Src/command_center/web-command-center/PATHPLANNING_IMPLEMENTATION.md

@@ -0,0 +1 @@
+ 

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);
+  }
+})(); 

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()

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,

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'),

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,

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'); 
+ '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
+-- ============================================ 

Src/command_center/web-command-center/frontend/src/components/SharedMap.vue

@@ -62,7 +62,7 @@ export default {
     const store = useStore()
     const mapInstance = ref(null)
     const mapLoaded = ref(false)
-    const markers = ref({})
+
     const viewMode = ref('3D')
     const currentMapStyle = ref('normal')
     const overlayLayers = ref(['buildings'])
@@ -128,7 +128,7 @@ export default {
         // 创建地图实例
         mapInstance.value = new AMap.Map('sharedMap', {
           zoom: 11,
-          center: [116.397428, 39.90923],
+          center: [112.982279, 28.19409], // 长沙坐标
           viewMode: viewMode.value,
           pitch: viewMode.value === '3D' ? 45 : 0,
           rotation: 0,
@@ -226,8 +226,7 @@ export default {
             console.error('图层初始化失败:', layerError);
           }
           
-          // 主动获取无人机数据，而不是直接初始化
-          fetchDrones()
+          console.log('地图初始化完成')
         })
 
       } catch (error) {
@@ -237,98 +236,7 @@ export default {
     }
 
     // 添加主动获取无人机数据的方法
-    const fetchDrones = async () => {
-      try {
-        console.log('获取无人机数据...')
-        await store.dispatch('fetchDrones')
-        
-        // 查看完整状态
-        console.log('Store状态:', store.state)
-        
-        // 尝试直接获取正确的无人机数据
-        const drones = store.state.drones
-        console.log('无人机数据状态:', drones)
-        
-        if (Array.isArray(drones)) {
-          initDroneMarkers()
-        } else {
-          console.warn('无人机数据格式不正确，从模块中获取')
-          const dronesFromModule = store.state.drones?.list
-          console.log('无人机模块数据:', dronesFromModule)
-          
-          if (Array.isArray(dronesFromModule)) {
-            // 先将数据设置到根状态，以便标记初始化能正常工作
-            store.commit('SET_DRONES', dronesFromModule)
-            initDroneMarkers()
-          }
-        }
-      } catch (error) {
-        console.error('获取无人机数据失败:', error)
-      }
-    }
 
-    // 初始化无人机标记
-    const initDroneMarkers = () => {
-      if (!mapInstance.value || !window.AMap) return
-      
-      // 从store获取无人机数据，确保是数组
-      const drones = store.state.drones || []
-      
-      // 检查drones是否为数组
-      if (!Array.isArray(drones)) {
-        console.warn('无人机数据不是数组格式:', drones)
-        return // 如果不是数组，直接返回
-      }
-      
-      console.log('无人机数据:', drones)
-      
-      // 遍历添加无人机标记
-      drones.forEach(drone => {
-        if (drone && drone.latitude && drone.longitude) {
-          addDroneMarker(drone)
-        }
-      })
-    }
-
-    // 添加无人机标记
-    const addDroneMarker = (drone) => {
-      if (!mapInstance.value || !window.AMap) return
-      
-      // 如果已存在该无人机的标记，先移除
-      if (markers.value[drone.id]) {
-        mapInstance.value.remove(markers.value[drone.id])
-      }
-      
-      // 根据无人机状态设置不同的颜色
-      let statusColor = '#2ecc71' // 默认绿色 - active
-      if (drone.status === 'idle') {
-        statusColor = '#3498db' // 蓝色
-      } else if (drone.status === 'error') {
-        statusColor = '#e74c3c' // 红色
-      }
-      
-      // 创建无人机标记
-      const marker = new window.AMap.Marker({
-        position: [drone.longitude, drone.latitude],
-        icon: new window.AMap.Icon({
-          size: new window.AMap.Size(40, 40),
-          image: 'data:image/svg+xml;base64,' + safeBase64Encode(`
-            <svg xmlns="http://www.w3.org/2000/svg" width="40" height="40" viewBox="0 0 40 40">
-              <circle cx="20" cy="20" r="16" fill="${statusColor}" stroke="#fff" stroke-width="2"/>
-              <text x="20" y="24" text-anchor="middle" fill="white" font-size="12">${drone.id}</text>
-            </svg>
-          `),
-          imageSize: new window.AMap.Size(40, 40)
-        }),
-        anchor: 'center',
-        zIndex: 100,
-        angle: drone.heading || 0,
-      })
-      
-      // 保存标记
-      markers.value[drone.id] = marker
-      mapInstance.value.add(marker)
-    }
 
     // 修改地图样式切换功能
     const changeMapStyle = (style) => {

Src/command_center/web-command-center/frontend/src/components/map-panels/PathPlanningPanel.vue

@@ -10,8 +10,8 @@
         </div>
       </template>
 
-      <!-- 无人机选择 -->
-      <div class="section">
+      <!-- 无人机选择 - 暂时隐藏，使用默认无人机 -->
+      <!-- <div class="section">
         <h4>选择无人机</h4>
         <el-select 
           v-model="droneId" 
@@ -31,11 +31,28 @@
             </span>
           </el-option>
         </el-select>
-      </div>
+      </div> -->
 
       <!-- 路径点列表 -->
       <div class="section">
-        <h4>路径点 ({{ pathPoints.length }}个)</h4>
+        <h4>路径规划 (1对多)</h4>
+        <div class="planning-info">
+          <el-alert 
+            type="info" 
+            :closable="false"
+            show-icon
+            style="margin-bottom: 12px;"
+          >
+            <template #default>
+              <div style="font-size: 12px;">
+                <p>• 第1个点为起点，其余为目标点</p>
+                <p>• 系统将按最优顺序访问所有目标点</p>
+                <p>• 优先访问安全区域的目标点</p>
+              </div>
+            </template>
+          </el-alert>
+        </div>
+        
         <div class="mode-buttons">
           <el-button 
             :type="addMode ? 'success' : 'default'" 
@@ -50,7 +67,7 @@
             @click="$emit('plan-path')" 
             :disabled="pathPoints.length < 2"
           >
-            规划路径
+            A*规划路径
           </el-button>
         </div>
         
@@ -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 }"
           >
-            <span class="point-index">{{ index + 1 }}</span>
-            <span class="point-coords">
-              {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}
+            <span class="point-index" :class="{ 'start': index === 0 }">
+              {{ index === 0 ? '起' : index }}
             </span>
+            <div class="point-info">
+              <div class="point-coords">
+                {{ point.lng.toFixed(4) }}, {{ point.lat.toFixed(4) }}
+              </div>
+              <div class="point-type">
+                {{ index === 0 ? '起点' : `目标点${index}` }}
+              </div>
+            </div>
             <el-button 
               type="danger" 
               size="small" 
@@ -73,19 +98,32 @@
               style="margin-left: auto;"
             />
           </div>
+          
+          <div v-if="pathPoints.length === 0" class="empty-hint">
+            点击地图添加路径点
+          </div>
+          
+          <div v-if="pathPoints.length === 1" class="hint">
+            再添加至少1个目标点
+          </div>
+          
+          <div v-if="pathPoints.length > 1" class="summary">
+            总计: 1个起点 + {{ pathPoints.length - 1 }}个目标点
+          </div>
         </div>
       </div>
 
       <!-- 规划参数 -->
       <div class="section">
-        <h4>规划参数</h4>
+        <h4>A*算法参数</h4>
         <el-form label-width="80px" size="small">
           <el-form-item label="算法">
-            <el-select v-model="algorithm" style="width: 100%" @change="onAlgorithmChange">
-              <el-option label="A*算法" value="astar" />
-              <el-option label="RRT算法" value="rrt" />
-              <el-option label="直线规划" value="straight" />
+            <el-select v-model="algorithm" style="width: 100%" @change="onAlgorithmChange" disabled>
+              <el-option label="A*算法 (威胁区避障)" value="astar" />
             </el-select>
+            <div class="algorithm-desc">
+              智能避开威胁区域，优化访问顺序
+            </div>
           </el-form-item>
           <el-form-item label="飞行高度">
             <el-input-number 
@@ -96,6 +134,7 @@
               style="width: 100%"
               @change="onAltitudeChange"
             />
+            <span class="unit">米</span>
           </el-form-item>
           <el-form-item label="飞行速度">
             <el-input-number 
@@ -106,20 +145,42 @@
               style="width: 100%"
               @change="onSpeedChange"
             />
+            <span class="unit">m/s</span>
           </el-form-item>
         </el-form>
       </div>
 
       <!-- 路径信息 -->
       <div v-if="pathInfo" class="section">
-        <h4>路径信息</h4>
+        <h4>路径规划结果</h4>
         <div class="path-info">
-          <p><strong>总距离:</strong> {{ pathInfo.distance }}米</p>
-          <p><strong>预计时间:</strong> {{ pathInfo.duration }}分钟</p>
-          <p><strong>路径点数:</strong> {{ pathInfo.pointCount }}个</p>
+          <div class="info-item">
+            <span class="label">算法:</span>
+            <span class="value">{{ getAlgorithmName(pathInfo.algorithm) }}</span>
+          </div>
+          <div class="info-item">
+            <span class="label">总距离:</span>
+            <span class="value">{{ (pathInfo.distance / 1000).toFixed(2) }} km</span>
+          </div>
+          <div class="info-item">
+            <span class="label">预计时间:</span>
+            <span class="value">{{ pathInfo.duration }} 分钟</span>
+          </div>
+          <div class="info-item">
+            <span class="label">路径点数:</span>
+            <span class="value">{{ pathInfo.pointCount }} 个</span>
+          </div>
+          <div v-if="pathInfo.threatZonesAvoided && pathInfo.threatZonesAvoided.length > 0" class="info-item threat-avoided">
+            <span class="label">避开威胁:</span>
+            <span class="value">{{ pathInfo.threatZonesAvoided.length }} 个区域</span>
+          </div>
+          <div v-if="pathInfo.targetOrder && pathInfo.targetOrder.length > 0" class="info-item">
+            <span class="label">访问顺序:</span>
+            <span class="value">已优化</span>
+          </div>
         </div>
-        <el-button type="success" @click="$emit('execute-path')" style="width: 100%">
-          执行路径
+        <el-button type="success" @click="$emit('execute-path')" style="width: 100%; margin-top: 12px;">
+          执行路径规划
         </el-button>
       </div>
       
@@ -186,7 +247,7 @@ export default {
     },
     planningAlgorithm: {
       type: String,
-      default: 'straight'
+      default: 'astar'
     },
     flightAltitude: {
       type: Number,
@@ -251,6 +312,17 @@ export default {
       emit('update-flight-speed', value)
     }
     
+    // 获取算法显示名称
+    const getAlgorithmName = (algorithm) => {
+      const algorithmNames = {
+        astar: 'A*算法',
+        rrt: 'RRT算法',
+        genetic: '遗传算法',
+        straight: '直线规划'
+      }
+      return algorithmNames[algorithm] || algorithm
+    }
+    
     return {
       droneId,
       algorithm,
@@ -259,7 +331,8 @@ export default {
       onSelectDrone,
       onAlgorithmChange,
       onAltitudeChange,
-      onSpeedChange
+      onSpeedChange,
+      getAlgorithmName
     }
   }
 }
@@ -301,28 +374,67 @@ h4 {
 .path-point-item {
   display: flex;
   align-items: center;
-  padding: 5px;
-  margin-bottom: 5px;
-  background-color: #f5f7fa;
-  border-radius: 4px;
+  padding: 8px;
+  margin-bottom: 6px;
+  background: #f9f9f9;
+  border-radius: 6px;
+  border-left: 3px solid #e6e6e6;
+  transition: all 0.3s ease;
+}
+
+.path-point-item:hover {
+  background: #f0f0f0;
+  box-shadow: 0 2px 4px rgba(0,0,0,0.1);
+}
+
+.path-point-item.start-point {
+  border-left-color: #1890FF;
+  background: linear-gradient(90deg, #e6f7ff 0%, #f9f9f9 100%);
+}
+
+.path-point-item.target-point {
+  border-left-color: #52C41A;
+  background: linear-gradient(90deg, #f6ffed 0%, #f9f9f9 100%);
 }
 
 .point-index {
-  width: 24px;
-  height: 24px;
   display: flex;
   align-items: center;
   justify-content: center;
-  background-color: #409EFF;
-  color: white;
+  width: 24px;
+  height: 24px;
   border-radius: 50%;
-  margin-right: 10px;
+  background: #52C41A;
+  color: white;
   font-size: 12px;
+  font-weight: bold;
+  margin-right: 10px;
+  flex-shrink: 0;
+}
+
+.point-index.start {
+  background: #1890FF;
+  width: 28px;
+  height: 28px;
+  font-size: 14px;
+}
+
+.point-info {
+  flex: 1;
+  min-width: 0;
 }
 
 .point-coords {
-  flex-grow: 1;
-  font-size: 12px;
+  font-size: 13px;
+  font-family: monospace;
+  color: #333;
+  font-weight: 500;
+}
+
+.point-type {
+  font-size: 11px;
+  color: #666;
+  margin-top: 2px;
 }
 
 .path-info {
@@ -341,4 +453,55 @@ h4 {
   display: flex;
   justify-content: space-between;
 }
+
+.planning-info {
+  margin-bottom: 12px;
+}
+
+.algorithm-desc {
+  font-size: 12px;
+  color: #909399;
+}
+
+.unit {
+  margin-left: 10px;
+  font-size: 12px;
+  color: #909399;
+}
+
+.info-item {
+  margin-bottom: 5px;
+}
+
+.label {
+  font-size: 12px;
+  color: #909399;
+}
+
+.value {
+  font-size: 14px;
+  font-weight: 600;
+}
+
+.empty-hint {
+  text-align: center;
+  color: #909399;
+  font-size: 12px;
+}
+
+.hint {
+  text-align: center;
+  color: #909399;
+  font-size: 12px;
+}
+
+.summary {
+  text-align: center;
+  color: #909399;
+  font-size: 12px;
+}
+
+.threat-avoided {
+  color: #f56c6c;
+}
 </style> 

Src/command_center/web-command-center/frontend/src/store/index.js

@@ -46,100 +46,46 @@ const auth = {
   }
 }
 
-const drones = {
-  namespaced: true,
-  state: () => ({
-    list: []
-  }),
-  mutations: {
-    setDrones(state, drones) {
-      state.list = drones
-    }
-  },
-  actions: {
-    async fetchDrones({ commit, rootState }) {
-      // 这里应调用后端API获取无人机列表
-      const token = rootState.auth.token
-      try {
-        const res = await axios.get(`${API_URL}/api/drones`, {
-          headers: { Authorization: `Bearer ${token}` }
-        })
-        commit('setDrones', res.data.data || [])
-      } catch {
-        commit('setDrones', [])
-      }
-    }
-  }
-}
-
 export default createStore({
   state: {
-    // 根级别的无人机状态，用于兼容MapView
-    drones: []
+    // 威胁区域数据
+    threatZones: [],
+    // 路径规划数据
+    pathPlans: []
   },
   mutations: {
-    // 根级别的无人机mutations
-    SET_DRONES(state, drones) {
-      state.drones = drones
+    SET_THREAT_ZONES(state, zones) {
+      state.threatZones = zones
     },
-    setDrones(state, drones) {
-      state.drones = drones
+    SET_PATH_PLANS(state, plans) {
+      state.pathPlans = plans
     }
   },
   actions: {
-    // 根级别的无人机actions
-    async fetchDrones({ commit, state }) {
+    async fetchThreatZones({ commit }) {
       try {
-        const token = state.auth?.token || localStorage.getItem('token')
-        const headers = {}
-        if (token) {
-          headers['Authorization'] = `Bearer ${token}`
+        const res = await axios.get(`${API_URL}/api/threat-zones`)
+        if (res.data && res.data.success) {
+          commit('SET_THREAT_ZONES', res.data.data)
         }
-        
-        const res = await axios.get(`${API_URL}/api/drones`, { headers })
-        
-        if (res.data && res.data.success && Array.isArray(res.data.data)) {
-          commit('SET_DRONES', res.data.data)
-        } else if (res.data && Array.isArray(res.data)) {
-          commit('SET_DRONES', res.data)
-        } else {
-          throw new Error('无效的数据格式')
+      } catch (error) {
+        console.error('获取威胁区域数据失败:', error)
+        commit('SET_THREAT_ZONES', [])
+      }
+    },
+    async fetchPathPlans({ commit }) {
+      try {
+        const res = await axios.get(`${API_URL}/api/path-planning`)
+        if (res.data && res.data.success) {
+          commit('SET_PATH_PLANS', res.data.data)
         }
       } catch (error) {
-        console.warn('获取无人机数据失败，使用模拟数据:', error)
-        // 使用模拟数据
-        const mockDrones = [
-          {
-            id: 1,
-            name: '侦察无人机-01',
-            latitude: 39.9042,
-            longitude: 116.4074,
-            status: 'active',
-            battery: 85
-          },
-          {
-            id: 2,
-            name: '运输无人机-02',
-            latitude: 39.9100,
-            longitude: 116.4200,
-            status: 'idle',
-            battery: 60
-          },
-          {
-            id: 3,
-            name: '攻击无人机-03',
-            latitude: 39.8950,
-            longitude: 116.3900,
-            status: 'active',
-            battery: 95
-          }
-        ]
-        commit('SET_DRONES', mockDrones)
+        console.error('获取路径规划数据失败:', error)
+        commit('SET_PATH_PLANS', [])
       }
     }
   },
   modules: {
-    auth,
-    drones
+    auth
   }
 }) 

Src/command_center/web-command-center/frontend/src/views/UnifiedMapView.vue

@@ -13,10 +13,6 @@
                 @clear-targets="clearTargets"
                 :add-mode="addMode"
                 :target-points="targetPoints"
-                :show-drones="showDrones"
-                :show-drone-info="showDroneInfo"
-                @toggle-drone-visibility="toggleDroneVisibility"
-                @toggle-drone-info="toggleDroneInfo"
               />
             </div>
           </el-tab-pane>
@@ -55,8 +51,6 @@
           <el-tab-pane label="路径规划" name="pathPlanning">
             <div class="panel-scroll-container">
               <path-planning-panel 
-                :drones="drones"
-                :selected-drone-id="selectedDroneId"
                 :path-points="pathPoints"
                 :add-mode="addMode"
                 :planning-algorithm="planningAlgorithm"
@@ -71,7 +65,6 @@
                 @center-to-start="centerToStart"
                 @center-to-end="centerToEnd"
                 @fit-to-path="fitToPath"
-                @select-drone="selectDrone"
                 @update-planning-algorithm="updatePlanningAlgorithm"
                 @update-flight-altitude="updateFlightAltitude"
                 @update-flight-speed="updateFlightSpeed"
@@ -180,8 +173,6 @@ export default {
     
     // 通用状态
     const addMode = ref(false)
-    const showDrones = ref(true)
-    const showDroneInfo = ref(false)
     
     // 地图视图相关状态
     const targetPoints = ref([])
@@ -209,19 +200,16 @@ export default {
     })
     
     // 路径规划相关状态
-    const drones = computed(() => store.state.drones || [])
-    const selectedDroneId = ref(null)
     const pathPoints = ref([])
     const pathMarkers = ref([])
     const pathLine = ref(null)
-    const planningAlgorithm = ref('straight')
+    const planningAlgorithm = ref('astar')
     const flightAltitude = ref(100)
     const flightSpeed = ref(10)
     const pathInfo = ref(null)
     
     // 绘制工具相关
     const mouseTool = ref(null)
-    const droneMarkers = ref({})
 
     // 安全的 base64 编码函数
     const safeBase64Encode = (str) => {
@@ -253,7 +241,7 @@ export default {
     // 地图加载后回调
     const onMapLoaded = (map) => {
       mapInstance.value = map
-      console.log('统一地图组件加载完成')
+      console.log('地图加载完成，开始自动加载数据...')
       
       // 初始化鼠标工具
       const AMap = window.AMap
@@ -267,77 +255,22 @@ export default {
         }
       }
       
-      // 根据当前活动面板初始化功能
-      initActivePanelFeatures()
-      
-      // 初始化无人机标记
-      initDroneMarkers()
+      // 自动加载所有数据
+      loadAllData()
     }
     
-    // 初始化当前面板的功能
-    const initActivePanelFeatures = () => {
-      switch (activePanel.value) {
-        case 'basicMap':
-          // 初始化地图基础功能
-          break
-        case 'threatZone':
-          // 初始化威胁区功能
-          loadThreatZones()
-          break
-        case 'pathPlanning':
-          // 初始化路径规划功能
-          if (drones.value.length > 0 && !selectedDroneId.value) {
-            selectedDroneId.value = drones.value[0].id
-          }
-          break
-      }
-    }
-    
-    // 添加测试威胁区（用于调试）
-    const addTestThreatZone = () => {
-      if (!mapInstance.value) return
-      
+    // 自动加载所有数据
+    const loadAllData = async () => {
       try {
-        const AMap = window.AMap
-        
-        // 创建一个测试圆形威胁区
-        const testCircle = new AMap.Circle({
-          center: [116.397428, 39.90923], // 北京天安门
-          radius: 1000,
-          strokeColor: '#FF6B6B',
-          strokeWeight: 2,
-          strokeOpacity: 0.8,
-          fillColor: '#FF6B6B',
-          fillOpacity: 0.3
-        })
-        
-        mapInstance.value.add(testCircle)
+        console.log('开始自动加载所有数据...')
         
-        // 创建威胁区数据
-        const testZone = {
-          id: 'test-' + Date.now(),
-          type: 'radar',
-          level: 'medium',
-          description: '测试威胁区',
-          timeRange: [new Date(), new Date(Date.now() + 24 * 60 * 60 * 1000)],
-          geometry: {
-            type: 'circle',
-            center: [116.397428, 39.90923],
-            radius: 1000
-          },
-          overlay: testCircle
-        }
-        
-        threatZones.value.push(testZone)
-        zoneOverlays[testZone.id] = testCircle
+        // 加载威胁区数据
+        await loadThreatZones()
         
-        testCircle.on('click', () => selectZone(testZone.id))
-        
-        console.log('已添加测试威胁区:', testZone)
-        ElMessage.success('已添加测试威胁区（红色圆形）')
+        console.log('所有数据加载完成')
         
       } catch (error) {
-        console.error('添加测试威胁区失败:', error)
+        console.error('自动加载数据失败:', error)
       }
     }
     
@@ -355,6 +288,22 @@ export default {
       // 威胁区绘制通过mouseTool处理
     }
     
+    // 初始化当前面板的功能
+    const initActivePanelFeatures = () => {
+      switch (activePanel.value) {
+        case 'basicMap':
+          // 初始化地图基础功能
+          break
+        case 'threatZone':
+          // 初始化威胁区功能
+          loadThreatZones()
+          break
+        case 'pathPlanning':
+          // 初始化路径规划功能
+          break
+      }
+    }
+    
     // 切换标签页
     const handleTabClick = () => {
       // 重置通用状态
@@ -384,144 +333,9 @@ export default {
       }
     }
     
-    // 初始化无人机标记
-    const initDroneMarkers = async () => {
-      if (!mapInstance.value) return
-      
-      try {
-        // 获取无人机数据
-        await store.dispatch('fetchDrones')
-        
-        const AMap = window.AMap
-        if (!AMap || !drones.value || drones.value.length === 0) {
-          console.log('跳过无人机标记初始化：条件不满足')
-          return
-        }
-
-        // 清除现有标记
-        Object.values(droneMarkers.value).forEach(marker => {
-          mapInstance.value.remove(marker)
-        })
-        droneMarkers.value = {}
-
-        drones.value.forEach(drone => {
-          if (!drone || typeof drone.longitude !== 'number' || typeof drone.latitude !== 'number') {
-            console.warn('无效的无人机数据:', drone)
-            return
-          }
-
-          try {
-            const marker = new AMap.Marker({
-              position: [drone.longitude, drone.latitude],
-              title: drone.name || `无人机-${drone.id}`,
-              icon: new AMap.Icon({
-                size: new AMap.Size(32, 32),
-                image: getDroneIconSvg(drone.status),
-                imageSize: new AMap.Size(32, 32)
-              })
-            })
-
-            // 添加信息窗体
-            const infoWindow = new AMap.InfoWindow({
-              isCustom: true,
-              content: `
-                <div style="padding: 10px; background: white; border-radius: 5px; box-shadow: 0 2px 10px rgba(0,0,0,0.1);">
-                  <h4 style="margin: 0 0 8px 0; color: #333;">${drone.name || `无人机-${drone.id}`}</h4>
-                  <p style="margin: 4px 0; color: #666;">状态: ${getStatusText(drone.status)}</p>
-                  <p style="margin: 4px 0; color: #666;">电量: ${drone.battery || 0}%</p>
-                  <p style="margin: 4px 0; color: #666;">位置: ${drone.longitude.toFixed(6)}, ${drone.latitude.toFixed(6)}</p>
-                </div>
-              `,
-              offset: new AMap.Pixel(16, -45)
-            })
-
-            marker.on('click', () => {
-              try {
-                infoWindow.open(mapInstance.value, marker.getPosition())
-              } catch (infoError) {
-                console.warn('信息窗体打开失败:', infoError)
-              }
-            })
-
-            droneMarkers.value[drone.id] = marker
-            if (showDrones.value) {
-              mapInstance.value.add(marker)
-            }
-          } catch (markerError) {
-            console.warn(`无人机 ${drone.id} 标记创建失败:`, markerError)
-          }
-        })
-      } catch (error) {
-        console.warn('无人机标记初始化出错:', error)
-        
-        // 使用示例数据作为备用
-        const sampleDrones = [
-          {
-            id: 1,
-            name: '侦察无人机-01',
-            latitude: 39.9042,
-            longitude: 116.4074,
-            status: 'active',
-            battery: 85
-          },
-          {
-            id: 2,
-            name: '运输无人机-02',
-            latitude: 39.9100,
-            longitude: 116.4200,
-            status: 'idle',
-            battery: 60
-          }
-        ]
-        
-        store.commit('setDrones', sampleDrones)
-      }
-    }
-    
-    const getDroneIconSvg = (status) => {
-      const colors = {
-        active: '#52C41A',
-        idle: '#1890FF',
-        error: '#FF4D4F'
-      }
-      const color = colors[status] || colors.idle
-      
-      const svgString = `
-        <svg xmlns="http://www.w3.org/2000/svg" width="32" height="32" viewBox="0 0 32 32">
-          <circle cx="16" cy="16" r="12" fill="${color}" stroke="#fff" stroke-width="2"/>
-          <circle cx="16" cy="16" r="6" fill="#fff"/>
-        </svg>
-      `
-      
-      return 'data:image/svg+xml;base64,' + safeBase64Encode(svgString)
-    }
-    
-    const getStatusText = (status) => {
-      const statusMap = {
-        active: '活动中',
-        idle: '待机',
-        error: '故障'
-      }
-      return statusMap[status] || status
-    }
+    // 无人机相关功能已删除
     
-    // 切换无人机显示
-    const toggleDroneVisibility = (value) => {
-      showDrones.value = value
-      Object.values(droneMarkers.value).forEach(marker => {
-        if (value) {
-          mapInstance.value.add(marker)
-        } else {
-          mapInstance.value.remove(marker)
-        }
-      })
-    }
-    
-    // 切换无人机信息显示
-    const toggleDroneInfo = (value) => {
-      showDroneInfo.value = value
-      // 这里可以实现切换信息详细程度的逻辑
-    }
+
     
     // 获取添加模式提示
     const getAddModeTip = () => {
@@ -1305,7 +1119,7 @@ export default {
       pathMarkers.value = []
     }
     
-    // 规划路径
+    // 规划路径 - 支持多目标点
     const planPath = async () => {
       if (pathPoints.value.length < 2) {
         ElMessage.warning('至少需要2个路径点')
@@ -1313,20 +1127,265 @@ export default {
       }
 
       try {
-        // 模拟路径规划计算
-        const distance = calculateDistance()
-        const duration = Math.ceil(distance / (flightSpeed.value * 1000 / 60)) // 分钟
+        console.log('开始多目标路径规划...')
+        console.log('算法:', planningAlgorithm.value)
+        console.log('路径点数量:', pathPoints.value.length)
+        console.log('威胁区:', threatZones.value)
+        
+        const startPoint = pathPoints.value[0]
+        const targetPoints = pathPoints.value.slice(1) // 第一个点是起点，其余的都是目标点
+        
+        // 构建请求数据 - 支持多目标点
+        const planningData = {
+          startPoint: {
+            lng: startPoint.lng,
+            lat: startPoint.lat
+          },
+          targetPoints: targetPoints.map(point => ({
+            lng: point.lng,
+            lat: point.lat
+          })),
+          algorithm: planningAlgorithm.value || 'astar', // 默认使用A*算法
+          flightAltitude: flightAltitude.value,
+          flightSpeed: flightSpeed.value,
+          threatZones: threatZones.value && threatZones.value.length > 0 ? threatZones.value.map(zone => ({
+            id: zone.id,
+            type: zone.type,
+            level: zone.level,
+            geometry_type: zone.geometry?.type || zone.geometry_type,
+            geometry_data: zone.geometry || zone.geometry_data,
+            description: zone.description
+          })) : []
+        }
+        
+        console.log('发送多目标路径规划请求:', planningData)
+        
+        // 发送到后端进行路径规划
+        const response = await fetch('/api/path-planning', {
+          method: 'POST',
+          headers: {
+            'Content-Type': 'application/json',
+          },
+          body: JSON.stringify(planningData)
+        })
+
+        if (!response.ok) {
+          const errorText = await response.text()
+          console.error('后端错误响应:', {
+            status: response.status,
+            statusText: response.statusText,
+            error: errorText
+          })
+          throw new Error(`路径规划失败: ${response.status} - ${errorText}`)
+        }
+
+        const result = await response.json()
+        console.log('路径规划结果:', result)
         
-        pathInfo.value = {
-          distance: Math.round(distance),
-          duration: duration,
-          pointCount: pathPoints.value.length
+        if (result.success) {
+          const { data, details } = result
+          
+          // 更新路径信息
+          pathInfo.value = {
+            distance: Math.round(data.distance || details?.totalDistance || 0),
+            duration: data.estimated_time || details?.estimatedTime || 0,
+            pointCount: data.path_points?.length || details?.waypointCount || 0,
+            algorithm: data.algorithm || result.algorithm,
+            threatZonesAvoided: data.threat_zones_avoided || details?.threatZonesAvoided || [],
+            targetOrder: details?.targetOrder || []
+          }
+          
+          // 清除现有路径显示
+          clearPathDisplay()
+          
+          // 渲染新路径
+          const pathData = data.path_points || data.path || []
+          renderPlannedPathWithTargets(pathData, targetPoints, details?.targetOrder)
+          
+          ElMessage.success(`${getAlgorithmName(result.algorithm)}多目标路径规划完成！`)
+          
+          const threatCount = data.threat_zones_avoided?.length || details?.threatZonesAvoided?.length || 0
+          if (threatCount > 0) {
+            ElMessage.info(`成功避开 ${threatCount} 个威胁区`)
+          }
+          
+          // 显示目标点访问顺序
+          if (details?.targetOrder && details.targetOrder.length > 0) {
+            const orderInfo = details.targetOrder.map((target, index) => 
+              `${index + 1}. ${target.coords.lng.toFixed(4)}, ${target.coords.lat.toFixed(4)}${target.inThreatZone ? ' (威胁区内)' : ''}`
+            ).join('\n')
+            
+            setTimeout(() => {
+              ElMessage({
+                message: `目标点访问顺序：\n${orderInfo}`,
+                type: 'info',
+                duration: 10000,
+                showClose: true
+              })
+            }, 1000)
+          }
+          
+        } else {
+          throw new Error(result.message || '路径规划失败')
         }
         
-        ElMessage.success('路径规划完成')
       } catch (error) {
-        ElMessage.error('路径规划失败')
+        console.error('路径规划失败:', error)
+        ElMessage.error('路径规划失败: ' + error.message)
+      }
+    }
+    
+    // 获取算法显示名称
+    const getAlgorithmName = (algorithm) => {
+      const algorithmNames = {
+        astar: 'A*算法',
+        rrt: 'RRT算法',
+        genetic: '遗传算法',
+        straight: '直线规划'
+      }
+      return algorithmNames[algorithm] || algorithm
+    }
+    
+    // 渲染规划后的路径 - 支持多目标点显示
+    const renderPlannedPathWithTargets = (plannedPath, originalTargets, targetOrder) => {
+      if (!mapInstance.value || !plannedPath || plannedPath.length < 2) return
+      
+      const AMap = window.AMap
+      
+      console.log('渲染多目标路径:', {
+        pathLength: plannedPath.length,
+        targetCount: originalTargets.length,
+        targetOrder: targetOrder
+      })
+      
+      // 创建路径线
+      const pathCoords = plannedPath.map(point => [point.lng, point.lat])
+      
+      pathLine.value = new AMap.Polyline({
+        path: pathCoords,
+        strokeColor: '#52C41A', // 绿色表示规划路径
+        strokeWeight: 4,
+        strokeStyle: 'solid',
+        strokeOpacity: 0.8
+      })
+      
+      mapInstance.value.add(pathLine.value)
+      
+      const markers = []
+      
+      // 创建起点标记
+      const startMarker = new AMap.Marker({
+        position: [plannedPath[0].lng, plannedPath[0].lat],
+        icon: new AMap.Icon({
+          size: new AMap.Size(35, 35),
+          image: 'data:image/svg+xml;base64,' + safeBase64Encode(`
+            <svg xmlns="http://www.w3.org/2000/svg" width="35" height="35" viewBox="0 0 35 35">
+              <circle cx="17.5" cy="17.5" r="15" fill="#1890FF" stroke="#fff" stroke-width="3"/>
+              <text x="17.5" y="22" text-anchor="middle" fill="white" font-size="10" font-weight="bold">起</text>
+            </svg>
+          `),
+          imageSize: new AMap.Size(35, 35)
+        }),
+        title: '起点',
+        zIndex: 200
+      })
+      
+      mapInstance.value.add(startMarker)
+      markers.push(startMarker)
+      
+      // 创建目标点标记（按访问顺序）
+      if (targetOrder && targetOrder.length > 0) {
+        targetOrder.forEach((target, index) => {
+          const visitOrder = index + 1
+          const isInThreat = target.inThreatZone
+          const threatLevel = target.threatLevel
+          
+          // 根据威胁等级设置颜色
+          let color = '#52C41A' // 默认绿色（安全）
+          if (isInThreat) {
+            switch (threatLevel) {
+              case 'low':
+                color = '#FAAD14' // 黄色
+                break
+              case 'medium':
+                color = '#FA8C16' // 橙色
+                break
+              case 'high':
+                color = '#F5222D' // 红色
+                break
+              case 'critical':
+                color = '#722ED1' // 紫色
+                break
+            }
+          }
+          
+          const targetMarker = new AMap.Marker({
+            position: [target.coords.lng, target.coords.lat],
+            icon: new AMap.Icon({
+              size: new AMap.Size(32, 32),
+              image: 'data:image/svg+xml;base64,' + safeBase64Encode(`
+                <svg xmlns="http://www.w3.org/2000/svg" width="32" height="32" viewBox="0 0 32 32">
+                  <circle cx="16" cy="16" r="13" fill="${color}" stroke="#fff" stroke-width="2"/>
+                  <text x="16" y="20" text-anchor="middle" fill="white" font-size="9" font-weight="bold">${visitOrder}</text>
+                  ${isInThreat ? '<circle cx="23" cy="9" r="4" fill="#F5222D" stroke="#fff" stroke-width="1"/>' : ''}
+                </svg>
+              `),
+              imageSize: new AMap.Size(32, 32)
+            }),
+            title: `目标点${visitOrder}${isInThreat ? ` (${threatLevel}威胁区)` : ' (安全区域)'}`,
+            zIndex: 150
+          })
+          
+          mapInstance.value.add(targetMarker)
+          markers.push(targetMarker)
+        })
+      } else {
+        // 如果没有目标顺序信息，按原始顺序显示
+        originalTargets.forEach((target, index) => {
+          const targetNumber = index + 1
+          const isLastTarget = index === originalTargets.length - 1
+          
+          const targetMarker = new AMap.Marker({
+            position: [target.lng, target.lat],
+            icon: new AMap.Icon({
+              size: new AMap.Size(30, 30),
+              image: 'data:image/svg+xml;base64,' + safeBase64Encode(`
+                <svg xmlns="http://www.w3.org/2000/svg" width="30" height="30" viewBox="0 0 30 30">
+                  <circle cx="15" cy="15" r="12" fill="${isLastTarget ? '#F5222D' : '#52C41A'}" stroke="#fff" stroke-width="2"/>
+                  <text x="15" y="19" text-anchor="middle" fill="white" font-size="8" font-weight="bold">${isLastTarget ? '终' : targetNumber}</text>
+                </svg>
+              `),
+              imageSize: new AMap.Size(30, 30)
+            }),
+            title: isLastTarget ? '终点' : `目标点${targetNumber}`,
+            zIndex: 150
+          })
+          
+          mapInstance.value.add(targetMarker)
+          markers.push(targetMarker)
+        })
       }
+      
+      pathMarkers.value = markers
+      
+      // 适配地图视图以显示整个路径
+      setTimeout(() => {
+        if (pathLine.value) {
+          mapInstance.value.setFitView([pathLine.value], false, [50, 50, 50, 50]) // 添加边距
+        }
+      }, 100)
+    }
+    
+    // 清除路径显示
+    const clearPathDisplay = () => {
+      // 清除路径线
+      if (pathLine.value) {
+        mapInstance.value.remove(pathLine.value)
+        pathLine.value = null
+      }
+      
+      // 清除标记
+      clearPathMarkers()
     }
 
     const calculateDistance = () => {
@@ -1356,11 +1415,6 @@ export default {
     
     // 执行路径
     const executePath = async () => {
-      if (!selectedDroneId.value) {
-        ElMessage.warning('请选择执行路径的无人机')
-        return
-      }
-
       try {
         await ElMessageBox.confirm('确定要执行此路径吗？', '确认执行', {
           confirmButtonText: '确定',
@@ -1390,14 +1444,7 @@ export default {
       ElMessage.success('已清除所有路径点')
     }
     
-    // 选择无人机
-    const selectDrone = (id) => {
-      selectedDroneId.value = id
-      const drone = drones.value.find(d => d.id === id)
-      if (drone) {
-        ElMessage.success(`已选择无人机: ${drone.name}`)
-      }
-    }
+
     
     // 更新规划算法
     const updatePlanningAlgorithm = (algorithm) => {
@@ -1434,18 +1481,68 @@ export default {
     
     // 适合路径
     const fitToPath = () => {
-      if (pathPoints.value.length === 0) return
+      console.log('fitToPath called, pathPoints length:', pathPoints.value.length)
       
-      const bounds = new (window.AMap.Bounds)()
-      pathPoints.value.forEach(point => {
-        bounds.extend([point.lng, point.lat])
-      })
+      if (!pathPoints.value || pathPoints.value.length === 0) {
+        console.warn('没有路径点数据')
+        ElMessage.warning('没有路径点可显示')
+        return
+      }
       
-      mapInstance.value.setBounds(bounds)
+      try {
+        // 检查地图实例是否存在
+        if (!mapInstance.value) {
+          console.error('地图实例不存在')
+          ElMessage.error('地图未初始化')
+          return
+        }
+        
+        // 检查AMap是否可用
+        if (!window.AMap || !window.AMap.Bounds) {
+          console.error('AMap Bounds API不可用')
+          ElMessage.error('地图API未加载完成')
+          return
+        }
+        
+        console.log('路径点数据:', pathPoints.value)
+        
+        // 创建边界对象
+        const bounds = new window.AMap.Bounds()
+        
+        // 添加所有路径点到边界
+        let validPointsCount = 0
+        pathPoints.value.forEach((point, index) => {
+          if (point && typeof point.lng === 'number' && typeof point.lat === 'number') {
+            bounds.extend([point.lng, point.lat])
+            validPointsCount++
+            console.log(`添加路径点${index + 1}: [${point.lng}, ${point.lat}]`)
+          } else {
+            console.warn(`无效的路径点${index + 1}:`, point)
+          }
+        })
+        
+        if (validPointsCount === 0) {
+          console.error('没有有效的路径点')
+          ElMessage.error('路径点数据无效')
+          return
+        }
+        
+        // 设置地图边界
+        mapInstance.value.setBounds(bounds, false, [20, 20, 20, 20]) // 添加边距
+        
+        console.log('成功适配路径边界，包含', validPointsCount, '个有效点')
+        ElMessage.success(`已显示包含${validPointsCount}个点的完整路径`)
+        
+      } catch (error) {
+        console.error('fitToPath执行错误:', error)
+        ElMessage.error('显示完整路径失败: ' + error.message)
+      }
     }
     
     onMounted(() => {
       // 初始化功能
+      console.log('UnifiedMapView mounted, 准备加载数据...')
+      // 在地图加载完成后自动加载数据
     })
     
     return {
@@ -1453,8 +1550,6 @@ export default {
       activePanel,
       addMode,
       targetPoints,
-      showDrones,
-      showDroneInfo,
       threatZones,
       selectedZoneId,
       currentThreatType,
@@ -1466,8 +1561,6 @@ export default {
       visibleLayers,
       editDialogVisible,
       editForm,
-      drones,
-      selectedDroneId,
       pathPoints,
       planningAlgorithm,
       flightAltitude,
@@ -1479,8 +1572,6 @@ export default {
       onMapClick,
       toggleAddMode,
       clearTargets,
-      toggleDroneVisibility,
-      toggleDroneInfo,
       getAddModeTip,
       getDrawTip,
       handleThreatTypeChange,
@@ -1500,7 +1591,6 @@ export default {
       planPath,
       executePath,
       clearAll,
-      selectDrone,
       updatePlanningAlgorithm,
       updateFlightAltitude,
       updateFlightSpeed,