@fleet-frontend/mower-maps 0.0.8 → 0.0.9-beta.1

package/dist/index.js

@@ -81,7 +81,10 @@ class SvgMapView {
             return;
         this.layers.push(...layers);
         this.layers.sort((a, b) => a.getLevel() - b.getLevel());
-        this.refresh();
+    }
+    getLayer(type) {
+        console.log('getLayer----->', this.layers, type);
+        return this.layers.find((layer) => layer.getType() === type) || null;
     }
     /**
      * 添加图层
@@ -91,14 +94,12 @@ class SvgMapView {
             return;
         this.layers.push(layer);
         this.layers.sort((a, b) => a.getLevel() - b.getLevel());
-        this.refresh();
     }
     /**
      * 移除图层
      */
     removeLayer(layer) {
         const index = this.layers.indexOf(layer);
-        console.log('removeLayer----->', index);
         if (index !== -1) {
             this.layers.splice(index, 1);
             this.refresh();
@@ -109,8 +110,11 @@ class SvgMapView {
      * @param type 图层类型
      */
     removeLayerByType(type) {
-        this.layers = this.layers.filter((layer) => layer.getType() !== type);
-        this.refresh();
+        const layer = this.layers.find((layer) => layer.getType() === type);
+        if (layer) {
+            this.clearLayersGroup(layer);
+            this.layers = this.layers.filter((cLayer) => cLayer.getType() !== type);
+        }
     }
     // ==================== 变换系统 ====================
     /**
@@ -211,6 +215,15 @@ class SvgMapView {
     getLineScale() {
         return this.lineScale;
     }
+    /**
+     * 绘制特定的图层
+     */
+    renderLayer(type) {
+        const layer = this.layers.find((layer) => layer.getType() === type);
+        // 清空图层组
+        this.clearLayersGroup(layer);
+        this.onDrawLayers(type);
+    }
     // ==================== 渲染系统 ====================
     /**
      * 主渲染方法
@@ -221,25 +234,112 @@ class SvgMapView {
         // 绘制所有图层
         this.onDrawLayers();
     }
+    /**
+     * 获取图层id
+     */
+    getLayerId(layer) {
+        return `layer-${layer.getType()}-${layer.getLevel()}`;
+    }
     /**
      * 清空图层组
      */
-    clearLayersGroup() {
-        while (this.layersGroup.firstChild) {
-            this.layersGroup.removeChild(this.layersGroup.firstChild);
+    clearLayersGroup(layer) {
+        if (layer) {
+            const layerId = this.getLayerId(layer);
+            const layerGroup = this.layersGroup.querySelector(`#${layerId}`);
+            if (layerGroup) {
+                this.layersGroup.removeChild(layerGroup);
+            }
+        }
+        else {
+            while (this.layersGroup.firstChild) {
+                this.layersGroup.removeChild(this.layersGroup.firstChild);
+            }
         }
     }
     /**
-     * 绘制所有图层
+     * 获取图层的下一个兄弟元素
+     * 根据图层的level来获取
      */
-    onDrawLayers() {
-        for (const layer of this.layers) {
-            if (layer.isVisible()) {
-                const layerGroup = this.createSVGGroup(`layer-${layer.getLevel()}`);
+    getNextSibling(layer) {
+        const nextLayer = this.layers.find((cLayer) => cLayer.getLevel() > layer.getLevel());
+        const id = `layer-${nextLayer?.getType()}-${nextLayer?.getLevel()}`;
+        const nextSibling = this.layersGroup.querySelector(`#${id}`);
+        return nextSibling;
+    }
+    /**
+     * 绘制图层，不传参数则默认绘制所有图层
+     */
+    onDrawLayers(type) {
+        if (type) {
+            const layer = this.layers.find((layer) => layer.getType() === type);
+            if (layer) {
+                const layerGroup = this.createSVGGroup(`layer-${layer.getType()}-${layer.getLevel()}`);
                 layer.drawSVG(layerGroup, this.scale, this.lineScale);
-                this.layersGroup.appendChild(layerGroup);
+                const nextSibling = this.getNextSibling(layer);
+                if (nextSibling) {
+                    this.layersGroup.insertBefore(layerGroup, nextSibling);
+                }
+                else {
+                    this.layersGroup.appendChild(layerGroup);
+                }
+            }
+        }
+        else {
+            for (const layer of this.layers) {
+                if (layer.isVisible()) {
+                    const layerGroup = this.createSVGGroup(`layer-${layer.getType()}-${layer.getLevel()}`);
+                    layer.drawSVG(layerGroup, this.scale, this.lineScale);
+                    this.layersGroup.appendChild(layerGroup);
+                }
             }
         }
+        // if (type) {
+        //   const layer = this.layers.find((layer) => layer.getType() === type);
+        //   const layerId = this.getLayerId(layer);
+        //   // 记录原始位置信息
+        //   const layerGroup = this.layersGroup.querySelector(`#${layerId}`);
+        //   let nextSibling: Node | null = null;
+        //   if (layerGroup) {
+        //     // 记录被删除元素的下一个兄弟元素，用于确定插入位置
+        //     nextSibling = layerGroup.nextSibling;
+        //     // 删除旧的图层组
+        //     this.layersGroup.removeChild(layerGroup);
+        //     // 从layerId解析出图层类型和层级
+        //     // layerId格式: layer-${type}-${level}
+        //     const layerIdParts = layerId.split('-');
+        //     if (layerIdParts.length >= 3) {
+        //       const layerType = layerIdParts.slice(1, -1).join('-'); // 处理类型名中可能包含连字符的情况
+        //       const layerLevel = parseInt(layerIdParts[layerIdParts.length - 1]);
+        //       // 查找对应的图层对象
+        //       const targetLayer = this.layers.find(layer => 
+        //         layer.getType() === layerType && layer.getLevel() === layerLevel
+        //       );
+        //       if (targetLayer && targetLayer.isVisible()) {
+        //         // 创建新的图层组
+        //         const newLayerGroup = this.createSVGGroup(layerId);
+        //         // 重新绘制图层
+        //         targetLayer.drawSVG(newLayerGroup, this.scale, this.lineScale);
+        //         // 在原始位置插入新元素
+        //         if (nextSibling) {
+        //           this.layersGroup.insertBefore(newLayerGroup, nextSibling);
+        //         } else {
+        //           // 如果没有下一个兄弟元素，说明原来是最后一个，直接appendChild
+        //           this.layersGroup.appendChild(newLayerGroup);
+        //         }
+        //       }
+        //     }
+        //   }
+        // } else {
+        //   // 重绘所有图层
+        //   for (const layer of this.layers) {
+        //     if (layer.isVisible()) {
+        //       const layerGroup = this.createSVGGroup(`layer-${layer.getType()}-${layer.getLevel()}`);
+        //       layer.drawSVG(layerGroup, this.scale, this.lineScale);
+        //       this.layersGroup.appendChild(layerGroup);
+        //     }
+        //   }
+        // }
     }
     /**
      * 刷新渲染
@@ -918,6 +1018,7 @@ class PathLayer extends BaseLayer {
         this.level = 3;
         this.scale = 1;
         this.lineScale = 1;
+        this.boundaryPaths = {};
         this.type = LAYER_DEFAULT_TYPE.PATH;
     }
     /**
@@ -976,14 +1077,18 @@ class PathLayer extends BaseLayer {
         group.setAttribute('opacity', '0.35'); // 统一透明度，防止叠加脏乱
         // 3. 渲染所有路径
         for (const element of this.elements) {
-            this.renderPathToGroup(group, element);
+            const { id, elements } = element;
+            this.boundaryPaths[id] = [];
+            elements.forEach((element) => {
+                this.renderPathToGroup(group, id, element);
+            });
         }
         svgGroup.appendChild(group);
     }
     /**
      * 渲染单个路径到指定的组中
      */
-    renderPathToGroup(group, element) {
+    renderPathToGroup(group, id, element) {
         const { coordinates, style } = element;
         if (coordinates.length < 2)
             return;
@@ -999,7 +1104,7 @@ class PathLayer extends BaseLayer {
         // 直接给fill的颜色设置透明度会导致path重叠的部分颜色叠加，所以使用fill填充实色，通过fill-opacity设置透明度
         path.setAttribute('fill', 'none');
         // path.setAttribute('fill-opacity', '0.4');
-        path.setAttribute('stroke', style.strokeColor || '#000000');
+        path.setAttribute('stroke', style.lineColor || '#000000');
         path.setAttribute('mix-blend-mode', 'normal');
         const lineWidth = Math.max(style.lineWidth || 1, 0.5);
         path.setAttribute('stroke-width', lineWidth.toString());
@@ -1007,13 +1112,8 @@ class PathLayer extends BaseLayer {
         path.setAttribute('stroke-linejoin', 'round');
         // 注意：这里不设置 opacity，因为透明度由父组控制
         // path.setAttribute('vector-effect', 'non-scaling-stroke');
-        if (style.lineDash && style.lineDash.length > 0) {
-            path.setAttribute('stroke-dasharray', style.lineDash.join(','));
-        }
-        else if (style.strokeDasharray) {
-            path.setAttribute('stroke-dasharray', style.strokeDasharray);
-        }
         path.classList.add('vector-path');
+        this.boundaryPaths[id].push(path);
         group.appendChild(path);
     }
 }
@@ -1341,7 +1441,6 @@ class SvgElementLayer extends BaseLayer {
     renderSvgPlaceholder(svgGroup, center, metadata, style) {
         const size = (metadata?.scale || 1) * 20;
         const rect = document.createElementNS('http://www.w3.org/2000/svg', 'rect');
-        console.log('style==', style);
         rect.setAttribute('x', ((center[0] - size / 2) / 50).toString());
         rect.setAttribute('y', ((center[1] - size / 2) / 50).toString());
         rect.setAttribute('width', size.toString());
@@ -1414,6 +1513,7 @@ const BOUNDARY_STYLES = {
     fillColor: 'rgba(239, 255, 237, 0.15)', // 更鲜艳的绿色半透明填充，增强可见性
     lineWidth: 2,
     opacity: DEFAULT_OPACITIES.FULL,
+    mowingLineColor: 'rgba(99, 216, 174, 1)',
 };
 const VISION_OFF_AREA_STYLES = {
     lineColor: 'rgba(108, 167, 255, 1)',
@@ -1445,7 +1545,8 @@ const PATH_EDGE_STYLES = {
     opacity: DEFAULT_OPACITIES.LOW,
     edgeLineColor: 'rgba(194, 203, 212)',
     transLineColor: 'transparent',
-    mowingLineColor: 'rgba(194, 203, 212)',
+    mowedLineColor: 'rgba(194, 203, 212)',
+    mowingLineColor: 'rgba(123, 200, 187)',
 };
 const CHANNEL_STYLES = {
     lineColor: 'purple',
@@ -1513,6 +1614,15 @@ function convertCoordinate(x, y) {
     };
 }
 
+/**
+ * 路径段类型
+ */
+var PathSegmentType;
+(function (PathSegmentType) {
+    PathSegmentType["EDGE"] = "edge";
+    PathSegmentType["MOWING"] = "mowing";
+    PathSegmentType["TRANS"] = "trans";
+})(PathSegmentType || (PathSegmentType = {}));
 /**
  * 按Python逻辑创建路径段：根据连续的两点之间的关系确定线段类型
  */
@@ -1529,11 +1639,11 @@ function createPathSegmentsByType(list) {
     let currentSegmentType = null;
     for (const currentPoint of list) {
         const currentCoord = {
-            x: currentPoint.postureX * SCALE_FACTOR,
-            y: -currentPoint.postureY * SCALE_FACTOR // Y轴翻转
+            x: currentPoint.postureX,
+            y: currentPoint.postureY
         };
         if (lastPoint !== null) {
-            // 判断上一个点和当前点是否需要绘制 (Python逻辑)
+            // 判断上一个点和当前点是否需要绘制 (iso端逻辑)
             const lastShouldDraw = lastPoint.pathType === '00' || lastPoint.pathType === '01' || lastPoint.knifeRotation === '01';
             const currentShouldDraw = currentPoint.pathType === '00' || currentPoint.pathType === '01' || currentPoint.knifeRotation === '01';
             let segmentType;
@@ -1553,8 +1663,8 @@ function createPathSegmentsByType(list) {
                 // 开始新段
                 currentSegment = [
                     {
-                        x: lastPoint.postureX * SCALE_FACTOR,
-                        y: -lastPoint.postureY * SCALE_FACTOR
+                        x: lastPoint.postureX,
+                        y: lastPoint.postureY
                     },
                     currentCoord
                 ];
@@ -1858,181 +1968,6 @@ function generateBoundaryData(mapData, pathData) {
     return boundaryData;
 }
 
-/**
- * 数据格式化转换类 - TypeScript版本
- * 对应Java FormatUtils.java中的bytes2Int函数
- */
-class FormatUtils {
-    /**
-     * 从data数组的第0位开始取4个字节组成一个int型数
-     * 对应Java: public static int bytes2Int(byte[] data)
-     *
-     * @param data 源字节数组
-     * @returns 返回int型数
-     */
-    //   public static bytes2Int(data: Uint8Array): number {
-    //     return FormatUtils.bytes2IntWithOffset(data, 0, false);
-    //   }
-    /**
-     * 从data数组的第position位置开始取4个字节组成int型数
-     * 对应Java: public static int bytes2Int(byte[] data, int offset, boolean bigEndian)
-     *
-     * @param data 源字节数组
-     * @param offset 要组成int型数据的起始位置
-     * @param bigEndian 是否为大端
-     * @returns 返回int型数
-     */
-    static bytes2Int(data, offset, bigEndian) {
-        return FormatUtils.bytes2IntWidthLength(data, offset, bigEndian, 4);
-    }
-    /**
-     * 从data数组的第position位置开始取几个字节组成int型数
-     * 对应Java: public static int bytes2Int(byte[] data, int offset, boolean bigEndian, int length)
-     *
-     * @param data 源字节数组
-     * @param offset 要组成int型数据的起始位置
-     * @param bigEndian 是否为大端
-     * @param length 取的字节长度
-     * @returns 返回int型数
-     */
-    static bytes2IntWidthLength(data, offset, bigEndian, length) {
-        if (!data || offset < 0 || offset > data.length) {
-            return 0;
-        }
-        let result = 0;
-        try {
-            // 创建DataView来处理字节序
-            const buffer = new ArrayBuffer(length);
-            const view = new DataView(buffer);
-            // 将指定长度的数据复制到buffer中
-            const tempArray = new Uint8Array(buffer);
-            for (let i = 0; i < length && offset + i < data.length; i++) {
-                tempArray[i] = data[offset + i];
-            }
-            // 根据字节序读取数据（使用有符号整数，与Java保持一致）
-            if (length === 1) {
-                result = view.getInt8(0);
-            }
-            else if (length === 2) {
-                result = view.getInt16(0, !bigEndian); // DataView的littleEndian参数与bigEndian相反
-            }
-            else if (length === 4) {
-                result = view.getInt32(0, !bigEndian); // 改为 getInt32，返回有符号整数
-            }
-            else {
-                // 对于其他长度，手动处理
-                result = FormatUtils.manualBytes2Int(data, offset, bigEndian, length);
-            }
-        }
-        catch (e) {
-            // console.error(
-            //   `${FormatUtils.TAG}: bytes2Int: Exception : data = ${data}, offset = ${offset}`,
-            //   e
-            // );
-            // console.log(
-            //   `${FormatUtils.TAG}: bytes2Int: Exception = ${e instanceof Error ? e.message : e}`
-            // );
-        }
-        return result;
-    }
-    /**
-     * 手动处理字节到整数的转换（用于非标准长度）
-     *
-     * @param data 源字节数组
-     * @param offset 起始位置
-     * @param bigEndian 是否为大端
-     * @param length 字节长度
-     * @returns 转换后的整数
-     */
-    static manualBytes2Int(data, offset, bigEndian, length) {
-        let result = 0;
-        if (bigEndian) {
-            // 大端序：最高位字节在最低地址
-            for (let i = 0; i < length && offset + i < data.length; i++) {
-                result = (result << 8) | (data[offset + i] & 0xff);
-            }
-        }
-        else {
-            // 小端序：最低位字节在最低地址
-            for (let i = length - 1; i >= 0; i--) {
-                if (offset + i < data.length) {
-                    result = (result << 8) | (data[offset + i] & 0xff);
-                }
-            }
-        }
-        return result;
-    }
-    /**
-     * 将字节数组转换为十六进制字符串
-     * 对应Java: public static String bytesToHex(byte[] bytes)
-     *
-     * @param bytes 字节数组
-     * @returns 十六进制字符串
-     */
-    static bytesToHex(bytes) {
-        if (!bytes) {
-            return 'null';
-        }
-        const hexArray = '0123456789ABCDEF'.split('');
-        const hexChars = [];
-        for (let j = 0; j < bytes.length; j++) {
-            const v = bytes[j] & 0xff;
-            hexChars.push(hexArray[v >>> 4]);
-            hexChars.push(hexArray[v & 0x0f]);
-        }
-        return hexChars.join('');
-    }
-    /**
-     * 将十六进制字符串转换为字节数组
-     * 对应Java: public static byte[] hexStringToByteArray(String s)
-     *
-     * @param s 十六进制字符串
-     * @returns 字节数组
-     */
-    static hexStringToByteArray(s) {
-        if (!s || s.length <= 0) {
-            return null;
-        }
-        s = s.trim();
-        const len = s.length;
-        const data = new Uint8Array(len / 2);
-        for (let i = 0; i < len - 1; i += 2) {
-            try {
-                const high = parseInt(s.charAt(i), 16);
-                const low = parseInt(s.charAt(i + 1), 16);
-                data[i / 2] = (high << 4) + low;
-            }
-            catch (e) {
-                console.log('hexStringToByteArray: ' + e);
-            }
-        }
-        return data;
-    }
-}
-FormatUtils.TAG = 'FormatUtils';
-// 使用示例
-// export function example() {
-//     // 示例1：从字节数组开头读取4字节整数（小端序）
-//     const data1 = new Uint8Array([0x12, 0x34, 0x56, 0x78]);
-//     const result1 = FormatUtils.bytes2Int(data1); // 应该返回 0x78563412
-//     // 示例2：从指定位置读取4字节整数（大端序）
-//     const data2 = new Uint8Array([0x00, 0x00, 0x12, 0x34, 0x56, 0x78]);
-//     const result2 = FormatUtils.bytes2Int(data2, 2, true); // 应该返回 0x12345678
-//     // 示例3：读取2字节整数
-//     const data3 = new Uint8Array([0x12, 0x34]);
-//     const result3 = FormatUtils.bytes2Int(data3, 0, false, 2); // 应该返回 0x3412
-//     console.log(`Result1: 0x${result1.toString(16)}`);
-//     console.log(`Result2: 0x${result2.toString(16)}`);
-//     console.log(`Result3: 0x${result3.toString(16)}`);
-//     // 示例4：十六进制字符串转换
-//     const hexString = "12345678";
-//     const byteArray = FormatUtils.hexStringToByteArray(hexString);
-//     const backToHex = FormatUtils.bytesToHex(byteArray);
-//     console.log(`Original: ${hexString}`);
-//     console.log(`To bytes: ${byteArray}`);
-//     console.log(`Back to hex: ${backToHex}`);
-// }
-
 /**
  * 射线法判断点是否在多边形内部
  * @param x 点的x坐标
@@ -2127,50 +2062,6 @@ const getPartitionId = (partitionBoundary, postureX, postureY) => {
     })?.id;
     return partitionId;
 };
-/**
- *
- * 支持分区割草后的解析，加入了分区数量、分区列表
- * 8	割草路径类型
- * 4	割草启动类型	0：自动  1：手动
- * 4	当前割草边界id
- * 4	当前边界割草百分比	比如9800----98%
- * @returns
- */
-const parseMapWorkPosition = (mapWorkPosition) => {
-    let isMowing = false;
-    let mowStartType = null;
-    let currentMowBoundaryId = null;
-    let currentMowProgress = null;
-    const bytes = new Uint8Array(mapWorkPosition.match(/.{1,2}/g)?.map((byte) => parseInt(byte, 16)) || []);
-    if (mapWorkPosition.length >= 8) {
-        // 以下两种状态认为是割草中
-        // 1. action为8，且subAction为6
-        // 2. action为5
-        const action = FormatUtils.bytes2Int(bytes, 0, true);
-        if (action === ACTION_BOUNDARY_TASK) {
-            const subAction = FormatUtils.bytes2Int(bytes, 4, true);
-            if (subAction === ACTION_BLOCK_TRANSFER) {
-                // action=8且subAction=6：边界任务中的块转移
-                isMowing = true;
-            }
-        }
-        else if (action === ACTION_BLOCK_COVER) {
-            // action=5：块覆盖割草
-            isMowing = true;
-        }
-        if (mapWorkPosition.length >= 16) {
-            mowStartType = FormatUtils.bytes2Int(bytes, 8, true);
-            currentMowBoundaryId = FormatUtils.bytes2Int(bytes, 12, true);
-            currentMowProgress = FormatUtils.bytes2Int(bytes, 16, true);
-        }
-    }
-    return {
-        isMowing,
-        mowStartType,
-        currentMowBoundaryId,
-        currentMowProgress,
-    };
-};
 /**
  * 处理实时数据的消息，这里的实时数据消息有两种，一种是实时轨迹，一种是割草进度，其中这两种下发的时间频次不一样
  * 实时轨迹的路径需要依靠割草进度时候的割草状态判断，目前只能根据上一次获取到的割草进度的状态来处理，如果一开始没有割草的状态，则默认为不割草，后续会根据割草进度来更新
@@ -2178,7 +2069,7 @@ const parseMapWorkPosition = (mapWorkPosition) => {
  * @param param0
  * @returns
  */
-const handleRealTimeData = ({ realTimeData, isMowing, pathData, partitionBoundary, }) => {
+const handleMultipleRealTimeData = ({ realTimeData, isMowing, pathData, partitionBoundary, }) => {
     // 先将数据进行倒排，这样好插入数据
     if (realTimeData.length > 0) {
         realTimeData.reverse();
@@ -2206,7 +2097,7 @@ const handleRealTimeData = ({ realTimeData, isMowing, pathData, partitionBoundar
                             postureY: Number(postureY),
                             knifeRotation: mowingStatus && vehicleState === RobotStatus.MOWING ? '01' : '00', // "knifeRotation": "01",//刀盘是否转动 00-否 01-是
                             // knifeRotation: '01', // "knifeRotation": "01",//刀盘是否转动 00-否 01-是
-                            pathType: '01', //"pathType": "01",//路径类型 : 00-巡边 01-弓字型割草 02-地图测试 03-转移路径 04-避障路径 05-恢复/脱困路径
+                            pathType: '', //"pathType": "01",//路径类型 : 00-巡边 01-弓字型割草 02-地图测试 03-转移路径 04-避障路径 05-恢复/脱困路径
                             partitionId: currentPartitionId.toString(), // TODO：不知道为什么这里的id需要是字符串类型？
                         },
                     ],
@@ -2215,21 +2106,20 @@ const handleRealTimeData = ({ realTimeData, isMowing, pathData, partitionBoundar
         }
         else if (item.type === REAL_TIME_DATA_TYPE.PROCESS) {
             // 割草进度
-            const { mapWorkPosition } = item;
-            if (mapWorkPosition) {
-                // 解析mapWorkPosition数据，获取到当前的割草状态，割草进度，割草边界id
-                const { isMowing, currentMowBoundaryId, currentMowProgress } = parseMapWorkPosition(mapWorkPosition);
-                // const { isMowing, currentMowBoundaryId, currentMowProgress } = parseMapWorkPosition(
-                //   '000000060000000000000001000000030000001BA5A5A5A5A5A5A5A5240000A024010D50FFFFFFED000000000000000000000000000000010000000000000000'
-                // );
-                console.log('isMowing===', isMowing, currentMowBoundaryId, currentMowProgress);
-                mowingStatus = isMowing;
-                const currentPartitionId = currentMowBoundaryId ? currentMowBoundaryId.toString() : null;
-                if (currentMowProgress && currentPartitionId && newPathData?.[currentPartitionId]) {
-                    newPathData[currentPartitionId].partitionPercentage = currentMowProgress / 100;
-                    newPathData[currentPartitionId].finishedArea =
-                        (newPathData[currentPartitionId].area * currentMowProgress) / 10000;
-                }
+            const { action, subAction, currentMowBoundary, currentMowProgress } = item;
+            // 设置状态
+            if ((action === ACTION_BOUNDARY_TASK && subAction && subAction === ACTION_BLOCK_TRANSFER) ||
+                action === ACTION_BLOCK_COVER) {
+                mowingStatus = true;
+            }
+            else {
+                mowingStatus = false;
+            }
+            const currentPartitionId = currentMowBoundary ? currentMowBoundary.toString() : null;
+            if (currentMowProgress && currentPartitionId && newPathData?.[currentPartitionId]) {
+                newPathData[currentPartitionId].partitionPercentage = currentMowProgress / 100;
+                newPathData[currentPartitionId].finishedArea =
+                    (newPathData[currentPartitionId].area * currentMowProgress) / 10000;
             }
         }
     });
@@ -2238,6 +2128,39 @@ const handleRealTimeData = ({ realTimeData, isMowing, pathData, partitionBoundar
         isMowing: mowingStatus,
     };
 };
+/**
+ * 根据实时数据，获取到割草状态
+ * @param realTimeData 实时数据
+ * @param isMowing 上一次的割草状态
+ * @returns 新的割草状态
+ */
+const getProcessMowingDataFromRealTimeData = ({ realTimeData, isMowing, pathData, }) => {
+    let newMowingStatus = isMowing;
+    let newPathData = pathData || {};
+    // 找到返回的第一个实时进度的点
+    const firstProcessData = realTimeData.find((item) => item.type === REAL_TIME_DATA_TYPE.PROCESS);
+    if (firstProcessData) {
+        // console.log('firstProcessData==', firstProcessData);
+        const { action, subAction, currentMowBoundary, currentMowProgress } = firstProcessData;
+        // 设置状态
+        if ((action === ACTION_BOUNDARY_TASK && subAction && subAction === ACTION_BLOCK_TRANSFER) ||
+            action === ACTION_BLOCK_COVER) {
+            newMowingStatus = true;
+        }
+        else {
+            newMowingStatus = false;
+        }
+        if (currentMowBoundary && newPathData?.[currentMowBoundary]) {
+            newPathData[currentMowBoundary].partitionPercentage = currentMowProgress / 100;
+            newPathData[currentMowBoundary].finishedArea =
+                (newPathData[currentMowBoundary].area * currentMowProgress) / 10000;
+        }
+    }
+    return {
+        isMowing: newMowingStatus,
+        pathData: newPathData,
+    };
+};
 
 var iMower = "data:image/png;base64,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";
 
@@ -2294,6 +2217,8 @@ function getNoPositionMowerImageByModal(mowerModal) {
     return iNoPosition;
 }
 function getMowerImage(positonConfig) {
+    if (!positonConfig)
+        return '';
     const model = positonConfig.vehicleModel || '';
     const state = positonConfig.vehicleState;
     const mowerImage = getMowerImageByModal(model);
@@ -2331,9 +2256,9 @@ function isInvalidPosition(positonConfig) {
 }
 function isOutOfRange(positonConfig) {
     return (positonConfig.postureX != null &&
-        Math.abs(positonConfig.postureX) > 1000 * SCALE_FACTOR &&
+        Math.abs(positonConfig.postureX) > 1000 &&
         positonConfig.postureY != null &&
-        Math.abs(positonConfig.postureY) > 1000 * SCALE_FACTOR);
+        Math.abs(positonConfig.postureY) > 1000);
 }
 
 /** Detect free variable `global` from Node.js. */
@@ -4399,7 +4324,7 @@ function cloneBuffer(buffer, isDeep) {
 }
 
 /** Built-in value references. */
-var Uint8Array$1 = root.Uint8Array;
+var Uint8Array = root.Uint8Array;
 
 /**
  * Creates a clone of `arrayBuffer`.
@@ -4410,7 +4335,7 @@ var Uint8Array$1 = root.Uint8Array;
  */
 function cloneArrayBuffer(arrayBuffer) {
   var result = new arrayBuffer.constructor(arrayBuffer.byteLength);
-  new Uint8Array$1(result).set(new Uint8Array$1(arrayBuffer));
+  new Uint8Array(result).set(new Uint8Array(arrayBuffer));
   return result;
 }
 
@@ -4788,10 +4713,6 @@ function radToDegree(radian) {
 function distance(x1, y1, x2, y2) {
     return Math.sqrt(Math.pow(x1 - x2, 2) + Math.pow(y1 - y2, 2));
 }
-// 计算前进方向和车头的夹角
-function calAngle(x1, y1, x2, y2) {
-    return Math.atan2((y2 - y1), (x2 - x1));
-}
 const mathRound = (value, decimals = 2) => {
     return Number.isInteger(value) ? value : round(value, decimals);
 };
@@ -5037,6 +4958,7 @@ class BoundaryBorderLayer extends BaseLayer {
         this.scale = 1;
         this.level = LAYER_LEVELS.BOUNDARY_BORDER; // 中等层级
         this.type = LAYER_DEFAULT_TYPE.BOUNDARY_BORDER;
+        this.boudaryBorderPaths = {};
     }
     /**
      * SVG渲染方法
@@ -5057,7 +4979,8 @@ class BoundaryBorderLayer extends BaseLayer {
      * 渲染边界边框
      */
     renderBoundaryBorder(svgGroup, element) {
-        const { coordinates, style } = element;
+        const { coordinates, style, originalData } = element;
+        const { id } = originalData || {};
         if (coordinates.length < 2)
             return;
         // 1. 先遍历所有的coordinates，把所有点分为若干段的path
@@ -5068,19 +4991,19 @@ class BoundaryBorderLayer extends BaseLayer {
                 return;
             if (segment.type === 2) {
                 // type=2: 直接添加到svgGroup中
-                this.createDirectPath(svgGroup, segment.points, style);
+                this.createDirectPath(svgGroup, segment.points, style, id);
             }
             else if (segment.type === 1) {
                 // type=1: 使用PathMeasure逻辑生成平行路径
                 // this.createDirectPath(svgGroup, segment.points, style);
-                this.createParallelPathsWithMeasure(svgGroup, segment.points, style);
+                this.createParallelPathsWithMeasure(svgGroup, segment.points, style, id);
             }
         });
     }
     /**
      * 创建直接路径（type=2）
      */
-    createDirectPath(svgGroup, points, style) {
+    createDirectPath(svgGroup, points, style, id) {
         const strokeColor = style.lineColor;
         const lineWidth = dp2px(style.lineWidth || 3);
         const path = document.createElementNS('http://www.w3.org/2000/svg', 'path');
@@ -5104,12 +5027,16 @@ class BoundaryBorderLayer extends BaseLayer {
         path.setAttribute('opacity', (style.opacity || 1).toString());
         path.setAttribute('vector-effect', 'non-scaling-stroke');
         path.classList.add('vector-boundary-solid');
+        if (!this.boudaryBorderPaths[id]) {
+            this.boudaryBorderPaths[id] = [];
+        }
+        this.boudaryBorderPaths[id].push(path);
         svgGroup.appendChild(path);
     }
     /**
      * 使用PathMeasure逻辑创建平行路径（type=1）
      */
-    createParallelPathsWithMeasure(svgGroup, points, style) {
+    createParallelPathsWithMeasure(svgGroup, points, style, id) {
         const strokeColor = style.lineColor;
         const lineWidth = dp2px(style.lineWidth || 3);
         // 获取当前SVG的缩放级别，计算固定屏幕像素间距
@@ -5133,6 +5060,10 @@ class BoundaryBorderLayer extends BaseLayer {
             // 或者可以根据当前缩放级别动态计算dash array
             path.style.strokeDasharray = `${lineWidth}px ${lineWidth * 2}px`;
             path.classList.add(`vector-boundary-parallel-${index + 1}`);
+            if (!this.boudaryBorderPaths[id]) {
+                this.boudaryBorderPaths[id] = [];
+            }
+            this.boudaryBorderPaths[id].push(path);
             svgGroup.appendChild(path);
         });
     }
@@ -5222,6 +5153,9 @@ class BoundaryBorderLayer extends BaseLayer {
         }
         return segments;
     }
+    resetPaths() {
+        this.boudaryBorderPaths = {};
+    }
 }
 
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@@ -5434,7 +5368,7 @@ class DrawLayer extends BaseLayer {
             this.pointLayer,
             this.svgElementLayer,
             this.visionOffLayer,
-        ];
+        ]?.filter((layer) => layer.getElements().length > 0);
     }
     getPathLayers() {
         return this.pathLayer;
@@ -5763,7 +5697,6 @@ class MapDataProcessor {
         if (mapData.vision_off_areas && mapData.vision_off_areas.length > 0) {
             allElements.push(...mapData.vision_off_areas);
         }
-        console.log('allElements', allElements);
         // 按照元素类型分组并设置不同的层级
         return this.createLayeredMapData(allElements);
     }
@@ -5914,7 +5847,6 @@ class MapDataProcessor {
                                 element.direction !== undefined) {
                                 const mapElement = element;
                                 const svgElement = SvgElementDataBuilder.fromMapElement(mapElement, this.mapConfig.doodle);
-                                console.log('svgElement==', svgElement);
                                 if (svgElement)
                                     result.push(svgElement);
                             }
@@ -5971,35 +5903,15 @@ class PathDataBuilder {
             style,
         };
     }
-    // /**
-    //  * 创建隧道元素数据
-    //  */
-    // static createTunnel(element: MapElement): DrawElement | null {
-    //   const convertedPoints = convertPointsFormat(element.tunnel?.points || element.points);
-    //   if (!convertedPoints || convertedPoints.length < 2) return null;
-    //   return this.create(convertedPoints, DEFAULT_STYLES.PATH_EDGE);
-    // }
-    // /**
-    //  * 创建充电桩内部隧道路径（用于CHARGING_PILE元素中的tunnel.points）
-    //  */
-    // static createChargingPileTunnelPath(element: MapElement): DrawElement | null {
-    //   if (!element.tunnel || !element.tunnel.points) return null;
-    //   const convertedTunnelPoints = convertPointsFormat(element.tunnel.points);
-    //   if (!convertedTunnelPoints || convertedTunnelPoints.length < 2) return null;
-    //   return this.create(convertedTunnelPoints, {
-    //     strokeColor: DEFAULT_STYLES.CHANNEL.strokeColor,
-    //     lineWidth: 2,
-    //     opacity: 1.0
-    //   });
-    // }
     /**
      * 创建边缘路径
      */
     static createEdgePath(points, config) {
-        const drawElement = this.create(points, {
-            strokeColor: config?.color || DEFAULT_STYLES.PATH_EDGE.strokeColor,
-            lineWidth: config?.lineWidth || 2,
-            opacity: config?.opacity || 1.0,
+        const convertedPoints = convertPointsFormat(points);
+        const drawElement = this.create(convertedPoints, {
+            lineColor: config?.color,
+            lineWidth: config?.lineWidth,
+            opacity: config?.opacity,
         });
         drawElement.originalData = points;
         return drawElement;
@@ -6008,10 +5920,11 @@ class PathDataBuilder {
      * 创建割草路径
      */
     static createMowingPath(points, config) {
-        const drawElement = this.create(points, {
-            strokeColor: config?.color || DEFAULT_STYLES.PATH_EDGE.strokeColor,
-            lineWidth: config?.lineWidth || DEFAULT_STYLES.PATH_EDGE.lineWidth,
-            opacity: config?.opacity || 1.0,
+        const convertedPoints = convertPointsFormat(points);
+        const drawElement = this.create(convertedPoints, {
+            lineColor: config?.color,
+            lineWidth: config?.lineWidth,
+            opacity: config?.opacity,
         });
         drawElement.originalData = points;
         return drawElement;
@@ -6020,11 +5933,11 @@ class PathDataBuilder {
      * 创建传输路径
      */
     static createTransPath(points, config) {
-        const drawElement = this.create(points, {
-            strokeColor: config?.color || DEFAULT_STYLES.PATH_EDGE.strokeColor,
-            lineWidth: config?.lineWidth || DEFAULT_STYLES.PATH_EDGE.lineWidth,
-            lineDash: [5, 5], // 虚线样式
-            opacity: config?.opacity || 1.0,
+        const convertedPoints = convertPointsFormat(points);
+        const drawElement = this.create(convertedPoints, {
+            lineColor: config?.color,
+            lineWidth: config?.lineWidth,
+            opacity: config?.opacity,
         });
         drawElement.originalData = points;
         return drawElement;
@@ -6043,55 +5956,60 @@ class PathDataProcessor {
         if (!pathData || typeof pathData !== 'object') {
             return [];
         }
-        // 获取所有分区的路径数据
-        const allPathItems = Object.values(pathData).reduce((acc, partitionData) => {
-            if (partitionData && partitionData.points && partitionData.points.length > 0) {
-                acc.push(...partitionData.points);
-            }
-            return acc;
-        }, []);
         // 合并配置
         const config = mapConfig.path;
-        // 使用Python相同的逻辑：按线段分组而不是按点分组
-        const pathSegments = createPathSegmentsByType(allPathItems);
-        const elements = [];
-        // 处理边缘路径段
-        for (const segment of pathSegments.edge) {
-            // 转换 Point[] 为 number[][]
-            const points = segment.points.map((point) => [point.x, point.y]);
-            const element = PathDataBuilder.createEdgePath(points, {
-                lineWidth: config.lineWidth,
-                color: config.edgeLineColor,
-                opacity: config.opacity,
-            });
-            element.originalData = points;
-            elements.push(element);
-        }
-        // 处理割草路径段
-        for (const segment of pathSegments.mowing) {
-            // 转换 Point[] 为 number[][]
-            const points = segment.points.map((point) => [point.x, point.y]);
-            const element = PathDataBuilder.createMowingPath(points, {
-                lineWidth: config.lineWidth,
-                color: config.mowingLineColor,
-                opacity: config.opacity,
-            });
-            element.originalData = points;
-            elements.push(element);
-        }
-        // 处理传输路径段（只有在showTransPaths为true时才添加）
-        for (const segment of pathSegments.trans) {
-            // 转换 Point[] 为 number[][]
-            const points = segment.points.map((point) => [point.x, point.y]);
-            const element = PathDataBuilder.createTransPath(points, {
-                lineWidth: config.lineWidth,
-                color: config.transLineColor,
-                opacity: config.opacity,
-            });
-            element.originalData = points;
-            elements.push(element);
-        }
-        return elements;
+        const result = Object.keys(pathData).map((key) => {
+            const id = Number(key);
+            const points = pathData[key].points || [];
+            // 使用Python相同的逻辑：按线段分组而不是按点分组
+            const pathSegments = createPathSegmentsByType(points);
+            const elements = [];
+            // 处理边缘路径段
+            for (const segment of pathSegments.edge) {
+                // 转换 Point[] 为 number[][]
+                const points = segment.points.map((point) => [point.x, point.y]);
+                const element = PathDataBuilder.createEdgePath(points, {
+                    lineWidth: config.lineWidth,
+                    color: config.edgeLineColor,
+                    opacity: config.opacity,
+                });
+                element.originalData = points;
+                element.pathType = PathSegmentType.EDGE;
+                elements.push(element);
+            }
+            // 处理割草路径段
+            for (const segment of pathSegments.mowing) {
+                // 转换 Point[] 为 number[][]
+                const points = segment.points.map((point) => [point.x, point.y]);
+                const element = PathDataBuilder.createMowingPath(points, {
+                    lineWidth: config.lineWidth,
+                    color: config.mowedLineColor,
+                    opacity: config.opacity,
+                });
+                element.originalData = points;
+                element.pathType = PathSegmentType.MOWING;
+                elements.push(element);
+            }
+            // 处理传输路径段（只有在showTransPaths为true时才添加）
+            for (const segment of pathSegments.trans) {
+                // 转换 Point[] 为 number[][]
+                const points = segment.points.map((point) => [point.x, point.y]);
+                const element = PathDataBuilder.createTransPath(points, {
+                    lineWidth: config.lineWidth,
+                    color: config.transLineColor,
+                    opacity: config.opacity,
+                });
+                element.originalData = points;
+                element.pathType = PathSegmentType.TRANS;
+                elements.push(element);
+            }
+            return {
+                id,
+                elements,
+            };
+        });
+        console.log('result->', result);
+        return result;
     }
 }
 
@@ -6106,6 +6024,8 @@ class BoundaryLabelsManager {
         this.globalClickHandler = null;
         // 当前展开的边界id
         this.currentExpandedBoundaryId = null;
+        // 旋转角度
+        this.rotation = 0;
         this.svgView = svgView;
         this.boundaryData = boundaryData;
         this.initializeContainer();
@@ -6182,17 +6102,17 @@ class BoundaryLabelsManager {
         labelDiv.style.fontWeight = 'bold';
         labelDiv.style.whiteSpace = 'nowrap';
         labelDiv.style.maxWidth = '220px';
-        labelDiv.style.transform = 'translate(-50%, -50%)';
+        labelDiv.style.transform = `translate(-50%, -50%) rotate(${-this.rotation}deg)`;
         labelDiv.style.pointerEvents = 'auto';
         labelDiv.style.boxShadow = '0 2px 8px rgba(0,0,0,0.4)';
         labelDiv.style.cursor = 'pointer';
-        labelDiv.style.transition = 'background-color 0.2s ease, transform 0.2s ease';
+        labelDiv.style.transition = 'background-color 0.2s ease';
         labelDiv.style.userSelect = 'none';
         labelDiv.style.zIndex = BoundaryLabelsManager.Z_INDEX.DEFAULT.toString();
         // 计算进度
-        const progress = boundary.finishedArea && boundary.area ?
-            `${Math.round((boundary.finishedArea / boundary.area) * 100)}%` :
-            '0%';
+        const progress = boundary.finishedArea && boundary.area
+            ? `${Math.round((boundary.finishedArea / boundary.area) * 100)}%`
+            : '0%';
         // 基础内容（始终显示）
         const baseContent = document.createElement('div');
         baseContent.className = 'boundary-label-base';
@@ -6204,7 +6124,8 @@ class BoundaryLabelsManager {
         extendedContent.style.marginTop = '6px';
         extendedContent.style.fontSize = '11px';
         extendedContent.style.opacity = '0.9';
-        extendedContent.style.display = this.currentExpandedBoundaryId === boundary.id ? 'block' : 'none';
+        extendedContent.style.display =
+            this.currentExpandedBoundaryId === boundary.id ? 'block' : 'none';
         extendedContent.style.borderTop = '1px solid rgba(255,255,255,0.2)';
         extendedContent.style.paddingTop = '6px';
         // 面积信息
@@ -6285,7 +6206,7 @@ class BoundaryLabelsManager {
         if (!this.container)
             return;
         const allLabels = this.container.querySelectorAll('.boundary-label');
-        allLabels.forEach(label => {
+        allLabels.forEach((label) => {
             const labelBoundaryId = label.getAttribute('data-boundary-id');
             if (labelBoundaryId && labelBoundaryId !== boundaryId.toString()) {
                 const extendedContent = label.querySelector('.boundary-label-extended');
@@ -6318,6 +6239,7 @@ class BoundaryLabelsManager {
      * @param viewBox SVG的viewBox信息
      */
     updatePositionsWithPrecomputedData(divWidth, divHeight, viewBox) {
+        console.log('updatePositionsWithPrecomputedData----->', this.rotation);
         if (!this.container || !this.svgView)
             return;
         const dw = parseFloat(this.svgView.getSVG().getAttribute('width')) || divWidth;
@@ -6388,7 +6310,7 @@ class BoundaryLabelsManager {
         if (points.length < 3)
             return null;
         // 过滤有效点
-        const validPoints = points.filter(point => point.length >= 2);
+        const validPoints = points.filter((point) => point.length >= 2);
         if (validPoints.length < 3)
             return null;
         // 确保多边形是封闭的（如果不是，自动闭合）
@@ -6437,7 +6359,7 @@ class BoundaryLabelsManager {
         });
         return {
             x: sumX / points.length,
-            y: sumY / points.length
+            y: sumY / points.length,
         };
     }
     /**
@@ -6533,7 +6455,7 @@ class BoundaryLabelsManager {
             return;
         const allLabels = this.container.querySelectorAll('.boundary-label');
         this.currentExpandedBoundaryId = null;
-        allLabels.forEach(label => {
+        allLabels.forEach((label) => {
             const extendedContent = label.querySelector('.boundary-label-extended');
             if (extendedContent) {
                 extendedContent.style.display = 'none';
@@ -6548,7 +6470,7 @@ class BoundaryLabelsManager {
         if (!this.container)
             return;
         const allLabels = this.container.querySelectorAll('.boundary-label');
-        allLabels.forEach(label => {
+        allLabels.forEach((label) => {
             const labelElement = label;
             if (interactive) {
                 labelElement.style.pointerEvents = 'auto';
@@ -6579,22 +6501,39 @@ class BoundaryLabelsManager {
         return BoundaryLabelsManager.Z_INDEX;
     }
     /**
-     * 调试方法：检查当前所有边界标签的层级
+     * 设置标签旋转角度，使其与地图旋转相反，保持水平状态
+     * @param rotation 地图的旋转角度（度）
      */
-    debugCheckZIndex() {
+    setRotation(rotation) {
         if (!this.container)
             return;
-        const allLabels = this.container.querySelectorAll('.boundary-label');
-        allLabels.forEach((label, index) => {
+        this.rotation = rotation;
+        const labels = this.container.querySelectorAll('.boundary-label');
+        labels.forEach((label) => {
+            const labelElement = label;
+            // 应用与地图旋转相反的旋转，保持标签水平
+            const counterRotation = -rotation;
+            labelElement.style.transform = `translate(-50%, -50%) rotate(${counterRotation}deg)`;
+        });
+    }
+    /**
+     * 重置标签旋转角度
+     */
+    resetLabelsRotation() {
+        if (!this.container)
+            return;
+        const labels = this.container.querySelectorAll('.boundary-label');
+        labels.forEach((label) => {
             const labelElement = label;
-            labelElement.style.zIndex;
+            // 重置为默认的居中变换
+            labelElement.style.transform = 'translate(-50%, -50%)';
         });
     }
 }
 // 简化的层级定义
 BoundaryLabelsManager.Z_INDEX = {
     DEFAULT: 900, // 默认层级
-    ACTIVE: 9999 // 点击激活时的高层级
+    ACTIVE: 9999, // 点击激活时的高层级
 };
 
 /**
@@ -6607,6 +6546,10 @@ class ChargingPileManager {
         this.container = null;
         this.overlayDiv = null;
         this.pileElements = new Map();
+        // 原始旋转角度
+        this.originalRotation = 0;
+        // 旋转角度
+        this.rotation = 0;
         this.svgView = svgView;
         this.initializeContainer();
     }
@@ -6661,7 +6604,9 @@ class ChargingPileManager {
         // 将弧度转换为角度
         const angle = (direction * 180) / Math.PI;
         const rotationDegree = 270 - angle; // 坐标系转换
-        pileDiv.style.transform = `translate(-50%, -50%) rotate(${rotationDegree}deg)`;
+        this.originalRotation = rotationDegree;
+        const actualRotation = rotationDegree - this.rotation;
+        pileDiv.style.transform = `translate(-50%, -50%) rotate(${actualRotation}deg)`;
         // 添加动画
         // this.addChargingPileAnimation(pileDiv, imgElement, rotationDegree);
         // 生成唯一ID
@@ -6710,30 +6655,15 @@ class ChargingPileManager {
     updatePositions() {
         if (!this.overlayDiv || !this.container)
             return;
-        const divRect = this.overlayDiv.getBoundingClientRect();
-        const divWidth = divRect.width;
-        const divHeight = divRect.height;
-        // 获取SVG的viewBox
-        const svg = this.svgView.getSVG();
-        if (!svg)
-            return;
-        const viewBox = svg.viewBox.baseVal;
-        const viewBoxData = {
-            x: viewBox.x,
-            y: viewBox.y,
-            width: viewBox.width,
-            height: viewBox.height,
-        };
-        this.updatePositionsWithPrecomputedData(divWidth, divHeight, viewBoxData);
+        this.updatePositionsWithPrecomputedData();
     }
     /**
      * 使用预计算数据更新位置
      */
-    updatePositionsWithPrecomputedData(divWidth, divHeight, viewBox) {
+    updatePositionsWithPrecomputedData() {
         this.chargingPileElements.forEach((element, _index) => {
             const center = element.coordinates[0];
-            const pixelPosition = this.convertMapCoordinateToPixelWithPrecomputedData(center[0], center[1], divWidth, divHeight, viewBox);
-            console.log('updatePositionsWithPrecomputedData----->', element, pixelPosition, divWidth, divHeight, viewBox);
+            const pixelPosition = this.convertMapCoordinateToPixelWithPrecomputedData(center[0], center[1]);
             if (pixelPosition) {
                 const pileId = `pile_${center[0]}_${center[1]}`;
                 const pileElement = this.pileElements.get(pileId);
@@ -6747,7 +6677,15 @@ class ChargingPileManager {
     /**
      * 使用预计算数据进行坐标转换
      */
-    convertMapCoordinateToPixelWithPrecomputedData(mapX, mapY, divWidth, divHeight, viewBox) {
+    convertMapCoordinateToPixelWithPrecomputedData(mapX, mapY) {
+        // 获取叠加层div的CSS尺寸
+        const divWidth = parseFloat(this.overlayDiv.style.width) || this.overlayDiv.offsetWidth;
+        const divHeight = parseFloat(this.overlayDiv.style.height) || this.overlayDiv.offsetHeight;
+        // 获取SVG的viewBox
+        const svg = this.svgView.getSVG();
+        if (!svg)
+            return { x: 0, y: 0 };
+        const viewBox = svg.viewBox.baseVal;
         // 计算地图坐标在viewBox中的相对位置
         const relativeX = (mapX - viewBox.x) / viewBox.width;
         const relativeY = (mapY - viewBox.y) / viewBox.height;
@@ -6797,6 +6735,28 @@ class ChargingPileManager {
         this.container = null;
         this.overlayDiv = null;
     }
+    /**
+     * 设置充电桩旋转角度
+     */
+    setRotation(rotation) {
+        this.rotation = rotation;
+        const allContainers = this.container.querySelectorAll('.charging-pile');
+        allContainers.forEach((container) => {
+            const pileElement = container;
+            pileElement.style.transform = `translate(-50%, -50%) rotate(${this.originalRotation - this.rotation}deg)`;
+        });
+    }
+    /**
+     * 重置充电桩旋转角度
+     */
+    resetRotation() {
+        this.rotation = 0;
+        const allContainers = this.container.querySelectorAll('.charging-pile');
+        allContainers.forEach((container) => {
+            const pileElement = container;
+            pileElement.style.transform = `translate(-50%, -50%) rotate(${this.originalRotation - this.rotation}deg)`;
+        });
+    }
 }
 // 简化的层级定义 - 充电桩只需要一个固定层级
 ChargingPileManager.Z_INDEX = {
@@ -6818,6 +6778,8 @@ class AntennaManager {
         this.globalClickHandler = null;
         this.antennaTooltipFlag = false;
         this.singleAntennaTooltipFlag = false;
+        // 旋转角度
+        this.rotation = 0;
         this.svgView = svgView;
         this.initializeContainer();
         this.setupGlobalClickHandler();
@@ -6890,7 +6852,7 @@ class AntennaManager {
         const antennaContainer = document.createElement('div');
         antennaContainer.className = 'antenna-container-item';
         antennaContainer.style.position = 'absolute';
-        antennaContainer.style.transform = 'translate(-50%, -50%)';
+        antennaContainer.style.transform = `translate(-50%, -50%) rotate(${-this.rotation}deg)`;
         antennaContainer.style.pointerEvents = 'auto';
         antennaContainer.style.zIndex = AntennaManager.Z_INDEX.DEFAULT.toString();
         antennaContainer.setAttribute('data-antenna-id', antennaData.type.toString());
@@ -6931,8 +6893,6 @@ class AntennaManager {
                 this.singleAntennaTooltipFlag = true;
             }
             this.expandTooltip(antennaContainer);
-            // 调试：检查层级变化
-            this.debugCheckZIndex();
         });
         // 添加悬停效果
         antennaDiv.addEventListener('mouseenter', () => {
@@ -7208,13 +7168,6 @@ class AntennaManager {
     static getZIndexConstants() {
         return AntennaManager.Z_INDEX;
     }
-    /**
-     * 调试方法：检查当前所有天线的层级
-     */
-    debugCheckZIndex() {
-        if (!this.container)
-            return;
-    }
     /**
      * 销毁管理器
      */
@@ -7231,6 +7184,28 @@ class AntennaManager {
         this.container = null;
         this.overlayDiv = null;
     }
+    /**
+     * 设置天线旋转角度
+     */
+    setRotation(rotation) {
+        this.rotation = rotation;
+        const allContainers = this.container.querySelectorAll('.antenna-container-item');
+        allContainers.forEach((container) => {
+            const antennaContainer = container;
+            antennaContainer.style.transform = `translate(-50%, -50%) rotate(${-this.rotation}deg)`;
+        });
+    }
+    /**
+     * 重置天线旋转角度
+     */
+    resetRotation() {
+        this.rotation = 0;
+        const allContainers = this.container.querySelectorAll('.antenna-container-item');
+        allContainers.forEach((container) => {
+            const antennaContainer = container;
+            antennaContainer.style.transform = `translate(-50%, -50%) rotate(${-this.rotation}deg)`;
+        });
+    }
 }
 // 简化的层级定义
 AntennaManager.Z_INDEX = {
@@ -7285,8 +7260,8 @@ const EDIT_BEHAVIOR = {
     SUCCESS_MESSAGE_DURATION_MS: 3000,
 };
 
-class MowerPostionManager {
-    constructor(svgView, mowerPositonConfig, overlayDiv, onAnimationComplete) {
+class MowerPositionManager {
+    constructor(svgView, mowerPositionConfig, overlayDiv, onAnimationComplete, onMowingPositionChange) {
         this.container = null;
         this.overlayDiv = null;
         this.mowerElement = null;
@@ -7303,9 +7278,10 @@ class MowerPostionManager {
         this.deltaPosition = null;
         this.onlyUpdateTheta = false;
         this.svgView = svgView;
-        this.mowerPositonConfig = mowerPositonConfig;
+        this.mowerPositionConfig = mowerPositionConfig;
         this.overlayDiv = overlayDiv;
         this.onAnimationComplete = onAnimationComplete;
+        this.onMowingPositionChange = onMowingPositionChange;
         this.initializeContainer();
     }
     get animationFlag() {
@@ -7351,7 +7327,7 @@ class MowerPostionManager {
         imgElement.style.height = '100%';
         imgElement.style.objectFit = 'contain';
         // 获取图片源
-        const imageSrc = getMowerImage(this.mowerPositonConfig);
+        const imageSrc = getMowerImage(this.mowerPositionConfig);
         if (imageSrc) {
             imgElement.src = imageSrc;
         }
@@ -7373,51 +7349,52 @@ class MowerPostionManager {
     /**
      * 根据最后一次有效的位置更新数据
      */
-    updatePostionByLastPosition(chargingPilesPositonConfig, animationTime = 0) {
-        this.mowerPositonConfig = chargingPilesPositonConfig;
-        console.log('updatePostionByLastPosition----->', chargingPilesPositonConfig, this.lastPosition);
+    updatePositionByLastPosition(chargingPilesPositionConfig) {
+        if (!chargingPilesPositionConfig)
+            return;
+        this.mowerPositionConfig = chargingPilesPositionConfig;
+        console.log('manager updatePositionByLastPosition----->', chargingPilesPositionConfig, this.lastPosition);
         const lastPosition = this.lastPosition;
-        if (!lastPosition) {
-            this.updatePosition(chargingPilesPositonConfig, animationTime);
-        }
-        else {
-            this.updatePosition({
-                ...chargingPilesPositonConfig,
-                postureX: lastPosition.x,
-                postureY: lastPosition.y,
-                postureTheta: lastPosition.rotation,
-            }, 0);
-        }
+        const postureX = chargingPilesPositionConfig.postureX || chargingPilesPositionConfig.lastPostureX || lastPosition?.x;
+        const postureY = chargingPilesPositionConfig.postureY || chargingPilesPositionConfig.lastPostureY || lastPosition?.y;
+        const postureTheta = chargingPilesPositionConfig.postureTheta || chargingPilesPositionConfig.lastPostureTheta || lastPosition?.rotation;
+        // 检查是否需要更新图片
+        this.updateMowerImage(chargingPilesPositionConfig);
+        // 立即更新位置
+        this.setElementPosition(postureX, postureY, postureTheta);
     }
     /**
      * 更新割草机位置
      */
-    updatePosition(positonConfig, animationTime = 0) {
-        console.log('updatePosition----->', positonConfig);
+    updatePosition(positionConfig, animationTime = 0) {
+        console.log('manager updatePosition----->', positionConfig);
         // 检查是否需要更新图片
-        this.updateMowerImage(positonConfig);
+        this.updateMowerImage(positionConfig);
+        const postureX = positionConfig.postureX || this.lastPosition?.x;
+        const postureY = positionConfig.postureY || this.lastPosition?.y;
+        const postureTheta = positionConfig.postureTheta || this.lastPosition?.rotation;
         // 停止当前动画（如果有）
         this.stopAnimation();
         // 第一个点
         if (!this.currentPosition) {
             this.currentPosition = {
-                x: positonConfig.postureX,
-                y: positonConfig.postureY,
-                rotation: positonConfig.postureTheta,
+                x: postureX,
+                y: postureY,
+                rotation: postureTheta,
             };
             this.setElementPosition(this.currentPosition.x, this.currentPosition.y, this.currentPosition.rotation);
             return;
         }
         // 根据动画时长决定更新方式
         if (animationTime > 0) {
-            this.startAnimationToPosition(positonConfig, animationTime);
+            this.startAnimationToPosition(positionConfig, animationTime);
         }
         else {
             // 立即更新位置
-            this.setElementPosition(positonConfig.postureX, positonConfig.postureY, positonConfig.postureTheta);
+            this.setElementPosition(positionConfig.postureX, positionConfig.postureY, positionConfig.postureTheta);
         }
         // 更新配置
-        this.mowerPositonConfig = positonConfig;
+        this.mowerPositionConfig = positionConfig;
     }
     /**
      * 更新割草机图片
@@ -7440,7 +7417,17 @@ class MowerPostionManager {
         const { x: pointX, y: pointY } = convertCoordinate(x, y);
         const targetPixelPosition = this.convertMapCoordinateToOverlayPixel(pointX, pointY);
         const targetRotation = radToDegree(theta);
-        this.lastPosition = { x, y, rotation: theta };
+        const positonOutOfRange = isOutOfRange({
+            postureX: x,
+            postureY: y});
+        const positionValid = isInvalidPosition({
+            postureX: x,
+            postureY: y,
+            postureTheta: theta,
+        });
+        if (!positonOutOfRange && !positionValid) {
+            this.lastPosition = { x, y, rotation: theta };
+        }
         if (!this.mowerElement)
             return;
         this.mowerElement.style.left = `${targetPixelPosition?.x}px`;
@@ -7466,8 +7453,10 @@ class MowerPostionManager {
     startAnimationToPosition(positionConfig, duration) {
         if (!this.mowerElement || !this.currentPosition)
             return;
-        console.log('before startAnimationToPosition----->', this.startPosition, this.currentPosition, this.targetPosition, positionConfig);
-        this.startPosition = { ...this.currentPosition, rotation: radNormalize(this.currentPosition.rotation) };
+        this.startPosition = {
+            ...this.currentPosition,
+            rotation: radNormalize(this.currentPosition.rotation),
+        };
         this.targetPosition = {
             x: positionConfig.postureX,
             y: positionConfig.postureY,
@@ -7479,16 +7468,19 @@ class MowerPostionManager {
         this.onlyUpdateTheta =
             distance(this.currentPosition.x, this.currentPosition.y, positionConfig.postureX, positionConfig.postureY) < 0.2;
         // 为了实现倒车时，割草机图标旋转方向正确，需要计算当前位置和目标位置的夹角
-        const calTheta = calAngle(this.startPosition.x, this.startPosition.y, this.targetPosition.x, this.targetPosition.y);
+        // const calTheta = calAngle(
+        //   this.startPosition.x,
+        //   this.startPosition.y,
+        //   this.targetPosition.x,
+        //   this.targetPosition.y
+        // );
         const startTheta = this.startPosition.rotation;
-        const targetTheta = this.onlyUpdateTheta ? this.targetPosition.rotation : calTheta;
-        console.log('begain startAnimationToPosition----->', this.startPosition, this.targetPosition, this.onlyUpdateTheta);
+        const targetTheta = this.targetPosition.rotation;
         this.deltaPosition = {
             x: this.onlyUpdateTheta ? 0 : this.targetPosition.x - this.startPosition.x,
             y: this.onlyUpdateTheta ? 0 : this.targetPosition.y - this.startPosition.y,
-            rotation: radNormalize(targetTheta - startTheta)
+            rotation: radNormalize(targetTheta - startTheta),
         };
-        console.log('deltaPosition----->', targetTheta, startTheta, calTheta, this.deltaPosition);
         // 开始动画循环
         this.animateStep();
     }
@@ -7511,8 +7503,16 @@ class MowerPostionManager {
         const currentY = this.startPosition.y + this.deltaPosition.y * easedProgress;
         const currentRotation = this.startPosition.rotation + this.deltaPosition.rotation * easedProgress;
         this.currentPosition = { x: currentX, y: currentY, rotation: currentRotation };
+        // 假设在这里进行更新路径数据
+        if (this.onMowingPositionChange) {
+            this.onMowingPositionChange({
+                x: currentX,
+                y: currentY,
+                vehicleState: this.mowerPositionConfig.vehicleState,
+            });
+        }
         // console.log('animateStep----->', this.onlyUpdateTheta, currentX, currentY, currentRotation);
-        // console.log('animateStep1----->', onlyUpdateTheta, progress, calTheta, currentRotation);
+        // 
         // 继续动画或结束
         if (progress < 1) {
             // 设置当前位置
@@ -7523,7 +7523,6 @@ class MowerPostionManager {
             this.setElementPosition(currentX, currentY, currentRotation);
             // 动画完成
             this.stopAnimation();
-            console.log('end animateStep----->', this.lastPosition, this.currentPosition, this.targetPosition);
             // 通知动画完成
             if (this.onAnimationComplete) {
                 this.onAnimationComplete();
@@ -7589,13 +7588,61 @@ class MowerPostionManager {
     }
 }
 
+// 记录割草状态，状态变更的时候，变量不触发重新渲染
+const useProcessMowingState = create((set) => ({
+    processStateIsMowing: false,
+    updateProcessStateIsMowing: (isMowing) => set({ processStateIsMowing: isMowing }),
+    resetProcessStateIsMowing: () => set({ processStateIsMowing: false }),
+}));
+
+/**
+ * 高级节流函数
+ * @param func 要节流的函数
+ * @param delay 延迟时间（毫秒）
+ * @param options 配置选项
+ * @returns 节流后的函数
+ */
+function throttleAdvanced(func, delay, options = { leading: true, trailing: true }) {
+    let lastExecTime = 0;
+    let timeoutId = null;
+    let lastArgs = null;
+    return function throttled(...args) {
+        const currentTime = Date.now();
+        lastArgs = args;
+        // 如果距离上次执行的时间小于延迟时间
+        if (currentTime - lastExecTime < delay) {
+            // 清除之前的定时器
+            if (timeoutId) {
+                clearTimeout(timeoutId);
+            }
+            // 设置新的定时器
+            timeoutId = setTimeout(() => {
+                if (options.trailing && lastArgs) {
+                    lastExecTime = Date.now();
+                    func.apply(this, lastArgs);
+                    lastArgs = null;
+                }
+                timeoutId = null;
+            }, delay - (currentTime - lastExecTime));
+        }
+        else {
+            // 如果距离上次执行的时间已经超过延迟时间
+            if (options.leading) {
+                lastExecTime = currentTime;
+                func.apply(this, args);
+            }
+        }
+    };
+}
+
 // Google Maps 叠加层类 - 带编辑功能
 class MowerMapOverlay {
-    constructor(bounds, mapData, mowerPositonConfig, pathData, isEditMode = false, mapConfig = {}, antennaConfig = {}, onMapLoad, onPathLoad, dragCallbacks) {
+    constructor(bounds, mapData, partitionBoundary, mowerPositionConfig, pathData, isEditMode = false, mapConfig = {}, antennaConfig = {}, mowPartitionData = null, defaultTransform, onMapLoad, onPathLoad, dragCallbacks) {
         this.div = null;
         this.svgMapView = null;
         this.offscreenContainer = null;
         this.overlayView = null;
+        this.defaultTransform = { x: 0, y: 0, rotation: 0 };
         // boundary数据
         this.boundaryData = [];
         // 边界标签管理器
@@ -7605,7 +7652,7 @@ class MowerMapOverlay {
         // 天线管理器
         this.antennaManager = null;
         // 割草机位置管理器
-        this.mowerPostionManager = null;
+        this.mowerPositionManager = null;
         // 当前动画时长
         this.currentAnimationTime = 0;
         // 是否正在用户动画中（区分用户主动触发的动画和地图重绘）
@@ -7628,8 +7675,14 @@ class MowerMapOverlay {
         // 初始状态记录（用于计算相对于初始状态的偏移）
         this.initialOffset = { x: 0, y: 0 };
         this.initialRotation = 0;
+        this.mowPartitionData = null;
+        this.updatePathDataByMowingPositionThrottled = throttleAdvanced(this.updatePathDataByMowingPosition, 300, {
+            leading: true,
+            trailing: false,
+        });
         this.bounds = bounds;
         this.mapData = mapData;
+        this.partitionBoundary = partitionBoundary;
         this.pathData = pathData;
         this.isEditMode = isEditMode;
         this.mapConfig = mapConfig;
@@ -7637,7 +7690,20 @@ class MowerMapOverlay {
         this.onMapLoad = onMapLoad;
         this.onPathLoad = onPathLoad;
         this.dragCallbacks = dragCallbacks;
-        this.mowerPositonConfig = mowerPositonConfig;
+        this.mowerPositionConfig = mowerPositionConfig;
+        this.mowPartitionData = mowPartitionData;
+        // 设置默认的transform
+        if (defaultTransform) {
+            this.defaultTransform = {
+                x: defaultTransform.x ?? 0,
+                y: defaultTransform.y ?? 0,
+                rotation: defaultTransform.rotation ?? 0,
+            };
+            // defaultTransform的x对应经度偏移量，y对应纬度偏移量
+            this.latLngOffset.lng = this.defaultTransform.x;
+            this.latLngOffset.lat = this.defaultTransform.y;
+            this.currentRotation = this.defaultTransform.rotation;
+        }
         // 创建 OverlayView 实例
         if (window.google && window.google.maps) {
             this.overlayView = new window.google.maps.OverlayView();
@@ -7652,26 +7718,29 @@ class MowerMapOverlay {
             this.overlayView.handleSave = this.handleSave.bind(this);
             this.overlayView.setCustomIcons = this.setCustomIcons.bind(this);
             this.overlayView.getCurrentDragState = this.getCurrentDragState.bind(this);
+            this.overlayView.setTransform = this.setTransform.bind(this);
+            this.overlayView.resetToDefaultTransform = this.resetToDefaultTransform.bind(this);
         }
         this.boundaryData = generateBoundaryData(mapData, pathData);
     }
-    updatePosition(positonConfig, animationTime = 2200) {
-        console.log('updatePosition==', positonConfig, animationTime);
+    updatePosition(positionConfig, animationTime = 2200) {
+        console.log('updatePosition==', positionConfig, animationTime);
         // 保存当前动画时长
         this.currentAnimationTime = animationTime;
         // 标记是否为用户动画（大于0表示用户主动触发的动画）
         this.isUserAnimation = animationTime > 0;
         // 更新割草机位置配置
-        this.mowerPositonConfig = positonConfig;
+        this.mowerPositionConfig = positionConfig;
         // 更新割草机位置管理器
-        if (this.mowerPostionManager) {
-            this.mowerPostionManager.updatePosition(positonConfig, animationTime);
+        if (this.mowerPositionManager) {
+            this.mowerPositionManager.updatePosition(positionConfig, animationTime);
         }
     }
-    updatePostionByLastPosition(chargingPilesPositonConfig, animationTime = 2200) {
+    updatePositionByLastPosition(chargingPilesPositionConfig) {
+        console.log('overlay updatePositionByLastPosition----->', this.mowerPositionManager, chargingPilesPositionConfig);
         // 更新配置
-        if (this.mowerPostionManager) {
-            this.mowerPostionManager.updatePostionByLastPosition(chargingPilesPositonConfig, animationTime);
+        if (this.mowerPositionManager) {
+            this.mowerPositionManager.updatePositionByLastPosition(chargingPilesPositionConfig);
         }
     }
     setMap(map) {
@@ -7688,6 +7757,32 @@ class MowerMapOverlay {
     getPanes() {
         return this.overlayView ? this.overlayView.getPanes() : null;
     }
+    resetBorderLayerHighlight() {
+        const boundaryBorderLayer = this.svgMapView?.getLayer(LAYER_DEFAULT_TYPE.BOUNDARY_BORDER);
+        Object.keys(boundaryBorderLayer?.boudaryBorderPaths || {}).forEach((key) => {
+            const paths = boundaryBorderLayer?.boudaryBorderPaths?.[key];
+            if (paths) {
+                paths.forEach((path) => {
+                    path.setAttribute('stroke', BOUNDARY_STYLES.lineColor);
+                });
+            }
+        });
+    }
+    setBorderLayerHighlight(mowPartitionData) {
+        this.mowPartitionData = mowPartitionData;
+        const boundaryBorderLayer = this.svgMapView?.getLayer(LAYER_DEFAULT_TYPE.BOUNDARY_BORDER);
+        const partitionIds = mowPartitionData?.partitionIds || [];
+        console.log('setBorderLayerHighlight----->', partitionIds);
+        for (const partitionId of partitionIds) {
+            const boundaryBorderPaths = boundaryBorderLayer?.boudaryBorderPaths?.[partitionId];
+            console.log('boundaryBorderPaths----->', boundaryBorderLayer, boundaryBorderPaths);
+            if (boundaryBorderPaths) {
+                boundaryBorderPaths.forEach((path) => {
+                    path.setAttribute('stroke', BOUNDARY_STYLES.mowingLineColor);
+                });
+            }
+        }
+    }
     onAdd() {
         // 创建包含SVG的div
         this.div = document.createElement('div');
@@ -7748,7 +7843,7 @@ class MowerMapOverlay {
         const map = this.getMap();
         if (!map || !this.svgMapView)
             return;
-        map.getZoom();
+        // const currentZoom = map.getZoom();
         // const center = map.getCenter();
         // 基础公式：像素/米 = 156543.03392 * cos(latitude) / (2 ^ zoom)
         // const metersPerPixel =
@@ -7757,12 +7852,13 @@ class MowerMapOverlay {
         // const scale = (1 / metersPerPixel) * 50;
         // 应用缩放到SVG
         // this.svgMapView.setZoom(scale);
+        // 当缩放变化时，重新绘制以确保位置正确
+        this.draw();
     }
     // 创建边界标签管理器
     createBoundaryLabelsManager() {
         if (!this.div || !this.svgMapView)
             return;
-        console.log('this.boundaryData----->', this.boundaryData);
         // 创建边界标签管理器
         this.boundaryLabelsManager = new BoundaryLabelsManager(this.svgMapView, this.boundaryData);
         // 设置叠加层div引用
@@ -7808,11 +7904,13 @@ class MowerMapOverlay {
         if (!this.div || !this.svgMapView)
             return;
         // 创建割草机位置管理器，传入动画完成回调
-        this.mowerPostionManager = new MowerPostionManager(this.svgMapView, this.mowerPositonConfig, this.div);
+        this.mowerPositionManager = new MowerPositionManager(this.svgMapView, this.mowerPositionConfig, this.div, () => {
+            console.log('动画完成');
+        }, this.updatePathDataByMowingPositionThrottled.bind(this));
         // 设置叠加层div引用
-        this.mowerPostionManager.setOverlayDiv(this.div);
+        this.mowerPositionManager.setOverlayDiv(this.div);
         // 获取容器并添加到主div
-        const container = this.mowerPostionManager.getElement();
+        const container = this.mowerPositionManager.getElement();
         if (container) {
             this.div.appendChild(container);
         }
@@ -7842,20 +7940,6 @@ class MowerMapOverlay {
     updateManagerPositions(width, height) {
         if (!this.div)
             return;
-        // 获取SVG元素和其viewBox
-        const svgElement = this.div.querySelector('svg');
-        if (!svgElement)
-            return;
-        const viewBox = svgElement.viewBox.baseVal;
-        if (!viewBox)
-            return;
-        // 构造viewBox信息对象
-        ({
-            x: viewBox.x,
-            y: viewBox.y,
-            width: viewBox.width,
-            height: viewBox.height,
-        });
         // 更新充电桩位置
         if (this.chargingPileManager) {
             this.chargingPileManager.updatePositions();
@@ -7930,9 +8014,10 @@ class MowerMapOverlay {
     }
     // 获取当前拖拽状态
     getCurrentDragState() {
+        // 返回基于地图中心点的经纬度偏移量
         return {
-            offsetX: this.latLngOffset.lng * 111320 + this.tempPixelOffset.x - this.initialOffset.x, // 简化的经度到米的转换
-            offsetY: this.latLngOffset.lat * 110540 + this.tempPixelOffset.y - this.initialOffset.y, // 简化的纬度到米的转换
+            x: this.latLngOffset.lng + this.tempPixelOffset.x - this.initialOffset.x,
+            y: this.latLngOffset.lat + this.tempPixelOffset.y - this.initialOffset.y,
             rotation: this.currentRotation - this.initialRotation,
             isDragging: this.isDragging,
             isRotating: this.isRotating,
@@ -8209,6 +8294,8 @@ class MowerMapOverlay {
         // 确保旋转角度在0-360度范围内
         this.currentRotation = ((this.currentRotation % 360) + 360) % 360;
         // 应用旋转变换到DOM元素，同时保持位移
+        // 更新边界标签的旋转角度，使其保持水平状态
+        this.setManagerRotation(this.currentRotation);
         const transform = `translate(${this.tempPixelOffset.x}px, ${this.tempPixelOffset.y}px) rotate(${this.currentRotation}deg)`;
         this.div.style.transform = transform;
         // 更新鼠标起始位置为当前位置，为下次计算做准备
@@ -8253,7 +8340,6 @@ class MowerMapOverlay {
         });
         // 重置临时像素偏移量
         this.tempPixelOffset = { x: 0, y: 0 };
-        // 重新绘制以应用新的地理坐标偏移量
         this.draw();
     }
     // 获取编辑数据
@@ -8356,18 +8442,76 @@ class MowerMapOverlay {
             this.div.style.pointerEvents = 'none';
         }
     }
+    /**
+     * 设置旋转角度
+     */
+    setManagerRotation(rotation) {
+        if (this.boundaryLabelsManager) {
+            this.boundaryLabelsManager.setRotation(rotation);
+        }
+        if (this.antennaManager) {
+            this.antennaManager.setRotation(rotation);
+        }
+        if (this.chargingPileManager) {
+            this.chargingPileManager.setRotation(rotation);
+        }
+    }
+    // 设置transform
+    setTransform(transform) {
+        if (typeof transform.x === 'number')
+            this.tempPixelOffset.x = transform.x;
+        if (typeof transform.y === 'number')
+            this.tempPixelOffset.y = transform.y;
+        if (typeof transform.rotation === 'number')
+            this.currentRotation = transform.rotation;
+        this.defaultTransform = {
+            x: transform.x,
+            y: transform.y,
+            rotation: transform.rotation,
+        };
+        this.setManagerRotation(this.currentRotation);
+        this.draw();
+    }
+    // 重置到默认的transform
+    resetToDefaultTransform() {
+        // 重置所有偏移和旋转相关的状态，x对应经度偏移，y对应纬度偏移
+        this.latLngOffset.lng = this.defaultTransform.x;
+        this.latLngOffset.lat = this.defaultTransform.y;
+        this.tempPixelOffset = { x: 0, y: 0 };
+        this.currentRotation = this.defaultTransform.rotation;
+        this.initialOffset = { x: 0, y: 0 };
+        this.initialRotation = 0;
+        // 重新绘制
+        // 重置边界标签的旋转角度
+        if (this.boundaryLabelsManager) {
+            this.boundaryLabelsManager.setRotation(this.defaultTransform.rotation);
+        }
+        if (this.antennaManager) {
+            this.antennaManager.setRotation(this.defaultTransform.rotation);
+        }
+        if (this.chargingPileManager) {
+            this.chargingPileManager.setRotation(this.defaultTransform.rotation);
+        }
+        this.draw();
+        // 触发拖拽回调，通知外部状态更新
+        this.dragCallbacks?.onDragEnd?.(this.getCurrentDragState());
+    }
     initializeSvgMapView() {
         if (!this.offscreenContainer)
             return;
         try {
             // 创建SvgMapView实例
             this.svgMapView = new SvgMapView(this.offscreenContainer, 800, 600);
+            window.svgMapView = this.svgMapView;
             // 加载地图数据
             this.loadMapData();
             // 加载路径数据
             if (this.pathData && this.svgMapView) {
-                this.loadPathData(this.pathData);
+                console.log('initializeSvgMapView->', this.pathData, this.mowPartitionData);
+                this.loadPathData(this.pathData, this.mowPartitionData);
             }
+            // 刷新绘制图层
+            this.svgMapView.refresh();
             // 获取生成的SVG并添加到叠加层div中
             const svgElement = this.svgMapView.getSVG();
             if (svgElement) {
@@ -8401,14 +8545,12 @@ class MowerMapOverlay {
             // 处理天线数据
             let antennaElements = [];
             if (this.antennaConfig.length > 0) {
-                antennaElements = AntennaDataBuilder.fromAntennaData(this.antennaConfig);
+                antennaElements = AntennaDataBuilder.fromAntennaData(this.antennaConfig, this.mapConfig);
             }
             // 添加图层到SvgMapView
             const layers = drawLayer.getLayers();
             this.svgMapView.clear();
-            layers.forEach((layer) => {
-                this.svgMapView.addLayer(layer);
-            });
+            this.svgMapView.addLayers(layers);
             this.createChargingPileManager();
             // 使用管理器处理充电桩和天线
             if (this.chargingPileManager && chargingPileElements.length > 0) {
@@ -8434,40 +8576,97 @@ class MowerMapOverlay {
             console.error('加载地图数据时出错:', error);
         }
     }
-    loadPathData(pathData) {
+    loadPathData(pathData, mowPartitionData) {
         try {
             // 使用现有的PathDataProcessor处理路径数据
             const pathElements = PathDataProcessor.processPathData(pathData, this.mapConfig);
+            console.log('pathdaata->', pathElements, mowPartitionData);
+            const newPathElements = pathElements.map((pathElement) => {
+                const { id, elements } = pathElement;
+                const isMowBoundary = mowPartitionData && mowPartitionData?.partitionIds?.includes(id);
+                if (isMowBoundary) {
+                    return {
+                        id: id,
+                        elements: elements.map((element) => {
+                            const isTransPath = element.pathType === PathSegmentType.TRANS;
+                            if (isTransPath) {
+                                return element;
+                            }
+                            return {
+                                ...element,
+                                style: {
+                                    ...element.style,
+                                    lineColor: DEFAULT_STYLES.path.mowingLineColor,
+                                },
+                            };
+                        }),
+                    };
+                }
+                else {
+                    return pathElement;
+                }
+            });
             const pathLayer = new PathLayer();
-            pathLayer.addElements(pathElements);
+            pathLayer.addElements(newPathElements);
             // 添加图层到SvgMapView
             this.svgMapView.removeLayerByType(LAYER_DEFAULT_TYPE.PATH);
             this.svgMapView.addLayer(pathLayer);
-            console.log('pathElements----->', this.svgMapView.getLayers());
+            this.svgMapView.renderLayer(LAYER_DEFAULT_TYPE.PATH);
             // 调用回调
-            const elementCount = pathElements.length;
+            const elementCount = newPathElements.length;
             this.onPathLoad?.(elementCount);
         }
         catch (error) {
             console.error('加载路径数据时出错:', error);
         }
     }
+    /**
+     * 根据割草机位置，更新路径数据
+     * @param position 割草机位置
+     */
+    updatePathDataByMowingPosition(position) {
+        // 找到当前position所在的分区id，将该点更新到pathData中
+        const currentPartitionId = getPartitionId(this.partitionBoundary, position.x, position.y);
+        const processStateIsMowing = useProcessMowingState.getState().processStateIsMowing;
+        // console.log('processStateIsMowing==', processStateIsMowing);
+        if (currentPartitionId && this.pathData?.[currentPartitionId]) {
+            const currentPathData = this.pathData[currentPartitionId];
+            this.pathData[currentPartitionId] = {
+                ...currentPathData,
+                points: [
+                    ...(currentPathData?.points || []),
+                    {
+                        postureX: Number(position.x),
+                        postureY: Number(position.y),
+                        knifeRotation: processStateIsMowing && position.vehicleState === RobotStatus.MOWING ? '01' : '00', // "knifeRotation": "01",//刀盘是否转动 00-否 01-是
+                        pathType: '', //这里由于从实时路径是获取不到pathType的，所以这里暂时不传。让路径是否绘制取决于knifeRotation
+                        partitionId: currentPartitionId.toString(),
+                    },
+                ],
+            };
+            this.updatePathData(this.pathData, this.mowPartitionData);
+        }
+    }
+    updateMowPartitionData(mowPartitionData) {
+        this.mowPartitionData = mowPartitionData;
+    }
     /** 更新历史路径数据 */
-    updatePathData(pathData) {
+    updatePathData(pathData, mowPartitionData) {
         if (!this.svgMapView || !pathData)
             return;
         // 找到pathLayer，将其删除，然后重新添加
-        this.loadPathData(pathData);
+        this.loadPathData(pathData, mowPartitionData);
     }
+    /** 更新边界标签信息 */
     updateBoundaryLabelInfo(pathJson) {
         if (!pathJson)
             return;
         const boundaryData = generateBoundaryData(this.mapData, pathJson);
-        console.log('boundaryData==', boundaryData);
+        // console.log('boundaryData==', boundaryData);
         this.boundaryLabelsManager?.updateBoundaryData(boundaryData);
     }
     draw() {
-        console.log('draw方法被调用');
+        console.log('ondraw');
         // 防御性检查：如果this.div为null，说明onAdd还没被调用，直接返回
         if (!this.div) {
             return;
@@ -8525,13 +8724,17 @@ class MowerMapOverlay {
             this.div.style.transform = transform;
         }
         else {
-            // 非拖拽时：只应用旋转（如果有的话）
-            if (this.currentRotation !== 0) {
-                this.div.style.transform = `rotate(${this.currentRotation}deg)`;
+            // 非拖拽时：应用当前偏移和旋转（包括默认值）
+            const transforms = [];
+            // 应用像素偏移
+            if (this.tempPixelOffset.x !== 0 || this.tempPixelOffset.y !== 0) {
+                transforms.push(`translate(${this.tempPixelOffset.x}px, ${this.tempPixelOffset.y}px)`);
             }
-            else {
-                this.div.style.transform = '';
+            // 应用旋转
+            if (this.currentRotation !== 0) {
+                transforms.push(`rotate(${this.currentRotation}deg)`);
             }
+            this.div.style.transform = transforms.join(' ');
         }
         // 更新SVG视图框以适应新的尺寸
         if (this.svgMapView) {
@@ -8551,11 +8754,11 @@ class MowerMapOverlay {
         this.updateManagerPositions(width, height);
         // 重绘的时候可能在动画中，这时候需要强制更新一次数据，不然会出现抖动的效果
         // 非动画的情况下，根据最新的数据实时同步就可以了
-        if (!this.mowerPostionManager?.animationFlag) {
-            this.mowerPostionManager?.updatePostionByLastPosition(this.mowerPositonConfig, 0);
+        if (!this.mowerPositionManager?.animationFlag) {
+            this.mowerPositionManager?.updatePositionByLastPosition(this.mowerPositionConfig);
         }
         else {
-            this.mowerPostionManager?.forceUpdatePosition();
+            this.mowerPositionManager?.forceUpdatePosition();
         }
         if (this.antennaManager) {
             this.antennaManager.updateAntennaPosition();
@@ -8591,9 +8794,9 @@ class MowerMapOverlay {
             this.antennaManager = null;
         }
         // 清理割草机位置管理器
-        if (this.mowerPostionManager) {
-            this.mowerPostionManager.destroy();
-            this.mowerPostionManager = null;
+        if (this.mowerPositionManager) {
+            this.mowerPositionManager.destroy();
+            this.mowerPositionManager = null;
         }
         // 清理编辑界面
         this.removeEditInterface();
@@ -8610,12 +8813,19 @@ class MowerMapOverlay {
     }
     // 显示/隐藏割草机位置
     setMowerPositionVisible(visible) {
-        if (this.mowerPostionManager) {
-            this.mowerPostionManager.setVisible(visible);
+        if (this.mowerPositionManager) {
+            this.mowerPositionManager.setVisible(visible);
         }
     }
 }
 
+var RealTimeDataType;
+(function (RealTimeDataType) {
+    RealTimeDataType[RealTimeDataType["LOCATION"] = 1] = "LOCATION";
+    RealTimeDataType[RealTimeDataType["PROCESS"] = 2] = "PROCESS";
+    RealTimeDataType[RealTimeDataType["PARTITION"] = 3] = "PARTITION";
+})(RealTimeDataType || (RealTimeDataType = {}));
+
 // 验证GPS坐标是否有效
 const isValidGpsCoordinate = (coordinate) => {
     if (!coordinate || coordinate.length < 2)
@@ -8640,7 +8850,6 @@ const getValidGpsBounds = (mapData) => {
     }
     // 如果GPS坐标无效，尝试从地图几何数据估算
     const { sw, ne } = estimateGpsFromMapBounds(mapData);
-    console.log('sw, ne==', sw, ne);
     if (sw && ne) {
         console.warn('GPS坐标无效，使用地图几何数据估算边界:', sw, ne);
         return {
@@ -8658,11 +8867,9 @@ const getValidGpsBounds = (mapData) => {
 // 默认配置
 const defaultMapConfig = DEFAULT_STYLES;
 // 地图渲染器组件
-const MowerMapRenderer = React.forwardRef(({ mapConfig, modelType, mapRef, mapJson, pathJson, realTimeData, currentPositionData, antennaConfig, onMapLoad, onPathLoad, onZoomChange, onError, className, style, googleMapInstance, isEditMode = false, dragCallbacks, }, ref) => {
-    const svgMapViewRef = React.useRef(null);
+const MowerMapRenderer = React.forwardRef(({ mapConfig, modelType, mapRef, mapJson, pathJson, realTimeData, antennaConfig, onMapLoad, onPathLoad, onError, className, style, googleMapInstance, isEditMode = false, dragCallbacks, defaultTransform, }, ref) => {
     const [elementCount, setElementCount] = React.useState(0);
     const [pathCount, setPathCount] = React.useState(0);
-    const [zoom, setZoom] = React.useState(1);
     const [currentError, setCurrentError] = React.useState(null);
     const overlayRef = React.useRef(null);
     // const mapRef = useMap();
@@ -8670,6 +8877,8 @@ const MowerMapRenderer = React.forwardRef(({ mapConfig, modelType, mapRef, mapJs
     const [hasInitializedBounds, setHasInitializedBounds] = React.useState(false);
     const { clearSubBoundaryBorder } = useSubBoundaryBorderStore();
     const currentProcessMowingStatusRef = React.useRef(false);
+    const { updateProcessStateIsMowing, processStateIsMowing } = useProcessMowingState();
+    const [mowPartitionData, setMowPartitionData] = React.useState(null);
     // 处理地图分区边界
     const partitionBoundary = React.useMemo(() => {
         const allBoundaryElements = [];
@@ -8692,22 +8901,61 @@ const MowerMapRenderer = React.forwardRef(({ mapConfig, modelType, mapRef, mapJs
     }, [mapConfig]);
     const mergedAntennaConfig = React.useMemo(() => antennaConfig, [antennaConfig]);
     const mowerPositionData = React.useMemo(() => {
+        // realTimeData 中包含三个种类的数据，之需要实时坐标的数据即可。
+        if (!realTimeData || realTimeData.length === 0)
+            return undefined;
+        let currentPositionData;
+        if (realTimeData.length === 1 && realTimeData[0].type === RealTimeDataType.LOCATION) {
+            currentPositionData = realTimeData[0];
+        }
+        else {
+            currentPositionData = realTimeData?.find((item) => item.type === RealTimeDataType.LOCATION);
+        }
+        if (!currentPositionData)
+            return undefined;
         return {
             postureTheta: currentPositionData?.postureTheta
                 ? Number(currentPositionData.postureTheta)
                 : 0,
             postureX: currentPositionData?.postureX ? Number(currentPositionData.postureX) : 0,
             postureY: currentPositionData?.postureY ? Number(currentPositionData.postureY) : 0,
-            vehicleState: currentPositionData?.vehicleState || RobotStatus.STANDBY,
-            vehicleModel: modelType,
+            lastPostureTheta: currentPositionData?.lastPostureTheta
+                ? Number(currentPositionData.lastPostureTheta)
+                : 0,
+            lastPostureX: currentPositionData?.lastPostureX ? Number(currentPositionData.lastPostureX) : 0,
+            lastPostureY: currentPositionData?.lastPostureY ? Number(currentPositionData.lastPostureY) : 0,
+            vehicleState: currentPositionData?.vehicleState || RobotStatus.CHARGING,
+            vehicleModel: modelType?.toLowerCase() || '',
         };
-    }, [currentPositionData, modelType]);
-    console.log('mowerPositionData==', currentPositionData, mowerPositionData);
+    }, [realTimeData, modelType]);
+    console.log('mowerPositionData', mowerPositionData);
     // 处理错误
     const handleError = (error) => {
         setCurrentError(error);
         onError?.(error);
     };
+    const fitBounds = React.useCallback(() => {
+        if (!mapJson || !mapRef)
+            return null;
+        // 计算边界
+        const bounds = calculateMapBounds(mapJson);
+        if (!bounds) {
+            handleError('无法计算地图边界');
+            return;
+        }
+        // 将自定义边界转换为Google Maps LatLngBounds（使用有效的GPS坐标）
+        const validBounds = getValidGpsBounds(mapJson);
+        // 地图数据中的坐标格式是 [longitude, latitude]
+        const swLat = validBounds.sw[1];
+        const swLng = validBounds.sw[0];
+        const neLat = validBounds.ne[1];
+        const neLng = validBounds.ne[0];
+        const googleBounds = new window.google.maps.LatLngBounds(new window.google.maps.LatLng(swLat, swLng), // 西南角
+        new window.google.maps.LatLng(neLat, neLng) // 东北角
+        );
+        console.log('fitBounds----->', googleBounds);
+        mapRef.fitBounds(googleBounds);
+    }, [mapJson, mapRef]);
     // 初始化Google Maps叠加层
     const initializeGoogleMapsOverlay = async () => {
         if (!mapJson)
@@ -8740,17 +8988,13 @@ const MowerMapRenderer = React.forwardRef(({ mapConfig, modelType, mapRef, mapJs
             const googleBounds = new window.google.maps.LatLngBounds(new window.google.maps.LatLng(swLat, swLng), // 西南角
             new window.google.maps.LatLng(neLat, neLng) // 东北角
             );
-            console.log('使用有效GPS坐标创建边界:', {
-                sw: { lat: swLat, lng: swLng },
-                ne: { lat: neLat, lng: neLng },
-            });
             // 如果已经存在叠加层，先移除它
             if (overlayRef.current) {
                 overlayRef.current.setMap(null);
                 overlayRef.current = null;
             }
             // 创建叠加层
-            const overlay = new MowerMapOverlay(googleBounds, mapJson, mowerPositionData, pathJson || {}, isEditMode, mergedMapConfig, mergedAntennaConfig, (count) => {
+            const overlay = new MowerMapOverlay(googleBounds, mapJson, partitionBoundary, mowerPositionData, pathJson || {}, isEditMode, mergedMapConfig, mergedAntennaConfig, null, defaultTransform, (count) => {
                 setElementCount(count);
                 onMapLoad?.(count);
             }, (count) => {
@@ -8771,39 +9015,18 @@ const MowerMapRenderer = React.forwardRef(({ mapConfig, modelType, mapRef, mapJs
             handleError(`初始化Google Maps叠加层失败: ${error instanceof Error ? error.message : String(error)}`);
         }
     };
-    const formatRealTimeData = async (realTimeData) => {
-        // await sleep(1000);
-        const newRealTimeData = handleRealTimeData({
-            realTimeData,
-            isMowing: currentProcessMowingStatusRef.current,
-            pathData: pathJson,
-            partitionBoundary,
-        });
-        console.log('newRealTimeData==', newRealTimeData);
-        // currentProcessMowingStatusRef.current = newRealTimeData.isMowing;
-        currentProcessMowingStatusRef.current = true;
-        // 调用overlay的updatePathData方法，更新历史路径数据
-        if (overlayRef.current) {
-            overlayRef.current.updatePathData(newRealTimeData.pathData);
-        }
-        overlayRef.current.updateBoundaryLabelInfo(newRealTimeData.pathData);
-    };
     // 初始化效果
     React.useEffect(() => {
         initializeGoogleMapsOverlay();
-        console.log('init mow map');
         // 清理函数
         return () => {
             clearSubBoundaryBorder();
+            updateProcessStateIsMowing(false);
             currentProcessMowingStatusRef.current = false;
             if (overlayRef.current) {
                 overlayRef.current.setMap(null);
                 overlayRef.current = null;
             }
-            if (svgMapViewRef.current) {
-                svgMapViewRef.current.destroy();
-                svgMapViewRef.current = null;
-            }
         };
     }, [mapJson, pathJson, mergedMapConfig, mergedAntennaConfig]);
     // 监听编辑模式变化
@@ -8823,14 +9046,15 @@ const MowerMapRenderer = React.forwardRef(({ mapConfig, modelType, mapRef, mapJs
             return;
         const elements = MapDataProcessor.processMapData(mapJson, mergedMapConfig);
         const chargingPiles = elements.find((element) => element.type === 'charging_pile');
-        console.log('chargingPiles==', chargingPiles, currentPositionData);
         if (!mowerPositionData || !overlayRef.current)
             return;
         const inChargingPiles = [RobotStatus.CHARGING, RobotStatus.PARKED];
         const isOffLine = mowerPositionData.vehicleState === RobotStatus.DISCONNECTED;
         const isInChargingPile = inChargingPiles.includes(mowerPositionData.vehicleState);
-        // 如果在充电桩上，则更新位置到充电桩的位置
+        console.log('isInChargingPile-----------》', isInChargingPile, mowerPositionData);
+        // 如果在充电桩上，则直接更新位置到充电桩的位置
         if (isInChargingPile) {
+            console.log('isInChargingPile', isInChargingPile, mowerPositionData);
             overlayRef.current.updatePosition({
                 ...mowerPositionData,
                 postureX: chargingPiles?.originalData.position[0],
@@ -8839,68 +9063,112 @@ const MowerMapRenderer = React.forwardRef(({ mapConfig, modelType, mapRef, mapJs
             }, 0);
         }
         else {
+            // 如果车辆是disabled状态或者超出边界（默认超过1000m），则更新位置到上一次的位置
             const positonOutOfRange = isOutOfRange(mowerPositionData);
             const positionValid = isInvalidPosition(mowerPositionData);
-            const isStandyBy = mowerPositionData.vehicleState === RobotStatus.STANDBY;
+            const isStandby = mowerPositionData.vehicleState === RobotStatus.STANDBY;
+            console.log('positonOutOfRange', positonOutOfRange, positionValid, isOffLine);
             if (positonOutOfRange || positionValid || isOffLine) {
-                overlayRef.current.updatePostionByLastPosition({
-                    ...mowerPositionData,
-                    postureX: chargingPiles?.originalData.position[0],
-                    postureY: chargingPiles?.originalData.position[1],
-                    postureTheta: chargingPiles?.originalData.direction - Math.PI || 0,
-                }, isStandyBy ? 0 : 2200);
+                // 初始信息是通过后端接口获取的，此时当前位置数据不可用的时候，可以取上一次的位置数据
+                // mowerPositionData 中可能会包含上一次的位置数据，
+                const lastPostureX = mowerPositionData.lastPostureX;
+                const lastPostureY = mowerPositionData.lastPostureY;
+                const lastPostureTheta = mowerPositionData.lastPostureTheta;
+                if (lastPostureX && lastPostureY && lastPostureTheta) {
+                    overlayRef.current.updatePositionByLastPosition(mowerPositionData);
+                }
+                else {
+                    overlayRef.current.updatePositionByLastPosition({
+                        ...mowerPositionData,
+                        postureX: chargingPiles?.originalData.position[0],
+                        postureY: chargingPiles?.originalData.position[1],
+                        postureTheta: chargingPiles?.originalData.direction - Math.PI || 0,
+                    });
+                }
             }
             else {
-                overlayRef.current.updatePosition(mowerPositionData, isStandyBy ? 0 : 2200);
+                console.log('hook updatePosition----->', mowerPositionData);
+                overlayRef.current.updatePosition(mowerPositionData, isStandby ? 0 : 2000);
             }
         }
-    }, [currentPositionData]);
+    }, [mowerPositionData]);
     React.useEffect(() => {
         if (!mapJson ||
             !pathJson ||
             !realTimeData ||
             realTimeData.length === 0 ||
-            !Array.isArray(realTimeData))
+            !Array.isArray(realTimeData) ||
+            !overlayRef.current)
             return;
         // 根据后端推送的实时数据，进行不同处理
         // TODO：需要根据返回的数据，处理车辆的移动位置
-        // 这里是根据返回的数据，处理实时轨迹
-        formatRealTimeData(realTimeData);
-    }, [realTimeData, mapJson, pathJson]);
-    // 提供ref方法
-    React.useImperativeHandle(ref, () => ({
-        setZoom: (newZoom) => {
-            setZoom(newZoom);
-            if (svgMapViewRef.current) {
-                svgMapViewRef.current.setZoom(newZoom);
+        console.log('realTimeData----->', realTimeData);
+        // realtime中包含当前割草任务的数据，根据数据进行path路径和边界的高亮操作
+        const curMowPartitionData = realTimeData.find((item) => item.type === RealTimeDataType.PARTITION) || mowPartitionData;
+        if (curMowPartitionData) {
+            setMowPartitionData(curMowPartitionData);
+            const isMowing = curMowPartitionData?.partitionIds && curMowPartitionData.partitionIds.length > 0;
+            overlayRef.current.updateMowPartitionData(curMowPartitionData);
+            console.log('isMowing', isMowing, curMowPartitionData);
+            if (!isMowing) {
+                overlayRef.current.resetBorderLayerHighlight();
             }
-            onZoomChange?.(newZoom);
-        },
-        getZoom: () => zoom,
-        resetView: () => {
-            if (svgMapViewRef.current) {
-                svgMapViewRef.current.resetTransform();
+            else {
+                overlayRef.current.setBorderLayerHighlight(curMowPartitionData);
             }
-            setZoom(1);
-            onZoomChange?.(1);
-        },
-        clear: () => {
-            if (svgMapViewRef.current) {
-                svgMapViewRef.current.clear();
+        }
+        // 如果一次性推送的是多条数据，则把多条数据处理后存入pathData，然后更新路径数据和边界标签信息
+        // 如果一次只推送一条数据，则只解析里面的进度数据，然后更新边界标签信息，剩下的实时轨迹数据由车辆运动产生时存入pathData
+        if (realTimeData.length > 1) {
+            const { pathData, isMowing } = handleMultipleRealTimeData({
+                realTimeData,
+                isMowing: processStateIsMowing,
+                pathData: pathJson,
+                partitionBoundary,
+            });
+            updateProcessStateIsMowing(isMowing);
+            if (pathData) {
+                overlayRef.current.updatePathData(pathData, curMowPartitionData);
+                overlayRef.current.updateBoundaryLabelInfo(pathData);
             }
-            setElementCount(0);
-            setPathCount(0);
-        },
-        getSvgElement: () => {
-            return svgMapViewRef.current ? svgMapViewRef.current.getSVG() : null;
-        },
-        fitToView: () => {
-            if (svgMapViewRef.current && mapJson) {
-                const bounds = calculateMapBounds(mapJson);
-                if (bounds) {
-                    svgMapViewRef.current.fitToView(bounds);
-                }
+        }
+        else {
+            const { isMowing, pathData } = getProcessMowingDataFromRealTimeData({
+                realTimeData,
+                isMowing: processStateIsMowing,
+                pathData: pathJson,
+            });
+            updateProcessStateIsMowing(isMowing);
+            overlayRef.current.updatePathData(pathData, curMowPartitionData);
+            // 更新进度数据
+            if (pathData) {
+                overlayRef.current.updateBoundaryLabelInfo(pathData);
             }
+        }
+    }, [realTimeData, mapJson, pathJson]);
+    React.useEffect(() => {
+        console.log('defaultTransform----->', defaultTransform);
+        if (!overlayRef.current || !defaultTransform)
+            return;
+        if (defaultTransform.x === 0 && defaultTransform.y === 0 && defaultTransform.rotation === 0) {
+            return;
+        }
+        overlayRef.current?.setTransform(defaultTransform);
+        const validBounds = getValidGpsBounds(mapJson);
+        // 地图数据中的坐标格式是 [longitude, latitude]
+        const swLat = validBounds.sw[1] + defaultTransform.y;
+        const swLng = validBounds.sw[0] + defaultTransform.x;
+        const neLat = validBounds.ne[1] + defaultTransform.y;
+        const neLng = validBounds.ne[0] + defaultTransform.x;
+        const googleBounds = new window.google.maps.LatLngBounds(new window.google.maps.LatLng(swLat, swLng), // 西南角
+        new window.google.maps.LatLng(neLat, neLng) // 东北角
+        );
+        mapRef.fitBounds(googleBounds);
+    }, [defaultTransform]);
+    // 提供ref方法
+    React.useImperativeHandle(ref, () => ({
+        fitToView: () => {
+            fitBounds();
         },
         getOverlay: () => {
             return overlayRef.current;
@@ -8929,6 +9197,8 @@ const MowerMapRenderer = React.forwardRef(({ mapConfig, modelType, mapRef, mapJs
         getElementCount: () => elementCount,
         getPathCount: () => pathCount,
         isGoogleMapsReady: () => isGoogleMapsReady,
+        setTransform: (t) => overlayRef.current?.setTransform(t),
+        resetToDefaultTransform: () => overlayRef.current?.resetToDefaultTransform(),
     }));
     // 错误显示
     if (currentError) {