
+    QMetaType::Void, QMetaType::Int,   13,
     QMetaType::Void,
     QMetaType::Void,
     QMetaType::Void,
-    QMetaType::Void, QMetaType::Double, QMetaType::Double,   10,   11,
 
        0        // eod
 };
@@ -449,13 +465,17 @@ void AreaCoverageDialog::qt_static_metacall(QObject *_o, QMetaObject::Call _c, i
         auto *_t = static_cast<AreaCoverageDialog *>(_o);
         (void)_t;
         switch (_id) {
-        case 0: _t->onShapeChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
-        case 1: _t->addVertex(); break;
-        case 2: _t->removeVertex(); break;
-        case 3: _t->selectVertexOnMap(); break;
-        case 4: _t->planCoveragePath(); break;
-        case 5: _t->clearCoverage(); break;
-        case 6: _t->onMapClick((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
+        case 0: _t->planCoveragePath(); break;
+        case 1: _t->clearCoverage(); break;
+        case 2: _t->onMapClick((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
+        case 3: _t->onDroneCountChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
+        case 4: _t->onSelectAllThreats(); break;
+        case 5: _t->onSelectNoneThreats(); break;
+        case 6: _t->onRefreshThreats(); break;
+        case 7: _t->onPathDroneChanged((*reinterpret_cast< int(*)>(_a[1]))); break;
+        case 8: _t->onPlayAnimation(); break;
+        case 9: _t->onStopAnimation(); break;
+        case 10: _t->onResetAnimation(); break;
         default: ;
         }
     }
@@ -490,13 +510,13 @@ int AreaCoverageDialog::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     if (_id < 0)
         return _id;
     if (_c == QMetaObject::InvokeMetaMethod) {
-        if (_id < 7)
+        if (_id < 11)
             qt_static_metacall(this, _c, _id, _a);
-        _id -= 7;
+        _id -= 11;
     } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
-        if (_id < 7)
+        if (_id < 11)
             *reinterpret_cast<int*>(_a[0]) = -1;
-        _id -= 7;
+        _id -= 11;
     }
     return _id;
 }
@@ -595,8 +615,8 @@ int LocateDialog::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     return _id;
 }
 struct qt_meta_stringdata_MapPage_t {
-    QByteArrayData data[48];
-    char stringdata0[662];
+    QByteArrayData data[60];
+    char stringdata0[869];
 };
 #define QT_MOC_LITERAL(idx, ofs, len) \
     Q_STATIC_BYTE_ARRAY_DATA_HEADER_INITIALIZER_WITH_OFFSET(len, \
@@ -616,60 +636,78 @@ QT_MOC_LITERAL(7, 92, 21), // "areaCoverageRequested"
 QT_MOC_LITERAL(8, 114, 10), // "mapClicked"
 QT_MOC_LITERAL(9, 125, 3), // "lng"
 QT_MOC_LITERAL(10, 129, 3), // "lat"
-QT_MOC_LITERAL(11, 133, 15), // "onHeightChanged"
-QT_MOC_LITERAL(12, 149, 20), // "onDownloadMapClicked"
-QT_MOC_LITERAL(13, 170, 18), // "onSetThreatClicked"
-QT_MOC_LITERAL(14, 189, 21), // "onPathPlanningClicked"
-QT_MOC_LITERAL(15, 211, 21), // "onAreaCoverageClicked"
-QT_MOC_LITERAL(16, 233, 18), // "onSearchMapClicked"
-QT_MOC_LITERAL(17, 252, 16), // "onConsoleMessage"
-QT_MOC_LITERAL(18, 269, 45), // "QWebEnginePage::JavaScriptCon..."
-QT_MOC_LITERAL(19, 315, 5), // "level"
-QT_MOC_LITERAL(20, 321, 7), // "message"
-QT_MOC_LITERAL(21, 329, 10), // "lineNumber"
-QT_MOC_LITERAL(22, 340, 8), // "sourceID"
-QT_MOC_LITERAL(23, 349, 12), // "onPageLoaded"
-QT_MOC_LITERAL(24, 362, 2), // "ok"
-QT_MOC_LITERAL(25, 365, 16), // "addClickListener"
-QT_MOC_LITERAL(26, 382, 19), // "removeClickListener"
-QT_MOC_LITERAL(27, 402, 14), // "handleMapClick"
-QT_MOC_LITERAL(28, 417, 13), // "visualizePath"
-QT_MOC_LITERAL(29, 431, 8), // "pathData"
-QT_MOC_LITERAL(30, 440, 17), // "clearPathOverlays"
-QT_MOC_LITERAL(31, 458, 16), // "runMapJavaScript"
-QT_MOC_LITERAL(32, 475, 2), // "js"
-QT_MOC_LITERAL(33, 478, 8), // "parseLng"
-QT_MOC_LITERAL(34, 487, 5), // "coord"
-QT_MOC_LITERAL(35, 493, 8), // "parseLat"
-QT_MOC_LITERAL(36, 502, 10), // "showMarker"
-QT_MOC_LITERAL(37, 513, 5), // "label"
-QT_MOC_LITERAL(38, 519, 5), // "color"
-QT_MOC_LITERAL(39, 525, 5), // "index"
-QT_MOC_LITERAL(40, 531, 21), // "visualizeCoveragePath"
-QT_MOC_LITERAL(41, 553, 21), // "clearCoverageOverlays"
-QT_MOC_LITERAL(42, 575, 17), // "enableDrawingMode"
-QT_MOC_LITERAL(43, 593, 5), // "shape"
-QT_MOC_LITERAL(44, 599, 18), // "disableDrawingMode"
-QT_MOC_LITERAL(45, 618, 16), // "addThreatOverlay"
-QT_MOC_LITERAL(46, 635, 6), // "params"
-QT_MOC_LITERAL(47, 642, 19) // "removeThreatOverlay"
+QT_MOC_LITERAL(11, 133, 8), // "mapReady"
+QT_MOC_LITERAL(12, 142, 15), // "onHeightChanged"
+QT_MOC_LITERAL(13, 158, 20), // "onDownloadMapClicked"
+QT_MOC_LITERAL(14, 179, 18), // "onSetThreatClicked"
+QT_MOC_LITERAL(15, 198, 21), // "onPathPlanningClicked"
+QT_MOC_LITERAL(16, 220, 21), // "onAreaCoverageClicked"
+QT_MOC_LITERAL(17, 242, 18), // "onSearchMapClicked"
+QT_MOC_LITERAL(18, 261, 16), // "onConsoleMessage"
+QT_MOC_LITERAL(19, 278, 45), // "QWebEnginePage::JavaScriptCon..."
+QT_MOC_LITERAL(20, 324, 5), // "level"
+QT_MOC_LITERAL(21, 330, 7), // "message"
+QT_MOC_LITERAL(22, 338, 10), // "lineNumber"
+QT_MOC_LITERAL(23, 349, 8), // "sourceID"
+QT_MOC_LITERAL(24, 358, 12), // "onPageLoaded"
+QT_MOC_LITERAL(25, 371, 2), // "ok"
+QT_MOC_LITERAL(26, 374, 13), // "loadSavedPath"
+QT_MOC_LITERAL(27, 388, 16), // "onMapReadyFromJS"
+QT_MOC_LITERAL(28, 405, 16), // "addClickListener"
+QT_MOC_LITERAL(29, 422, 19), // "removeClickListener"
+QT_MOC_LITERAL(30, 442, 14), // "handleMapClick"
+QT_MOC_LITERAL(31, 457, 13), // "visualizePath"
+QT_MOC_LITERAL(32, 471, 8), // "pathData"
+QT_MOC_LITERAL(33, 480, 27), // "visualizeCoverageMultiPaths"
+QT_MOC_LITERAL(34, 508, 14), // "multiPathsJson"
+QT_MOC_LITERAL(35, 523, 17), // "clearPathOverlays"
+QT_MOC_LITERAL(36, 541, 16), // "runMapJavaScript"
+QT_MOC_LITERAL(37, 558, 2), // "js"
+QT_MOC_LITERAL(38, 561, 8), // "parseLng"
+QT_MOC_LITERAL(39, 570, 5), // "coord"
+QT_MOC_LITERAL(40, 576, 8), // "parseLat"
+QT_MOC_LITERAL(41, 585, 10), // "showMarker"
+QT_MOC_LITERAL(42, 596, 5), // "label"
+QT_MOC_LITERAL(43, 602, 5), // "color"
+QT_MOC_LITERAL(44, 608, 5), // "index"
+QT_MOC_LITERAL(45, 614, 21), // "visualizeCoveragePath"
+QT_MOC_LITERAL(46, 636, 21), // "clearCoverageOverlays"
+QT_MOC_LITERAL(47, 658, 27), // "visualizeCoverageAreaCircle"
+QT_MOC_LITERAL(48, 686, 9), // "centerLng"
+QT_MOC_LITERAL(49, 696, 9), // "centerLat"
+QT_MOC_LITERAL(50, 706, 8), // "radiusKm"
+QT_MOC_LITERAL(51, 715, 28), // "visualizeCoverageAreaPolygon"
+QT_MOC_LITERAL(52, 744, 28), // "QList<QPair<double,double> >"
+QT_MOC_LITERAL(53, 773, 8), // "vertices"
+QT_MOC_LITERAL(54, 782, 17), // "enableDrawingMode"
+QT_MOC_LITERAL(55, 800, 5), // "shape"
+QT_MOC_LITERAL(56, 806, 18), // "disableDrawingMode"
+QT_MOC_LITERAL(57, 825, 16), // "addThreatOverlay"
+QT_MOC_LITERAL(58, 842, 6), // "params"
+QT_MOC_LITERAL(59, 849, 19) // "removeThreatOverlay"
 
     },
     "MapPage\0heightChanged\0\0height\0"
     "downloadMapRequested\0setThreatRequested\0"
     "pathPlanningRequested\0areaCoverageRequested\0"
-    "mapClicked\0lng\0lat\0onHeightChanged\0"
+    "mapClicked\0lng\0lat\0mapReady\0onHeightChanged\0"
     "onDownloadMapClicked\0onSetThreatClicked\0"
     "onPathPlanningClicked\0onAreaCoverageClicked\0"
     "onSearchMapClicked\0onConsoleMessage\0"
     "QWebEnginePage::JavaScriptConsoleMessageLevel\0"
     "level\0message\0lineNumber\0sourceID\0"
-    "onPageLoaded\0ok\0addClickListener\0"
+    "onPageLoaded\0ok\0loadSavedPath\0"
+    "onMapReadyFromJS\0addClickListener\0"
     "removeClickListener\0handleMapClick\0"
-    "visualizePath\0pathData\0clearPathOverlays\0"
-    "runMapJavaScript\0js\0parseLng\0coord\0"
-    "parseLat\0showMarker\0label\0color\0index\0"
-    "visualizeCoveragePath\0clearCoverageOverlays\0"
+    "visualizePath\0pathData\0"
+    "visualizeCoverageMultiPaths\0multiPathsJson\0"
+    "clearPathOverlays\0runMapJavaScript\0"
+    "js\0parseLng\0coord\0parseLat\0showMarker\0"
+    "label\0color\0index\0visualizeCoveragePath\0"
+    "clearCoverageOverlays\0visualizeCoverageAreaCircle\0"
+    "centerLng\0centerLat\0radiusKm\0"
+    "visualizeCoverageAreaPolygon\0"
+    "QList<QPair<double,double> >\0vertices\0"
     "enableDrawingMode\0shape\0disableDrawingMode\0"
     "addThreatOverlay\0params\0removeThreatOverlay"
 };
@@ -681,45 +719,51 @@ static const uint qt_meta_data_MapPage[] = {
        8,       // revision
        0,       // classname
        0,    0, // classinfo
-      29,   14, // methods
+      35,   14, // methods
        0,    0, // properties
        0,    0, // enums/sets
        0,    0, // constructors
        0,       // flags
-       6,       // signalCount
+       7,       // signalCount
 
  // signals: name, argc, parameters, tag, flags
-       1,    1,  159,    2, 0x06 /* Public */,
-       4,    0,  162,    2, 0x06 /* Public */,
-       5,    0,  163,    2, 0x06 /* Public */,
-       6,    0,  164,    2, 0x06 /* Public */,
-       7,    0,  165,    2, 0x06 /* Public */,
-       8,    2,  166,    2, 0x06 /* Public */,
+       1,    1,  189,    2, 0x06 /* Public */,
+       4,    0,  192,    2, 0x06 /* Public */,
+       5,    0,  193,    2, 0x06 /* Public */,
+       6,    0,  194,    2, 0x06 /* Public */,
+       7,    0,  195,    2, 0x06 /* Public */,
+       8,    2,  196,    2, 0x06 /* Public */,
+      11,    0,  201,    2, 0x06 /* Public */,
 
  // slots: name, argc, parameters, tag, flags
-      11,    0,  171,    2, 0x08 /* Private */,
-      12,    0,  172,    2, 0x08 /* Private */,
-      13,    0,  173,    2, 0x08 /* Private */,
-      14,    0,  174,    2, 0x08 /* Private */,
-      15,    0,  175,    2, 0x08 /* Private */,
-      16,    0,  176,    2, 0x08 /* Private */,
-      17,    4,  177,    2, 0x08 /* Private */,
-      23,    1,  186,    2, 0x08 /* Private */,
-      25,    0,  189,    2, 0x0a /* Public */,
-      26,    0,  190,    2, 0x0a /* Public */,
-      27,    2,  191,    2, 0x0a /* Public */,
-      28,    1,  196,    2, 0x0a /* Public */,
-      30,    0,  199,    2, 0x0a /* Public */,
-      31,    1,  200,    2, 0x0a /* Public */,
-      33,    1,  203,    2, 0x0a /* Public */,
-      35,    1,  206,    2, 0x0a /* Public */,
-      36,    5,  209,    2, 0x0a /* Public */,
-      40,    1,  220,    2, 0x0a /* Public */,
-      41,    0,  223,    2, 0x0a /* Public */,
-      42,    1,  224,    2, 0x0a /* Public */,
-      44,    0,  227,    2, 0x0a /* Public */,
-      45,    2,  228,    2, 0x0a /* Public */,
-      47,    1,  233,    2, 0x0a /* Public */,
+      12,    0,  202,    2, 0x08 /* Private */,
+      13,    0,  203,    2, 0x08 /* Private */,
+      14,    0,  204,    2, 0x08 /* Private */,
+      15,    0,  205,    2, 0x08 /* Private */,
+      16,    0,  206,    2, 0x08 /* Private */,
+      17,    0,  207,    2, 0x08 /* Private */,
+      18,    4,  208,    2, 0x08 /* Private */,
+      24,    1,  217,    2, 0x08 /* Private */,
+      26,    0,  220,    2, 0x08 /* Private */,
+      27,    0,  221,    2, 0x08 /* Private */,
+      28,    0,  222,    2, 0x0a /* Public */,
+      29,    0,  223,    2, 0x0a /* Public */,
+      30,    2,  224,    2, 0x0a /* Public */,
+      31,    1,  229,    2, 0x0a /* Public */,
+      33,    1,  232,    2, 0x0a /* Public */,
+      35,    0,  235,    2, 0x0a /* Public */,
+      36,    1,  236,    2, 0x0a /* Public */,
+      38,    1,  239,    2, 0x0a /* Public */,
+      40,    1,  242,    2, 0x0a /* Public */,
+      41,    5,  245,    2, 0x0a /* Public */,
+      45,    1,  256,    2, 0x0a /* Public */,
+      46,    0,  259,    2, 0x0a /* Public */,
+      47,    3,  260,    2, 0x0a /* Public */,
+      51,    1,  267,    2, 0x0a /* Public */,
+      54,    1,  270,    2, 0x0a /* Public */,
+      56,    0,  273,    2, 0x0a /* Public */,
+      57,    2,  274,    2, 0x0a /* Public */,
+      59,    1,  279,    2, 0x0a /* Public */,
 
  // signals: parameters
     QMetaType::Void, QMetaType::QString,    3,
@@ -728,6 +772,7 @@ static const uint qt_meta_data_MapPage[] = {
     QMetaType::Void,
     QMetaType::Void,
     QMetaType::Void, QMetaType::Double, QMetaType::Double,    9,   10,
+    QMetaType::Void,
 
  // slots: parameters
     QMetaType::Void,
@@ -736,23 +781,28 @@ static const uint qt_meta_data_MapPage[] = {
     QMetaType::Void,
     QMetaType::Void,
     QMetaType::Void,
-    QMetaType::Void, 0x80000000 | 18, QMetaType::QString, QMetaType::Int, QMetaType::QString,   19,   20,   21,   22,
-    QMetaType::Void, QMetaType::Bool,   24,
+    QMetaType::Void, 0x80000000 | 19, QMetaType::QString, QMetaType::Int, QMetaType::QString,   20,   21,   22,   23,
+    QMetaType::Void, QMetaType::Bool,   25,
+    QMetaType::Void,
+    QMetaType::Void,
     QMetaType::Void,
     QMetaType::Void,
     QMetaType::Void, QMetaType::Double, QMetaType::Double,    9,   10,
-    QMetaType::Void, QMetaType::QString,   29,
+    QMetaType::Void, QMetaType::QString,   32,
+    QMetaType::Void, QMetaType::QString,   34,
     QMetaType::Void,
+    QMetaType::Void, QMetaType::QString,   37,
+    QMetaType::Double, QMetaType::QString,   39,
+    QMetaType::Double, QMetaType::QString,   39,
+    QMetaType::Void, QMetaType::Double, QMetaType::Double, QMetaType::QString, QMetaType::QString, QMetaType::Int,    9,   10,   42,   43,   44,
     QMetaType::Void, QMetaType::QString,   32,
-    QMetaType::Double, QMetaType::QString,   34,
-    QMetaType::Double, QMetaType::QString,   34,
-    QMetaType::Void, QMetaType::Double, QMetaType::Double, QMetaType::QString, QMetaType::QString, QMetaType::Int,    9,   10,   37,   38,   39,
-    QMetaType::Void, QMetaType::QString,   29,
     QMetaType::Void,
-    QMetaType::Void, QMetaType::QString,   43,
+    QMetaType::Void, QMetaType::Double, QMetaType::Double, QMetaType::Double,   48,   49,   50,
+    QMetaType::Void, 0x80000000 | 52,   53,
+    QMetaType::Void, QMetaType::QString,   55,
     QMetaType::Void,
-    QMetaType::Void, QMetaType::QString, QMetaType::QVariantMap,   43,   46,
-    QMetaType::Void, QMetaType::Int,   39,
+    QMetaType::Void, QMetaType::QString, QMetaType::QVariantMap,   55,   58,
+    QMetaType::Void, QMetaType::Int,   44,
 
        0        // eod
 };
@@ -769,31 +819,37 @@ void MapPage::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, voi
         case 3: _t->pathPlanningRequested(); break;
         case 4: _t->areaCoverageRequested(); break;
         case 5: _t->mapClicked((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
-        case 6: _t->onHeightChanged(); break;
-        case 7: _t->onDownloadMapClicked(); break;
-        case 8: _t->onSetThreatClicked(); break;
-        case 9: _t->onPathPlanningClicked(); break;
-        case 10: _t->onAreaCoverageClicked(); break;
-        case 11: _t->onSearchMapClicked(); break;
-        case 12: _t->onConsoleMessage((*reinterpret_cast< QWebEnginePage::JavaScriptConsoleMessageLevel(*)>(_a[1])),(*reinterpret_cast< const QString(*)>(_a[2])),(*reinterpret_cast< int(*)>(_a[3])),(*reinterpret_cast< const QString(*)>(_a[4]))); break;
-        case 13: _t->onPageLoaded((*reinterpret_cast< bool(*)>(_a[1]))); break;
-        case 14: _t->addClickListener(); break;
-        case 15: _t->removeClickListener(); break;
-        case 16: _t->handleMapClick((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
-        case 17: _t->visualizePath((*reinterpret_cast< const QString(*)>(_a[1]))); break;
-        case 18: _t->clearPathOverlays(); break;
-        case 19: _t->runMapJavaScript((*reinterpret_cast< const QString(*)>(_a[1]))); break;
-        case 20: { double _r = _t->parseLng((*reinterpret_cast< const QString(*)>(_a[1])));
+        case 6: _t->mapReady(); break;
+        case 7: _t->onHeightChanged(); break;
+        case 8: _t->onDownloadMapClicked(); break;
+        case 9: _t->onSetThreatClicked(); break;
+        case 10: _t->onPathPlanningClicked(); break;
+        case 11: _t->onAreaCoverageClicked(); break;
+        case 12: _t->onSearchMapClicked(); break;
+        case 13: _t->onConsoleMessage((*reinterpret_cast< QWebEnginePage::JavaScriptConsoleMessageLevel(*)>(_a[1])),(*reinterpret_cast< const QString(*)>(_a[2])),(*reinterpret_cast< int(*)>(_a[3])),(*reinterpret_cast< const QString(*)>(_a[4]))); break;
+        case 14: _t->onPageLoaded((*reinterpret_cast< bool(*)>(_a[1]))); break;
+        case 15: _t->loadSavedPath(); break;
+        case 16: _t->onMapReadyFromJS(); break;
+        case 17: _t->addClickListener(); break;
+        case 18: _t->removeClickListener(); break;
+        case 19: _t->handleMapClick((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2]))); break;
+        case 20: _t->visualizePath((*reinterpret_cast< const QString(*)>(_a[1]))); break;
+        case 21: _t->visualizeCoverageMultiPaths((*reinterpret_cast< const QString(*)>(_a[1]))); break;
+        case 22: _t->clearPathOverlays(); break;
+        case 23: _t->runMapJavaScript((*reinterpret_cast< const QString(*)>(_a[1]))); break;
+        case 24: { double _r = _t->parseLng((*reinterpret_cast< const QString(*)>(_a[1])));
             if (_a[0]) *reinterpret_cast< double*>(_a[0]) = std::move(_r); }  break;
-        case 21: { double _r = _t->parseLat((*reinterpret_cast< const QString(*)>(_a[1])));
+        case 25: { double _r = _t->parseLat((*reinterpret_cast< const QString(*)>(_a[1])));
             if (_a[0]) *reinterpret_cast< double*>(_a[0]) = std::move(_r); }  break;
-        case 22: _t->showMarker((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2])),(*reinterpret_cast< const QString(*)>(_a[3])),(*reinterpret_cast< const QString(*)>(_a[4])),(*reinterpret_cast< int(*)>(_a[5]))); break;
-        case 23: _t->visualizeCoveragePath((*reinterpret_cast< const QString(*)>(_a[1]))); break;
-        case 24: _t->clearCoverageOverlays(); break;
-        case 25: _t->enableDrawingMode((*reinterpret_cast< const QString(*)>(_a[1]))); break;
-        case 26: _t->disableDrawingMode(); break;
-        case 27: _t->addThreatOverlay((*reinterpret_cast< const QString(*)>(_a[1])),(*reinterpret_cast< const QVariantMap(*)>(_a[2]))); break;
-        case 28: _t->removeThreatOverlay((*reinterpret_cast< int(*)>(_a[1]))); break;
+        case 26: _t->showMarker((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2])),(*reinterpret_cast< const QString(*)>(_a[3])),(*reinterpret_cast< const QString(*)>(_a[4])),(*reinterpret_cast< int(*)>(_a[5]))); break;
+        case 27: _t->visualizeCoveragePath((*reinterpret_cast< const QString(*)>(_a[1]))); break;
+        case 28: _t->clearCoverageOverlays(); break;
+        case 29: _t->visualizeCoverageAreaCircle((*reinterpret_cast< double(*)>(_a[1])),(*reinterpret_cast< double(*)>(_a[2])),(*reinterpret_cast< double(*)>(_a[3]))); break;
+        case 30: _t->visualizeCoverageAreaPolygon((*reinterpret_cast< const QList<QPair<double,double> >(*)>(_a[1]))); break;
+        case 31: _t->enableDrawingMode((*reinterpret_cast< const QString(*)>(_a[1]))); break;
+        case 32: _t->disableDrawingMode(); break;
+        case 33: _t->addThreatOverlay((*reinterpret_cast< const QString(*)>(_a[1])),(*reinterpret_cast< const QVariantMap(*)>(_a[2]))); break;
+        case 34: _t->removeThreatOverlay((*reinterpret_cast< int(*)>(_a[1]))); break;
         default: ;
         }
     } else if (_c == QMetaObject::IndexOfMethod) {
@@ -840,6 +896,13 @@ void MapPage::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, voi
                 return;
             }
         }
+        {
+            using _t = void (MapPage::*)();
+            if (*reinterpret_cast<_t *>(_a[1]) == static_cast<_t>(&MapPage::mapReady)) {
+                *result = 6;
+                return;
+            }
+        }
     }
 }
 
@@ -872,13 +935,13 @@ int MapPage::qt_metacall(QMetaObject::Call _c, int _id, void **_a)
     if (_id < 0)
         return _id;
     if (_c == QMetaObject::InvokeMetaMethod) {
-        if (_id < 29)
+        if (_id < 35)
             qt_static_metacall(this, _c, _id, _a);
-        _id -= 29;
+        _id -= 35;
     } else if (_c == QMetaObject::RegisterMethodArgumentMetaType) {
-        if (_id < 29)
+        if (_id < 35)
             *reinterpret_cast<int*>(_a[0]) = -1;
-        _id -= 29;
+        _id -= 35;
     }
     return _id;
 }
@@ -920,5 +983,11 @@ void MapPage::mapClicked(double _t1, double _t2)
     void *_a[] = { nullptr, const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t1))), const_cast<void*>(reinterpret_cast<const void*>(std::addressof(_t2))) };
     QMetaObject::activate(this, &staticMetaObject, 5, _a);
 }
+
+// SIGNAL 6
+void MapPage::mapReady()
+{
+    QMetaObject::activate(this, &staticMetaObject, 6, nullptr);
+}
 QT_WARNING_POP
 QT_END_MOC_NAMESPACE
diff --git a/build/moc_mappage.o b/build/moc_mappage.o
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diff --git a/build/moc_taskdecisionpage.o b/build/moc_taskdecisionpage.o
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diff --git a/build/taskdecisionpage.o b/build/taskdecisionpage.o
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diff --git a/drone_ui.pro.user b/drone_ui.pro.user
new file mode 100644
index 0000000..4a85a78
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