From 41973131270a32f014f26263ff0c7e8326d918ee Mon Sep 17 00:00:00 2001
From: dmz <2033017499@qq.com>
Date: Thu, 3 Jul 2025 16:29:55 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=9E=E7=8E=B0A*=E8=B7=AF=E5=BE=84=E8=A7=84?=
=?UTF-8?q?=E5=88=92?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
---
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.../backend/create-test-threats.js | 83 +
.../backend/src/routes/drones.js | 16 +-
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.../backend/src/routes/pathPlanning.js | 1353 ++++++++++++-----
.../backend/src/routes/tasks.js | 24 +-
.../backend/src/routes/threatZones.js | 46 +-
.../web-command-center/database/init.sql | 208 ++-
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.../web-command-center/test-astar-debug.js | 115 ++
.../web-command-center/test-path-planning.js | 72 +
.../web-command-center/test-threat-zones.js | 95 ++
103 files changed, 2214 insertions(+), 913 deletions(-)
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create mode 100644 Src/command_center/web-command-center/frontend/node_modules/.cache/babel-loader/deb0d2cdd2fa3b08990fa0a63e7248abed3586fc41e9d783feadeb73db53d8f9.json
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create mode 100644 Src/command_center/web-command-center/test-astar-debug.js
create mode 100644 Src/command_center/web-command-center/test-path-planning.js
create mode 100644 Src/command_center/web-command-center/test-threat-zones.js
diff --git a/Src/command_center/web-command-center/PATHPLANNING_IMPLEMENTATION.md b/Src/command_center/web-command-center/PATHPLANNING_IMPLEMENTATION.md
new file mode 100644
index 00000000..0519ecba
--- /dev/null
+++ b/Src/command_center/web-command-center/PATHPLANNING_IMPLEMENTATION.md
@@ -0,0 +1 @@
+
\ No newline at end of file
diff --git a/Src/command_center/web-command-center/backend/create-test-threats.js b/Src/command_center/web-command-center/backend/create-test-threats.js
new file mode 100644
index 00000000..508a285e
--- /dev/null
+++ b/Src/command_center/web-command-center/backend/create-test-threats.js
@@ -0,0 +1,83 @@
+const db = require('./src/config/database');
+
+const testThreatZones = [
+ {
+ type: 'aircraft',
+ level: 'high',
+ description: '长沙高危空域 - 测试区域',
+ geometry_type: 'circle',
+ geometry_data: {
+ center: { lng: 112.940, lat: 28.180 },
+ radius: 1500
+ },
+ status: 'active'
+ },
+ {
+ type: 'radar',
+ level: 'medium',
+ description: '长沙雷达监控区 - 测试区域',
+ geometry_type: 'circle',
+ geometry_data: {
+ center: { lng: 112.970, lat: 28.200 },
+ radius: 1000
+ },
+ status: 'active'
+ },
+ {
+ type: 'missile',
+ level: 'critical',
+ description: '长沙禁飞区 - 测试区域',
+ geometry_type: 'circle',
+ geometry_data: {
+ center: { lng: 112.920, lat: 28.220 },
+ radius: 800
+ },
+ status: 'active'
+ }
+];
+
+(async () => {
+ try {
+ console.log('开始插入测试威胁区数据...');
+
+ // 清除现有威胁区数据
+ await db.execute('DELETE FROM threat_zones WHERE description LIKE "%测试区域%"');
+ console.log('已清除现有测试数据');
+
+ // 插入新的测试威胁区
+ for (const zone of testThreatZones) {
+ const sql = `
+ INSERT INTO threat_zones
+ (type, level, description, geometry_type, geometry_data, status, created_at, updated_at)
+ VALUES (?, ?, ?, ?, ?, ?, NOW(), NOW())
+ `;
+
+ const params = [
+ zone.type,
+ zone.level,
+ zone.description,
+ zone.geometry_type,
+ JSON.stringify(zone.geometry_data),
+ zone.status
+ ];
+
+ const [result] = await db.execute(sql, params);
+ console.log(`插入威胁区: ${zone.description}, ID: ${result.insertId}`);
+ }
+
+ // 验证插入的数据
+ const [rows] = await db.execute('SELECT * FROM threat_zones WHERE description LIKE "%测试区域%"');
+ console.log('\n插入的威胁区数据:');
+ rows.forEach(row => {
+ console.log(`- ID: ${row.id}, 类型: ${row.type}, 等级: ${row.level}, 几何数据: ${row.geometry_data}`);
+ });
+
+ console.log('\n测试威胁区数据插入完成！');
+ await db.end();
+ process.exit(0);
+
+ } catch (error) {
+ console.error('插入测试数据失败:', error);
+ process.exit(1);
+ }
+})();
\ No newline at end of file
diff --git a/Src/command_center/web-command-center/backend/src/routes/drones.js b/Src/command_center/web-command-center/backend/src/routes/drones.js
index 2d6b70ca..df027c23 100644
--- a/Src/command_center/web-command-center/backend/src/routes/drones.js
+++ b/Src/command_center/web-command-center/backend/src/routes/drones.js
@@ -9,8 +9,8 @@ let dronesData = [
name: '侦察无人机-001',
type: '侦察型',
status: 'active',
- latitude: 39.9042,
- longitude: 116.4074,
+ latitude: 28.1941,
+ longitude: 112.9823,
battery: 85,
created_at: new Date().toISOString(),
updated_at: new Date().toISOString()
@@ -20,8 +20,8 @@ let dronesData = [
name: '运输无人机-002',
type: '运输型',
status: 'idle',
- latitude: 39.9122,
- longitude: 116.4134,
+ latitude: 28.2022,
+ longitude: 112.9903,
battery: 92,
created_at: new Date().toISOString(),
updated_at: new Date().toISOString()
@@ -31,8 +31,8 @@ let dronesData = [
name: '巡逻无人机-003',
type: '巡逻型',
status: 'active',
- latitude: 39.8965,
- longitude: 116.3972,
+ latitude: 28.1865,
+ longitude: 112.9722,
battery: 67,
created_at: new Date().toISOString(),
updated_at: new Date().toISOString()
@@ -124,8 +124,8 @@ router.post('/', authenticateToken, async (req, res) => {
name: name || `无人机-${nextId - 1}`,
type: type || '通用型',
status: status || 'idle',
- latitude: latitude ? parseFloat(latitude) : 39.9042,
- longitude: longitude ? parseFloat(longitude) : 116.4074,
+ latitude: latitude ? parseFloat(latitude) : 28.1941,
+ longitude: longitude ? parseFloat(longitude) : 112.9823,
battery: 100,
created_at: new Date().toISOString(),
updated_at: new Date().toISOString()
diff --git a/Src/command_center/web-command-center/backend/src/routes/operationLogs.js b/Src/command_center/web-command-center/backend/src/routes/operationLogs.js
index e86cc7fd..5344c42c 100644
--- a/Src/command_center/web-command-center/backend/src/routes/operationLogs.js
+++ b/Src/command_center/web-command-center/backend/src/routes/operationLogs.js
@@ -106,12 +106,13 @@ let operationLogs = [
id: 3,
name: '自动规划路径-003'
},
- description: '创建新的路径规划',
+ description: '执行路径规划算法',
details: {
algorithm: 'astar',
waypoints: 5,
distance: 2500,
- estimatedTime: 15
+ estimatedTime: 15,
+ location: { lng: 112.982279, lat: 28.19409 }
},
success: true,
duration: 2800,
diff --git a/Src/command_center/web-command-center/backend/src/routes/pathPlanning.js b/Src/command_center/web-command-center/backend/src/routes/pathPlanning.js
index 44f999cb..244056cc 100644
--- a/Src/command_center/web-command-center/backend/src/routes/pathPlanning.js
+++ b/Src/command_center/web-command-center/backend/src/routes/pathPlanning.js
@@ -1,465 +1,1070 @@
const express = require('express');
const router = express.Router();
-const { authenticateToken } = require('../middleware/auth');
-
-// 存储路径规划数据（实际项目中应使用数据库）
-let pathPlans = [
- {
- id: 1,
- droneId: 1,
- waypoints: [
- { lng: 116.397428, lat: 39.90923, altitude: 100 },
- { lng: 116.405428, lat: 39.91123, altitude: 120 },
- { lng: 116.415428, lat: 39.91323, altitude: 100 }
- ],
- algorithm: 'astar',
- status: 'planned',
- distance: 2500,
- estimatedTime: 15,
- createdAt: new Date('2024-01-01T10:00:00'),
- executedAt: null
- },
- {
- id: 2,
- droneId: 2,
- waypoints: [
- { lng: 116.387428, lat: 39.89923, altitude: 80 },
- { lng: 116.395428, lat: 39.90723, altitude: 90 },
- { lng: 116.405428, lat: 39.91523, altitude: 85 }
- ],
- algorithm: 'rrt',
- status: 'executing',
- distance: 1800,
- estimatedTime: 12,
- createdAt: new Date('2024-01-01T11:00:00'),
- executedAt: new Date('2024-01-01T11:30:00')
+const db = require('../config/database');
+
+// ===================== 核心数据结构 =====================
+
+/**
+ * A*算法节点类 - 完全参考Python astar.py中的Node类
+ */
+class PathNode {
+ constructor(lng, lat, altitude = 100) {
+ this.lng = lng;
+ this.lat = lat;
+ this.altitude = altitude;
+ this.g_cost = 0; // 从起点到当前节点的实际代价
+ this.h_cost = 0; // 从当前节点到终点的估计代价
+ this.parent = null;
}
-]
-
-// 路径规划算法配置
-const algorithms = {
- astar: {
- name: 'A*算法',
- description: '基于启发式搜索的最优路径算法',
- timeComplexity: 'O(b^d)',
- advantages: ['路径最优', '搜索效率高'],
- disadvantages: ['需要启发函数', '内存消耗较大']
- },
- rrt: {
- name: 'RRT算法',
- description: '快速随机树算法，适用于复杂环境',
- timeComplexity: 'O(n log n)',
- advantages: ['适用于高维空间', '障碍物处理好'],
- disadvantages: ['路径不一定最优', '随机性强']
- },
- straight: {
- name: '直线规划',
- description: '简单的直线路径规划',
- timeComplexity: 'O(1)',
- advantages: ['计算简单', '速度快'],
- disadvantages: ['不考虑障碍物', '路径可能不可行']
- },
- dijkstra: {
- name: 'Dijkstra算法',
- description: '图论中的最短路径算法',
- timeComplexity: 'O(V^2)',
- advantages: ['保证最优解', '算法稳定'],
- disadvantages: ['计算复杂度高', '不适用于大规模问题']
+
+ get f_cost() {
+ return this.g_cost + this.h_cost;
+ }
+
+ equals(other) {
+ const GRID_SIZE = 0.0005; // 更精细的网格，约50米
+ return Math.abs(this.lng - other.lng) < GRID_SIZE * 0.5 &&
+ Math.abs(this.lat - other.lat) < GRID_SIZE * 0.5;
}
}
-// 获取所有路径规划
-router.get('/', (req, res) => {
+// ===================== 工具函数 =====================
+
+/**
+ * 计算两点间距离（米）- 精确的Haversine公式
+ */
+function getDistance(lat1, lng1, lat2, lng2) {
+ const R = 6371000; // 地球半径（米）
+ const dLat = (lat2 - lat1) * Math.PI / 180;
+ const dLng = (lng2 - lng1) * Math.PI / 180;
+ const a = Math.sin(dLat/2) * Math.sin(dLat/2) +
+ Math.cos(lat1 * Math.PI / 180) * Math.cos(lat2 * Math.PI / 180) *
+ Math.sin(dLng/2) * Math.sin(dLng/2);
+ const c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a));
+ return R * c;
+}
+
+/**
+ * 启发式函数 - 改用实际地理距离，更准确
+ */
+function heuristic(p1, p2) {
+ return getDistance(p1.lat, p1.lng, p2.lat, p2.lng) / 111000; // 转换为度数单位
+}
+
+/**
+ * 检查点是否在威胁区域中 - 完全参考Python实现
+ */
+function isPointInThreatZone(lng, lat, zone) {
+ const geometry = zone.geometry_data || zone.geometry;
+ if (!geometry) return false;
+
+ const geometryType = zone.geometry_type || zone.type;
+
try {
- const { droneId, status, algorithm } = req.query
-
- let filteredPlans = [...pathPlans]
-
- // 按无人机ID筛选
- if (droneId) {
- filteredPlans = filteredPlans.filter(plan => plan.droneId == droneId)
+ switch (geometryType) {
+ case 'circle':
+ const center = geometry.center;
+ const radius = geometry.radius;
+ if (center && radius) {
+ // 处理两种格式：数组 [lng, lat] 或对象 {lng, lat}
+ let centerLng, centerLat;
+ if (Array.isArray(center)) {
+ centerLng = center[0];
+ centerLat = center[1];
+ } else {
+ centerLng = center.lng || center.x;
+ centerLat = center.lat || center.y;
+ }
+
+ if (centerLng !== undefined && centerLat !== undefined) {
+ const distance = getDistance(lat, lng, centerLat, centerLng);
+ const isInside = distance <= radius;
+
+ // 调试输出
+ if (isInside) {
+ console.log(`点(${lng}, ${lat})在圆形威胁区${zone.id}内，距离${Math.round(distance)}m，半径${radius}m`);
+ }
+
+ return isInside;
+ }
+ }
+ break;
+
+ case 'rectangle':
+ if (geometry.southwest && geometry.northeast) {
+ // 新格式：southwest/northeast
+ const sw = geometry.southwest;
+ const ne = geometry.northeast;
+ return lng >= sw.lng && lng <= ne.lng && lat >= sw.lat && lat <= ne.lat;
+ } else if (geometry.rect) {
+ // 老格式：rect
+ const { x1, y1, x2, y2 } = geometry.rect;
+ return lng >= Math.min(x1, x2) && lng <= Math.max(x1, x2) &&
+ lat >= Math.min(y1, y2) && lat <= Math.max(y1, y2);
+ }
+ break;
+
+ case 'polygon':
+ // 处理多种格式的多边形数据
+ let points = null;
+
+ if (geometry.path && Array.isArray(geometry.path)) {
+ // 格式：geometry_data: { path: [[lng, lat], ...] }
+ points = geometry.path;
+ } else if (geometry.coordinates && Array.isArray(geometry.coordinates)) {
+ // 格式：geometry_data: { coordinates: [[lng, lat], ...] }
+ points = geometry.coordinates;
+ } else if (geometry.points && Array.isArray(geometry.points)) {
+ // 格式：geometry_data: { points: [[lng, lat], ...] }
+ points = geometry.points;
+ } else if (Array.isArray(geometry)) {
+ // 格式：geometry_data: [[lng, lat], ...]
+ points = geometry;
+ }
+
+ if (points && points.length >= 3) {
+ const isInside = pointInPolygon(lng, lat, points);
+
+ // 调试输出
+ if (isInside) {
+ console.log(`点(${lng}, ${lat})在多边形威胁区${zone.id}内，顶点数${points.length}`);
+ }
+
+ return isInside;
+ }
+ break;
}
+ } catch (error) {
+ console.error(`威胁区域检测出错 (Zone ${zone.id}):`, error);
+ }
+
+ return false;
+}
+
+/**
+ * 检查点是否在任意威胁区域中 - 增强版本
+ */
+function isPointInAnyThreatZone(lng, lat, threatZones, enableDebug = false) {
+ for (const zone of threatZones) {
+ if (zone.status === 'inactive') continue; // 跳过非激活威胁区
- // 按状态筛选
- if (status) {
- filteredPlans = filteredPlans.filter(plan => plan.status === status)
+ if (enableDebug) {
+ console.log(`检查点(${lng}, ${lat})是否在威胁区${zone.id}(${zone.geometry_type})内...`);
}
- // 按算法筛选
- if (algorithm) {
- filteredPlans = filteredPlans.filter(plan => plan.algorithm === algorithm)
+ if (isPointInThreatZone(lng, lat, zone)) {
+ if (enableDebug) {
+ console.log(`✓ 点在威胁区${zone.id}内！等级：${zone.level}`);
+ }
+ return {
+ inThreat: true,
+ level: zone.level || 'medium',
+ zoneId: zone.id || 'unknown',
+ type: zone.type || 'unknown',
+ zone: zone
+ };
}
-
- res.json({
- success: true,
- data: filteredPlans,
- total: filteredPlans.length,
- message: '获取路径规划列表成功'
- })
- } catch (error) {
- res.status(500).json({
- success: false,
- message: '获取路径规划列表失败',
- error: error.message
- })
}
-})
+ return { inThreat: false };
+}
-// 获取单个路径规划详情
-router.get('/:id', (req, res) => {
- try {
- const id = parseInt(req.params.id)
- const plan = pathPlans.find(p => p.id === id)
+/**
+ * 点在多边形内检测 - 射线法，完全参考Python实现
+ */
+function pointInPolygon(lng, lat, polygon) {
+ if (polygon.length < 3) return false;
+
+ let inside = false;
+ let j = polygon.length - 1;
+
+ for (let i = 0; i < polygon.length; i++) {
+ const xi = polygon[i].lng || polygon[i][0];
+ const yi = polygon[i].lat || polygon[i][1];
+ const xj = polygon[j].lng || polygon[j][0];
+ const yj = polygon[j].lat || polygon[j][1];
- if (!plan) {
- return res.status(404).json({
- success: false,
- message: '路径规划不存在'
- })
+ // 检查点是否在多边形边上
+ if ((yi === lat && xi === lng) || (yj === lat && xj === lng)) {
+ return true;
}
- res.json({
- success: true,
- data: plan,
- message: '获取路径规划详情成功'
- })
- } catch (error) {
- res.status(500).json({
- success: false,
- message: '获取路径规划详情失败',
- error: error.message
- })
+ // 射线法判断点是否在多边形内部
+ if (((yi > lat) !== (yj > lat)) &&
+ (lng < (xj - xi) * (lat - yi) / (yj - yi) + xi)) {
+ inside = !inside;
+ }
+ j = i;
}
-})
+
+ return inside;
+}
-// 创建新的路径规划
-router.post('/', (req, res) => {
- try {
- const { droneId, waypoints, algorithm, flightAltitude, flightSpeed } = req.body
-
- // 验证必填字段
- if (!droneId || !waypoints || !Array.isArray(waypoints) || waypoints.length < 2) {
- return res.status(400).json({
- success: false,
- message: '请提供有效的无人机ID和至少2个路径点'
- })
+// ===================== 改进的A*算法实现 =====================
+
+/**
+ * A*路径规划算法 - 完全参考Python astar.py实现，修复关键问题
+ */
+async function aStarPlanningImproved(start, end, threatZones, options = {}) {
+ console.log('=== 开始改进的A*路径规划算法 ===');
+ console.log('起点:', start);
+ console.log('终点:', end);
+ console.log('威胁区数量:', threatZones.length);
+
+ // 调试威胁区域信息
+ threatZones.forEach((zone, index) => {
+ const geometry = zone.geometry_data || zone.geometry;
+ console.log(`威胁区${index + 1}: ID=${zone.id}, 类型=${zone.geometry_type}, 等级=${zone.level}`);
+ if (zone.geometry_type === 'circle') {
+ const center = geometry.center;
+ console.log(` 圆心: ${Array.isArray(center) ? center : [center?.lng || center?.x, center?.lat || center?.y]}, 半径: ${geometry.radius}m`);
+ } else if (zone.geometry_type === 'polygon') {
+ const points = geometry.path || geometry.coordinates || geometry.points || geometry;
+ console.log(` 多边形顶点数: ${points ? points.length : 0}`);
+ if (points && points.length > 0) {
+ console.log(` 首个顶点: [${points[0][0]}, ${points[0][1]}]`);
+ }
}
+ });
+
+ const {
+ gridSize = 0.001, // 调整网格大小，约100米，平衡精度和性能
+ maxIterations = 8000, // 增加最大迭代次数
+ allowThreatZones = false // 是否允许穿过威胁区
+ } = options;
+
+ // 8方向移动 - 完全参考Python实现
+ const directions = [
+ [1, 0], [0, 1], [-1, 0], [0, -1], // 直线移动
+ [1, 1], [-1, 1], [-1, -1], [1, -1] // 对角线移动
+ ];
+
+ const openList = [];
+ const closedSet = new Set();
+ const nodeMap = new Map(); // 用于存储访问过的节点，避免重复
+ const threatZonesAvoided = new Set();
+ const threatZonesPassed = new Set();
+
+ // 创建起始节点
+ const startNode = new PathNode(start.lng, start.lat, start.altitude || 100);
+ startNode.g_cost = 0;
+ startNode.h_cost = heuristic(startNode, end);
+ openList.push(startNode);
+
+ // 节点键值生成 - 更精确的格子坐标
+ const getNodeKey = (lng, lat) => {
+ const gridX = Math.round(lng / gridSize);
+ const gridY = Math.round(lat / gridSize);
+ return `${gridX}_${gridY}`;
+ };
+
+ let iterations = 0;
+ let bestNode = startNode;
+ let bestDistance = heuristic(startNode, end);
+
+ // 主循环 - 参考Python实现
+ while (openList.length > 0 && iterations < maxIterations) {
+ iterations++;
+
+ // 选择f值最小的节点 - 实现优先队列
+ openList.sort((a, b) => {
+ if (Math.abs(a.f_cost - b.f_cost) < 1e-10) {
+ return a.h_cost - b.h_cost; // f值相同时选择h值小的
+ }
+ return a.f_cost - b.f_cost;
+ });
- // 验证算法
- if (algorithm && !algorithms[algorithm]) {
- return res.status(400).json({
- success: false,
- message: '不支持的路径规划算法'
- })
- }
+ const current = openList.shift();
+ const gridPos = getNodeKey(current.lng, current.lat);
- // 计算路径距离和预估时间
- const distance = calculatePathDistance(waypoints)
- const estimatedTime = Math.ceil(distance / (flightSpeed || 10) / 1000 * 60) // 分钟
-
- const newPlan = {
- id: Math.max(...pathPlans.map(p => p.id), 0) + 1,
- droneId: parseInt(droneId),
- waypoints: waypoints.map(wp => ({
- lng: parseFloat(wp.lng),
- lat: parseFloat(wp.lat),
- altitude: parseInt(wp.altitude || flightAltitude || 100)
- })),
- algorithm: algorithm || 'straight',
- status: 'planned',
- distance: Math.round(distance),
- estimatedTime,
- flightSpeed: flightSpeed || 10,
- createdAt: new Date(),
- executedAt: null
+ if (closedSet.has(gridPos)) continue;
+ closedSet.add(gridPos);
+
+ // 更新最佳节点
+ const currentDistance = heuristic(current, end);
+ if (currentDistance < bestDistance) {
+ bestDistance = currentDistance;
+ bestNode = current;
}
+
+ // 检查是否到达目标 - 更宽松的到达条件
+ const actualDistance = getDistance(current.lat, current.lng, end.lat, end.lng);
+ if (actualDistance < 300) { // 300米内认为到达
+ console.log(`A*算法成功，迭代${iterations}次，距离目标${Math.round(actualDistance)}米`);
+ const path = reconstructPath(current);
+
+ // 分析路径通过的威胁区
+ analyzeThreatZonesInPath(path, threatZones, threatZonesAvoided, threatZonesPassed);
+
+ return {
+ success: true,
+ path: path,
+ distance: calculatePathLength(path),
+ iterations: iterations,
+ threatZonesAvoided: Array.from(threatZonesAvoided),
+ threatZonesPassed: Array.from(threatZonesPassed)
+ };
+ }
+
+ // 扩展邻居节点 - 完全参考Python实现
+ for (const [dx, dy] of directions) {
+ const nextLng = current.lng + dx * gridSize;
+ const nextLat = current.lat + dy * gridSize;
+
+ // 更宽松的边界检查
+ if (!isWithinBoundsRelaxed(nextLng, nextLat, start, end)) continue;
+
+ const nextGridPos = getNodeKey(nextLng, nextLat);
+ if (closedSet.has(nextGridPos)) continue;
+
+ // 威胁区检查 - 完全参考Python逻辑
+ const threatInfo = isPointInAnyThreatZone(nextLng, nextLat, threatZones);
+
+ // 详细调试信息
+ if (iterations <= 10 || iterations % 1000 === 0) {
+ console.log(`迭代${iterations}: 检查点(${nextLng.toFixed(6)}, ${nextLat.toFixed(6)}) - 威胁状态: ${threatInfo.inThreat ? `在威胁区${threatInfo.zoneId}内` : '安全'}`);
+ }
+
+ if (threatInfo.inThreat && !allowThreatZones) {
+ threatZonesAvoided.add(threatInfo.zoneId);
+ if (iterations <= 50 || iterations % 500 === 0) { // 增加调试频率
+ console.log(`❌ 避开威胁区${threatInfo.zoneId}，点(${nextLng.toFixed(6)}, ${nextLat.toFixed(6)})`);
+ }
+ continue;
+ }
+
+ if (threatInfo.inThreat && allowThreatZones) {
+ console.log(`⚠️ 允许进入威胁区${threatInfo.zoneId}，点(${nextLng.toFixed(6)}, ${nextLat.toFixed(6)})`);
+ }
+
+ // 计算移动代价 - 参考Python实现
+ const isDiagonal = dx !== 0 && dy !== 0;
+ const moveCost = isDiagonal ? gridSize * Math.sqrt(2) : gridSize; // 使用数学精确值
+
+ // 威胁区域惩罚 - 参考Python实现
+ let threatPenalty = 0;
+ if (threatInfo.inThreat) {
+ threatPenalty = getThreatPenaltyImproved(threatInfo.level);
+ threatZonesPassed.add(threatInfo.zoneId);
+ }
+
+ const newGCost = current.g_cost + moveCost + threatPenalty;
+
+ // 检查是否已经有更好的路径到达这个节点
+ const existingNodeKey = nextGridPos;
+ if (nodeMap.has(existingNodeKey)) {
+ const existingNode = nodeMap.get(existingNodeKey);
+ if (existingNode.g_cost <= newGCost) {
+ continue; // 已有更好的路径
+ }
+ }
+
+ // 创建新节点
+ const nextNode = new PathNode(nextLng, nextLat, current.altitude);
+ nextNode.g_cost = newGCost;
+ nextNode.h_cost = heuristic(nextNode, end);
+ nextNode.parent = current;
+
+ nodeMap.set(existingNodeKey, nextNode);
+ openList.push(nextNode);
+ }
+ }
+
+ // 如果没找到精确路径，返回最接近的路径
+ const finalDistance = getDistance(bestNode.lat, bestNode.lng, end.lat, end.lng);
+ if (finalDistance < 2000) { // 2km内认为可接受
+ console.log(`A*返回近似路径，距离目标${Math.round(finalDistance)}米`);
+ const path = reconstructPath(bestNode);
+ analyzeThreatZonesInPath(path, threatZones, threatZonesAvoided, threatZonesPassed);
- pathPlans.push(newPlan)
-
- res.status(201).json({
+ return {
success: true,
- data: newPlan,
- message: '路径规划创建成功'
- })
- } catch (error) {
- res.status(500).json({
- success: false,
- message: '创建路径规划失败',
- error: error.message
- })
+ path: path,
+ distance: calculatePathLength(path),
+ iterations: iterations,
+ threatZonesAvoided: Array.from(threatZonesAvoided),
+ threatZonesPassed: Array.from(threatZonesPassed),
+ warning: `路径终点距目标${Math.round(finalDistance)}米`
+ };
}
-})
-// 更新路径规划
-router.put('/:id', (req, res) => {
- try {
- const id = parseInt(req.params.id)
- const planIndex = pathPlans.findIndex(p => p.id === id)
+ // 完全失败，尝试放宽约束
+ if (!allowThreatZones) {
+ console.log('标准A*失败，尝试允许穿过威胁区');
+ return await aStarPlanningImproved(start, end, threatZones, {
+ ...options,
+ allowThreatZones: true,
+ gridSize: Math.min(gridSize * 1.5, 0.002), // 适当放大网格
+ maxIterations: maxIterations * 1.5
+ });
+ }
+
+ console.log(`A*算法完全失败，迭代${iterations}次，最佳距离${Math.round(finalDistance)}米`);
+
+ // 最后尝试：简单直线路径
+ console.log('尝试简单直线路径作为备用方案');
+ const directPath = generateDirectPath(start, end, 10); // 生成10个中间点
+ return {
+ success: true,
+ path: directPath,
+ distance: calculatePathLength(directPath),
+ iterations: iterations,
+ threatZonesAvoided: [],
+ threatZonesPassed: [],
+ warning: '使用直线路径，请注意避开威胁区域'
+ };
+}
+
+/**
+ * 更宽松的边界检查 - 动态调整搜索范围
+ */
+function isWithinBoundsRelaxed(lng, lat, start, end) {
+ // 计算起点和终点的距离，动态调整边界
+ const distance = getDistance(start.lat, start.lng, end.lat, end.lng);
+ const margin = Math.max(0.02, distance / 111000 * 0.3); // 至少2km边界，或30%的距离
+
+ const minLng = Math.min(start.lng, end.lng) - margin;
+ const maxLng = Math.max(start.lng, end.lng) + margin;
+ const minLat = Math.min(start.lat, end.lat) - margin;
+ const maxLat = Math.max(start.lat, end.lat) + margin;
+
+ return lng >= minLng && lng <= maxLng && lat >= minLat && lat <= maxLat;
+}
+
+/**
+ * 改进的边界检查 - 更合理的搜索范围
+ */
+function isWithinBoundsImproved(lng, lat, start, end) {
+ return isWithinBoundsRelaxed(lng, lat, start, end);
+}
+
+/**
+ * 改进的威胁等级惩罚 - 参考Python实现
+ */
+function getThreatPenaltyImproved(level) {
+ const penalties = {
+ 'low': 0.01, // 轻微惩罚
+ 'medium': 0.05, // 中等惩罚
+ 'high': 0.2, // 高惩罚
+ 'critical': 1.0 // 极高惩罚
+ };
+ return penalties[level] || 0.05;
+}
+
+/**
+ * 计算路径总长度
+ */
+function calculatePathLength(path) {
+ if (path.length < 2) return 0;
+
+ let totalDistance = 0;
+ for (let i = 0; i < path.length - 1; i++) {
+ totalDistance += getDistance(
+ path[i].lat, path[i].lng,
+ path[i + 1].lat, path[i + 1].lng
+ );
+ }
+ return totalDistance;
+}
+
+/**
+ * 生成直线路径作为备用方案
+ */
+function generateDirectPath(start, end, segments = 10) {
+ const path = [];
+
+ for (let i = 0; i <= segments; i++) {
+ const t = i / segments;
+ const lng = start.lng + t * (end.lng - start.lng);
+ const lat = start.lat + t * (end.lat - start.lat);
+ const altitude = start.altitude + t * ((end.altitude || start.altitude) - start.altitude);
- if (planIndex === -1) {
- return res.status(404).json({
- success: false,
- message: '路径规划不存在'
- })
+ path.push({
+ lng: lng,
+ lat: lat,
+ altitude: altitude
+ });
+ }
+
+ return path;
+}
+
+/**
+ * 重建路径 - 参考Python实现
+ */
+function reconstructPath(node) {
+ const path = [];
+ let current = node;
+
+ while (current) {
+ path.unshift({
+ lng: current.lng,
+ lat: current.lat,
+ altitude: current.altitude
+ });
+ current = current.parent;
+ }
+
+ return path;
+}
+
+/**
+ * 边界检查（保留兼容性）
+ */
+function isWithinBounds(lng, lat, start, end) {
+ return isWithinBoundsImproved(lng, lat, start, end);
+}
+
+/**
+ * 威胁等级惩罚（保留兼容性）
+ */
+function getThreatPenalty(level) {
+ return getThreatPenaltyImproved(level);
+}
+
+/**
+ * 分析路径中的威胁区
+ */
+function analyzeThreatZonesInPath(path, threatZones, avoided, passed) {
+ for (const point of path) {
+ const threatInfo = isPointInAnyThreatZone(point.lng, point.lat, threatZones);
+ if (threatInfo.inThreat) {
+ passed.add(threatInfo.zoneId);
}
+ }
+}
+
+// ===================== 改进的路径优化 =====================
+
+/**
+ * 路径平滑 - 完全参考Python smooth_path实现
+ */
+function smoothPathAdvanced(path, threatZones, options = {}) {
+ if (path.length <= 2) return path;
+
+ console.log('开始路径平滑，原始点数:', path.length);
+
+ const {
+ weightData = 0.5,
+ weightSmooth = 0.3,
+ tolerance = 0.000001,
+ maxIterations = 100
+ } = options;
+
+ // 转换为数组格式 - 完全参考Python实现
+ const pathArray = path.map(p => [p.lng, p.lat, p.altitude]);
+ const smoothPath = pathArray.map(p => [...p]); // 深拷贝
+
+ let change = tolerance;
+ let iterations = 0;
+
+ // 迭代平滑 - 完全参考Python算法
+ while (change >= tolerance && iterations < maxIterations) {
+ change = 0.0;
+ iterations++;
- const { waypoints, algorithm, status } = req.body
- const plan = pathPlans[planIndex]
-
- // 更新路径点
- if (waypoints && Array.isArray(waypoints)) {
- plan.waypoints = waypoints.map(wp => ({
- lng: parseFloat(wp.lng),
- lat: parseFloat(wp.lat),
- altitude: parseInt(wp.altitude || 100)
- }))
- plan.distance = Math.round(calculatePathDistance(waypoints))
+ // 对中间点进行平滑处理（保持起点和终点不变）
+ for (let i = 1; i < pathArray.length - 1; i++) {
+ for (let j = 0; j < 2; j++) { // lng, lat
+ const aux = smoothPath[i][j];
+
+ // Python的平滑公式
+ smoothPath[i][j] += weightData * (pathArray[i][j] - smoothPath[i][j]);
+ smoothPath[i][j] += weightSmooth * (smoothPath[i-1][j] + smoothPath[i+1][j] - 2.0 * smoothPath[i][j]);
+
+ change += Math.abs(aux - smoothPath[i][j]);
+ }
}
-
- // 更新算法
- if (algorithm && algorithms[algorithm]) {
- plan.algorithm = algorithm
+ }
+
+ console.log(`路径平滑完成，迭代${iterations}次，变化量${change.toFixed(8)}`);
+
+ // 转换回对象格式
+ const result = smoothPath.map(p => ({
+ lng: p[0],
+ lat: p[1],
+ altitude: p[2]
+ }));
+
+ // 验证平滑后的路径是否穿过威胁区
+ const sampleRate = Math.max(1, Math.floor(result.length / 10)); // 提高采样率
+ for (let i = 0; i < result.length; i += sampleRate) {
+ const point = result[i];
+ const threatInfo = isPointInAnyThreatZone(point.lng, point.lat, threatZones);
+ if (threatInfo.inThreat && threatInfo.level !== 'low') {
+ console.log('平滑后路径穿过中高威胁区，返回原路径');
+ return path;
}
+ }
+
+ console.log('路径平滑成功，平滑后点数:', result.length);
+ return result;
+}
+
+/**
+ * 优化后的路径清理 - 移除冗余点
+ */
+function removeRedundantPoints(path, threshold = 0.0001) {
+ if (path.length <= 2) return path;
+
+ const optimized = [path[0]]; // 保留起点
+
+ for (let i = 1; i < path.length - 1; i++) {
+ const prev = optimized[optimized.length - 1];
+ const curr = path[i];
+ const next = path[i + 1];
- // 更新状态
- if (status && ['planned', 'executing', 'completed', 'failed'].includes(status)) {
- plan.status = status
- if (status === 'executing' && !plan.executedAt) {
- plan.executedAt = new Date()
- }
- }
+ // 检查三点是否接近共线
+ const v1 = [curr.lng - prev.lng, curr.lat - prev.lat];
+ const v2 = [next.lng - curr.lng, next.lat - curr.lat];
- plan.updatedAt = new Date()
+ const len1 = Math.sqrt(v1[0] * v1[0] + v1[1] * v1[1]);
+ const len2 = Math.sqrt(v2[0] * v2[0] + v2[1] * v2[1]);
- res.json({
- success: true,
- data: plan,
- message: '路径规划更新成功'
- })
- } catch (error) {
- res.status(500).json({
- success: false,
- message: '更新路径规划失败',
- error: error.message
- })
+ if (len1 > threshold && len2 > threshold) {
+ const dot = (v1[0] * v2[0] + v1[1] * v2[1]) / (len1 * len2);
+
+ // 如果角度变化较大，保留点
+ if (Math.abs(dot) < 0.999) { // 约2.5度
+ optimized.push(curr);
+ }
+ } else if (len1 > threshold || len2 > threshold) {
+ optimized.push(curr);
+ }
}
-})
+
+ optimized.push(path[path.length - 1]); // 保留终点
+
+ console.log(`路径优化：${path.length} -> ${optimized.length} 点`);
+ return optimized;
+}
-// 执行路径规划
-router.post('/:id/execute', (req, res) => {
- try {
- const id = parseInt(req.params.id)
- const plan = pathPlans.find(p => p.id === id)
-
- if (!plan) {
- return res.status(404).json({
- success: false,
- message: '路径规划不存在'
- })
+// ===================== 多目标路径规划 =====================
+
+/**
+ * 多目标路径规划 - 使用改进的A*算法
+ */
+async function executeMultiTargetPlanning(startPoint, targetPoints, threatZones, options = {}) {
+ console.log(`=== 开始多目标路径规划: ${targetPoints.length}个目标点 ===`);
+
+ if (targetPoints.length === 1) {
+ // 单目标，直接使用改进的A*
+ const result = await aStarPlanningImproved(startPoint, targetPoints[0], threatZones, options);
+ if (result.success) {
+ result.path = smoothPathAdvanced(result.path, threatZones);
+ result.path = removeRedundantPoints(result.path);
}
+ return result;
+ }
+
+ // 目标点排序 - 优先访问安全区域的点
+ const sortedTargets = sortTargetsByPriorityAndDistance(startPoint, targetPoints, threatZones);
+
+ const completePath = [];
+ const allThreatZonesAvoided = new Set();
+ const allThreatZonesPassed = new Set();
+ let totalDistance = 0;
+ let currentStart = startPoint;
+
+ // 逐段规划路径
+ for (let i = 0; i < sortedTargets.length; i++) {
+ const target = sortedTargets[i];
+ console.log(`规划第${i + 1}段路径到目标点${target.originalIndex + 1}`);
- if (plan.status !== 'planned') {
- return res.status(400).json({
+ const segmentResult = await aStarPlanningImproved(currentStart, target, threatZones, options);
+
+ if (!segmentResult.success) {
+ return {
success: false,
- message: `路径规划状态为${plan.status}，无法执行`
- })
+ error: `无法规划到目标点${target.originalIndex + 1}的路径`
+ };
}
- // 模拟执行路径规划
- plan.status = 'executing'
- plan.executedAt = new Date()
+ // 平滑段路径
+ let segmentPath = smoothPathAdvanced(segmentResult.path, threatZones);
+ segmentPath = removeRedundantPoints(segmentPath);
- res.json({
- success: true,
- data: plan,
- message: '路径规划开始执行'
- })
+ // 合并路径（避免重复点）
+ const pathToAdd = i === 0 ? segmentPath : segmentPath.slice(1);
+ completePath.push(...pathToAdd);
- // 模拟执行完成（实际项目中这里会调用无人机控制接口）
- setTimeout(() => {
- plan.status = 'completed'
- plan.completedAt = new Date()
- }, plan.estimatedTime * 1000) // 模拟执行时间
+ // 累计数据
+ totalDistance += calculatePathLength(segmentPath);
+ segmentResult.threatZonesAvoided?.forEach(id => allThreatZonesAvoided.add(id));
+ segmentResult.threatZonesPassed?.forEach(id => allThreatZonesPassed.add(id));
- } catch (error) {
- res.status(500).json({
- success: false,
- message: '执行路径规划失败',
- error: error.message
- })
+ currentStart = target;
}
-})
+
+ console.log(`=== 多目标路径规划完成，总距离: ${Math.round(totalDistance)}米 ===`);
+
+ return {
+ success: true,
+ path: completePath,
+ distance: totalDistance,
+ threatZonesAvoided: Array.from(allThreatZonesAvoided),
+ threatZonesPassed: Array.from(allThreatZonesPassed),
+ targetOrder: sortedTargets.map((t, i) => ({
+ originalIndex: t.originalIndex,
+ visitOrder: i + 1,
+ coords: { lng: t.lng, lat: t.lat },
+ inThreatZone: t.inThreat,
+ threatLevel: t.threatLevel
+ }))
+ };
+}
-// 停止路径规划执行
-router.post('/:id/stop', (req, res) => {
- try {
- const id = parseInt(req.params.id)
- const plan = pathPlans.find(p => p.id === id)
+/**
+ * 改进的目标点排序算法 - 威胁等级优先 + 距离优化
+ */
+function sortTargetsByPriorityAndDistance(startPoint, targetPoints, threatZones) {
+ // 分析每个目标点的威胁情况
+ const analyzed = targetPoints.map((target, index) => {
+ const threatInfo = isPointInAnyThreatZone(target.lng, target.lat, threatZones);
+ const distance = getDistance(startPoint.lat, startPoint.lng, target.lat, target.lng);
- if (!plan) {
- return res.status(404).json({
- success: false,
- message: '路径规划不存在'
- })
- }
+ return {
+ ...target,
+ originalIndex: index,
+ inThreat: threatInfo.inThreat,
+ threatLevel: threatInfo.level || 'none',
+ distance: distance,
+ threatPriority: getThreatPriority(threatInfo.level || 'none')
+ };
+ });
+
+ // 按威胁等级分组
+ const safeTargets = analyzed.filter(t => !t.inThreat);
+ const lowThreatTargets = analyzed.filter(t => t.inThreat && t.threatLevel === 'low');
+ const mediumThreatTargets = analyzed.filter(t => t.inThreat && t.threatLevel === 'medium');
+ const highThreatTargets = analyzed.filter(t => t.inThreat && t.threatLevel === 'high');
+ const criticalThreatTargets = analyzed.filter(t => t.inThreat && t.threatLevel === 'critical');
+
+ // 在每个威胁等级内使用贪心算法排序（最近邻居优先）
+ const sortByGreedy = (targets, currentPos) => {
+ if (targets.length <= 1) return targets;
- if (plan.status !== 'executing') {
- return res.status(400).json({
- success: false,
- message: `路径规划状态为${plan.status}，无法停止`
- })
+ const sorted = [];
+ const remaining = [...targets];
+ let current = currentPos;
+
+ while (remaining.length > 0) {
+ // 找到距离当前位置最近的目标点
+ let nearestIndex = 0;
+ let nearestDistance = getDistance(current.lat, current.lng, remaining[0].lat, remaining[0].lng);
+
+ for (let i = 1; i < remaining.length; i++) {
+ const distance = getDistance(current.lat, current.lng, remaining[i].lat, remaining[i].lng);
+ if (distance < nearestDistance) {
+ nearestDistance = distance;
+ nearestIndex = i;
+ }
+ }
+
+ const nearest = remaining.splice(nearestIndex, 1)[0];
+ sorted.push(nearest);
+ current = nearest; // 更新当前位置
}
- plan.status = 'stopped'
- plan.stoppedAt = new Date()
+ return sorted;
+ };
+
+ // 对每个威胁级别的目标点进行贪心排序
+ let result = [];
+ let currentPos = startPoint;
+
+ // 1. 安全区域优先，使用贪心算法
+ if (safeTargets.length > 0) {
+ const sortedSafe = sortByGreedy(safeTargets, currentPos);
+ result.push(...sortedSafe);
+ currentPos = sortedSafe[sortedSafe.length - 1];
+ }
+
+ // 2. 低威胁区域
+ if (lowThreatTargets.length > 0) {
+ const sortedLow = sortByGreedy(lowThreatTargets, currentPos);
+ result.push(...sortedLow);
+ currentPos = sortedLow[sortedLow.length - 1];
+ }
+
+ // 3. 中等威胁区域
+ if (mediumThreatTargets.length > 0) {
+ const sortedMedium = sortByGreedy(mediumThreatTargets, currentPos);
+ result.push(...sortedMedium);
+ currentPos = sortedMedium[sortedMedium.length - 1];
+ }
+
+ // 4. 高威胁区域
+ if (highThreatTargets.length > 0) {
+ const sortedHigh = sortByGreedy(highThreatTargets, currentPos);
+ result.push(...sortedHigh);
+ currentPos = sortedHigh[sortedHigh.length - 1];
+ }
+
+ // 5. 临界威胁区域
+ if (criticalThreatTargets.length > 0) {
+ const sortedCritical = sortByGreedy(criticalThreatTargets, currentPos);
+ result.push(...sortedCritical);
+ }
+
+ console.log('目标点排序结果:', result.map(t => `目标${t.originalIndex + 1}(${t.threatLevel})`).join(' -> '));
+
+ return result;
+}
+
+/**
+ * 获取威胁等级优先级数值
+ */
+function getThreatPriority(level) {
+ const priorities = {
+ 'none': 0,
+ 'low': 1,
+ 'medium': 2,
+ 'high': 3,
+ 'critical': 4
+ };
+ return priorities[level] || 0;
+}
+
+// ===================== 兼容性函数 =====================
+
+/**
+ * 保持向后兼容的函数
+ */
+async function aStarPlanning(start, end, threatZones, options = {}) {
+ return await aStarPlanningImproved(start, end, threatZones, options);
+}
+
+function smoothPath(path, threatZones, options = {}) {
+ return smoothPathAdvanced(path, threatZones, options);
+}
+
+async function multiTargetPlanning(startPoint, targetPoints, threatZones, options = {}) {
+ return await executeMultiTargetPlanning(startPoint, targetPoints, threatZones, options);
+}
+
+function sortTargetsByThreat(startPoint, targetPoints, threatZones) {
+ return sortTargetsByPriorityAndDistance(startPoint, targetPoints, threatZones);
+}
+
+// ===================== API路由 =====================
+
+// 获取路径规划列表
+router.get('/', async (req, res) => {
+ try {
+ const [rows] = await db.execute(`
+ SELECT * FROM path_plans
+ ORDER BY created_at DESC
+ LIMIT 50
+ `);
res.json({
success: true,
- data: plan,
- message: '路径规划已停止'
- })
+ data: rows
+ });
} catch (error) {
+ console.error('获取路径规划列表失败:', error);
res.status(500).json({
success: false,
- message: '停止路径规划失败',
- error: error.message
- })
+ message: '获取路径规划列表失败'
+ });
}
-})
+});
-// 删除路径规划
-router.delete('/:id', (req, res) => {
+// 创建新的路径规划
+router.post('/', async (req, res) => {
+ console.log('=== 改进版路径规划请求 ===');
+ console.log('请求数据:', JSON.stringify(req.body, null, 2));
+
try {
- const id = parseInt(req.params.id)
- const planIndex = pathPlans.findIndex(p => p.id === id)
+ const {
+ startPoint,
+ targetPoints,
+ endPoint, // 兼容单目标
+ algorithm = 'astar',
+ flightAltitude = 100,
+ flightSpeed = 10,
+ threatZones = []
+ } = req.body;
- if (planIndex === -1) {
- return res.status(404).json({
+ // 验证起点
+ if (!startPoint || typeof startPoint.lng !== 'number' || typeof startPoint.lat !== 'number') {
+ return res.status(400).json({
success: false,
- message: '路径规划不存在'
- })
+ message: '起点坐标无效'
+ });
+ }
+
+ // 处理目标点（支持单目标和多目标）
+ let targets = [];
+ if (targetPoints && Array.isArray(targetPoints)) {
+ targets = targetPoints;
+ } else if (endPoint) {
+ targets = [endPoint];
+ } else {
+ return res.status(400).json({
+ success: false,
+ message: '必须提供至少一个目标点'
+ });
}
- const plan = pathPlans[planIndex]
+ // 验证目标点
+ for (let i = 0; i < targets.length; i++) {
+ const target = targets[i];
+ if (!target || typeof target.lng !== 'number' || typeof target.lat !== 'number') {
+ return res.status(400).json({
+ success: false,
+ message: `目标点${i + 1}坐标无效`
+ });
+ }
+ }
+
+ console.log(`处理威胁区域数据: ${threatZones.length}个威胁区`);
+ threatZones.forEach((zone, index) => {
+ console.log(`威胁区${index + 1}:`, {
+ id: zone.id,
+ type: zone.type,
+ level: zone.level,
+ geometry_type: zone.geometry_type,
+ hasGeometry: !!zone.geometry_data
+ });
+ });
+
+ // 添加高度信息
+ const startWithAltitude = { ...startPoint, altitude: flightAltitude };
+ const targetsWithAltitude = targets.map(t => ({ ...t, altitude: flightAltitude }));
- if (plan.status === 'executing') {
+ // 执行改进的路径规划
+ const result = await executeMultiTargetPlanning(
+ startWithAltitude,
+ targetsWithAltitude,
+ threatZones,
+ {
+ algorithm,
+ gridSize: 0.001, // 平衡精度和性能的网格
+ maxIterations: 8000 // 增加迭代次数
+ }
+ );
+
+ if (!result.success) {
return res.status(400).json({
success: false,
- message: '正在执行的路径规划无法删除，请先停止执行'
- })
+ message: result.error
+ });
}
- pathPlans.splice(planIndex, 1)
+ console.log('路径规划结果:', {
+ pathLength: result.path.length,
+ distance: Math.round(result.distance),
+ threatZonesAvoided: result.threatZonesAvoided?.length || 0,
+ threatZonesPassed: result.threatZonesPassed?.length || 0
+ });
+
+ // 计算飞行时间
+ const estimatedTime = Math.ceil(result.distance / (flightSpeed * 1000 / 60)); // 分钟
+
+ // 保存到数据库
+ const pathData = {
+ name: `改进A*路径-${Date.now()}`,
+ start_latitude: startPoint.lat,
+ start_longitude: startPoint.lng,
+ end_latitude: targets[targets.length - 1].lat,
+ end_longitude: targets[targets.length - 1].lng,
+ path_points: JSON.stringify(result.path),
+ algorithm: algorithm,
+ distance: Math.round(result.distance),
+ estimated_time: estimatedTime,
+ flight_altitude: flightAltitude,
+ flight_speed: flightSpeed,
+ threat_zones_avoided: JSON.stringify(result.threatZonesAvoided || []),
+ threat_zones_passed: JSON.stringify(result.threatZonesPassed || []),
+ target_order: JSON.stringify(result.targetOrder || []),
+ status: 'planned'
+ };
+
+ const [insertResult] = await db.execute(`
+ INSERT INTO path_plans (
+ name, start_latitude, start_longitude, end_latitude, end_longitude,
+ path_points, algorithm, distance, estimated_time, flight_altitude,
+ flight_speed, threat_zones_avoided, threat_zones_passed, target_order,
+ status, created_at, updated_at
+ ) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, ?, NOW(), NOW())
+ `, [
+ pathData.name, pathData.start_latitude, pathData.start_longitude,
+ pathData.end_latitude, pathData.end_longitude, pathData.path_points,
+ pathData.algorithm, pathData.distance, pathData.estimated_time,
+ pathData.flight_altitude, pathData.flight_speed, pathData.threat_zones_avoided,
+ pathData.threat_zones_passed, pathData.target_order, pathData.status
+ ]);
+
+ console.log('改进版路径规划成功完成');
res.json({
success: true,
- message: '路径规划删除成功'
- })
- } catch (error) {
- res.status(500).json({
- success: false,
- message: '删除路径规划失败',
- error: error.message
- })
- }
-})
-
-// 获取可用的路径规划算法
-router.get('/algorithms/list', (req, res) => {
- try {
- res.json({
- success: true,
- data: algorithms,
- message: '获取算法列表成功'
- })
+ data: {
+ id: insertResult.insertId,
+ path_points: result.path,
+ algorithm: algorithm,
+ distance: result.distance,
+ estimated_time: estimatedTime,
+ threat_zones_avoided: result.threatZonesAvoided || [],
+ threat_zones_passed: result.threatZonesPassed || []
+ },
+ details: {
+ totalDistance: result.distance,
+ estimatedTime: estimatedTime,
+ waypointCount: result.path.length,
+ algorithm: algorithm,
+ threatZonesAvoided: result.threatZonesAvoided || [],
+ threatZonesPassed: result.threatZonesPassed || [],
+ targetOrder: result.targetOrder || []
+ },
+ message: targets.length > 1 ?
+ `改进A*多目标路径规划完成！访问${targets.length}个目标点，总距离${(result.distance/1000).toFixed(2)}km，避开${result.threatZonesAvoided?.length || 0}个威胁区` :
+ `改进A*路径规划完成！距离${(result.distance/1000).toFixed(2)}km，避开${result.threatZonesAvoided?.length || 0}个威胁区`
+ });
+
} catch (error) {
+ console.error('改进版路径规划失败:', error);
res.status(500).json({
success: false,
- message: '获取算法列表失败',
- error: error.message
- })
- }
-})
-
-// 计算路径点之间的距离
-function calculatePathDistance(waypoints) {
- if (!waypoints || waypoints.length < 2) return 0
-
- let totalDistance = 0
- for (let i = 0; i < waypoints.length - 1; i++) {
- const p1 = waypoints[i]
- const p2 = waypoints[i + 1]
- totalDistance += getDistance(p1.lat, p1.lng, p2.lat, p2.lng)
+ message: '路径规划失败: ' + error.message
+ });
}
- return totalDistance
-}
-
-// 计算两点间距离（Haversine公式）
-function getDistance(lat1, lng1, lat2, lng2) {
- const R = 6371e3 // 地球半径（米）
- const φ1 = lat1 * Math.PI/180
- const φ2 = lat2 * Math.PI/180
- const Δφ = (lat2-lat1) * Math.PI/180
- const Δλ = (lng2-lng1) * Math.PI/180
-
- const a = Math.sin(Δφ/2) * Math.sin(Δφ/2) +
- Math.cos(φ1) * Math.cos(φ2) *
- Math.sin(Δλ/2) * Math.sin(Δλ/2)
- const c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a))
-
- return R * c // 距离（米）
-}
+});
-// 路径优化接口
-router.post('/:id/optimize', (req, res) => {
+// 删除路径规划
+router.delete('/:id', async (req, res) => {
try {
- const id = parseInt(req.params.id)
- const plan = pathPlans.find(p => p.id === id)
+ const id = parseInt(req.params.id);
+
+ const [result] = await db.execute(
+ 'DELETE FROM path_plans WHERE id = ?',
+ [id]
+ );
- if (!plan) {
+ if (result.affectedRows === 0) {
return res.status(404).json({
success: false,
message: '路径规划不存在'
- })
+ });
}
- const { algorithm, obstacles } = req.body
-
- // 模拟路径优化
- const optimizedWaypoints = [...plan.waypoints]
-
- // 根据不同算法进行优化（这里是模拟）
- if (algorithm === 'astar') {
- // A*算法优化
- optimizedWaypoints.forEach(wp => {
- wp.altitude = Math.max(wp.altitude, 120) // 提高飞行高度避障
- })
- } else if (algorithm === 'rrt') {
- // RRT算法优化
- // 添加中间路径点避开障碍物
- }
-
- const optimizedDistance = calculatePathDistance(optimizedWaypoints)
- const optimizationGain = plan.distance - optimizedDistance
-
res.json({
success: true,
- data: {
- originalDistance: plan.distance,
- optimizedDistance: Math.round(optimizedDistance),
- optimizationGain: Math.round(optimizationGain),
- optimizedWaypoints,
- algorithm: algorithm || plan.algorithm
- },
- message: '路径优化完成'
- })
+ message: '路径规划删除成功'
+ });
} catch (error) {
+ console.error('删除路径规划失败:', error);
res.status(500).json({
success: false,
- message: '路径优化失败',
- error: error.message
- })
+ message: '删除路径规划失败'
+ });
}
-})
+});
-module.exports = router;
\ No newline at end of file
+// 导出用于测试的函数
+module.exports = router;
+module.exports.isPointInThreatZone = isPointInThreatZone;
+module.exports.isPointInAnyThreatZone = isPointInAnyThreatZone;
+module.exports.pointInPolygon = pointInPolygon;
+module.exports.getDistance = getDistance;
\ No newline at end of file
diff --git a/Src/command_center/web-command-center/backend/src/routes/tasks.js b/Src/command_center/web-command-center/backend/src/routes/tasks.js
index 98116e60..e958a2fb 100644
--- a/Src/command_center/web-command-center/backend/src/routes/tasks.js
+++ b/Src/command_center/web-command-center/backend/src/routes/tasks.js
@@ -5,19 +5,19 @@ const router = express.Router()
let tasks = [
{
id: 1,
- title: '北京CBD区域侦察任务',
- description: '对北京CBD核心区域进行空中侦察，收集地面目标信息',
+ title: '长沙市中心区域侦察任务',
+ description: '对长沙市中心核心区域进行空中侦察，收集地面目标信息',
type: 'reconnaissance',
priority: 'high',
status: 'executing',
assignedDrones: [1, 2],
area: {
- name: '北京CBD',
+ name: '长沙市中心',
boundary: [
- [116.42, 39.93],
- [116.47, 39.93],
- [116.47, 39.89],
- [116.42, 39.89]
+ [112.97, 28.22],
+ [113.02, 28.22],
+ [113.02, 28.18],
+ [112.97, 28.18]
]
},
objectives: [
@@ -43,7 +43,7 @@ let tasks = [
assignedDrones: [3],
targetLocation: {
name: '救援点A',
- coordinates: [116.35, 39.88],
+ coordinates: [112.90, 28.13],
description: '临时救援营地'
},
payload: {
@@ -68,10 +68,10 @@ let tasks = [
status: 'completed',
assignedDrones: [2],
patrolRoute: [
- { name: '检查点1', coordinates: [116.38, 39.90] },
- { name: '检查点2', coordinates: [116.40, 39.91] },
- { name: '检查点3', coordinates: [116.39, 39.92] },
- { name: '检查点4', coordinates: [116.37, 39.91] }
+ { name: '检查点1', coordinates: [112.93, 28.15] },
+ { name: '检查点2', coordinates: [112.95, 28.16] },
+ { name: '检查点3', coordinates: [112.94, 28.17] },
+ { name: '检查点4', coordinates: [112.92, 28.16] }
],
startTime: new Date('2024-01-01T06:00:00'),
endTime: new Date('2024-01-01T08:00:00'),
diff --git a/Src/command_center/web-command-center/backend/src/routes/threatZones.js b/Src/command_center/web-command-center/backend/src/routes/threatZones.js
index d8fa3451..562a8ee0 100644
--- a/Src/command_center/web-command-center/backend/src/routes/threatZones.js
+++ b/Src/command_center/web-command-center/backend/src/routes/threatZones.js
@@ -106,22 +106,36 @@ router.get('/', async (req, res) => {
const [rows] = await db.execute(sql, params)
// 转换数据格式，兼容前端
- const threatZones = rows.map(row => ({
- id: row.id,
- type: row.type,
- level: row.level,
- description: row.description,
- geometry: {
- type: row.geometry_type,
- ...row.geometry_data
- },
- timeRange: [row.time_start, row.time_end],
- status: row.status,
- createdAt: row.created_at,
- updatedAt: row.updated_at,
- typeConfig: threatTypes[row.type],
- levelConfig: threatLevels[row.level]
- }))
+ const threatZones = rows.map(row => {
+ let geometryData = null
+ try {
+ if (row.geometry_data) {
+ geometryData = typeof row.geometry_data === 'string' ? JSON.parse(row.geometry_data) : row.geometry_data
+ }
+ } catch (error) {
+ console.error('解析威胁区几何数据失败:', error, row.geometry_data)
+ geometryData = null
+ }
+
+ return {
+ id: row.id,
+ type: row.type,
+ level: row.level,
+ description: row.description,
+ geometry_type: row.geometry_type,
+ geometry_data: geometryData,
+ geometry: geometryData ? {
+ type: row.geometry_type,
+ ...geometryData
+ } : null,
+ timeRange: [row.time_start, row.time_end],
+ status: row.status,
+ createdAt: row.created_at,
+ updatedAt: row.updated_at,
+ typeConfig: threatTypes[row.type],
+ levelConfig: threatLevels[row.level]
+ }
+ })
res.json({
success: true,
diff --git a/Src/command_center/web-command-center/database/init.sql b/Src/command_center/web-command-center/database/init.sql
index 60f831db..4e092e8d 100644
--- a/Src/command_center/web-command-center/database/init.sql
+++ b/Src/command_center/web-command-center/database/init.sql
@@ -1,7 +1,21 @@
+-- ============================================
+-- 无人机指挥中心数据库初始化脚本
+-- 包含用户认证、威胁区域管理、路径规划等核心功能
+-- ============================================
+
-- 创建数据库
CREATE DATABASE IF NOT EXISTS command_center CHARACTER SET utf8mb4 COLLATE utf8mb4_unicode_ci;
USE command_center;
+-- 设置字符集
+SET NAMES utf8mb4;
+SET CHARACTER SET utf8mb4;
+SET character_set_connection=utf8mb4;
+
+-- ============================================
+-- 1. 用户认证系统
+-- ============================================
+
-- 创建用户表
CREATE TABLE IF NOT EXISTS users (
id INT PRIMARY KEY AUTO_INCREMENT,
@@ -12,33 +26,9 @@ CREATE TABLE IF NOT EXISTS users (
updated_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP ON UPDATE CURRENT_TIMESTAMP
) CHARACTER SET utf8mb4 COLLATE utf8mb4_unicode_ci;
--- 创建无人机表
-CREATE TABLE IF NOT EXISTS drones (
- id INT PRIMARY KEY AUTO_INCREMENT,
- name VARCHAR(50) NOT NULL,
- type VARCHAR(50) NOT NULL,
- status ENUM('active', 'idle', 'error') NOT NULL DEFAULT 'idle',
- latitude DECIMAL(10, 8),
- longitude DECIMAL(11, 8),
- battery INT DEFAULT 100,
- created_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
- updated_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP ON UPDATE CURRENT_TIMESTAMP
-) CHARACTER SET utf8mb4 COLLATE utf8mb4_unicode_ci;
-
--- 创建路径规划记录表
-CREATE TABLE IF NOT EXISTS path_plans (
- id INT PRIMARY KEY AUTO_INCREMENT,
- drone_id INT NOT NULL,
- start_latitude DECIMAL(10, 8) NOT NULL,
- start_longitude DECIMAL(11, 8) NOT NULL,
- end_latitude DECIMAL(10, 8) NOT NULL,
- end_longitude DECIMAL(11, 8) NOT NULL,
- path_points JSON,
- status ENUM('pending', 'executing', 'completed', 'failed') NOT NULL DEFAULT 'pending',
- created_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
- updated_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP ON UPDATE CURRENT_TIMESTAMP,
- FOREIGN KEY (drone_id) REFERENCES drones(id)
-) CHARACTER SET utf8mb4 COLLATE utf8mb4_unicode_ci;
+-- ============================================
+-- 2. 威胁区域管理系统
+-- ============================================
-- 删除现有威胁区表（如果存在）以确保结构正确
DROP TABLE IF EXISTS threat_zones;
@@ -57,12 +47,50 @@ CREATE TABLE threat_zones (
created_by INT DEFAULT NULL,
created_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
updated_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP ON UPDATE CURRENT_TIMESTAMP,
- FOREIGN KEY (created_by) REFERENCES users(id),
INDEX idx_type (type),
INDEX idx_level (level),
- INDEX idx_status (status)
+ INDEX idx_status (status),
+ FOREIGN KEY (created_by) REFERENCES users(id) ON DELETE SET NULL
) CHARACTER SET utf8mb4 COLLATE utf8mb4_unicode_ci;
+-- ============================================
+-- 3. 路径规划系统
+-- ============================================
+
+-- 删除现有路径规划表（如果存在）以确保结构正确
+DROP TABLE IF EXISTS path_plans;
+
+-- 创建路径规划表（基于最新API结构）
+CREATE TABLE path_plans (
+ id INT PRIMARY KEY AUTO_INCREMENT,
+ name VARCHAR(255) DEFAULT NULL COMMENT '路径规划名称',
+ start_latitude DECIMAL(10, 7) NOT NULL COMMENT '起点纬度',
+ start_longitude DECIMAL(10, 7) NOT NULL COMMENT '起点经度',
+ end_latitude DECIMAL(10, 7) NOT NULL COMMENT '终点纬度',
+ end_longitude DECIMAL(10, 7) NOT NULL COMMENT '终点经度',
+ path_points JSON NOT NULL COMMENT '路径点数据，包含lng, lat, altitude',
+ algorithm VARCHAR(20) NOT NULL DEFAULT 'astar' COMMENT '使用的规划算法',
+ distance DECIMAL(10, 2) DEFAULT NULL COMMENT '路径总距离（米）',
+ estimated_time INT DEFAULT NULL COMMENT '预计时间（分钟）',
+ flight_altitude INT DEFAULT 100 COMMENT '飞行高度（米）',
+ flight_speed DECIMAL(5, 2) DEFAULT 10.00 COMMENT '飞行速度（米/秒）',
+ threat_zones_avoided JSON DEFAULT NULL COMMENT '避开的威胁区ID列表',
+ threat_zones_passed JSON DEFAULT NULL COMMENT '穿过的威胁区ID列表',
+ target_order JSON DEFAULT NULL COMMENT '目标点访问顺序',
+ status ENUM('planned', 'executing', 'completed', 'failed', 'cancelled') NOT NULL DEFAULT 'planned',
+ created_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
+ updated_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP ON UPDATE CURRENT_TIMESTAMP,
+ executed_at TIMESTAMP NULL COMMENT '开始执行时间',
+ completed_at TIMESTAMP NULL COMMENT '完成时间',
+ INDEX idx_status (status),
+ INDEX idx_algorithm (algorithm),
+ INDEX idx_created_at (created_at)
+) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='路径规划表';
+
+-- ============================================
+-- 4. 操作日志系统
+-- ============================================
+
-- 创建操作日志表
CREATE TABLE IF NOT EXISTS operation_logs (
id INT PRIMARY KEY AUTO_INCREMENT,
@@ -72,28 +100,120 @@ CREATE TABLE IF NOT EXISTS operation_logs (
target_id INT NOT NULL,
details JSON,
created_at TIMESTAMP DEFAULT CURRENT_TIMESTAMP,
- FOREIGN KEY (user_id) REFERENCES users(id)
+ FOREIGN KEY (user_id) REFERENCES users(id) ON DELETE CASCADE,
+ INDEX idx_user_id (user_id),
+ INDEX idx_action (action),
+ INDEX idx_target_type (target_type),
+ INDEX idx_created_at (created_at)
) CHARACTER SET utf8mb4 COLLATE utf8mb4_unicode_ci;
+-- ============================================
+-- 5. 插入初始数据
+-- ============================================
+
-- 插入默认管理员用户
INSERT INTO users (username, password, role)
VALUES ('admin', '$2a$10$X7UrH5QxX5QxX5QxX5QxX.5QxX5QxX5QxX5QxX5QxX5QxX5QxX5Qx', 'admin')
ON DUPLICATE KEY UPDATE username = username;
-- 插入示例威胁区数据
-INSERT INTO threat_zones (type, level, description, geometry_type, geometry_data, time_start, time_end, status)
+INSERT INTO threat_zones (type, level, description, geometry_type, geometry_data, time_start, time_end, status, created_by)
VALUES
-('radar', 'high', 'Enemy radar station', 'circle',
- JSON_OBJECT('center', JSON_ARRAY(116.397428, 39.91), 'radius', 2000),
- '2024-01-01 00:00:00', '2024-12-31 23:59:59', 'active'),
-('missile', 'critical', 'Missile launch site', 'circle',
- JSON_OBJECT('center', JSON_ARRAY(116.42, 39.89), 'radius', 3000),
- '2024-01-01 00:00:00', '2024-12-31 23:59:59', 'active'),
-('aircraft', 'medium', 'Air patrol zone', 'polygon',
- JSON_OBJECT('path', JSON_ARRAY(
- JSON_ARRAY(116.38, 39.92),
- JSON_ARRAY(116.40, 39.92),
- JSON_ARRAY(116.40, 39.90),
- JSON_ARRAY(116.38, 39.90)
+('radar', 'high', 'Radar Station', 'circle',
+ JSON_OBJECT('center', JSON_OBJECT('lng', 112.982279, 'lat', 28.19409), 'radius', 2000),
+ '2024-01-01 00:00:00', '2024-12-31 23:59:59', 'active', 1),
+('missile', 'critical', 'Missile Site', 'circle',
+ JSON_OBJECT('center', JSON_OBJECT('lng', 112.992279, 'lat', 28.18409), 'radius', 3000),
+ '2024-01-01 00:00:00', '2024-12-31 23:59:59', 'active', 1),
+('aircraft', 'medium', 'Air Patrol Zone', 'polygon',
+ JSON_OBJECT('coordinates', JSON_ARRAY(
+ JSON_OBJECT('lng', 112.970000, 'lat', 28.200000),
+ JSON_OBJECT('lng', 112.990000, 'lat', 28.200000),
+ JSON_OBJECT('lng', 112.990000, 'lat', 28.180000),
+ JSON_OBJECT('lng', 112.970000, 'lat', 28.180000)
)),
- '2024-01-01 06:00:00', '2024-01-01 18:00:00', 'active');
\ No newline at end of file
+ '2024-01-01 06:00:00', '2024-01-01 18:00:00', 'active', 1),
+('weather', 'low', 'Weather Zone', 'rectangle',
+ JSON_OBJECT('southwest', JSON_OBJECT('lng', 112.960000, 'lat', 28.170000), 'northeast', JSON_OBJECT('lng', 112.980000, 'lat', 28.190000)),
+ '2024-01-01 00:00:00', '2024-12-31 23:59:59', 'active', 1),
+('ground', 'medium', 'Military Base', 'polygon',
+ JSON_OBJECT('coordinates', JSON_ARRAY(
+ JSON_OBJECT('lng', 112.975000, 'lat', 28.195000),
+ JSON_OBJECT('lng', 112.980000, 'lat', 28.195000),
+ JSON_OBJECT('lng', 112.980000, 'lat', 28.190000),
+ JSON_OBJECT('lng', 112.975000, 'lat', 28.190000)
+ )),
+ '2024-01-01 00:00:00', '2024-12-31 23:59:59', 'active', 1);
+
+-- 插入示例路径规划数据
+INSERT INTO path_plans (
+ name, start_latitude, start_longitude, end_latitude, end_longitude,
+ path_points, algorithm, distance, estimated_time, flight_altitude, flight_speed,
+ threat_zones_avoided, status
+) VALUES
+(
+ '长沙市区巡逻路径', 28.194090, 112.982279, 28.200000, 112.990000,
+ JSON_ARRAY(
+ JSON_OBJECT('lng', 112.982279, 'lat', 28.194090, 'altitude', 100),
+ JSON_OBJECT('lng', 112.985000, 'lat', 28.197000, 'altitude', 100),
+ JSON_OBJECT('lng', 112.990000, 'lat', 28.200000, 'altitude', 100)
+ ),
+ 'astar', 1200.50, 8, 100, 10.0,
+ JSON_ARRAY(1, 2), 'completed'
+),
+(
+ '湘江沿岸监控路径', 28.196000, 112.985000, 28.205000, 112.995000,
+ JSON_ARRAY(
+ JSON_OBJECT('lng', 112.985000, 'lat', 28.196000, 'altitude', 120),
+ JSON_OBJECT('lng', 112.988000, 'lat', 28.199000, 'altitude', 120),
+ JSON_OBJECT('lng', 112.992000, 'lat', 28.202000, 'altitude', 120),
+ JSON_OBJECT('lng', 112.995000, 'lat', 28.205000, 'altitude', 120)
+ ),
+ 'astar', 1800.75, 12, 120, 10.0,
+ JSON_ARRAY(1, 3), 'executing'
+),
+(
+ '橘子洲头勘察路径', 28.180000, 112.970000, 28.185000, 112.975000,
+ JSON_ARRAY(
+ JSON_OBJECT('lng', 112.970000, 'lat', 28.180000, 'altitude', 50),
+ JSON_OBJECT('lng', 112.972000, 'lat', 28.182000, 'altitude', 60),
+ JSON_OBJECT('lng', 112.975000, 'lat', 28.185000, 'altitude', 50)
+ ),
+ 'straight', 800.25, 5, 50, 8.0,
+ JSON_ARRAY(), 'planned'
+);
+
+-- ============================================
+-- 6. 数据验证和显示
+-- ============================================
+
+-- 验证数据插入
+SELECT '=== 数据库初始化完成 ===' as status;
+SELECT 'Users count:' as info, COUNT(*) as count FROM users;
+SELECT 'Threat zones count:' as info, COUNT(*) as count FROM threat_zones;
+SELECT 'Path plans count:' as info, COUNT(*) as count FROM path_plans;
+SELECT 'Operation logs count:' as info, COUNT(*) as count FROM operation_logs;
+
+-- 显示威胁区域统计
+SELECT
+ level as '威胁级别',
+ COUNT(*) as '数量',
+ GROUP_CONCAT(type SEPARATOR ', ') as '类型'
+FROM threat_zones
+WHERE status = 'active'
+GROUP BY level
+ORDER BY FIELD(level, 'low', 'medium', 'high', 'critical');
+
+-- 显示路径规划统计
+SELECT
+ algorithm as '算法',
+ status as '状态',
+ COUNT(*) as '数量',
+ ROUND(AVG(distance), 2) as '平均距离(米)'
+FROM path_plans
+GROUP BY algorithm, status
+ORDER BY algorithm, status;
+
+-- ============================================
+-- 初始化完成
+-- ============================================
\ No newline at end of file
diff --git a/Src/command_center/web-command-center/frontend/node_modules/.cache/babel-loader/035fff33dd87aad7c87a2b4c68f13b559e56bd5efa25f0fd00e4988d7cf251ff.json b/Src/command_center/web-command-center/frontend/node_modules/.cache/babel-loader/035fff33dd87aad7c87a2b4c68f13b559e56bd5efa25f0fd00e4988d7cf251ff.json
new file mode 100644
index 00000000..7db276b3
--- /dev/null
+++ b/Src/command_center/web-command-center/frontend/node_modules/.cache/babel-loader/035fff33dd87aad7c87a2b4c68f13b559e56bd5efa25f0fd00e4988d7cf251ff.json
@@ -0,0 +1 @@
+{"ast":null,"code":"import { ref, onMounted, inject, computed, toRaw } from 'vue';\nimport { useStore } from 'vuex';\nimport { ElMessage, ElMessageBox } from 'element-plus';\nimport SharedMap from '../components/SharedMap.vue';\nimport BasicMapPanel from '../components/map-panels/BasicMapPanel.vue';\nimport ThreatZonePanel from '../components/map-panels/ThreatZonePanel.vue';\nimport PathPlanningPanel from '../components/map-panels/PathPlanningPanel.vue';\nexport default {\n name: 'UnifiedMapView',\n components: {\n SharedMap,\n BasicMapPanel,\n ThreatZonePanel,\n PathPlanningPanel\n },\n setup() {\n const store = useStore();\n const sharedMapRef = ref(null);\n\n // 活动面板\n const activePanel = ref('basicMap');\n\n // 地图实例\n const mapInstance = ref(null);\n\n // 通用状态\n const addMode = ref(false);\n const showDrones = ref(true);\n const showDroneInfo = ref(false);\n\n // 地图视图相关状态\n const targetPoints = ref([]);\n const targetMarkers = ref([]);\n\n // 威胁区相关状态\n const threatZones = ref([]);\n // 使用普通对象存储地图覆盖物，避免响应式问题\n const zoneOverlays = {};\n const drawMode = ref(null);\n const currentThreatType = ref('radar');\n const threatLevel = ref('medium');\n const circleRadius = ref(1000);\n const threatDescription = ref('');\n const threatTimeRange = ref([new Date(), new Date(Date.now() + 24 * 60 * 60 * 1000)]);\n const selectedZoneId = ref(null);\n const visibleLayers = ref(['radar', 'missile', 'aircraft', 'ground', 'weather']);\n const editDialogVisible = ref(false);\n const editForm = ref({\n id: null,\n type: 'radar',\n level: 'medium',\n description: '',\n geometry: null\n });\n\n // 路径规划相关状态\n const drones = computed(() => store.state.drones || []);\n const selectedDroneId = ref(null);\n const pathPoints = ref([]);\n const pathMarkers = ref([]);\n const pathLine = ref(null);\n const planningAlgorithm = ref('straight');\n const flightAltitude = ref(100);\n const flightSpeed = ref(10);\n const pathInfo = ref(null);\n\n // 绘制工具相关\n const mouseTool = ref(null);\n const droneMarkers = ref({});\n\n // 安全的 base64 编码函数\n const safeBase64Encode = str => {\n try {\n return btoa(unescape(encodeURIComponent(str)));\n } catch (error) {\n console.warn('Base64编码失败:', error);\n return btoa(str);\n }\n };\n\n // 威胁类型配置\n const threatTypeConfig = {\n radar: {\n name: '雷达威胁',\n color: '#FF6B6B'\n },\n missile: {\n name: '导弹威胁',\n color: '#FF4757'\n },\n aircraft: {\n name: '空中威胁',\n color: '#5352ED'\n },\n ground: {\n name: '地面威胁',\n color: '#20BF6B'\n },\n weather: {\n name: '气象威胁',\n color: '#A55EEA'\n }\n };\n\n // 威胁等级配置\n const threatLevelConfig = {\n low: {\n name: '低威胁',\n opacity: 0.3\n },\n medium: {\n name: '中威胁',\n opacity: 0.5\n },\n high: {\n name: '高威胁',\n opacity: 0.7\n },\n critical: {\n name: '极高威胁',\n opacity: 0.9\n }\n };\n\n // 地图加载后回调\n const onMapLoaded = map => {\n mapInstance.value = map;\n console.log('地图加载完成，开始自动加载数据...');\n\n // 初始化鼠标工具\n const AMap = window.AMap;\n if (AMap) {\n try {\n mouseTool.value = new AMap.MouseTool(map);\n mouseTool.value.on('draw', onDrawComplete);\n console.log('MouseTool初始化成功');\n } catch (error) {\n console.error('MouseTool初始化失败:', error);\n }\n }\n\n // 自动加载所有数据\n loadAllData();\n };\n\n // 自动加载所有数据\n const loadAllData = async () => {\n try {\n console.log('开始自动加载所有数据...');\n\n // 加载威胁区数据\n await loadThreatZones();\n console.log('所有数据加载完成');\n } catch (error) {\n console.error('自动加载数据失败:', error);\n }\n };\n\n // 地图点击事件处理\n const onMapClick = e => {\n const {\n lng,\n lat\n } = e.lnglat;\n if (activePanel.value === 'basicMap' && addMode.value) {\n // 地图视图 - 添加目标点\n addTargetPoint(lng, lat);\n } else if (activePanel.value === 'pathPlanning' && addMode.value) {\n // 路径规划 - 添加路径点\n addPathPoint(lng, lat);\n }\n // 威胁区绘制通过mouseTool处理\n };\n\n // 初始化当前面板的功能\n const initActivePanelFeatures = () => {\n switch (activePanel.value) {\n case 'basicMap':\n // 初始化地图基础功能\n break;\n case 'threatZone':\n // 初始化威胁区功能\n loadThreatZones();\n break;\n case 'pathPlanning':\n // 初始化路径规划功能\n if (drones.value.length > 0 && !selectedDroneId.value) {\n selectedDroneId.value = drones.value[0].id;\n }\n break;\n }\n };\n\n // 切换标签页\n const handleTabClick = () => {\n // 重置通用状态\n addMode.value = false;\n drawMode.value = null;\n\n // 停止鼠标工具\n if (mouseTool.value) {\n mouseTool.value.close(true);\n }\n\n // 初始化当前面板的功能\n initActivePanelFeatures();\n };\n\n // --- 通用功能 ---\n\n // 切换添加模式\n const toggleAddMode = () => {\n addMode.value = !addMode.value;\n // 如果是威胁区模式，退出绘制模式\n if (activePanel.value === 'threatZone') {\n drawMode.value = null;\n if (mouseTool.value) {\n mouseTool.value.close(true);\n }\n }\n };\n\n // 初始化无人机标记\n const initDroneMarkers = async () => {\n if (!mapInstance.value) return;\n try {\n // 获取无人机数据\n await store.dispatch('fetchDrones');\n const AMap = window.AMap;\n if (!AMap || !drones.value || drones.value.length === 0) {\n console.log('跳过无人机标记初始化：条件不满足');\n return;\n }\n\n // 清除现有标记\n Object.values(droneMarkers.value).forEach(marker => {\n mapInstance.value.remove(marker);\n });\n droneMarkers.value = {};\n drones.value.forEach(drone => {\n if (!drone || typeof drone.longitude !== 'number' || typeof drone.latitude !== 'number') {\n console.warn('无效的无人机数据:', drone);\n return;\n }\n try {\n const marker = new AMap.Marker({\n position: [drone.longitude, drone.latitude],\n title: drone.name || `无人机-${drone.id}`,\n icon: new AMap.Icon({\n size: new AMap.Size(32, 32),\n image: getDroneIconSvg(drone.status),\n imageSize: new AMap.Size(32, 32)\n })\n });\n\n // 添加信息窗体\n const infoWindow = new AMap.InfoWindow({\n isCustom: true,\n content: `\n \n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
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地图图层
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显示模式
\r\n \r\n 2D视图\r\n 3D视图\r\n \r\n \r\n \r\n \r\n
图层叠加
\r\n \r\n 交通流量\r\n 3D建筑\r\n 地形等高线\r\n 天气信息\r\n 威胁区域\r\n \r\n \r\n \r\n
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\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
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路径规划 (1对多)
\r\n
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• 第1个点为起点，其余为目标点
\r\n
• 系统将按最优顺序访问所有目标点
\r\n
• 优先访问安全区域的目标点
\r\n
\r\n
\r\n \r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n A*规划路径\r\n \r\n
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0 }\"\r\n >\r\n
\r\n {{ index === 0 ? '起' : index }}\r\n \r\n
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\r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n
\r\n
\r\n {{ index === 0 ? '起点' : `目标点${index}` }}\r\n
\r\n
\r\n
\r\n
\r\n \r\n
\r\n 点击地图添加路径点\r\n
\r\n \r\n
\r\n 再添加至少1个目标点\r\n
\r\n \r\n
1\" class=\"summary\">\r\n 总计: 1个起点 + {{ pathPoints.length - 1 }}个目标点\r\n
\r\n
\r\n
\r\n
A*算法参数
\r\n
\r\n \r\n \r\n \r\n \r\n \r\n 智能避开威胁区域，优化访问顺序\r\n
\r\n \r\n \r\n \r\n 米\r\n \r\n \r\n \r\n m/s\r\n \r\n \r\n
\r\n
路径规划结果
\r\n
\r\n
\r\n 算法:\r\n {{ getAlgorithmName(pathInfo.algorithm) }}\r\n
\r\n
\r\n 总距离:\r\n {{ (pathInfo.distance / 1000).toFixed(2) }} km\r\n
\r\n
\r\n 预计时间:\r\n {{ pathInfo.duration }} 分钟\r\n
\r\n
\r\n 路径点数:\r\n {{ pathInfo.pointCount }} 个\r\n
\r\n
0\" class=\"info-item threat-avoided\">\r\n 避开威胁:\r\n {{ pathInfo.threatZonesAvoided.length }} 个区域\r\n
\r\n
0\" class=\"info-item\">\r\n 访问顺序:\r\n 已优化\r\n
\r\n
\r\n
\r\n 执行路径规划\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
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\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n
选择无人机
\r\n \r\n \r\n {{ drone.name }}\r\n \r\n 电量: {{ drone.battery }}%\r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径点 ({{ pathPoints.length }}个)
\r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n 规划路径\r\n \r\n
\r\n \r\n
\r\n
\r\n {{ index + 1 }}\r\n \r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n \r\n \r\n
\r\n
\r\n
\r\n
规划参数
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径信息
\r\n
\r\n
算法: {{ getAlgorithmName(pathInfo.algorithm) }}
\r\n
总距离: {{ pathInfo.distance }}米
\r\n
预计时间: {{ pathInfo.duration }}分钟
\r\n
路径点数: {{ pathInfo.pointCount }}个
\r\n
0\">\r\n 避开威胁区: {{ pathInfo.threatZonesAvoided.length }}个\r\n
\r\n
\r\n
\r\n 执行路径\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
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\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n\r\n \r\n \r\n
路径规划 (1对多)
\r\n
\r\n
\r\n \r\n \r\n
• 第1个点为起点，其余为目标点
\r\n
• 系统将按最优顺序访问所有目标点
\r\n
• 优先访问安全区域的目标点
\r\n
\r\n
\r\n \r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n A*规划路径\r\n \r\n
\r\n \r\n
\r\n
0 }\"\r\n >\r\n
\r\n {{ index === 0 ? '起' : index }}\r\n \r\n
\r\n
\r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n
\r\n
\r\n {{ index === 0 ? '起点' : `目标点${index}` }}\r\n
\r\n
\r\n
\r\n
\r\n \r\n
\r\n 点击地图添加路径点\r\n
\r\n \r\n
\r\n 再添加至少1个目标点\r\n
\r\n \r\n
1\" class=\"summary\">\r\n 总计: 1个起点 + {{ pathPoints.length - 1 }}个目标点\r\n
\r\n
\r\n
\r\n
A*算法参数
\r\n
\r\n \r\n \r\n \r\n \r\n \r\n 智能避开威胁区域，优化访问顺序\r\n
\r\n \r\n \r\n \r\n 米\r\n \r\n \r\n \r\n m/s\r\n \r\n \r\n
\r\n
路径规划结果
\r\n
\r\n
\r\n 算法:\r\n {{ getAlgorithmName(pathInfo.algorithm) }}\r\n
\r\n
\r\n 总距离:\r\n {{ (pathInfo.distance / 1000).toFixed(2) }} km\r\n
\r\n
\r\n 预计时间:\r\n {{ pathInfo.duration }} 分钟\r\n
\r\n
\r\n 路径点数:\r\n {{ pathInfo.pointCount }} 个\r\n
\r\n
0\" class=\"info-item threat-avoided\">\r\n 避开威胁:\r\n {{ pathInfo.threatZonesAvoided.length }} 个区域\r\n
\r\n
0\" class=\"info-item\">\r\n 访问顺序:\r\n 已优化\r\n
\r\n
\r\n
\r\n 执行路径规划\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${city.name}天气
\n
天气: ${data.weather}
\n
温度: ${data.temperature}°C
\n
风向: ${data.windDirection}
\n
风力: ${data.windPower}
\n
湿度: ${data.humidity}%
\n
${weatherIcon}
`,\n offset: new window.AMap.Pixel(-15, -15),\n zIndex: 120,\n title: `${city.name}天气: ${data.weather}, ${data.temperature}°C`\n });\n\n // 创建信息窗体\n const infoWindow = new window.AMap.InfoWindow({\n content: weatherInfo,\n offset: new window.AMap.Pixel(0, -30)\n });\n\n // 绑定点击事件\n marker.on('click', () => {\n infoWindow.open(mapInstance.value, city.position);\n });\n\n // 添加到地图\n mapInstance.value.add(marker);\n\n // 保存标记引用\n layerInstances.value.weatherMarkers.push(marker);\n }\n });\n });\n console.log('已添加天气信息图层');\n } catch (error) {\n console.error('天气图层添加失败:', error);\n }\n };\n\n // 隐藏天气信息\n const hideWeatherInfo = () => {\n if (!mapInstance.value) return;\n\n // 移除所有天气标记\n if (layerInstances.value.weatherMarkers && layerInstances.value.weatherMarkers.length > 0) {\n layerInstances.value.weatherMarkers.forEach(marker => {\n mapInstance.value.remove(marker);\n });\n layerInstances.value.weatherMarkers = [];\n console.log('已移除天气信息图层');\n }\n };\n\n // 获取天气图标\n const getWeatherIcon = weather => {\n // 根据天气状况返回不同的图标\n const icons = {\n '晴': '',\n '多云': '',\n '阴': '',\n '雨': '',\n '雪': ''\n };\n\n // 匹配天气关键词\n for (const key in icons) {\n if (weather.includes(key)) {\n return icons[key];\n }\n }\n\n // 默认图标\n return '';\n };\n\n // 提供地图实例给子组件\n provide('mapInstance', mapInstance);\n\n // 处理窗口大小变化\n const resizeHandler = () => {\n if (mapInstance.value) {\n mapInstance.value.resize();\n }\n };\n onMounted(() => {\n initMap();\n window.addEventListener('resize', resizeHandler);\n });\n onUnmounted(() => {\n window.removeEventListener('resize', resizeHandler);\n if (mapInstance.value) {\n mapInstance.value.destroy();\n }\n });\n\n // 暴露给父组件的方法\n const getMap = () => mapInstance.value;\n return {\n mapInstance,\n mapLoaded,\n viewMode,\n currentMapStyle,\n overlayLayers,\n changeMapStyle,\n changeViewMode,\n updateOverlayLayers,\n getMap\n };\n }\n};","map":{"version":3,"names":["ref","onMounted","onUnmounted","provide","useStore","ElMessage","AMapLoader","name","props","mode","type","String","default","validator","value","includes","emits","setup","emit","store","mapInstance","mapLoaded","viewMode","currentMapStyle","overlayLayers","layerInstances","safeBase64Encode","str","btoa","unescape","encodeURIComponent","error","console","warn","getApiKey","initMap","container","document","getElementById","log","AMap","load","key","version","plugins","Map","zoom","center","pitch","rotation","mapStyle","features","resizeEnable","dragEnable","zoomEnable","doubleClickZoom","keyboardEnable","jogEnable","scrollWheel","touchZoom","toolbar","ToolBar","position","top","right","scale","Scale","bottom","controlBar","ControlBar","showZoomBar","showControlButton","addControl","on","e","traffic","window","TileLayer","Traffic","zIndex","opacity","satellite","Satellite","buildings","Buildings","heightFactor","updateOverlayLayers","weather","Weather","weatherService","getLive","err","data","weatherError","layerError","message","changeMapStyle","style","add","remove","setMapStyle","changeViewMode","setViewMode","setPitch","terrain","getTileUrl","x","y","z","showWeatherInfo","hideWeatherInfo","weatherMarkers","length","forEach","marker","cities","city","weatherInfo","temperature","windDirection","windPower","humidity","weatherIcon","getWeatherIcon","Marker","content","offset","Pixel","title","infoWindow","InfoWindow","open","push","icons","resizeHandler","resize","addEventListener","removeEventListener","destroy","getMap"],"sources":["E:\\大三下\\软件工程\\command_center(1)\\command_center\\web-command-center\\frontend\\src\\components\\SharedMap.vue"],"sourcesContent":["\r\n \r\n \r\n
\r\n
\r\n 地图加载中...\r\n
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\r\n\r\n \r\n
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地图图层
\r\n \r\n 标准地图\r\n 卫星地图\r\n 暗色地图\r\n \r\n \r\n \r\n \r\n
显示模式
\r\n \r\n 2D视图\r\n 3D视图\r\n \r\n \r\n \r\n \r\n
图层叠加
\r\n \r\n 交通流量\r\n 3D建筑\r\n 地形等高线\r\n 天气信息\r\n 威胁区域\r\n \r\n \r\n \r\n
\r\n
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\n
无人机 ${drone.name}
\n
ID: ${drone.id}
\n
状态: ${drone.status}
\n
电量: ${drone.battery}%
\n
高度: ${drone.altitude}m
\n
\n
${threatTypeConfig[zone.type]?.name || '未知威胁'}
\n
等级: ${threatLevelConfig[zone.level]?.name || '未知等级'}
\n
描述: ${zone.description || '无描述'}
\n
创建时间: ${new Date(zone.createdAt).toLocaleString()}
\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
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\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
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\n
${city.name}天气
\n
天气: ${data.weather}
\n
温度: ${data.temperature}°C
\n
风向: ${data.windDirection}
\n
风力: ${data.windPower}
\n
湿度: ${data.humidity}%
\n
${weatherIcon}
`,\n offset: new window.AMap.Pixel(-15, -15),\n zIndex: 120,\n title: `${city.name}天气: ${data.weather}, ${data.temperature}°C`\n });\n\n // 创建信息窗体\n const infoWindow = new window.AMap.InfoWindow({\n content: weatherInfo,\n offset: new window.AMap.Pixel(0, -30)\n });\n\n // 绑定点击事件\n marker.on('click', () => {\n infoWindow.open(mapInstance.value, city.position);\n });\n\n // 添加到地图\n mapInstance.value.add(marker);\n\n // 保存标记引用\n layerInstances.value.weatherMarkers.push(marker);\n }\n });\n });\n console.log('已添加天气信息图层');\n } catch (error) {\n console.error('天气图层添加失败:', error);\n }\n };\n\n // 隐藏天气信息\n const hideWeatherInfo = () => {\n if (!mapInstance.value) return;\n\n // 移除所有天气标记\n if (layerInstances.value.weatherMarkers && layerInstances.value.weatherMarkers.length > 0) {\n layerInstances.value.weatherMarkers.forEach(marker => {\n mapInstance.value.remove(marker);\n });\n layerInstances.value.weatherMarkers = [];\n console.log('已移除天气信息图层');\n }\n };\n\n // 获取天气图标\n const getWeatherIcon = weather => {\n // 根据天气状况返回不同的图标\n const icons = {\n '晴': '',\n '多云': '',\n '阴': '',\n '雨': '',\n '雪': ''\n };\n\n // 匹配天气关键词\n for (const key in icons) {\n if (weather.includes(key)) {\n return icons[key];\n }\n }\n\n // 默认图标\n return '';\n };\n\n // 提供地图实例给子组件\n provide('mapInstance', mapInstance);\n\n // 处理窗口大小变化\n const resizeHandler = () => {\n if (mapInstance.value) {\n mapInstance.value.resize();\n }\n };\n onMounted(() => {\n initMap();\n window.addEventListener('resize', resizeHandler);\n });\n onUnmounted(() => {\n window.removeEventListener('resize', resizeHandler);\n if (mapInstance.value) {\n mapInstance.value.destroy();\n }\n });\n\n // 暴露给父组件的方法\n const getMap = () => mapInstance.value;\n return {\n mapInstance,\n mapLoaded,\n viewMode,\n currentMapStyle,\n overlayLayers,\n changeMapStyle,\n changeViewMode,\n updateOverlayLayers,\n getMap\n };\n }\n};","map":{"version":3,"names":["ref","onMounted","onUnmounted","provide","useStore","ElMessage","AMapLoader","name","props","mode","type","String","default","validator","value","includes","emits","setup","emit","store","mapInstance","mapLoaded","viewMode","currentMapStyle","overlayLayers","layerInstances","safeBase64Encode","str","btoa","unescape","encodeURIComponent","error","console","warn","getApiKey","initMap","container","document","getElementById","log","AMap","load","key","version","plugins","Map","zoom","center","pitch","rotation","mapStyle","features","resizeEnable","dragEnable","zoomEnable","doubleClickZoom","keyboardEnable","jogEnable","scrollWheel","touchZoom","toolbar","ToolBar","position","top","right","scale","Scale","bottom","controlBar","ControlBar","showZoomBar","showControlButton","addControl","on","e","traffic","window","TileLayer","Traffic","zIndex","opacity","satellite","Satellite","buildings","Buildings","heightFactor","updateOverlayLayers","weather","Weather","weatherService","getLive","err","data","weatherError","layerError","fetchDrones","message","changeMapStyle","style","add","remove","setMapStyle","changeViewMode","setViewMode","setPitch","terrain","getTileUrl","x","y","z","showWeatherInfo","hideWeatherInfo","weatherMarkers","length","forEach","marker","cities","city","weatherInfo","temperature","windDirection","windPower","humidity","weatherIcon","getWeatherIcon","Marker","content","offset","Pixel","title","infoWindow","InfoWindow","open","push","icons","resizeHandler","resize","addEventListener","removeEventListener","destroy","getMap"],"sources":["E:\\大三下\\软件工程\\command_center(1)\\command_center\\web-command-center\\frontend\\src\\components\\SharedMap.vue"],"sourcesContent":["\r\n \r\n \r\n
\r\n
\r\n 地图加载中...\r\n
\r\n
\r\n\r\n \r\n
\r\n
\r\n \r\n
地图图层
\r\n \r\n 标准地图\r\n 卫星地图\r\n 暗色地图\r\n \r\n \r\n \r\n \r\n
显示模式
\r\n \r\n 2D视图\r\n 3D视图\r\n \r\n \r\n \r\n \r\n
图层叠加
\r\n \r\n 交通流量\r\n 3D建筑\r\n 地形等高线\r\n 天气信息\r\n 威胁区域\r\n \r\n \r\n \r\n
\r\n
\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n\r\n \r\n \r\n
路径规划 (1对多)
\r\n
\r\n
\r\n \r\n \r\n
• 第1个点为起点，其余为目标点
\r\n
• 系统将按最优顺序访问所有目标点
\r\n
• 优先访问安全区域的目标点
\r\n
\r\n
\r\n \r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n A*规划路径\r\n \r\n
\r\n \r\n
\r\n
0 }\"\r\n >\r\n
\r\n {{ index === 0 ? '起' : index }}\r\n \r\n
\r\n
\r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n
\r\n
\r\n {{ index === 0 ? '起点' : `目标点${index}` }}\r\n
\r\n
\r\n
\r\n
\r\n \r\n
\r\n 点击地图添加路径点\r\n
\r\n \r\n
\r\n 再添加至少1个目标点\r\n
\r\n \r\n
1\" class=\"summary\">\r\n 总计: 1个起点 + {{ pathPoints.length - 1 }}个目标点\r\n
\r\n
\r\n
\r\n
A*算法参数
\r\n
\r\n \r\n \r\n \r\n \r\n \r\n 智能避开威胁区域，优化访问顺序\r\n
\r\n \r\n \r\n \r\n 米\r\n \r\n \r\n \r\n m/s\r\n \r\n \r\n
\r\n
路径规划结果
\r\n
\r\n
\r\n 算法:\r\n {{ getAlgorithmName(pathInfo.algorithm) }}\r\n
\r\n
\r\n 总距离:\r\n {{ (pathInfo.distance / 1000).toFixed(2) }} km\r\n
\r\n
\r\n 预计时间:\r\n {{ pathInfo.duration }} 分钟\r\n
\r\n
\r\n 路径点数:\r\n {{ pathInfo.pointCount }} 个\r\n
\r\n
0\" class=\"info-item threat-avoided\">\r\n 避开威胁:\r\n {{ pathInfo.threatZonesAvoided.length }} 个区域\r\n
\r\n
0\" class=\"info-item\">\r\n 访问顺序:\r\n 已优化\r\n
\r\n
\r\n
\r\n 执行路径规划\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n
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\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${city.name}天气
\n
天气: ${data.weather}
\n
温度: ${data.temperature}°C
\n
风向: ${data.windDirection}
\n
风力: ${data.windPower}
\n
湿度: ${data.humidity}%
\n
${weatherIcon}
`,\n offset: new window.AMap.Pixel(-15, -15),\n zIndex: 120,\n title: `${city.name}天气: ${data.weather}, ${data.temperature}°C`\n });\n\n // 创建信息窗体\n const infoWindow = new window.AMap.InfoWindow({\n content: weatherInfo,\n offset: new window.AMap.Pixel(0, -30)\n });\n\n // 绑定点击事件\n marker.on('click', () => {\n infoWindow.open(mapInstance.value, city.position);\n });\n\n // 添加到地图\n mapInstance.value.add(marker);\n\n // 保存标记引用\n layerInstances.value.weatherMarkers.push(marker);\n }\n });\n });\n console.log('已添加天气信息图层');\n } catch (error) {\n console.error('天气图层添加失败:', error);\n }\n };\n\n // 隐藏天气信息\n const hideWeatherInfo = () => {\n if (!mapInstance.value) return;\n\n // 移除所有天气标记\n if (layerInstances.value.weatherMarkers && layerInstances.value.weatherMarkers.length > 0) {\n layerInstances.value.weatherMarkers.forEach(marker => {\n mapInstance.value.remove(marker);\n });\n layerInstances.value.weatherMarkers = [];\n console.log('已移除天气信息图层');\n }\n };\n\n // 获取天气图标\n const getWeatherIcon = weather => {\n // 根据天气状况返回不同的图标\n const icons = {\n '晴': '',\n '多云': '',\n '阴': '',\n '雨': '',\n '雪': ''\n };\n\n // 匹配天气关键词\n for (const key in icons) {\n if (weather.includes(key)) {\n return icons[key];\n }\n }\n\n // 默认图标\n return '';\n };\n\n // 提供地图实例给子组件\n provide('mapInstance', mapInstance);\n\n // 处理窗口大小变化\n const resizeHandler = () => {\n if (mapInstance.value) {\n mapInstance.value.resize();\n }\n };\n onMounted(() => {\n initMap();\n window.addEventListener('resize', resizeHandler);\n });\n onUnmounted(() => {\n window.removeEventListener('resize', resizeHandler);\n if (mapInstance.value) {\n mapInstance.value.destroy();\n }\n });\n\n // 暴露给父组件的方法\n const getMap = () => mapInstance.value;\n return {\n mapInstance,\n mapLoaded,\n viewMode,\n currentMapStyle,\n overlayLayers,\n changeMapStyle,\n changeViewMode,\n updateOverlayLayers,\n getMap\n };\n }\n};","map":{"version":3,"names":["ref","onMounted","onUnmounted","provide","useStore","ElMessage","AMapLoader","name","props","mode","type","String","default","validator","value","includes","emits","setup","emit","store","mapInstance","mapLoaded","markers","viewMode","currentMapStyle","overlayLayers","layerInstances","safeBase64Encode","str","btoa","unescape","encodeURIComponent","error","console","warn","getApiKey","initMap","container","document","getElementById","log","AMap","load","key","version","plugins","Map","zoom","center","pitch","rotation","mapStyle","features","resizeEnable","dragEnable","zoomEnable","doubleClickZoom","keyboardEnable","jogEnable","scrollWheel","touchZoom","toolbar","ToolBar","position","top","right","scale","Scale","bottom","controlBar","ControlBar","showZoomBar","showControlButton","addControl","on","e","traffic","window","TileLayer","Traffic","zIndex","opacity","satellite","Satellite","buildings","Buildings","heightFactor","updateOverlayLayers","weather","Weather","weatherService","getLive","err","data","weatherError","layerError","fetchDrones","message","changeMapStyle","style","add","remove","setMapStyle","changeViewMode","setViewMode","setPitch","terrain","getTileUrl","x","y","z","showWeatherInfo","hideWeatherInfo","weatherMarkers","length","forEach","marker","cities","city","weatherInfo","temperature","windDirection","windPower","humidity","weatherIcon","getWeatherIcon","Marker","content","offset","Pixel","title","infoWindow","InfoWindow","open","push","icons","resizeHandler","resize","addEventListener","removeEventListener","destroy","getMap"],"sources":["E:\\大三下\\软件工程\\command_center(1)\\command_center\\web-command-center\\frontend\\src\\components\\SharedMap.vue"],"sourcesContent":["\r\n \r\n \r\n
\r\n
\r\n 地图加载中...\r\n
\r\n
\r\n\r\n \r\n
\r\n
\r\n \r\n
地图图层
\r\n \r\n 标准地图\r\n 卫星地图\r\n 暗色地图\r\n \r\n \r\n \r\n \r\n
显示模式
\r\n \r\n 2D视图\r\n 3D视图\r\n \r\n \r\n \r\n \r\n
图层叠加
\r\n \r\n 交通流量\r\n 3D建筑\r\n 地形等高线\r\n 天气信息\r\n 威胁区域\r\n \r\n \r\n \r\n
\r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
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\r\n 地图加载中...\r\n
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地图图层
\r\n \r\n 标准地图\r\n 卫星地图\r\n 暗色地图\r\n \r\n \r\n \r\n \r\n
显示模式
\r\n \r\n 2D视图\r\n 3D视图\r\n \r\n \r\n \r\n \r\n
图层叠加
\r\n \r\n 交通流量\r\n 3D建筑\r\n 地形等高线\r\n 天气信息\r\n 威胁区域\r\n \r\n \r\n \r\n
\r\n
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\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n\r\n \r\n \r\n
路径点 ({{ pathPoints.length }}个)
\r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n 规划路径\r\n \r\n
\r\n \r\n
\r\n
\r\n {{ index + 1 }}\r\n \r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n \r\n \r\n
\r\n
\r\n
\r\n
规划参数
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径信息
\r\n
\r\n
算法: {{ getAlgorithmName(pathInfo.algorithm) }}
\r\n
总距离: {{ pathInfo.distance }}米
\r\n
预计时间: {{ pathInfo.duration }}分钟
\r\n
路径点数: {{ pathInfo.pointCount }}个
\r\n
0\">\r\n 避开威胁区: {{ pathInfo.threatZonesAvoided.length }}个\r\n
\r\n
\r\n
\r\n 执行路径\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
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\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
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\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n
选择无人机
\r\n \r\n \r\n {{ drone.name }}\r\n \r\n 电量: {{ drone.battery }}%\r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径点 ({{ pathPoints.length }}个)
\r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n 规划路径\r\n \r\n
\r\n \r\n
\r\n
\r\n {{ index + 1 }}\r\n \r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n \r\n \r\n
\r\n
\r\n
\r\n
规划参数
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径信息
\r\n
\r\n
算法: {{ getAlgorithmName(pathInfo.algorithm) }}
\r\n
总距离: {{ pathInfo.distance }}米
\r\n
预计时间: {{ pathInfo.duration }}分钟
\r\n
路径点数: {{ pathInfo.pointCount }}个
\r\n
0\">\r\n 避开威胁区: {{ pathInfo.threatZonesAvoided.length }}个\r\n
\r\n
\r\n
\r\n 执行路径\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
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\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n\r\n \r\n \r\n
路径规划 (1对多)
\r\n
\r\n
\r\n \r\n \r\n
• 第1个点为起点，其余为目标点
\r\n
• 系统将按最优顺序访问所有目标点
\r\n
• 优先访问安全区域的目标点
\r\n
\r\n
\r\n \r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n A*规划路径\r\n \r\n
\r\n \r\n
\r\n
0 }\"\r\n >\r\n
\r\n {{ index === 0 ? '起' : index }}\r\n \r\n
\r\n
\r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n
\r\n
\r\n {{ index === 0 ? '起点' : `目标点${index}` }}\r\n
\r\n
\r\n
\r\n
\r\n \r\n
\r\n 点击地图添加路径点\r\n
\r\n \r\n
\r\n 再添加至少1个目标点\r\n
\r\n \r\n
1\" class=\"summary\">\r\n 总计: 1个起点 + {{ pathPoints.length - 1 }}个目标点\r\n
\r\n
\r\n
\r\n
A*算法参数
\r\n
\r\n \r\n \r\n \r\n \r\n \r\n 智能避开威胁区域，优化访问顺序\r\n
\r\n \r\n \r\n \r\n 米\r\n \r\n \r\n \r\n m/s\r\n \r\n \r\n
\r\n
路径规划结果
\r\n
\r\n
\r\n 算法:\r\n {{ getAlgorithmName(pathInfo.algorithm) }}\r\n
\r\n
\r\n 总距离:\r\n {{ (pathInfo.distance / 1000).toFixed(2) }} km\r\n
\r\n
\r\n 预计时间:\r\n {{ pathInfo.duration }} 分钟\r\n
\r\n
\r\n 路径点数:\r\n {{ pathInfo.pointCount }} 个\r\n
\r\n
0\" class=\"info-item threat-avoided\">\r\n 避开威胁:\r\n {{ pathInfo.threatZonesAvoided.length }} 个区域\r\n
\r\n
0\" class=\"info-item\">\r\n 访问顺序:\r\n 已优化\r\n
\r\n
\r\n
\r\n 执行路径规划\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
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\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n\r\n \r\n \r\n
路径规划 (1对多)
\r\n
\r\n
\r\n \r\n \r\n
• 第1个点为起点，其余为目标点
\r\n
• 系统将按最优顺序访问所有目标点
\r\n
• 优先访问安全区域的目标点
\r\n
\r\n
\r\n \r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n A*规划路径\r\n \r\n
\r\n \r\n
\r\n
0 }\"\r\n >\r\n
\r\n {{ index === 0 ? '起' : index }}\r\n \r\n
\r\n
\r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n
\r\n
\r\n {{ index === 0 ? '起点' : `目标点${index}` }}\r\n
\r\n
\r\n
\r\n
\r\n \r\n
\r\n 点击地图添加路径点\r\n
\r\n \r\n
\r\n 再添加至少1个目标点\r\n
\r\n \r\n
1\" class=\"summary\">\r\n 总计: 1个起点 + {{ pathPoints.length - 1 }}个目标点\r\n
\r\n
\r\n
\r\n
A*算法参数
\r\n
\r\n \r\n \r\n \r\n \r\n \r\n 智能避开威胁区域，优化访问顺序\r\n
\r\n \r\n \r\n \r\n 米\r\n \r\n \r\n \r\n m/s\r\n \r\n \r\n
\r\n
路径规划结果
\r\n
\r\n
\r\n 算法:\r\n {{ getAlgorithmName(pathInfo.algorithm) }}\r\n
\r\n
\r\n 总距离:\r\n {{ (pathInfo.distance / 1000).toFixed(2) }} km\r\n
\r\n
\r\n 预计时间:\r\n {{ pathInfo.duration }} 分钟\r\n
\r\n
\r\n 路径点数:\r\n {{ pathInfo.pointCount }} 个\r\n
\r\n
0\" class=\"info-item threat-avoided\">\r\n 避开威胁:\r\n {{ pathInfo.threatZonesAvoided.length }} 个区域\r\n
\r\n
0\" class=\"info-item\">\r\n 访问顺序:\r\n 已优化\r\n
\r\n
\r\n
\r\n 执行路径规划\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n
选择无人机
\r\n \r\n \r\n {{ drone.name }}\r\n \r\n 电量: {{ drone.battery }}%\r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径点 ({{ pathPoints.length }}个)
\r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n 规划路径\r\n \r\n
\r\n \r\n
\r\n
\r\n {{ index + 1 }}\r\n \r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n \r\n \r\n
\r\n
\r\n
\r\n
规划参数
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径信息
\r\n
\r\n
算法: {{ getAlgorithmName(pathInfo.algorithm) }}
\r\n
总距离: {{ pathInfo.distance }}米
\r\n
预计时间: {{ pathInfo.duration }}分钟
\r\n
路径点数: {{ pathInfo.pointCount }}个
\r\n
0\">\r\n 避开威胁区: {{ pathInfo.threatZonesAvoided.length }}个\r\n
\r\n
\r\n
\r\n 执行路径\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
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\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n
选择无人机
\r\n \r\n \r\n {{ drone.name }}\r\n \r\n 电量: {{ drone.battery }}%\r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径点 ({{ pathPoints.length }}个)
\r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n 规划路径\r\n \r\n
\r\n \r\n
\r\n
\r\n {{ index + 1 }}\r\n \r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n \r\n \r\n
\r\n
\r\n
\r\n
规划参数
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径信息
\r\n
\r\n
总距离: {{ pathInfo.distance }}米
\r\n
预计时间: {{ pathInfo.duration }}分钟
\r\n
路径点数: {{ pathInfo.pointCount }}个
\r\n
\r\n
\r\n 执行路径\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n\r\n \r\n \r\n
路径点 ({{ pathPoints.length }}个)
\r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n 规划路径\r\n \r\n
\r\n \r\n
\r\n
\r\n {{ index + 1 }}\r\n \r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n \r\n \r\n
\r\n
\r\n
\r\n
规划参数
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径信息
\r\n
\r\n
算法: {{ getAlgorithmName(pathInfo.algorithm) }}
\r\n
总距离: {{ pathInfo.distance }}米
\r\n
预计时间: {{ pathInfo.duration }}分钟
\r\n
路径点数: {{ pathInfo.pointCount }}个
\r\n
0\">\r\n 避开威胁区: {{ pathInfo.threatZonesAvoided.length }}个\r\n
\r\n
\r\n
\r\n 执行路径\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n\r\n \r\n \r\n
路径规划 (1对多)
\r\n
\r\n
\r\n \r\n \r\n
• 第1个点为起点，其余为目标点
\r\n
• 系统将按最优顺序访问所有目标点
\r\n
• 优先访问安全区域的目标点
\r\n
\r\n
\r\n \r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n A*规划路径\r\n \r\n
\r\n \r\n
\r\n
0 }\"\r\n >\r\n
\r\n {{ index === 0 ? '起' : index }}\r\n \r\n
\r\n
\r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n
\r\n
\r\n {{ index === 0 ? '起点' : `目标点${index}` }}\r\n
\r\n
\r\n
\r\n
\r\n \r\n
\r\n 点击地图添加路径点\r\n
\r\n \r\n
\r\n 再添加至少1个目标点\r\n
\r\n \r\n
1\" class=\"summary\">\r\n 总计: 1个起点 + {{ pathPoints.length - 1 }}个目标点\r\n
\r\n
\r\n
\r\n
A*算法参数
\r\n
\r\n \r\n \r\n \r\n \r\n \r\n 智能避开威胁区域，优化访问顺序\r\n
\r\n \r\n \r\n \r\n 米\r\n \r\n \r\n \r\n m/s\r\n \r\n \r\n
\r\n
路径规划结果
\r\n
\r\n
\r\n 算法:\r\n {{ getAlgorithmName(pathInfo.algorithm) }}\r\n
\r\n
\r\n 总距离:\r\n {{ (pathInfo.distance / 1000).toFixed(2) }} km\r\n
\r\n
\r\n 预计时间:\r\n {{ pathInfo.duration }} 分钟\r\n
\r\n
\r\n 路径点数:\r\n {{ pathInfo.pointCount }} 个\r\n
\r\n
0\" class=\"info-item threat-avoided\">\r\n 避开威胁:\r\n {{ pathInfo.threatZonesAvoided.length }} 个区域\r\n
\r\n
0\" class=\"info-item\">\r\n 访问顺序:\r\n 已优化\r\n
\r\n
\r\n
\r\n 执行路径规划\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
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\r\n \r\n
\r\n \r\n \r\n
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\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
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\r\n \r\n
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\r\n
\r\n \r\n \r\n \r\n \r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n 地图加载中...\r\n
\r\n
\r\n\r\n \r\n
\r\n
\r\n \r\n
地图图层
\r\n \r\n 标准地图\r\n 卫星地图\r\n 暗色地图\r\n \r\n \r\n \r\n \r\n
显示模式
\r\n \r\n 2D视图\r\n 3D视图\r\n \r\n \r\n \r\n \r\n
图层叠加
\r\n \r\n 交通流量\r\n 3D建筑\r\n 地形等高线\r\n 天气信息\r\n 威胁区域\r\n \r\n \r\n \r\n
\r\n
\r\n \r\n
\r\n \r\n
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\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
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\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n
选择无人机
\r\n \r\n \r\n {{ drone.name }}\r\n \r\n 电量: {{ drone.battery }}%\r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径点 ({{ pathPoints.length }}个)
\r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n 规划路径\r\n \r\n
\r\n \r\n
\r\n
\r\n {{ index + 1 }}\r\n \r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n \r\n \r\n
\r\n
\r\n
\r\n
规划参数
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径信息
\r\n
\r\n
算法: {{ getAlgorithmName(pathInfo.algorithm) }}
\r\n
总距离: {{ pathInfo.distance }}米
\r\n
预计时间: {{ pathInfo.duration }}分钟
\r\n
路径点数: {{ pathInfo.pointCount }}个
\r\n
0\">\r\n 避开威胁区: {{ pathInfo.threatZonesAvoided.length }}个\r\n
\r\n
\r\n
\r\n 执行路径\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\n
${drone.name || `无人机-${drone.id}`}
\n
状态: ${getStatusText(drone.status)}
\n
电量: ${drone.battery || 0}%
\n
位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}
\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n \r\n\r\n \r\n \r\n
选择无人机
\r\n \r\n \r\n {{ drone.name }}\r\n \r\n 电量: {{ drone.battery }}%\r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径点 ({{ pathPoints.length }}个)
\r\n
\r\n \r\n {{ addMode ? '停止添加' : '添加路径点' }}\r\n \r\n \r\n 规划路径\r\n \r\n
\r\n \r\n
\r\n
\r\n {{ index + 1 }}\r\n \r\n {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}\r\n \r\n \r\n
\r\n
\r\n
\r\n
规划参数
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n\r\n \r\n \r\n
路径信息
\r\n
\r\n
总距离: {{ pathInfo.distance }}米
\r\n
预计时间: {{ pathInfo.duration }}分钟
\r\n
路径点数: {{ pathInfo.pointCount }}个
\r\n
\r\n
\r\n 执行路径\r\n \r\n
\r\n
地图显示
\r\n
\r\n \r\n \r\n 起点\r\n \r\n \r\n 终点\r\n \r\n \r\n 全路径\r\n \r\n \r\n
\r\n
\r\n
\n
${city.name}天气
\n
天气: ${data.weather}
\n
温度: ${data.temperature}°C
\n
风向: ${data.windDirection}
\n
风力: ${data.windPower}
\n
湿度: ${data.humidity}%
\n
${weatherIcon}
`,\n offset: new window.AMap.Pixel(-15, -15),\n zIndex: 120,\n title: `${city.name}天气: ${data.weather}, ${data.temperature}°C`\n });\n\n // 创建信息窗体\n const infoWindow = new window.AMap.InfoWindow({\n content: weatherInfo,\n offset: new window.AMap.Pixel(0, -30)\n });\n\n // 绑定点击事件\n marker.on('click', () => {\n infoWindow.open(mapInstance.value, city.position);\n });\n\n // 添加到地图\n mapInstance.value.add(marker);\n\n // 保存标记引用\n layerInstances.value.weatherMarkers.push(marker);\n }\n });\n });\n console.log('已添加天气信息图层');\n } catch (error) {\n console.error('天气图层添加失败:', error);\n }\n };\n\n // 隐藏天气信息\n const hideWeatherInfo = () => {\n if (!mapInstance.value) return;\n\n // 移除所有天气标记\n if (layerInstances.value.weatherMarkers && layerInstances.value.weatherMarkers.length > 0) {\n layerInstances.value.weatherMarkers.forEach(marker => {\n mapInstance.value.remove(marker);\n });\n layerInstances.value.weatherMarkers = [];\n console.log('已移除天气信息图层');\n }\n };\n\n // 获取天气图标\n const getWeatherIcon = weather => {\n // 根据天气状况返回不同的图标\n const icons = {\n '晴': '',\n '多云': '',\n '阴': '',\n '雨': '',\n '雪': ''\n };\n\n // 匹配天气关键词\n for (const key in icons) {\n if (weather.includes(key)) {\n return icons[key];\n }\n }\n\n // 默认图标\n return '';\n };\n\n // 提供地图实例给子组件\n provide('mapInstance', mapInstance);\n\n // 处理窗口大小变化\n const resizeHandler = () => {\n if (mapInstance.value) {\n mapInstance.value.resize();\n }\n };\n onMounted(() => {\n initMap();\n window.addEventListener('resize', resizeHandler);\n });\n onUnmounted(() => {\n window.removeEventListener('resize', resizeHandler);\n if (mapInstance.value) {\n mapInstance.value.destroy();\n }\n });\n\n // 暴露给父组件的方法\n const getMap = () => mapInstance.value;\n return {\n mapInstance,\n mapLoaded,\n viewMode,\n currentMapStyle,\n overlayLayers,\n changeMapStyle,\n changeViewMode,\n updateOverlayLayers,\n getMap\n };\n }\n};","map":{"version":3,"names":["ref","onMounted","onUnmounted","provide","useStore","ElMessage","AMapLoader","name","props","mode","type","String","default","validator","value","includes","emits","setup","emit","store","mapInstance","mapLoaded","markers","viewMode","currentMapStyle","overlayLayers","layerInstances","safeBase64Encode","str","btoa","unescape","encodeURIComponent","error","console","warn","getApiKey","initMap","container","document","getElementById","log","AMap","load","key","version","plugins","Map","zoom","center","pitch","rotation","mapStyle","features","resizeEnable","dragEnable","zoomEnable","doubleClickZoom","keyboardEnable","jogEnable","scrollWheel","touchZoom","toolbar","ToolBar","position","top","right","scale","Scale","bottom","controlBar","ControlBar","showZoomBar","showControlButton","addControl","on","e","traffic","window","TileLayer","Traffic","zIndex","opacity","satellite","Satellite","buildings","Buildings","heightFactor","updateOverlayLayers","weather","Weather","weatherService","getLive","err","data","weatherError","layerError","fetchDrones","message","dispatch","state","drones","Array","isArray","initDroneMarkers","dronesFromModule","list","commit","forEach","drone","latitude","longitude","addDroneMarker","id","remove","statusColor","status","marker","Marker","icon","Icon","size","Size","image","imageSize","anchor","angle","heading","add","changeMapStyle","style","setMapStyle","changeViewMode","setViewMode","setPitch","terrain","getTileUrl","x","y","z","showWeatherInfo","hideWeatherInfo","weatherMarkers","length","cities","city","weatherInfo","temperature","windDirection","windPower","humidity","weatherIcon","getWeatherIcon","content","offset","Pixel","title","infoWindow","InfoWindow","open","push","icons","resizeHandler","resize","addEventListener","removeEventListener","destroy","getMap"],"sources":["E:\\大三下\\软件工程\\command_center(1)\\command_center\\web-command-center\\frontend\\src\\components\\SharedMap.vue"],"sourcesContent":["\r\n \r\n \r\n
\r\n
\r\n 地图加载中...\r\n
\r\n
\r\n\r\n \r\n
\r\n
\r\n \r\n
地图图层
\r\n \r\n 标准地图\r\n 卫星地图\r\n 暗色地图\r\n \r\n \r\n \r\n \r\n
显示模式
\r\n \r\n 2D视图\r\n 3D视图\r\n \r\n \r\n \r\n \r\n
图层叠加
\r\n \r\n 交通流量\r\n 3D建筑\r\n 地形等高线\r\n 天气信息\r\n 威胁区域\r\n \r\n \r\n \r\n
\r\n
\r\n \r\n
\r\n
\r\n 地图加载中...\r\n
\r\n
\r\n\r\n \r\n
\r\n
\r\n \r\n
地图图层
\r\n \r\n 标准地图\r\n 卫星地图\r\n 暗色地图\r\n \r\n \r\n \r\n \r\n
显示模式
\r\n \r\n 2D视图\r\n 3D视图\r\n \r\n \r\n \r\n \r\n
图层叠加
\r\n \r\n 交通流量\r\n 3D建筑\r\n 地形等高线\r\n 天气信息\r\n 威胁区域\r\n \r\n \r\n \r\n
\r\n
\r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n \r\n \r\n
\r\n \r\n
\r\n
\r\n \r\n \r\n
\r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n \r\n 取消\r\n 保存\r\n \r\n \r\n
+
+
-
路径点 ({{ pathPoints.length }}个)
+
路径规划 (1对多)
+
+
+
+
+
• 第1个点为起点，其余为目标点
+
• 系统将按最优顺序访问所有目标点
+
• 优先访问安全区域的目标点
+
+
+
- 规划路径
+ A*规划路径
@@ -59,11 +76,19 @@
v-for="(point, index) in pathPoints"
:key="index"
class="path-point-item"
+ :class="{ 'start-point': index === 0, 'target-point': index > 0 }"
>
-
{{ index + 1 }}
-
- {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}
+
+ {{ index === 0 ? '起' : index }}
+
+
+ {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}
+
+
+ {{ index === 0 ? '起点' : `目标点${index}` }}
+
+
+
+
+ 点击地图添加路径点
+
+
+
+ 再添加至少1个目标点
+
+
+
+ 总计: 1个起点 + {{ pathPoints.length - 1 }}个目标点
+
-
规划参数
+
A*算法参数
-
-
-
-
+
+
+
+ 智能避开威胁区域，优化访问顺序
+
+ 米
+ m/s
-
路径信息
+
路径规划结果
-
总距离: {{ pathInfo.distance }}米
-
预计时间: {{ pathInfo.duration }}分钟
-
路径点数: {{ pathInfo.pointCount }}个
+
+ 算法:
+ {{ getAlgorithmName(pathInfo.algorithm) }}
+
+
+ 总距离:
+ {{ (pathInfo.distance / 1000).toFixed(2) }} km
+
+
+ 预计时间:
+ {{ pathInfo.duration }} 分钟
+
+
+ 路径点数:
+ {{ pathInfo.pointCount }} 个
+
+
+ 避开威胁:
+ {{ pathInfo.threatZonesAvoided.length }} 个区域
+
+
+ 访问顺序:
+ 已优化
+
-
- 执行路径
+
+ 执行路径规划