@fleet-frontend/mower-maps 0.0.8 → 0.0.9-beta.10

package/dist/index.esm.js

@@ -1,5 +1,134 @@
-import { jsx, jsxs } from 'react/jsx-runtime';
-import React, { forwardRef, useRef, useState, useMemo, useEffect, useImperativeHandle } from 'react';
+import { jsxs, jsx } from 'react/jsx-runtime';
+import React, { forwardRef, useState, useRef, useMemo, useCallback, useEffect, useImperativeHandle } from 'react';
+
+/**
+ * 常量和枚举类型定义
+ */
+/**
+ * 机器人状态枚举
+ */
+var RobotStatus;
+(function (RobotStatus) {
+    RobotStatus[RobotStatus["PARKED"] = 1] = "PARKED";
+    RobotStatus[RobotStatus["CHARGING"] = 2] = "CHARGING";
+    RobotStatus[RobotStatus["STANDBY"] = 3] = "STANDBY";
+    RobotStatus[RobotStatus["MOWING"] = 4] = "MOWING";
+    RobotStatus[RobotStatus["WORKING"] = 5] = "WORKING";
+    RobotStatus[RobotStatus["MAPPING"] = 6] = "MAPPING";
+    RobotStatus[RobotStatus["ERROR"] = 7] = "ERROR";
+    RobotStatus[RobotStatus["UPGRADING"] = 8] = "UPGRADING";
+    RobotStatus[RobotStatus["DISCONNECTED"] = 9] = "DISCONNECTED";
+    RobotStatus[RobotStatus["UNKNOWN"] = -1] = "UNKNOWN";
+    RobotStatus[RobotStatus["TASK_DELAY"] = 10] = "TASK_DELAY";
+})(RobotStatus || (RobotStatus = {}));
+/**
+ * RTK状态枚举
+ */
+var RTK_STATE;
+(function (RTK_STATE) {
+    RTK_STATE[RTK_STATE["LOW_RTK"] = 1] = "LOW_RTK";
+    RTK_STATE[RTK_STATE["MIDDLE_RTK"] = 2] = "MIDDLE_RTK";
+    RTK_STATE[RTK_STATE["HIGH_RTK"] = 3] = "HIGH_RTK";
+    RTK_STATE[RTK_STATE["NO_POSTURE"] = 10] = "NO_POSTURE";
+    RTK_STATE[RTK_STATE["OUT_OF_RANGE"] = 11] = "OUT_OF_RANGE";
+    RTK_STATE[RTK_STATE["OFF_LINE"] = 19] = "OFF_LINE";
+})(RTK_STATE || (RTK_STATE = {}));
+/**
+ * 实时数据类型枚举
+ */
+var REAL_TIME_DATA_TYPE;
+(function (REAL_TIME_DATA_TYPE) {
+    REAL_TIME_DATA_TYPE[REAL_TIME_DATA_TYPE["LOCATION"] = 1] = "LOCATION";
+    REAL_TIME_DATA_TYPE[REAL_TIME_DATA_TYPE["PROCESS"] = 2] = "PROCESS";
+})(REAL_TIME_DATA_TYPE || (REAL_TIME_DATA_TYPE = {}));
+
+/**
+ * 地图渲染相关常量配置
+ */
+/**
+ * 缩放因子 - 将米转换为像素
+ * 与Python代码中的SVG比例一致
+ */
+const SCALE_FACTOR = 50; // 50像素/米
+/**
+ * 默认线宽设置
+ */
+const DEFAULT_LINE_WIDTHS = {
+    OBSTACLE: 2,
+    CHARGING_PILE: 2,
+    CHANNEL: 2,
+    PATH: 20,
+    VISION_OFF_AREA: 2,
+    TIME_LIMIT_OBSTACLE: 1,
+};
+/**
+ * 默认透明度设置
+ */
+const DEFAULT_OPACITIES = {
+    FULL: 1.0,
+    HIGH: 0.7,
+    MEDIUM: 0.6};
+/**
+ * 默认半径设置
+ */
+const DEFAULT_RADII = {
+    CHARGING_PILE: 12};
+/**
+ * 图层等级
+ */
+const LAYER_LEVELS = {
+    BOUNDARY: 2,
+    BOUNDARY_BORDER: 4};
+/**
+ * 图层默认id
+ */
+const LAYER_DEFAULT_TYPE = {
+    CHANNEL: 'channel',
+    BOUNDARY: 'boundary',
+    PATH: 'path',
+    BOUNDARY_BORDER: 'boundary_border',
+    OBSTACLE: 'obstacle',
+    CHARGING_PILE: 'charging_pile',
+    POINT: 'point',
+    SVG: 'svg',
+    VISION_OFF_AREA: 'vision_off_area',
+    ANTENNA: 'antenna',
+};
+const ISOLATED_BOUNDARY_SVG = `<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
+<g opacity="0.6">
+<rect width="24" height="24" rx="12" fill="#1E1E1F" fill-opacity="0.5"/>
+<path d="M8.20573 12.4961C6.739 11.1707 4.85775 11.2284 3.60938 11.1707C6.17744 13.0156 6.05584 15.7887 5.67404 16.9446H14.327C13.837 13.1673 15.5321 10.1289 16.4408 9.08187C15.0342 9.46118 13.5794 10.8303 13.0278 11.4674C12.8102 8.94572 13.992 5.97489 14.61 4.80469C12.5235 5.92214 11.0501 8.26056 10.4938 9.56261C9.22803 7.5947 6.83894 7.17806 5.883 6.9432C8.20573 10.2373 8.00039 11.1707 8.20573 12.4961Z" fill="white"/>
+<mask id="path-3-outside-1_9822_43516" maskUnits="userSpaceOnUse" x="13.2344" y="7.20545" width="12.0208" height="12.0208" fill="black">
+<rect fill="white" x="13.2344" y="7.20545" width="12.0208" height="12.0208"/>
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+</mask>
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+</mask>
+<path d="M16.1708 14.5077C15.4353 14.1778 14.5422 14.3133 13.9383 14.9172L13.3548 15.5007C12.574 16.2818 12.5738 17.5481 13.3548 18.3291L13.6821 18.6564C14.4631 19.4374 15.7295 19.4373 16.5105 18.6564L17.094 18.0729C17.6895 17.4775 17.8299 16.6003 17.5173 15.8708L16.7743 16.6138C16.7828 16.8803 16.6863 17.1494 16.4829 17.3527L15.7952 18.0405C15.4046 18.4309 14.7714 18.431 14.3809 18.0405L13.957 17.6165C13.5667 17.226 13.5666 16.5927 13.957 16.2023L14.6447 15.5145C14.8654 15.2939 15.1639 15.1979 15.452 15.2266L16.1708 14.5077Z" fill="white"/>
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+<path d="M20.6852 11.1208C19.9042 10.3398 18.6378 10.3398 17.8568 11.1208L17.2733 11.7043C16.6707 12.3069 16.5358 13.1973 16.8631 13.9319L17.5916 13.2034C17.5657 12.9181 17.6619 12.6236 17.8803 12.4052L18.5674 11.7181C18.9579 11.3276 19.5911 11.3276 19.9816 11.7181L20.4056 12.1421C20.7959 12.5326 20.796 13.1658 20.4056 13.5563L19.7185 14.2434C19.5128 14.449 19.2393 14.5457 18.9699 14.5348L18.2235 15.2812C18.9538 15.596 19.8325 15.4565 20.429 14.86L21.0125 14.2765C21.7935 13.4955 21.7936 12.2291 21.0125 11.4481L20.6852 11.1208Z" fill="white"/>
+<rect width="2.59942" height="2.97264" rx="1" transform="matrix(-0.707107 -0.707107 -0.707107 0.707107 21.1133 12.8486)" fill="#8E8E8F"/>
+<rect width="1.91578" height="4.24403" transform="matrix(-0.707107 -0.707107 -0.707107 0.707107 19.6992 13.8066)" fill="#8E8E8F"/>
+<rect width="2.59942" height="2.97264" rx="1" transform="matrix(-0.707107 -0.707107 -0.707107 0.707107 17.3125 16.6455)" fill="#8E8E8F"/>
+</g>
+</svg>`;
+/**
+ * 遍历割草任务，下述四个字段可以在路径中唯一确定遍历的位置（当前区域、当前块、当前行、在当前行上的路程）
+ */
+const ACTION_BLOCK_COVER = 5;
+/**
+ * 遍历割草块转移任务（在同一区域中的一个块转移到下一个块），下述四个字段可以在路径中唯一确定转移的位置（当前区域、前置块、当前转移路径线序号、在当前线上的路程）
+ */
+const ACTION_BLOCK_TRANSFER = 6;
+/**
+ * 边界割草任务（割草任务内部的巡边任务）
+ */
+const ACTION_BOUNDARY_TASK = 8;
+const SVG_MAP_VIEW_ID = 'fleet-maps-svg-map-view';
 
 /**
  * SVG基础MapView
@@ -14,7 +143,6 @@ class SvgMapView {
         this.lineScale = 1; // 线条缩放系数
         // 状态标志
         this.destroyed = false;
-        this.showScale = false;
         // 渲染系统 - 移除节流以确保用户操作的实时响应
         // 拖动功能
         this.isDragging = false;
@@ -57,6 +185,7 @@ class SvgMapView {
         this.svg.setAttribute('shape-rendering', 'geometricPrecision');
         this.svg.setAttribute('text-rendering', 'geometricPrecision');
         this.svg.setAttribute('image-rendering', 'optimizeQuality');
+        this.svg.setAttribute('id', SVG_MAP_VIEW_ID);
     }
     /**
      * 创建SVG组元素
@@ -79,7 +208,9 @@ class SvgMapView {
             return;
         this.layers.push(...layers);
         this.layers.sort((a, b) => a.getLevel() - b.getLevel());
-        this.refresh();
+    }
+    getLayer(type) {
+        return this.layers.find((layer) => layer.getType() === type) || null;
     }
     /**
      * 添加图层
@@ -89,14 +220,12 @@ 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();
@@ -107,15 +236,18 @@ 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 ====================
     /**
      * 设置自适应视图变换 - 让SVG刚好包裹住图形
      */
     fitToView(bounds) {
-        const padding = 10; // 添加一些边距以避免内容贴边
+        const padding = 20; // 添加一些边距以避免内容贴边
         const boundWidth = bounds.maxX - bounds.minX;
         const boundHeight = bounds.maxY - bounds.minY;
         // 防止宽高为0的情况
@@ -138,8 +270,8 @@ class SvgMapView {
         this.viewBox = {
             x: bounds.minX - padding,
             y: bounds.minY - padding,
-            width: boundWidth + padding,
-            height: boundHeight + padding,
+            width: boundWidth + padding * 2,
+            height: boundHeight + padding * 2,
         };
         // 根据宽高比选择合适的preserveAspectRatio设置
         if (Math.abs(contentAspectRatio - containerAspectRatio) < 0.01) {
@@ -151,42 +283,6 @@ class SvgMapView {
             this.svg.setAttribute('preserveAspectRatio', 'xMidYMid meet');
         }
         this.updateViewBox();
-        this.refresh();
-    }
-    /**
-     * 重置变换
-     */
-    resetTransform() {
-        this.scale = 1;
-        // 重置viewBox到默认状态
-        const containerRect = this.container.getBoundingClientRect();
-        this.viewBox = {
-            x: 0,
-            y: 0,
-            width: containerRect.width,
-            height: containerRect.height,
-        };
-        this.updateViewBox();
-        this.refresh();
-    }
-    /**
-     * 设置缩放级别
-     */
-    setZoom(zoomLevel) {
-        if (zoomLevel <= 0)
-            return;
-        const oldScale = this.scale;
-        this.scale = zoomLevel;
-        // 调整viewBox以实现缩放
-        const scaleFactor = oldScale / this.scale;
-        const centerX = this.viewBox.x + this.viewBox.width / 2;
-        const centerY = this.viewBox.y + this.viewBox.height / 2;
-        this.viewBox.width *= scaleFactor;
-        this.viewBox.height *= scaleFactor;
-        this.viewBox.x = centerX - this.viewBox.width / 2;
-        this.viewBox.y = centerY - this.viewBox.height / 2;
-        this.updateViewBox();
-        this.refresh();
     }
     /**
      * 获取当前缩放级别
@@ -194,21 +290,21 @@ class SvgMapView {
     getZoom() {
         return this.scale;
     }
-    /**
-     * 设置线条缩放系数
-     */
-    setLineScale(lineScale) {
-        if (lineScale <= 0)
-            return;
-        this.lineScale = lineScale;
-        this.refresh();
-    }
     /**
      * 获取当前线条缩放系数
      */
     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
@@ -219,25 +315,112 @@ 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
@@ -247,12 +430,6 @@ class SvgMapView {
             return;
         this.render();
     }
-    /**
-     * 重新初始化SVG（用于容器大小变化）
-     */
-    reinitializeSVG() {
-        this.refresh();
-    }
     // ==================== 拖拽功能 ====================
     /**
      * 设置拖拽事件处理器
@@ -377,22 +554,6 @@ class SvgMapView {
             return null;
         }
     }
-    /**
-     * 自动适配viewBox到实际内容
-     */
-    autoFitToContent() {
-        if (this.destroyed || this.layers.length === 0)
-            return;
-        const bounds = this.getLayersGroupBounds();
-        if (bounds) {
-            this.fitToView({
-                minX: bounds.x,
-                minY: bounds.y,
-                maxX: bounds.x + bounds.width,
-                maxY: bounds.y + bounds.height,
-            });
-        }
-    }
     /**
      * 获取ViewBox信息
      */
@@ -413,13 +574,6 @@ class SvgMapView {
      * 诊断SVG尺寸信息
      */
     diagnosticSizeInfo() { }
-    /**
-     * 设置是否显示比例尺
-     */
-    setShowScale(show) {
-        this.showScale = show;
-        this.refresh();
-    }
     /**
      * 获取SVG元素
      */
@@ -599,164 +753,56 @@ const createStoreImpl = (createState) => {
   const initialState = state = createState(setState, getState, api);
   return api;
 };
-const createStore = (createState) => createState ? createStoreImpl(createState) : createStoreImpl;
-
-const identity$1 = (arg) => arg;
-function useStore(api, selector = identity$1) {
-  const slice = React.useSyncExternalStore(
-    api.subscribe,
-    () => selector(api.getState()),
-    () => selector(api.getInitialState())
-  );
-  React.useDebugValue(slice);
-  return slice;
-}
-const createImpl = (createState) => {
-  const api = createStore(createState);
-  const useBoundStore = (selector) => useStore(api, selector);
-  Object.assign(useBoundStore, api);
-  return useBoundStore;
-};
-const create = (createState) => createState ? createImpl(createState) : createImpl;
-
-const useSubBoundaryBorderStore = create((set, get) => ({
-    subBoundaryBorder: {},
-    // 覆盖所有数据
-    setSubBoundaryBorder: (subBoundaryBorder) => set({ subBoundaryBorder }),
-    // 追加单个数据
-    addSubBoundaryBorder: (key, element) => set((state) => ({
-        subBoundaryBorder: {
-            ...state.subBoundaryBorder,
-            [key]: element,
-        },
-    })),
-    // 追加多个数据
-    addMultipleSubBoundaryBorders: (borders) => set((state) => ({
-        subBoundaryBorder: {
-            ...state.subBoundaryBorder,
-            ...borders,
-        },
-    })),
-    // 清空所有数据
-    clearSubBoundaryBorder: () => set({ subBoundaryBorder: {} }),
-}));
-
-/**
- * 地图渲染相关常量配置
- */
-/**
- * 缩放因子 - 将米转换为像素
- * 与Python代码中的SVG比例一致
- */
-const SCALE_FACTOR = 50; // 50像素/米
-/**
- * 默认线宽设置
- */
-const DEFAULT_LINE_WIDTHS = {
-    OBSTACLE: 2,
-    CHARGING_PILE: 2,
-    CHANNEL: 2,
-    PATH: 20,
-    VISION_OFF_AREA: 2,
-    TIME_LIMIT_OBSTACLE: 1,
-};
-/**
- * 默认透明度设置
- */
-const DEFAULT_OPACITIES = {
-    FULL: 1.0,
-    HIGH: 0.7,
-    LOW: 0.4};
-/**
- * 默认半径设置
- */
-const DEFAULT_RADII = {
-    CHARGING_PILE: 12};
-/**
- * 图层等级
- */
-const LAYER_LEVELS = {
-    BOUNDARY: 2,
-    BOUNDARY_BORDER: 4};
-/**
- * 图层默认id
- */
-const LAYER_DEFAULT_TYPE = {
-    CHANNEL: 'channel',
-    BOUNDARY: 'boundary',
-    PATH: 'path',
-    BOUNDARY_BORDER: 'boundary_border',
-    OBSTACLE: 'obstacle',
-    CHARGING_PILE: 'charging_pile',
-    POINT: 'point',
-    SVG: 'svg',
-    VISION_OFF_AREA: 'vision_off_area',
-    ANTENNA: 'antenna',
-};
-var RobotStatus;
-(function (RobotStatus) {
-    RobotStatus[RobotStatus["PARKED"] = 1] = "PARKED";
-    RobotStatus[RobotStatus["CHARGING"] = 2] = "CHARGING";
-    RobotStatus[RobotStatus["STANDBY"] = 3] = "STANDBY";
-    RobotStatus[RobotStatus["MOWING"] = 4] = "MOWING";
-    RobotStatus[RobotStatus["WORKING"] = 5] = "WORKING";
-    RobotStatus[RobotStatus["MAPPING"] = 6] = "MAPPING";
-    RobotStatus[RobotStatus["ERROR"] = 7] = "ERROR";
-    RobotStatus[RobotStatus["UPGRADING"] = 8] = "UPGRADING";
-    RobotStatus[RobotStatus["DISCONNECTED"] = 9] = "DISCONNECTED";
-    RobotStatus[RobotStatus["UNKNOWN"] = -1] = "UNKNOWN";
-    RobotStatus[RobotStatus["TASK_DELAY"] = 10] = "TASK_DELAY";
-    // WAITING = 'Waiting',
-})(RobotStatus || (RobotStatus = {}));
-// RTK状态
-var RTK_STATE;
-(function (RTK_STATE) {
-    RTK_STATE[RTK_STATE["LOW_RTK"] = 1] = "LOW_RTK";
-    RTK_STATE[RTK_STATE["MIDDLE_RTK"] = 2] = "MIDDLE_RTK";
-    RTK_STATE[RTK_STATE["HIGH_RTK"] = 3] = "HIGH_RTK";
-    RTK_STATE[RTK_STATE["NO_POSTURE"] = 10] = "NO_POSTURE";
-    RTK_STATE[RTK_STATE["OUT_OF_RANGE"] = 11] = "OUT_OF_RANGE";
-    RTK_STATE[RTK_STATE["OFF_LINE"] = 19] = "OFF_LINE";
-})(RTK_STATE || (RTK_STATE = {}));
-var REAL_TIME_DATA_TYPE;
-(function (REAL_TIME_DATA_TYPE) {
-    REAL_TIME_DATA_TYPE[REAL_TIME_DATA_TYPE["LOCATION"] = 1] = "LOCATION";
-    REAL_TIME_DATA_TYPE[REAL_TIME_DATA_TYPE["PROCESS"] = 2] = "PROCESS";
-})(REAL_TIME_DATA_TYPE || (REAL_TIME_DATA_TYPE = {}));
-const ISOLATED_BOUNDARY_SVG = `<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
-<g opacity="0.6">
-<rect width="24" height="24" rx="12" fill="#1E1E1F" fill-opacity="0.5"/>
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-</mask>
-<path d="M16.1708 14.5077C15.4353 14.1778 14.5422 14.3133 13.9383 14.9172L13.3548 15.5007C12.574 16.2818 12.5738 17.5481 13.3548 18.3291L13.6821 18.6564C14.4631 19.4374 15.7295 19.4373 16.5105 18.6564L17.094 18.0729C17.6895 17.4775 17.8299 16.6003 17.5173 15.8708L16.7743 16.6138C16.7828 16.8803 16.6863 17.1494 16.4829 17.3527L15.7952 18.0405C15.4046 18.4309 14.7714 18.431 14.3809 18.0405L13.957 17.6165C13.5667 17.226 13.5666 16.5927 13.957 16.2023L14.6447 15.5145C14.8654 15.2939 15.1639 15.1979 15.452 15.2266L16.1708 14.5077Z" fill="white"/>
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-<path d="M20.6852 11.1208C19.9042 10.3398 18.6378 10.3398 17.8568 11.1208L17.2733 11.7043C16.6707 12.3069 16.5358 13.1973 16.8631 13.9319L17.5916 13.2034C17.5657 12.9181 17.6619 12.6236 17.8803 12.4052L18.5674 11.7181C18.9579 11.3276 19.5911 11.3276 19.9816 11.7181L20.4056 12.1421C20.7959 12.5326 20.796 13.1658 20.4056 13.5563L19.7185 14.2434C19.5128 14.449 19.2393 14.5457 18.9699 14.5348L18.2235 15.2812C18.9538 15.596 19.8325 15.4565 20.429 14.86L21.0125 14.2765C21.7935 13.4955 21.7936 12.2291 21.0125 11.4481L20.6852 11.1208Z" fill="white"/>
-<rect width="2.59942" height="2.97264" rx="1" transform="matrix(-0.707107 -0.707107 -0.707107 0.707107 21.1133 12.8486)" fill="#8E8E8F"/>
-<rect width="1.91578" height="4.24403" transform="matrix(-0.707107 -0.707107 -0.707107 0.707107 19.6992 13.8066)" fill="#8E8E8F"/>
-<rect width="2.59942" height="2.97264" rx="1" transform="matrix(-0.707107 -0.707107 -0.707107 0.707107 17.3125 16.6455)" fill="#8E8E8F"/>
-</g>
-</svg>`;
-/**
- * 遍历割草任务，下述四个字段可以在路径中唯一确定遍历的位置（当前区域、当前块、当前行、在当前行上的路程）
- */
-const ACTION_BLOCK_COVER = 5;
-/**
- * 遍历割草块转移任务（在同一区域中的一个块转移到下一个块），下述四个字段可以在路径中唯一确定转移的位置（当前区域、前置块、当前转移路径线序号、在当前线上的路程）
- */
-const ACTION_BLOCK_TRANSFER = 6;
-/**
- * 边界割草任务（割草任务内部的巡边任务）
- */
-const ACTION_BOUNDARY_TASK = 8;
+const createStore = (createState) => createState ? createStoreImpl(createState) : createStoreImpl;
+
+const identity$1 = (arg) => arg;
+function useStore(api, selector = identity$1) {
+  const slice = React.useSyncExternalStore(
+    api.subscribe,
+    () => selector(api.getState()),
+    () => selector(api.getInitialState())
+  );
+  React.useDebugValue(slice);
+  return slice;
+}
+const createImpl = (createState) => {
+  const api = createStore(createState);
+  const useBoundStore = (selector) => useStore(api, selector);
+  Object.assign(useBoundStore, api);
+  return useBoundStore;
+};
+const create = (createState) => createState ? createImpl(createState) : createImpl;
+
+const useSubBoundaryBorderStore = create((set, get) => ({
+    subBoundaryBorder: {},
+    // 追加单个数据
+    addSubBoundaryBorder: (key, element) => set((state) => ({
+        subBoundaryBorder: {
+            ...state.subBoundaryBorder,
+            [key]: element,
+        },
+    })),
+    // 清空所有数据
+    clearSubBoundaryBorder: () => set({ subBoundaryBorder: {} }),
+    // 障碍物
+    obstacles: {},
+    addObstacles: (key, element) => set((state) => ({
+        obstacles: {
+            ...state.obstacles,
+            [key]: element,
+        },
+    })),
+    clearObstacles: () => set({ obstacles: {} }),
+    // svg数据
+    svgElements: {},
+    addSvgElements: (key, element) => set((state) => ({
+        svgElements: {
+            ...state.svgElements,
+            [key]: element,
+        },
+    })),
+    clearSvgElements: () => set({ svgElements: {} }),
+}));
 
 /**
  * 路径图层
@@ -808,51 +854,90 @@ class ChannelLayer extends BaseLayer {
         }
         // �� 修改：计算包含所有分区和通道的边界框
         let minX = Infinity, minY = Infinity, maxX = -Infinity, maxY = -Infinity;
-        // 1. 先计算所有分区的边界
-        for (const partitionId in subBoundaryBorder) {
-            const boundaryData = subBoundaryBorder[partitionId];
-            if (boundaryData && boundaryData.coordinates && boundaryData.coordinates.length > 0) {
-                for (const coord of boundaryData.coordinates) {
-                    minX = Math.min(minX, coord[0]);
-                    minY = Math.min(minY, coord[1]);
-                    maxX = Math.max(maxX, coord[0]);
-                    maxY = Math.max(maxY, coord[1]);
+        // 1. 先计算所有分区的边界,如果能拿到边界的svg的大小，就使用这个如果拿不到，就根据分区去计算
+        const svg = document.getElementById(SVG_MAP_VIEW_ID);
+        if (svg && svg instanceof SVGSVGElement && svg.viewBox) {
+            const viewBox = svg.viewBox.baseVal;
+            minX = viewBox.x;
+            minY = viewBox.y;
+            maxX = viewBox.x + viewBox.width;
+            maxY = viewBox.y + viewBox.height;
+        }
+        else {
+            for (const partitionId in subBoundaryBorder) {
+                const boundaryData = subBoundaryBorder[partitionId];
+                if (boundaryData && boundaryData.coordinates && boundaryData.coordinates.length > 0) {
+                    for (const coord of boundaryData.coordinates) {
+                        minX = Math.min(minX, coord[0]);
+                        minY = Math.min(minY, coord[1]);
+                        maxX = Math.max(maxX, coord[0]);
+                        maxY = Math.max(maxY, coord[1]);
+                    }
                 }
             }
         }
         // 2. 再计算所有通道的边界
         for (const element of this.elements) {
-            const tunnelConnection = element.originalData?.connection;
-            if (tunnelConnection && Array.isArray(tunnelConnection)) {
-                const clipPathId = `channel-exclude-${element.originalData?.id || Math.random().toString(36).substr(2, 9)}`;
-                // 检查是否已存在该 clipPath
-                const existingClipPath = defs.querySelector(`#${clipPathId}`);
-                if (existingClipPath)
-                    continue;
-                // 创建 clipPath
-                const clipPath = document.createElementNS('http://www.w3.org/2000/svg', 'clipPath');
-                clipPath.setAttribute('id', clipPathId);
-                clipPath.setAttribute('clipPathUnits', 'userSpaceOnUse');
-                // === 合成一个 path ===
-                let d = `M ${minX} ${minY} L ${maxX} ${minY} L ${maxX} ${maxY} L ${minX} ${maxY} Z`;
-                for (const partitionId of tunnelConnection) {
-                    const boundaryData = subBoundaryBorder[partitionId];
-                    if (boundaryData && boundaryData.coordinates.length >= 3) {
-                        d += ` M ${boundaryData.coordinates[0][0]} ${boundaryData.coordinates[0][1]}`;
-                        for (let i = 1; i < boundaryData.coordinates.length; i++) {
-                            d += ` L ${boundaryData.coordinates[i][0]} ${boundaryData.coordinates[i][1]}`;
-                        }
-                        d += ' Z';
+            // const tunnelConnection = element.originalData?.connection;
+            // if (tunnelConnection && Array.isArray(tunnelConnection)) {
+            //   const clipPathId = `channel-exclude-${
+            //     element.originalData?.id || Math.random().toString(36).substr(2, 9)
+            //   }`;
+            //   // 检查是否已存在该 clipPath
+            //   const existingClipPath = defs.querySelector(`#${clipPathId}`);
+            //   if (existingClipPath) continue;
+            //   // 创建 clipPath
+            //   const clipPath = document.createElementNS('http://www.w3.org/2000/svg', 'clipPath');
+            //   clipPath.setAttribute('id', clipPathId);
+            //   clipPath.setAttribute('clipPathUnits', 'userSpaceOnUse');
+            //   // === 合成一个 path ===
+            //   let d = `M ${minX} ${minY} L ${maxX} ${minY} L ${maxX} ${maxY} L ${minX} ${maxY} Z`;
+            //   for (const partitionId of tunnelConnection) {
+            //     const boundaryData = subBoundaryBorder[partitionId];
+            //     if (boundaryData && boundaryData.coordinates.length >= 3) {
+            //       d += ` M ${boundaryData.coordinates[0][0]} ${boundaryData.coordinates[0][1]}`;
+            //       for (let i = 1; i < boundaryData.coordinates.length; i++) {
+            //         d += ` L ${boundaryData.coordinates[i][0]} ${boundaryData.coordinates[i][1]}`;
+            //       }
+            //       d += ' Z';
+            //     }
+            //   }
+            //   const path = document.createElementNS('http://www.w3.org/2000/svg', 'path');
+            //   path.setAttribute('d', d);
+            //   path.setAttribute('clip-rule', 'evenodd'); // 关键
+            //   clipPath.appendChild(path);
+            //   defs.appendChild(clipPath);
+            //   clipPathIdsMap[element.originalData?.id.toString()] = clipPathId;
+            // } else {
+            const clipPathId = `channel-exclude-all-${element.originalData?.id || Math.random().toString(36).substr(2, 9)}`;
+            // 检查是否已存在该 clipPath
+            const existingClipPath = defs.querySelector(`#${clipPathId}`);
+            if (existingClipPath)
+                continue;
+            // 创建 clipPath
+            const clipPath = document.createElementNS('http://www.w3.org/2000/svg', 'clipPath');
+            clipPath.setAttribute('id', clipPathId);
+            clipPath.setAttribute('clipPathUnits', 'userSpaceOnUse');
+            // === 合成一个 path ===
+            let d = `M ${minX} ${minY} L ${maxX} ${minY} L ${maxX} ${maxY} L ${minX} ${maxY} Z`;
+            for (const partitionId in subBoundaryBorder) {
+                const boundaryData = subBoundaryBorder[partitionId];
+                if (boundaryData && boundaryData.coordinates.length >= 3) {
+                    d += ` M ${boundaryData.coordinates[0][0]} ${boundaryData.coordinates[0][1]}`;
+                    for (let i = 1; i < boundaryData.coordinates.length; i++) {
+                        d += ` L ${boundaryData.coordinates[i][0]} ${boundaryData.coordinates[i][1]}`;
                     }
+                    d += ' Z';
                 }
-                const path = document.createElementNS('http://www.w3.org/2000/svg', 'path');
-                path.setAttribute('d', d);
-                path.setAttribute('clip-rule', 'evenodd'); // 关键
-                clipPath.appendChild(path);
-                defs.appendChild(clipPath);
-                clipPathIdsMap[element.originalData?.id.toString()] = clipPathId;
             }
+            const path = document.createElementNS('http://www.w3.org/2000/svg', 'path');
+            path.setAttribute('d', d);
+            path.setAttribute('clip-rule', 'evenodd'); // 关键
+            clipPath.appendChild(path);
+            defs.appendChild(clipPath);
+            clipPathIdsMap[element.originalData?.id.toString()] = clipPathId;
         }
+        // }
         return clipPathIdsMap;
     }
     /**
@@ -916,13 +1001,14 @@ class PathLayer extends BaseLayer {
         this.level = 3;
         this.scale = 1;
         this.lineScale = 1;
+        this.boundaryPaths = {};
         this.type = LAYER_DEFAULT_TYPE.PATH;
     }
     /**
      * 创建所有分区并集的 clipPath
      */
     createUnionClipPath(svgGroup) {
-        const { subBoundaryBorder } = useSubBoundaryBorderStore.getState();
+        const { subBoundaryBorder, obstacles, svgElements } = useSubBoundaryBorderStore.getState();
         // 确保 defs 元素存在
         let defs = svgGroup.querySelector('defs');
         if (!defs) {
@@ -936,7 +1022,7 @@ class PathLayer extends BaseLayer {
             defs.removeChild(existing);
         // 合成所有分区的 path
         let d = '';
-        // 合成所有边界
+        // 1. 外圈（主边界，顺时针）
         Object.values(subBoundaryBorder).forEach((item) => {
             const bCoords = item.coordinates;
             if (bCoords.length >= 3) {
@@ -947,6 +1033,26 @@ class PathLayer extends BaseLayer {
                 d += ' Z ';
             }
         });
+        // 2. 内圈（禁区，逆时针）
+        Object.values(obstacles).forEach((item) => {
+            const bCoords = item.coordinates;
+            if (bCoords.length >= 3) {
+                d += `M ${bCoords[bCoords.length - 1][0]} ${bCoords[bCoords.length - 1][1]}`;
+                for (let i = bCoords.length - 2; i >= 0; i--) {
+                    d += ` L ${bCoords[i][0]} ${bCoords[i][1]}`;
+                }
+                d += ' Z ';
+            }
+        });
+        // 3. svgElements（直接拼接path字符串，建议逆时针）
+        if (Array.isArray(svgElements)) {
+            svgElements.forEach((svgPath) => {
+                const svgPathString = svgPath?.metadata?.svg;
+                if (svgPathString && typeof svgPathString === 'string' && svgPathString.trim()) {
+                    d += svgPathString + ' ';
+                }
+            });
+        }
         const path = document.createElementNS('http://www.w3.org/2000/svg', 'path');
         path.setAttribute('d', d);
         const clipPath = document.createElementNS('http://www.w3.org/2000/svg', 'clipPath');
@@ -971,17 +1077,21 @@ class PathLayer extends BaseLayer {
         // 2. 创建一个组，应用 clipPath
         const group = document.createElementNS('http://www.w3.org/2000/svg', 'g');
         group.setAttribute('clip-path', `url(#${clipPathId})`);
-        group.setAttribute('opacity', '0.35'); // 统一透明度，防止叠加脏乱
+        group.setAttribute('opacity', '0.6'); // 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;
@@ -997,7 +1107,7 @@ 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());
@@ -1005,13 +1115,8 @@ 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);
     }
 }
@@ -1120,7 +1225,7 @@ class ObstacleLayer extends BaseLayer {
     }
 }
 
-var chargingPileImage = "data:image/png;base64,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";
+var chargingPileImage = "data:image/png;base64,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";
 
 /**
  * 充电桩图层
@@ -1310,7 +1415,7 @@ class SvgElementLayer extends BaseLayer {
                 // 在transformGroup上应用变换：平移到中心，旋转，缩放，然后居中SVG
                 const transform = [
                     `translate(${center[0]}, ${center[1]})`,
-                    `rotate(${(direction * 180) / Math.PI})`,
+                    `rotate(${-(direction * 180) / Math.PI})`,
                     `scale(${userScale})`,
                     `translate(${-originalWidth / 2}, ${-originalHeight / 2})`,
                 ].join(' ');
@@ -1339,7 +1444,6 @@ 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());
@@ -1409,9 +1513,10 @@ class VisionOffLayer extends BaseLayer {
  */
 const BOUNDARY_STYLES = {
     lineColor: '#ffffff',
-    fillColor: 'rgba(239, 255, 237, 0.15)', // 更鲜艳的绿色半透明填充，增强可见性
+    fillColor: 'rgba(239, 255, 237, 0.1)', // 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)',
@@ -1440,10 +1545,11 @@ const DOODLE_STYLES = {
 };
 const PATH_EDGE_STYLES = {
     lineWidth: DEFAULT_LINE_WIDTHS.PATH,
-    opacity: DEFAULT_OPACITIES.LOW,
-    edgeLineColor: 'rgba(194, 203, 212)',
+    opacity: DEFAULT_OPACITIES.MEDIUM,
+    edgeLineColor: 'rgba(231, 238, 246)',
     transLineColor: 'transparent',
-    mowingLineColor: 'rgba(194, 203, 212)',
+    mowedLineColor: 'rgba(231, 238, 246)',
+    mowingLineColor: 'rgba(123, 200, 187)',
 };
 const CHANNEL_STYLES = {
     lineColor: 'purple',
@@ -1527,11 +1633,11 @@ 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;
@@ -1551,8 +1657,8 @@ 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
                 ];
@@ -1785,26 +1891,7 @@ function generateBoundaryData(mapData, pathData) {
     }
     // 第一步：收集所有TUNNEL数据的connection信息
     const connectedBoundaryIds = new Set();
-    // 1.1 遍历子地图中的TUNNEL元素
-    for (const subMap of mapData.sub_maps) {
-        if (!subMap.elements)
-            continue;
-        // 找到该子地图中所有 type 为 TUNNEL 的元素
-        const tunnelElements = subMap.elements.filter(element => element.type === 'TUNNEL');
-        for (const tunnelElement of tunnelElements) {
-            const connection = tunnelElement.connection;
-            if (connection) {
-                // connection可能是单个数字或数组
-                if (Array.isArray(connection)) {
-                    connection.forEach(id => connectedBoundaryIds.add(id));
-                }
-                else if (typeof connection === 'number') {
-                    connectedBoundaryIds.add(connection);
-                }
-            }
-        }
-    }
-    // 1.2 遍历mapData中的tunnels字段
+    // 遍历mapData中的tunnels字段
     if (mapData.tunnels && Array.isArray(mapData.tunnels)) {
         for (const tunnel of mapData.tunnels) {
             const connection = tunnel.connection;
@@ -1826,6 +1913,8 @@ function generateBoundaryData(mapData, pathData) {
             continue;
         // 每个sub_map的elements是边界坐标，没有sub_map只有一个boundary数据
         const boundaryElement = subMap.elements.find(element => element.type === 'BOUNDARY');
+        //  如果当前subMap存在充电桩且充电桩存在tunnel，说明当前subMap中的boundary是初始boundary，这个boundary不为孤立区域
+        const hasTunnelToChargingPile = subMap.elements.some(element => element.type === 'CHARGING_PILE' && element.tunnel);
         // 创建基础的 boundary 数据（来自 mapData）
         const boundary = {
             // 从 BOUNDARY 元素复制属性
@@ -1835,7 +1924,7 @@ function generateBoundaryData(mapData, pathData) {
             points: convertPointsFormat(boundaryElement?.points) || [],
             type: boundaryElement.type,
             // 判断是否为孤立子区域
-            isIsolated: !connectedBoundaryIds.has(boundaryElement.id)
+            isIsolated: hasTunnelToChargingPile ? false : !connectedBoundaryIds.has(boundaryElement.id)
         };
         // 如果有 pathData，尝试匹配对应的分区数据
         if (pathData) {
@@ -1856,180 +1945,13 @@ 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}`);
-// }
+var RealTimeDataType;
+(function (RealTimeDataType) {
+    RealTimeDataType[RealTimeDataType["LOCATION"] = 1] = "LOCATION";
+    RealTimeDataType[RealTimeDataType["PROCESS"] = 2] = "PROCESS";
+    RealTimeDataType[RealTimeDataType["PARTITION"] = 3] = "PARTITION";
+    RealTimeDataType[RealTimeDataType["STATUS"] = 4] = "STATUS";
+})(RealTimeDataType || (RealTimeDataType = {}));
 
 /**
  * 射线法判断点是否在多边形内部
@@ -2125,50 +2047,6 @@ 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
@@ -2176,7 +2054,7 @@ 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();
@@ -2192,7 +2070,6 @@ const handleRealTimeData = ({ realTimeData, isMowing, pathData, partitionBoundar
             // 割草轨迹
             const { postureX, postureY, vehicleState } = item;
             const currentPartitionId = getPartitionId(partitionBoundary, Number(postureX), Number(postureY));
-            console.log('currentPartitionId===', currentPartitionId);
             if (currentPartitionId && newPathData?.[currentPartitionId]) {
                 const currentPathData = newPathData[currentPartitionId];
                 newPathData[currentPartitionId] = {
@@ -2204,7 +2081,7 @@ 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？
                         },
                     ],
@@ -2213,21 +2090,20 @@ 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;
             }
         }
     });
@@ -2236,6 +2112,39 @@ 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 === RealTimeDataType.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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";
 
@@ -2291,8 +2200,10 @@ function getNoPositionMowerImageByModal(mowerModal) {
     }
     return iNoPosition;
 }
-function getMowerImage(positonConfig) {
-    const model = positonConfig.vehicleModel || '';
+function getMowerImage(positonConfig, modelType) {
+    if (!positonConfig)
+        return '';
+    const model = modelType?.toLowerCase() || 'i';
     const state = positonConfig.vehicleState;
     const mowerImage = getMowerImageByModal(model);
     const disabledImage = getDisabledMowerImageByModal(model);
@@ -2329,9 +2240,9 @@ 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. */
@@ -4397,7 +4308,7 @@ function cloneBuffer(buffer, isDeep) {
 }
 
 /** Built-in value references. */
-var Uint8Array$1 = root.Uint8Array;
+var Uint8Array = root.Uint8Array;
 
 /**
  * Creates a clone of `arrayBuffer`.
@@ -4408,7 +4319,7 @@ 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;
 }
 
@@ -4759,6 +4670,36 @@ var merge = createAssigner(function(object, source, srcIndex) {
  */
 var round = createRound('round');
 
+/**
+ * 工具模块类型定义
+ */
+/**
+ * 路径段类型枚举
+ */
+var PathSegmentType;
+(function (PathSegmentType) {
+    PathSegmentType["EDGE"] = "edge";
+    PathSegmentType["MOWING"] = "mowing";
+    PathSegmentType["TRANS"] = "trans";
+})(PathSegmentType || (PathSegmentType = {}));
+/**
+ * 单位类型枚举
+ */
+var UnitsType;
+(function (UnitsType) {
+    UnitsType["Metric"] = "Metric";
+    UnitsType["Imperial"] = "Imperial";
+})(UnitsType || (UnitsType = {}));
+/**
+ * 面积单位类型枚举
+ */
+var UnitsAreaType;
+(function (UnitsAreaType) {
+    UnitsAreaType["SQUARE_METER"] = "m\u00B2";
+    UnitsAreaType["SQUARE_FOOT"] = "ft\u00B2";
+    UnitsAreaType["ACRE"] = "ac";
+})(UnitsAreaType || (UnitsAreaType = {}));
+
 /**
  * 默认航向相对于canvas的偏移角度: 航向默认是东
  */
@@ -4786,10 +4727,6 @@ 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);
 };
@@ -4836,17 +4773,6 @@ function formatNumberWithMetricPrefix(value, round = true, decimals = 2) {
         return `${mathFn(value / 1000000000, decimals)}B`;
     }
 }
-var UnitsType;
-(function (UnitsType) {
-    UnitsType["Metric"] = "metric";
-    UnitsType["Imperial"] = "imperial";
-})(UnitsType || (UnitsType = {}));
-var UnitsAreaType;
-(function (UnitsAreaType) {
-    UnitsAreaType["SQUARE_METER"] = "m\u00B2";
-    UnitsAreaType["SQUARE_FOOT"] = "ft\u00B2";
-    UnitsAreaType["ACRE"] = "ac";
-})(UnitsAreaType || (UnitsAreaType = {}));
 /**
  * 转换割草面积的方法
  * @param area 面积数值（单位：m²）
@@ -5035,6 +4961,19 @@ 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 = {};
+        this.mowingBoundarys = [];
+    }
+    /**
+     * 设置当前割草任务的边界
+     */
+    setMowingBoundarys(mowingBoundarys) {
+        if (!mowingBoundarys) {
+            this.mowingBoundarys = this.elements?.map(item => item?.originalData?.id);
+        }
+        else {
+            this.mowingBoundarys = mowingBoundarys;
+        }
     }
     /**
      * SVG渲染方法
@@ -5055,7 +4994,8 @@ 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
@@ -5066,20 +5006,21 @@ 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) {
-        const strokeColor = style.lineColor;
+    createDirectPath(svgGroup, points, style, id) {
+        const isMowing = this.mowingBoundarys.includes(Number(id));
+        const strokeColor = isMowing ? style.mowingLineColor : style.lineColor;
         const lineWidth = dp2px(style.lineWidth || 3);
         const path = document.createElementNS('http://www.w3.org/2000/svg', 'path');
         // 构建路径数据
@@ -5102,13 +5043,18 @@ 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) {
-        const strokeColor = style.lineColor;
+    createParallelPathsWithMeasure(svgGroup, points, style, id) {
+        const isMowing = this.mowingBoundarys.includes(Number(id));
+        const strokeColor = isMowing ? style.mowingLineColor : 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
         const fixedScreenDistance = lineWidth; // 固定的屏幕像素距离
@@ -5131,6 +5077,10 @@ 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);
         });
     }
@@ -5220,6 +5170,9 @@ class BoundaryBorderLayer extends BaseLayer {
         }
         return segments;
     }
+    resetPaths() {
+        this.boudaryBorderPaths = {};
+    }
 }
 
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@@ -5432,7 +5385,7 @@ class DrawLayer extends BaseLayer {
             this.pointLayer,
             this.svgElementLayer,
             this.visionOffLayer,
-        ];
+        ]?.filter((layer) => layer.getElements().length > 0);
     }
     getPathLayers() {
         return this.pathLayer;
@@ -5447,6 +5400,14 @@ class BoundaryDataBuilder {
      * 创建边界元素数据
      */
     static create(type, coordinates, style) {
+        const len = coordinates?.length || 0;
+        const firstPoint = coordinates?.[0];
+        const lastPoint = coordinates?.[len - 1];
+        const isClosed = firstPoint?.[0] === lastPoint?.[0] && firstPoint?.[1] === lastPoint?.[1];
+        // 如果地图没有闭合，则手动新增闭合点，避免border最后一部分没有闭合的情况
+        if (!isClosed) {
+            coordinates.push([firstPoint?.[0], firstPoint?.[1], lastPoint?.[2]]);
+        }
         return {
             type,
             coordinates,
@@ -5761,7 +5722,6 @@ 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);
     }
@@ -5850,8 +5810,13 @@ class MapDataProcessor {
                             // 为ObstacleData创建兼容的MapElement接口
                             const mapElement = element;
                             const obstacleElement = ObstacleDataBuilder.fromMapElement(mapElement, this.mapConfig.obstacle);
-                            if (obstacleElement)
+                            if (obstacleElement) {
                                 result.push(obstacleElement);
+                                const { addObstacles } = useSubBoundaryBorderStore.getState();
+                                addObstacles(`obstacle-${obstacleElement.originalData.id}`, {
+                                    ...obstacleElement,
+                                });
+                            }
                         }
                         catch (error) {
                             console.warn(`Error processing OBSTACLE element:`, element, error);
@@ -5912,9 +5877,13 @@ class MapDataProcessor {
                                 element.direction !== undefined) {
                                 const mapElement = element;
                                 const svgElement = SvgElementDataBuilder.fromMapElement(mapElement, this.mapConfig.doodle);
-                                console.log('svgElement==', svgElement);
-                                if (svgElement)
+                                if (svgElement) {
                                     result.push(svgElement);
+                                    const { addSvgElements } = useSubBoundaryBorderStore.getState();
+                                    addSvgElements(`time-limit-obstacle-${svgElement.originalData.id}`, {
+                                        ...svgElement,
+                                    });
+                                }
                             }
                             // 如果有points数据，按传统方式绘制
                             else if ('points' in element &&
@@ -5923,8 +5892,13 @@ class MapDataProcessor {
                                 element.points.length >= 3) {
                                 const mapElement = element;
                                 const polygonElement = ObstacleDataBuilder.createTimeLimitObstacle(mapElement, this.mapConfig.obstacle);
-                                if (polygonElement)
+                                if (polygonElement) {
                                     result.push(polygonElement);
+                                    const { addObstacles } = useSubBoundaryBorderStore.getState();
+                                    addObstacles(`time-limit-obstacle-${polygonElement.originalData.id}`, {
+                                        ...polygonElement,
+                                    });
+                                }
                             }
                         }
                         catch (error) {
@@ -5969,35 +5943,15 @@ 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;
@@ -6006,10 +5960,11 @@ 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;
@@ -6018,11 +5973,11 @@ 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;
@@ -6041,55 +5996,59 @@ 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,
+            };
+        });
+        return result;
     }
 }
 
@@ -6098,15 +6057,19 @@ class PathDataProcessor {
  * 专门处理边界标签的创建、定位和管理
  */
 class BoundaryLabelsManager {
-    constructor(svgView, boundaryData) {
+    constructor(svgView, boundaryData, { unitType, language }) {
         this.container = null;
         this.overlayDiv = null;
         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();
+        this.unitType = unitType;
+        this.language = language;
     }
     /**
      * 初始化容器
@@ -6180,17 +6143,17 @@ 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';
@@ -6202,12 +6165,14 @@ 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';
+        console.log('this.unitType->', this.unitType);
         // 面积信息
-        const totalArea = convertAreaByUnits(boundary.area || 0, 'metric');
-        const finishedArea = convertAreaByUnits(boundary.finishedArea || 0, 'metric');
+        const totalArea = convertAreaByUnits(boundary.area || 0, this.unitType);
+        const finishedArea = convertAreaByUnits(boundary.finishedArea || 0, this.unitType);
         const coverageText = `Coverage: ${finishedArea.value}/${totalArea.value}`;
         // 日期信息
         const dateText = formatBoundaryDateText(boundary.endTime || 0);
@@ -6273,7 +6238,6 @@ class BoundaryLabelsManager {
         this.collapseOtherLabels(boundaryId);
         // 展开当前标签
         extendedContent.style.display = 'block';
-        labelDiv.style.whiteSpace = 'normal';
         this.currentExpandedBoundaryId = boundaryId;
     }
     /**
@@ -6283,7 +6247,7 @@ 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');
@@ -6386,7 +6350,7 @@ 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）
@@ -6435,7 +6399,7 @@ class BoundaryLabelsManager {
         });
         return {
             x: sumX / points.length,
-            y: sumY / points.length
+            y: sumY / points.length,
         };
     }
     /**
@@ -6509,12 +6473,6 @@ class BoundaryLabelsManager {
             this.container.style.display = visible ? 'block' : 'none';
         }
     }
-    /**
-     * 获取边界数据
-     */
-    getBoundaryData() {
-        return this.boundaryData;
-    }
     /**
      * 根据ID获取特定边界的标签元素
      */
@@ -6531,7 +6489,7 @@ 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';
@@ -6546,7 +6504,7 @@ 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';
@@ -6565,34 +6523,26 @@ class BoundaryLabelsManager {
         });
     }
     /**
-     * 重置标签层级（公共方法）
-     */
-    resetZIndex() {
-        this.resetLabelZIndex();
-    }
-    /**
-     * 获取层级常量（静态方法）
-     */
-    static getZIndexConstants() {
-        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;
-            labelElement.style.zIndex;
+            // 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)`;
         });
     }
 }
 // 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
 };
 
 /**
@@ -6605,6 +6555,10 @@ 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();
     }
@@ -6659,7 +6613,9 @@ 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
@@ -6708,30 +6664,15 @@ 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);
@@ -6745,7 +6686,15 @@ 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;
@@ -6760,29 +6709,9 @@ class ChargingPileManager {
     clear() {
         this.chargingPileElements = [];
         this.pileElements.clear();
-        if (this.container) {
-            this.container.innerHTML = '';
-        }
-    }
-    /**
-     * 设置可见性
-     */
-    setVisible(visible) {
-        if (this.container) {
-            this.container.style.display = visible ? 'block' : 'none';
-        }
-    }
-    /**
-     * 获取充电桩数量
-     */
-    getElementCount() {
-        return this.chargingPileElements.length;
-    }
-    /**
-     * 充电桩不需要动态层级调整（为了接口统一而保留）
-     */
-    resetZIndex() {
-        // 充电桩层级始终保持固定，无需重置
+        if (this.container) {
+            this.container.innerHTML = '';
+        }
     }
     /**
      * 销毁管理器
@@ -6795,10 +6724,21 @@ 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)`;
+        });
+    }
 }
 // 简化的层级定义 - 充电桩只需要一个固定层级
 ChargingPileManager.Z_INDEX = {
-    CHARGING_PILE: 800, // 充电桩图标固定层级
+    CHARGING_PILE: 750, // 充电桩图标固定层级
 };
 
 /**
@@ -6816,6 +6756,8 @@ 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();
@@ -6888,7 +6830,7 @@ 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(${-this.rotation}deg)`;
         antennaContainer.style.pointerEvents = 'auto';
         antennaContainer.style.zIndex = AntennaManager.Z_INDEX.DEFAULT.toString();
         antennaContainer.setAttribute('data-antenna-id', antennaData.type.toString());
@@ -6929,8 +6871,6 @@ class AntennaManager {
                 this.singleAntennaTooltipFlag = true;
             }
             this.expandTooltip(antennaContainer);
-            // 调试：检查层级变化
-            this.debugCheckZIndex();
         });
         // 添加悬停效果
         antennaDiv.addEventListener('mouseenter', () => {
@@ -7180,39 +7120,6 @@ class AntennaManager {
             this.container.innerHTML = '';
         }
     }
-    /**
-     * 设置可见性
-     */
-    setVisible(visible) {
-        if (this.container) {
-            this.container.style.display = visible ? 'block' : 'none';
-        }
-    }
-    /**
-     * 获取天线数量
-     */
-    getElementCount() {
-        return this.antennaElements.length;
-    }
-    /**
-     * 重置天线层级（公共方法）
-     */
-    resetZIndex() {
-        this.resetAntennaZIndex();
-    }
-    /**
-     * 获取层级常量（静态方法）
-     */
-    static getZIndexConstants() {
-        return AntennaManager.Z_INDEX;
-    }
-    /**
-     * 调试方法：检查当前所有天线的层级
-     */
-    debugCheckZIndex() {
-        if (!this.container)
-            return;
-    }
     /**
      * 销毁管理器
      */
@@ -7229,10 +7136,21 @@ class AntennaManager {
         this.container = null;
         this.overlayDiv = null;
     }
+    /**
+     * 设置天线旋转角度
+     */
+    setRotation(rotation) {
+        this.rotation = rotation;
+        const allContainers = this.container.querySelectorAll('.antenna-container-item');
+        allContainers.forEach((container) => {
+            const antennaContainer = container;
+            antennaContainer.style.transform = `translate(-50%, -50%) rotate(${-this.rotation}deg)`;
+        });
+    }
 }
 // 简化的层级定义
 AntennaManager.Z_INDEX = {
-    DEFAULT: 750, // 默认层级
+    DEFAULT: 800, // 默认层级
     ACTIVE: 9999, // 点击激活时的高层级
 };
 
@@ -7283,8 +7201,8 @@ const EDIT_BEHAVIOR = {
     SUCCESS_MESSAGE_DURATION_MS: 3000,
 };
 
-class MowerPostionManager {
-    constructor(svgView, mowerPositonConfig, overlayDiv, onAnimationComplete) {
+class MowerPositionManager {
+    constructor(svgView, mowerPositionConfig, modelType, overlayDiv, onAnimationComplete, onMowingPositionChange) {
         this.container = null;
         this.overlayDiv = null;
         this.mowerElement = null;
@@ -7301,9 +7219,11 @@ class MowerPostionManager {
         this.deltaPosition = null;
         this.onlyUpdateTheta = false;
         this.svgView = svgView;
-        this.mowerPositonConfig = mowerPositonConfig;
+        this.mowerPositionConfig = mowerPositionConfig;
+        this.modelType = modelType;
         this.overlayDiv = overlayDiv;
         this.onAnimationComplete = onAnimationComplete;
+        this.onMowingPositionChange = onMowingPositionChange;
         this.initializeContainer();
     }
     get animationFlag() {
@@ -7349,12 +7269,13 @@ 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;
         }
         this.mowerElement.appendChild(imgElement);
         this.container.appendChild(this.mowerElement);
+        this.updatePosition(this.mowerPositionConfig);
     }
     /**
      * 设置叠加层div引用（用于坐标转换）
@@ -7371,51 +7292,62 @@ 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;
+        const positonOutOfRange = isOutOfRange(chargingPilesPositionConfig);
+        const positionInValid = isInvalidPosition(chargingPilesPositionConfig);
+        let postureX = 0;
+        let postureY = 0;
+        let postureTheta = 0;
         const lastPosition = this.lastPosition;
-        if (!lastPosition) {
-            this.updatePosition(chargingPilesPositonConfig, animationTime);
+        if (positonOutOfRange || positionInValid) {
+            postureX = lastPosition?.x || 0;
+            postureY = lastPosition?.y || 0;
+            postureTheta = lastPosition?.rotation || 0;
         }
         else {
-            this.updatePosition({
-                ...chargingPilesPositonConfig,
-                postureX: lastPosition.x,
-                postureY: lastPosition.y,
-                postureTheta: lastPosition.rotation,
-            }, 0);
+            postureX = chargingPilesPositionConfig.postureX || 0;
+            postureY = chargingPilesPositionConfig.postureY || 0;
+            postureTheta = chargingPilesPositionConfig.postureTheta || 0;
         }
+        // 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) {
         // 检查是否需要更新图片
-        this.updateMowerImage(positonConfig);
+        this.updateMowerImage(positionConfig);
+        // 更新配置
+        this.mowerPositionConfig = positionConfig;
+        const postureX = positionConfig?.postureX || this.lastPosition?.x || 0;
+        const postureY = positionConfig?.postureY || this.lastPosition?.y || 0;
+        const postureTheta = positionConfig?.postureTheta || this.lastPosition?.rotation || 0;
         // 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;
     }
     /**
      * 更新割草机图片
@@ -7426,9 +7358,14 @@ class MowerPostionManager {
         const imgElement = this.mowerElement.querySelector('img');
         if (!imgElement)
             return;
-        const imageSrc = getMowerImage(positonConfig);
+        const imageSrc = getMowerImage(positonConfig, this.modelType);
         if (imageSrc) {
             imgElement.src = imageSrc;
+            imgElement.style.display = 'block';
+        }
+        else {
+            imgElement.style.display = 'none';
+            return;
         }
     }
     /**
@@ -7438,7 +7375,9 @@ class MowerPostionManager {
         const { x: pointX, y: pointY } = convertCoordinate(x, y);
         const targetPixelPosition = this.convertMapCoordinateToOverlayPixel(pointX, pointY);
         const targetRotation = radToDegree(theta);
+        this.currentPosition = { x: x, y: y, rotation: theta };
         this.lastPosition = { x, y, rotation: theta };
+        // console.log('setElementPosition', x, y, theta, targetRotation, positonOutOfRange, positionValid, targetPixelPosition);
         if (!this.mowerElement)
             return;
         this.mowerElement.style.left = `${targetPixelPosition?.x}px`;
@@ -7464,29 +7403,48 @@ 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.targetPosition = {
             x: positionConfig.postureX,
             y: positionConfig.postureY,
             rotation: positionConfig.postureTheta,
         };
+        const isTargetPositionInvalid = isInvalidPosition({
+            postureX: this.targetPosition.x,
+            postureY: this.targetPosition.y,
+            postureTheta: this.targetPosition.rotation,
+        });
+        const isTargetPositionOutOfRange = isOutOfRange({
+            postureX: this.targetPosition.x,
+            postureY: this.targetPosition.y,
+            postureTheta: this.targetPosition.rotation,
+        });
+        // 如果目标坐标点不合理，则舍弃不使用
+        if (isTargetPositionInvalid || isTargetPositionOutOfRange) {
+            return;
+        }
+        this.startPosition = {
+            ...this.currentPosition,
+            rotation: radNormalize(this.currentPosition.rotation),
+        };
         this.animationDuration = duration;
         this.startTime = window.performance.now();
         this.isAnimating = true;
         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();
     }
@@ -7497,7 +7455,7 @@ class MowerPostionManager {
      * 动画步骤
      */
     animateStep() {
-        if (!this.isAnimating || !this.currentPosition || !this.targetPosition || !this.startPosition)
+        if (!this.isAnimating || !this.targetPosition || !this.startPosition)
             return;
         const currentTime = window.performance.now();
         const elapsed = currentTime - this.startTime;
@@ -7508,20 +7466,24 @@ class MowerPostionManager {
         const currentX = this.startPosition.x + this.deltaPosition.x * easedProgress;
         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 };
-        // console.log('animateStep----->', this.onlyUpdateTheta, currentX, currentY, currentRotation);
-        // console.log('animateStep1----->', onlyUpdateTheta, progress, calTheta, 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.startPosition, this.deltaPosition, this.targetPosition,  easedProgress)
+        this.setElementPosition(currentX, currentY, currentRotation);
         // 继续动画或结束
         if (progress < 1) {
             // 设置当前位置
-            this.setElementPosition(currentX, currentY, currentRotation);
             this.animationId = window.requestAnimationFrame(() => this.animateStep());
         }
         else {
-            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();
@@ -7566,12 +7528,6 @@ class MowerPostionManager {
             this.container.style.display = visible ? 'block' : 'none';
         }
     }
-    /**
-     * 检查是否正在动画中
-     */
-    getIsAnimating() {
-        return this.isAnimating;
-    }
     /**
      * 销毁管理器
      */
@@ -7587,13 +7543,85 @@ 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);
+            }
+        }
+    };
+}
+/**
+ * 检测当前设备是否为移动设备
+ * @returns {boolean} 如果是移动设备返回true，否则返回false
+ */
+function isMobileDevice() {
+    // 确保在浏览器环境中运行
+    if (typeof window === 'undefined' || typeof navigator === 'undefined') {
+        return false;
+    }
+    // 检查用户代理字符串
+    const userAgent = navigator.userAgent.toLowerCase();
+    const mobileKeywords = [
+        'android', 'webos', 'iphone', 'ipad', 'ipod',
+        'blackberry', 'windows phone', 'mobile'
+    ];
+    const isMobileUserAgent = mobileKeywords.some(keyword => userAgent.includes(keyword));
+    // 检查触摸屏支持
+    const hasTouchScreen = 'ontouchstart' in window ||
+        (navigator.maxTouchPoints && navigator.maxTouchPoints > 0);
+    // 检查屏幕尺寸（移动设备通常屏幕较小）
+    const isSmallScreen = window.innerWidth <= 768;
+    // 综合判断：用户代理包含移动设备关键词，或者有触摸屏且屏幕较小
+    return isMobileUserAgent || (hasTouchScreen && isSmallScreen);
+}
+
 // 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, modelType, pathData, isEditMode = false, unitType = UnitsType.Imperial, language = 'en', 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
@@ -7603,7 +7631,7 @@ 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）
@@ -7626,16 +7654,38 @@ 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.unitType = unitType;
+        this.language = language;
         this.mapConfig = mapConfig;
         this.antennaConfig = antennaConfig;
         this.onMapLoad = onMapLoad;
         this.onPathLoad = onPathLoad;
         this.dragCallbacks = dragCallbacks;
-        this.mowerPositonConfig = mowerPositonConfig;
+        this.mowerPositionConfig = mowerPositionConfig;
+        this.mowPartitionData = mowPartitionData;
+        this.modelType = modelType;
+        // 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();
@@ -7650,26 +7700,28 @@ 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) {
         // 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) {
+        this.mowerPositionConfig = chargingPilesPositionConfig;
         // 更新配置
-        if (this.mowerPostionManager) {
-            this.mowerPostionManager.updatePostionByLastPosition(chargingPilesPositonConfig, animationTime);
+        if (this.mowerPositionManager) {
+            this.mowerPositionManager.updatePositionByLastPosition(chargingPilesPositionConfig);
         }
     }
     setMap(map) {
@@ -7686,7 +7738,25 @@ class MowerMapOverlay {
     getPanes() {
         return this.overlayView ? this.overlayView.getPanes() : null;
     }
+    resetBorderLayerHighlight() {
+        this.mowPartitionData = null;
+        const boundaryBorderLayer = this.svgMapView?.getLayer(LAYER_DEFAULT_TYPE.BOUNDARY_BORDER);
+        if (!boundaryBorderLayer)
+            return;
+        boundaryBorderLayer.setMowingBoundarys([]);
+        this.svgMapView?.renderLayer(LAYER_DEFAULT_TYPE.BOUNDARY_BORDER);
+    }
+    setBorderLayerHighlight(mowPartitionData) {
+        this.mowPartitionData = mowPartitionData;
+        const boundaryBorderLayer = this.svgMapView?.getLayer(LAYER_DEFAULT_TYPE.BOUNDARY_BORDER);
+        const partitionIds = mowPartitionData?.partitionIds || [];
+        if (!boundaryBorderLayer)
+            return;
+        boundaryBorderLayer.setMowingBoundarys(partitionIds);
+        this.svgMapView?.renderLayer(LAYER_DEFAULT_TYPE.BOUNDARY_BORDER);
+    }
     onAdd() {
+        console.log('onAdd');
         // 创建包含SVG的div
         this.div = document.createElement('div');
         this.div.style.borderStyle = 'none';
@@ -7708,6 +7778,7 @@ class MowerMapOverlay {
         this.createBoundaryLabelsManager();
         // 创建割草机位置管理器
         this.createMowerPositionManager();
+        this.setManagerRotation(this.defaultTransform.rotation);
         // 如果处于编辑模式，创建编辑界面
         if (this.isEditMode) {
             this.createEditInterface();
@@ -7746,23 +7817,17 @@ class MowerMapOverlay {
         const map = this.getMap();
         if (!map || !this.svgMapView)
             return;
-        map.getZoom();
-        // const center = map.getCenter();
-        // 基础公式：像素/米 = 156543.03392 * cos(latitude) / (2 ^ zoom)
-        // const metersPerPixel =
-        // (156543.03392 * Math.cos((center.lat() * Math.PI) / 180)) / Math.pow(2, currentZoom);
-        // 缩放比例 = 1 / 米/像素
-        // const scale = (1 / metersPerPixel) * 50;
-        // 应用缩放到SVG
-        // this.svgMapView.setZoom(scale);
+        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);
+        this.boundaryLabelsManager = new BoundaryLabelsManager(this.svgMapView, this.boundaryData, {
+            unitType: this.unitType,
+            language: this.language,
+        });
         // 设置叠加层div引用
         this.boundaryLabelsManager.setOverlayDiv(this.div);
         // 添加所有边界标签
@@ -7806,11 +7871,11 @@ 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.modelType, this.div, () => { }, 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);
         }
@@ -7837,23 +7902,9 @@ class MowerMapOverlay {
         this.boundaryLabelsManager.updatePositionsWithPrecomputedData(width, height, viewBoxInfo);
     }
     // 更新管理器位置
-    updateManagerPositions(width, height) {
+    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();
@@ -7902,7 +7953,7 @@ class MowerMapOverlay {
         this.rotateHandle.style.pointerEvents = 'auto';
         this.rotateHandle.innerHTML = DEFAULT_ROTATE_ICON;
         this.editContainer.appendChild(this.rotateHandle);
-        // 创建拖拽手柄（左上角）
+        // 创建拖拽手柄（左下角）- 仅在移动设备上显示
         this.dragHandle = document.createElement('div');
         this.dragHandle.style.position = 'absolute';
         this.dragHandle.style.bottom = '-20px';
@@ -7913,6 +7964,10 @@ class MowerMapOverlay {
         this.dragHandle.style.zIndex = EDIT_STYLES.Z_INDEX.HANDLE;
         this.dragHandle.style.pointerEvents = 'auto';
         this.dragHandle.innerHTML = DEFAULT_DRAG_ICON;
+        // 在PC设备上隐藏拖拽手柄
+        if (!isMobileDevice()) {
+            this.dragHandle.style.display = 'none';
+        }
         this.editContainer.appendChild(this.dragHandle);
         // 将编辑容器添加到主div
         this.div.appendChild(this.editContainer);
@@ -7928,9 +7983,10 @@ 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,
@@ -7953,7 +8009,6 @@ class MowerMapOverlay {
                 this.boundaryLabelsManager.collapseAllLabels();
             }
             this.dragCallbacks?.onDragStart?.(this.getCurrentDragState());
-            console.log('开始旋转操作');
         });
         // 旋转手柄的触摸事件
         this.rotateHandle.addEventListener('touchstart', (e) => {
@@ -7969,39 +8024,41 @@ class MowerMapOverlay {
                 this.boundaryLabelsManager.collapseAllLabels();
             }
             this.dragCallbacks?.onDragStart?.(this.getCurrentDragState());
-            console.log('开始旋转操作（触摸）');
-        }, { passive: false });
-        // 拖拽手柄的鼠标事件
-        this.dragHandle.addEventListener('mousedown', (e) => {
-            e.preventDefault();
-            e.stopPropagation();
-            e.stopImmediatePropagation();
-            this.isDragging = true;
-            this.startPos = { x: e.clientX, y: e.clientY };
-            this.dragHandle.style.cursor = 'grabbing';
-            // 开始编辑时关闭所有展开的边界标签
-            if (this.boundaryLabelsManager) {
-                this.boundaryLabelsManager.collapseAllLabels();
-            }
-            this.dragCallbacks?.onDragStart?.(this.getCurrentDragState());
-            console.log('开始拖动操作（通过手柄）');
-        });
-        // 拖拽手柄的触摸事件
-        this.dragHandle.addEventListener('touchstart', (e) => {
-            e.preventDefault();
-            e.stopPropagation();
-            e.stopImmediatePropagation();
-            this.isDragging = true;
-            const touch = e.touches[0];
-            this.startPos = { x: touch.clientX, y: touch.clientY };
-            this.dragHandle.style.cursor = 'grabbing';
-            this.dragCallbacks?.onDragStart?.(this.getCurrentDragState());
-            console.log('开始拖动操作（通过手柄，触摸）');
         }, { passive: false });
+        // 拖拽手柄的鼠标事件 - 仅在移动设备上启用
+        if (isMobileDevice()) {
+            this.dragHandle.addEventListener('mousedown', (e) => {
+                e.preventDefault();
+                e.stopPropagation();
+                e.stopImmediatePropagation();
+                this.isDragging = true;
+                this.startPos = { x: e.clientX, y: e.clientY };
+                this.dragHandle.style.cursor = 'grabbing';
+                // 开始编辑时关闭所有展开的边界标签
+                if (this.boundaryLabelsManager) {
+                    this.boundaryLabelsManager.collapseAllLabels();
+                }
+                this.dragCallbacks?.onDragStart?.(this.getCurrentDragState());
+            });
+            // 拖拽手柄的触摸事件
+            this.dragHandle.addEventListener('touchstart', (e) => {
+                e.preventDefault();
+                e.stopPropagation();
+                e.stopImmediatePropagation();
+                this.isDragging = true;
+                const touch = e.touches[0];
+                this.startPos = { x: touch.clientX, y: touch.clientY };
+                this.dragHandle.style.cursor = 'grabbing';
+                this.dragCallbacks?.onDragStart?.(this.getCurrentDragState());
+            }, { passive: false });
+        }
         // 编辑容器的鼠标事件（整个区域拖拽）
         this.editContainer.addEventListener('mousedown', (e) => {
-            console.log('开始拖动操作（整个叠加层）');
-            if (e.target === this.dragHandle || e.target === this.rotateHandle) {
+            // 在移动设备上，检查是否点击了拖拽手柄或旋转手柄
+            // 在PC设备上，只检查旋转手柄（拖拽手柄已隐藏）
+            const isDragHandleClick = isMobileDevice() && e.target === this.dragHandle;
+            const isRotateHandleClick = e.target === this.rotateHandle;
+            if (isDragHandleClick || isRotateHandleClick) {
                 return;
             }
             e.preventDefault();
@@ -8018,8 +8075,11 @@ class MowerMapOverlay {
         });
         // 编辑容器的触摸事件（整个区域拖拽）
         this.editContainer.addEventListener('touchstart', (e) => {
-            console.log('开始拖动操作（整个叠加层，触摸）');
-            if (e.target === this.dragHandle || e.target === this.rotateHandle) {
+            // 在移动设备上，检查是否点击了拖拽手柄或旋转手柄
+            // 在PC设备上，只检查旋转手柄（拖拽手柄已隐藏）
+            const isDragHandleClick = isMobileDevice() && e.target === this.dragHandle;
+            const isRotateHandleClick = e.target === this.rotateHandle;
+            if (isDragHandleClick || isRotateHandleClick) {
                 return;
             }
             e.preventDefault();
@@ -8079,7 +8139,6 @@ class MowerMapOverlay {
                 e.preventDefault();
                 e.stopPropagation();
                 e.stopImmediatePropagation();
-                console.log('结束编辑操作');
             }
             // 如果是拖拽结束，将像素偏移量转换为地理坐标偏移量
             if (this.isDragging) {
@@ -8101,7 +8160,6 @@ class MowerMapOverlay {
                 e.preventDefault();
                 e.stopPropagation();
                 e.stopImmediatePropagation();
-                console.log('结束编辑操作（触摸）');
             }
             // 如果是拖拽结束，将像素偏移量转换为地理坐标偏移量
             if (this.isDragging) {
@@ -8207,11 +8265,12 @@ 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
         this.startPos = { x: mouseCurrentX, y: mouseCurrentY };
-        console.log('旋转角度:', this.currentRotation, '角度增量:', angleDifferenceDegrees);
     }
     // 将像素偏移量转换为地理坐标偏移量
     convertPixelOffsetToLatLng() {
@@ -8241,17 +8300,8 @@ class MowerMapOverlay {
         // 累积更新地理坐标偏移量（不是直接赋值！）
         this.latLngOffset.lat += latOffset;
         this.latLngOffset.lng += lngOffset;
-        console.log('精确转换偏移量:', {
-            pixelOffset: this.tempPixelOffset,
-            centerLatLng: { lat: centerLatLng.lat(), lng: centerLatLng.lng() },
-            offsetLatLng: { lat: offsetLatLng.lat(), lng: offsetLatLng.lng() },
-            latOffset,
-            lngOffset,
-            newLatLngOffset: this.latLngOffset,
-        });
         // 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
@@ -8287,8 +8337,6 @@ class MowerMapOverlay {
             editData: editData,
             timestamp: new Date().toISOString(),
         };
-        // 在这里可以添加保存逻辑，比如发送到服务器
-        console.log('保存编辑数据:', saveData);
         // 显示保存成功提示
         this.showSaveSuccess();
         return saveData;
@@ -8354,6 +8402,63 @@ 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,
+        };
+        // 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.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;
@@ -8364,8 +8469,10 @@ class MowerMapOverlay {
             this.loadMapData();
             // 加载路径数据
             if (this.pathData && this.svgMapView) {
-                this.loadPathData(this.pathData);
+                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) {
@@ -8388,9 +8495,6 @@ class MowerMapOverlay {
             // 使用现有的MapDataProcessor处理地图数据
             const elements = MapDataProcessor.processMapData(this.mapData, this.mapConfig);
             // 分离充电桩和天线元素，其他元素添加到SVG图层
-            // const svgElements = elements.filter(element =>
-            //   element.type !== 'charging_pile' && element.type !== 'antenna'
-            // );
             const svgElements = elements.filter((element) => element.type !== 'charging_pile' && element.type !== 'antenna');
             const chargingPileElements = elements.filter((element) => element.type === 'charging_pile');
             // 处理SVG图层元素
@@ -8399,14 +8503,16 @@ 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);
+            const boundaryBorderLayer = this.svgMapView.getLayer(LAYER_DEFAULT_TYPE.BOUNDARY_BORDER);
+            if (boundaryBorderLayer) {
+                boundaryBorderLayer.setMowingBoundarys(this.mowPartitionData?.partitionIds || []);
+            }
             this.createChargingPileManager();
             // 使用管理器处理充电桩和天线
             if (this.chargingPileManager && chargingPileElements.length > 0) {
@@ -8432,40 +8538,95 @@ 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);
+            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;
+        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;
@@ -8523,13 +8684,17 @@ 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) {
@@ -8549,11 +8714,11 @@ 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();
@@ -8589,9 +8754,9 @@ 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();
@@ -8608,12 +8773,45 @@ 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);
+        }
+    }
+    // 获取SvgMapView实例（用于debug）
+    getSvgMapView() {
+        return this.svgMapView;
+    }
+}
+
+// 获取车辆状态的中文文案
+const getVehicleStateText = (vehicleState) => {
+    switch (vehicleState) {
+        case RobotStatus.PARKED:
+            return 'PARKED';
+        case RobotStatus.CHARGING:
+            return 'CHARGING';
+        case RobotStatus.STANDBY:
+            return 'STANDBY';
+        case RobotStatus.MOWING:
+            return 'MOWING';
+        case RobotStatus.WORKING:
+            return 'WORKING';
+        case RobotStatus.MAPPING:
+            return 'MAPPING';
+        case RobotStatus.ERROR:
+            return 'ERROR';
+        case RobotStatus.UPGRADING:
+            return 'UPGRADING';
+        case RobotStatus.DISCONNECTED:
+            return 'DISCONNECTED';
+        case RobotStatus.TASK_DELAY:
+            return 'TASK_DELAY';
+        case RobotStatus.UNKNOWN:
+            return '未知';
+        default:
+            return `未知状态(${vehicleState})`;
     }
-}
-
+};
 // 验证GPS坐标是否有效
 const isValidGpsCoordinate = (coordinate) => {
     if (!coordinate || coordinate.length < 2)
@@ -8627,47 +8825,89 @@ const isValidGpsCoordinate = (coordinate) => {
         !(Math.abs(lng) < 0.001 && Math.abs(lat) < 0.001) // 排除接近(0,0)的坐标
     );
 };
+// 旋转坐标点
+const rotateCoordinate = (point, center, angleRadians) => {
+    const [x, y] = point;
+    const [cx, cy] = center;
+    // 将点移动到原点
+    const dx = x - cx;
+    const dy = y - cy;
+    // 应用旋转矩阵
+    const cos = Math.cos(angleRadians);
+    const sin = Math.sin(angleRadians);
+    const rotatedX = dx * cos - dy * sin;
+    const rotatedY = dx * sin + dy * cos;
+    // 移回原位置
+    return [rotatedX + cx, rotatedY + cy];
+};
 // 获取有效的GPS边界
-const getValidGpsBounds = (mapData) => {
+const getValidGpsBounds = (mapData, rotation = 0) => {
+    let bounds;
     // 首先尝试使用地图数据中的GPS坐标
     if (isValidGpsCoordinate(mapData.sw_gps) && isValidGpsCoordinate(mapData.ne_gps)) {
-        return {
+        bounds = {
             sw: mapData.sw_gps,
             ne: mapData.ne_gps,
         };
     }
-    // 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 {
-            sw: [sw[0], sw[1]],
-            ne: [ne[0], ne[1]],
+    else {
+        // 如果GPS坐标无效，尝试从地图几何数据估算
+        const { sw, ne } = estimateGpsFromMapBounds(mapData);
+        if (sw && ne) {
+            console.warn('GPS坐标无效，使用地图几何数据估算边界:', sw, ne);
+            bounds = {
+                sw: [sw[0], sw[1]],
+                ne: [ne[0], ne[1]],
+            };
+        }
+        else {
+            // 最后的fallback：使用默认坐标
+            console.warn('无法获取有效的GPS边界，使用默认坐标');
+            bounds = {
+                sw: [-9.1562, -37.7503],
+                ne: [31.247, 5.797],
+            };
+        }
+    }
+    // 如果有旋转角度，计算旋转后的边界
+    if (rotation !== 0) {
+        const angleRadians = (rotation * Math.PI) / 180; // 转换为弧度
+        // 计算边界中心点
+        const centerLng = (bounds.sw[0] + bounds.ne[0]) / 2;
+        const centerLat = (bounds.sw[1] + bounds.ne[1]) / 2;
+        const center = [centerLng, centerLat];
+        // 旋转四个角点
+        const sw = rotateCoordinate(bounds.sw, center, angleRadians);
+        const ne = rotateCoordinate(bounds.ne, center, angleRadians);
+        const se = rotateCoordinate([bounds.ne[0], bounds.sw[1]], center, angleRadians);
+        const nw = rotateCoordinate([bounds.sw[0], bounds.ne[1]], center, angleRadians);
+        // 计算旋转后的边界框（包含所有旋转后的点）
+        const lngs = [sw[0], ne[0], se[0], nw[0]];
+        const lats = [sw[1], ne[1], se[1], nw[1]];
+        bounds = {
+            sw: [Math.min(...lngs), Math.min(...lats)],
+            ne: [Math.max(...lngs), Math.max(...lats)],
         };
     }
-    // 最后的fallback：使用默认坐标
-    console.warn('无法获取有效的GPS边界，使用默认坐标');
-    return {
-        sw: [-9.1562, -37.7503],
-        ne: [31.247, 5.797],
-    };
+    return bounds;
 };
 // 默认配置
 const defaultMapConfig = DEFAULT_STYLES;
 // 地图渲染器组件
-const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pathJson, realTimeData, currentPositionData, antennaConfig, onMapLoad, onPathLoad, onZoomChange, onError, className, style, googleMapInstance, isEditMode = false, dragCallbacks, }, ref) => {
-    const svgMapViewRef = useRef(null);
+const MowerMapRenderer = forwardRef(({ unitType = UnitsType.Imperial, language = 'en', mapConfig, modelType, mapRef, mapJson, pathJson, realTimeData, antennaConfig, onMapLoad, onPathLoad, onError, className, style, googleMapInstance, isEditMode = false, dragCallbacks, defaultTransform, debug = false, }, ref) => {
     const [elementCount, setElementCount] = useState(0);
     const [pathCount, setPathCount] = useState(0);
-    const [zoom, setZoom] = useState(1);
     const [currentError, setCurrentError] = useState(null);
     const overlayRef = useRef(null);
     // const mapRef = useMap();
     const [isGoogleMapsReady, setIsGoogleMapsReady] = useState(false);
     const [hasInitializedBounds, setHasInitializedBounds] = useState(false);
-    const { clearSubBoundaryBorder } = useSubBoundaryBorderStore();
+    const { clearSubBoundaryBorder, clearObstacles } = useSubBoundaryBorderStore();
     const currentProcessMowingStatusRef = useRef(false);
+    const { updateProcessStateIsMowing, processStateIsMowing } = useProcessMowingState();
+    const [mowPartitionData, setMowPartitionData] = useState(null);
+    // Debug相关状态
+    const [debugInfo, setDebugInfo] = useState({});
     // 处理地图分区边界
     const partitionBoundary = useMemo(() => {
         const allBoundaryElements = [];
@@ -8690,22 +8930,67 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
     }, [mapConfig]);
     const mergedAntennaConfig = useMemo(() => antennaConfig, [antennaConfig]);
     const mowerPositionData = 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 {
+                postureX: 0,
+                postureY: 0,
+                postureTheta: 0,
+                vehicleState: RobotStatus.DISCONNECTED,
+            };
+        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.DISCONNECTED,
         };
-    }, [currentPositionData, modelType]);
-    console.log('mowerPositionData==', currentPositionData, mowerPositionData);
+    }, [realTimeData, modelType]);
     // 处理错误
     const handleError = (error) => {
         setCurrentError(error);
         onError?.(error);
     };
+    const fitBounds = 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, defaultTransform?.rotation);
+        // 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);
+    }, [mapJson, mapRef, defaultTransform]);
     // 初始化Google Maps叠加层
     const initializeGoogleMapsOverlay = async () => {
         if (!mapJson)
@@ -8729,7 +9014,8 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
                 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);
+            // 这里需要使用0度，需要原始的坐标点去计算元素的实际位置，只有在fitbounds的时候才需要使用旋转后的坐标点
+            const validBounds = getValidGpsBounds(mapJson, 0);
             // 地图数据中的坐标格式是 [longitude, latitude]
             const swLat = validBounds.sw[1];
             const swLng = validBounds.sw[0];
@@ -8738,17 +9024,13 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
             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, modelType, pathJson || {}, isEditMode, unitType, language, mergedMapConfig, mergedAntennaConfig, null, defaultTransform, (count) => {
                 setElementCount(count);
                 onMapLoad?.(count);
             }, (count) => {
@@ -8769,39 +9051,32 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
             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);
-    };
+    const resetInCharginPie = useCallback(() => {
+        const elements = MapDataProcessor.processMapData(mapJson, mergedMapConfig);
+        const chargingPiles = elements.find((element) => element.type === 'charging_pile');
+        if (!overlayRef.current)
+            return;
+        // 如果在充电桩上，则直接更新位置到充电桩的位置
+        overlayRef.current.updatePosition({
+            ...mowerPositionData,
+            postureX: chargingPiles?.originalData.position[0],
+            postureY: chargingPiles?.originalData.position[1],
+            postureTheta: chargingPiles?.originalData.direction - Math.PI || 0,
+        }, 0);
+    }, [mapJson, mowerPositionData]);
     // 初始化效果
     useEffect(() => {
         initializeGoogleMapsOverlay();
-        console.log('init mow map');
         // 清理函数
         return () => {
             clearSubBoundaryBorder();
+            clearObstacles();
+            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
@@ -8821,13 +9096,13 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
             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
+        // 如果在充电桩上，则直接更新位置到充电桩的位置
+        console.log('usefeect mowerPositionData----->', mowerPositionData, isInChargingPile);
         if (isInChargingPile) {
             overlayRef.current.updatePosition({
                 ...mowerPositionData,
@@ -8837,68 +9112,244 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
             }, 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;
             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);
+                overlayRef.current.updatePosition(mowerPositionData, isStandby ? 0 : 2000);
             }
         }
-    }, [currentPositionData]);
+    }, [mowerPositionData]);
+    // 更新debug信息
+    useEffect(() => {
+        if (!debug)
+            return;
+        const updateDebugInfo = () => {
+            const newDebugInfo = {};
+            // 获取地图GPS边界
+            if (mapJson) {
+                newDebugInfo.mapBounds = getValidGpsBounds(mapJson, defaultTransform?.rotation);
+            }
+            // 获取SVG viewBox信息
+            if (overlayRef.current) {
+                const overlay = overlayRef.current;
+                const svgMapView = overlay.getSvgMapView?.();
+                if (svgMapView) {
+                    const viewBoxInfo = svgMapView.getViewBoxInfo();
+                    // 计算实际的米单位数据（除以缩放比例）
+                    const SCALE_FACTOR = 50; // 根据项目中的缩放因子
+                    newDebugInfo.viewBox = {
+                        x: viewBoxInfo.x / SCALE_FACTOR,
+                        y: viewBoxInfo.y / SCALE_FACTOR,
+                        width: viewBoxInfo.width / SCALE_FACTOR,
+                        height: viewBoxInfo.height / SCALE_FACTOR,
+                        scale: SCALE_FACTOR,
+                        // 计算左下角和右上角坐标
+                        sw: {
+                            x: viewBoxInfo.x / SCALE_FACTOR,
+                            y: viewBoxInfo.y / SCALE_FACTOR,
+                        },
+                        ne: {
+                            x: (viewBoxInfo.x + viewBoxInfo.width) / SCALE_FACTOR,
+                            y: (viewBoxInfo.y + viewBoxInfo.height) / SCALE_FACTOR,
+                        },
+                    };
+                }
+            }
+            // 获取当前割草机位置
+            if (mowerPositionData) {
+                newDebugInfo.mowerPosition = {
+                    x: mowerPositionData.postureX || 0,
+                    y: mowerPositionData.postureY || 0,
+                    theta: mowerPositionData.postureTheta || 0,
+                    lastX: mowerPositionData.lastPostureX || 0,
+                    lastY: mowerPositionData.lastPostureY || 0,
+                    lastTheta: mowerPositionData.lastPostureTheta || 0,
+                    vehicleState: mowerPositionData.vehicleState || RobotStatus.UNKNOWN,
+                    vehicleStateText: getVehicleStateText(mowerPositionData.vehicleState || RobotStatus.UNKNOWN),
+                };
+            }
+            // 获取当前割草地块数据
+            newDebugInfo.partitionData = mowPartitionData;
+            setDebugInfo(newDebugInfo);
+        };
+        updateDebugInfo();
+    }, [debug, mapJson, mowerPositionData, mowPartitionData, defaultTransform]);
+    // 当关键数据变化时立即更新debug信息
+    useEffect(() => {
+        if (!debug)
+            return;
+        const updateDebugInfo = () => {
+            const newDebugInfo = {};
+            // 获取地图GPS边界
+            if (mapJson) {
+                newDebugInfo.mapBounds = getValidGpsBounds(mapJson, defaultTransform?.rotation);
+            }
+            // 获取SVG viewBox信息
+            if (overlayRef.current) {
+                const overlay = overlayRef.current;
+                const svgMapView = overlay.getSvgMapView?.();
+                if (svgMapView) {
+                    const viewBoxInfo = svgMapView.getViewBoxInfo();
+                    // 计算实际的米单位数据（除以缩放比例）
+                    const SCALE_FACTOR = 50; // 根据项目中的缩放因子
+                    newDebugInfo.viewBox = {
+                        x: viewBoxInfo.x / SCALE_FACTOR,
+                        y: viewBoxInfo.y / SCALE_FACTOR,
+                        width: viewBoxInfo.width / SCALE_FACTOR,
+                        height: viewBoxInfo.height / SCALE_FACTOR,
+                        scale: SCALE_FACTOR,
+                        // 计算左下角和右上角坐标
+                        sw: {
+                            x: viewBoxInfo.x / SCALE_FACTOR,
+                            y: viewBoxInfo.y / SCALE_FACTOR,
+                        },
+                        ne: {
+                            x: (viewBoxInfo.x + viewBoxInfo.width) / SCALE_FACTOR,
+                            y: (viewBoxInfo.y + viewBoxInfo.height) / SCALE_FACTOR,
+                        },
+                    };
+                }
+            }
+            // 获取当前割草机位置
+            if (mowerPositionData) {
+                newDebugInfo.mowerPosition = {
+                    x: mowerPositionData.postureX || 0,
+                    y: mowerPositionData.postureY || 0,
+                    theta: mowerPositionData.postureTheta || 0,
+                    lastX: mowerPositionData.lastPostureX || 0,
+                    lastY: mowerPositionData.lastPostureY || 0,
+                    lastTheta: mowerPositionData.lastPostureTheta || 0,
+                    vehicleState: mowerPositionData.vehicleState || RobotStatus.UNKNOWN,
+                    vehicleStateText: getVehicleStateText(mowerPositionData.vehicleState || RobotStatus.UNKNOWN),
+                };
+            }
+            // 获取当前割草地块数据
+            newDebugInfo.partitionData = mowPartitionData;
+            setDebugInfo(newDebugInfo);
+        };
+        updateDebugInfo();
+    }, [debug, mowerPositionData, mowPartitionData]);
     useEffect(() => {
+        if (!realTimeData || realTimeData.length === 0 || !Array.isArray(realTimeData)) {
+            return;
+        }
+        console.log('usefeect realTimeData----->', realTimeData, mapJson, pathJson, overlayRef.current);
+        let curMowPartitionData = mowPartitionData;
+        // 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 mowingPartition = realTimeData.find((item) => item.type === RealTimeDataType.PARTITION);
+        if (mowingPartition) {
+            setMowPartitionData(mowingPartition);
+            curMowPartitionData = mowingPartition;
+        }
+        const positionData = realTimeData?.find(item => item?.type === RealTimeDataType.LOCATION);
+        const statusData = realTimeData?.find(item => item?.type === RealTimeDataType.STATUS);
+        if (statusData || positionData) {
+            const currentStatus = statusData?.vehicleState || positionData?.vehicleState;
+            // 车辆回桩不会回传最后的park的位置，所以根据实时数据的状态数据判断车辆回到桩上
+            if ([RobotStatus.CHARGING, RobotStatus.PARKED].includes(currentStatus || RobotStatus.UNKNOWN)) {
+                resetInCharginPie();
+            }
+            else if (currentStatus === RobotStatus.WORKING) {
+                // 兜底收不到割草地块的实时数据，使用状态来兜底
+                overlayRef.current.resetBorderLayerHighlight();
+                setMowPartitionData(null);
+                curMowPartitionData = null;
+            }
+            else if (currentStatus === RobotStatus.MOWING && (curMowPartitionData && !curMowPartitionData?.partitionIds)) {
+                // 如果当前是割草状态，但是地块数据初始化过且不存在则认为是全局割草，则把所有地块都高亮
+                const allPartitionIds = mapJson?.sub_maps?.map(item => item?.id);
+                setMowPartitionData({
+                    partitionIds: allPartitionIds
+                });
+                curMowPartitionData = {
+                    partitionIds: allPartitionIds
+                };
+            }
+        }
         if (!mapJson ||
             !pathJson ||
-            !realTimeData ||
-            realTimeData.length === 0 ||
-            !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
-    useImperativeHandle(ref, () => ({
-        setZoom: (newZoom) => {
-            setZoom(newZoom);
-            if (svgMapViewRef.current) {
-                svgMapViewRef.current.setZoom(newZoom);
+        if (curMowPartitionData) {
+            const isMowing = curMowPartitionData?.partitionIds && curMowPartitionData.partitionIds.length > 0;
+            overlayRef.current.updateMowPartitionData(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]);
+    useEffect(() => {
+        if (!overlayRef.current || !defaultTransform)
+            return;
+        console.log('defaultTransform----->', defaultTransform, overlayRef.current, mapJson);
+        overlayRef.current?.setTransform(defaultTransform);
+        const validBounds = getValidGpsBounds(mapJson, defaultTransform?.rotation);
+        // 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
+    useImperativeHandle(ref, () => ({
+        fitToView: () => {
+            fitBounds();
         },
         getOverlay: () => {
             return overlayRef.current;
@@ -8927,13 +9378,35 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
         getElementCount: () => elementCount,
         getPathCount: () => pathCount,
         isGoogleMapsReady: () => isGoogleMapsReady,
+        setTransform: (t) => overlayRef.current?.setTransform(t),
+        resetToDefaultTransform: () => overlayRef.current?.resetToDefaultTransform(),
     }));
+    // Debug信息组件
+    const DebugInfo = () => {
+        if (!debug)
+            return null;
+        return (jsxs("div", { style: {
+                position: 'fixed',
+                bottom: '10px',
+                left: '10px',
+                backgroundColor: 'rgba(0, 0, 0, 0.8)',
+                color: 'white',
+                padding: '10px',
+                borderRadius: '5px',
+                fontSize: '12px',
+                fontFamily: 'monospace',
+                zIndex: 10000,
+                maxWidth: '300px',
+                lineHeight: '1.4',
+            }, children: [jsx("div", { style: { fontWeight: 'bold', marginBottom: '8px' }, children: "\uD83D\uDC1B Debug Info" }), debugInfo.mapBounds && (jsxs("div", { style: { marginBottom: '6px' }, children: [jsx("div", { style: { fontWeight: 'bold' }, children: "\uD83D\uDCCD Map GPS Bounds:" }), jsxs("div", { children: ["SW: [", debugInfo.mapBounds.sw[0].toFixed(6), ", ", debugInfo.mapBounds.sw[1].toFixed(6), "]"] }), jsxs("div", { children: ["NE: [", debugInfo.mapBounds.ne[0].toFixed(6), ", ", debugInfo.mapBounds.ne[1].toFixed(6), "]"] })] })), debugInfo.viewBox && (jsxs("div", { style: { marginBottom: '6px' }, children: [jsx("div", { style: { fontWeight: 'bold' }, children: "\uD83D\uDCD0 SVG ViewBox (meters):" }), jsxs("div", { children: ["SW: [", debugInfo.viewBox.sw.x.toFixed(2), ", ", debugInfo.viewBox.sw.y.toFixed(2), "]"] }), jsxs("div", { children: ["NE: [", debugInfo.viewBox.ne.x.toFixed(2), ", ", debugInfo.viewBox.ne.y.toFixed(2), "]"] }), jsxs("div", { children: ["Size: ", debugInfo.viewBox.width.toFixed(2), "m \u00D7 ", debugInfo.viewBox.height.toFixed(2), "m"] }), jsxs("div", { children: ["Scale: 1:", debugInfo.viewBox.scale] })] })), debugInfo.mowerPosition && (jsxs("div", { style: { marginBottom: '6px' }, children: [jsx("div", { style: { fontWeight: 'bold' }, children: "\uD83D\uDE9C Mower Position:" }), jsxs("div", { children: ["Current: X=", debugInfo.mowerPosition.x.toFixed(2), ", Y=", debugInfo.mowerPosition.y.toFixed(2)] }), jsxs("div", { children: ["Theta: ", ((debugInfo.mowerPosition.theta * 180) / Math.PI).toFixed(1), "\u00B0"] }), jsxs("div", { children: ["Last: X=", debugInfo.mowerPosition.lastX.toFixed(2), ", Y=", debugInfo.mowerPosition.lastY.toFixed(2)] }), jsxs("div", { children: ["Last Theta: ", ((debugInfo.mowerPosition.lastTheta * 180) / Math.PI).toFixed(1), "\u00B0"] }), jsxs("div", { children: ["Status: ", debugInfo.mowerPosition.vehicleStateText, " (", debugInfo.mowerPosition.vehicleState, ")"] })] })), debugInfo.partitionData && (jsxs("div", { style: { marginBottom: '6px' }, children: [jsx("div", { style: { fontWeight: 'bold' }, children: "\uD83D\uDD32 Mow Partition Data:" }), jsxs("div", { children: ["Type: ", debugInfo.partitionData.type || 'N/A'] }), debugInfo.partitionData.partitionIds &&
+                            debugInfo.partitionData.partitionIds.length > 0 ? (jsxs("div", { children: ["Active IDs: [", debugInfo.partitionData.partitionIds.join(', '), "]"] })) : (jsx("div", { children: "No active partitions" })), debugInfo.partitionData.time && (jsxs("div", { children: ["Updated: ", new Date(debugInfo.partitionData.time).toLocaleTimeString()] }))] })), !debugInfo.partitionData && (jsxs("div", { style: { marginBottom: '6px' }, children: [jsx("div", { style: { fontWeight: 'bold' }, children: "\uD83D\uDD32 Mow Partition Data:" }), jsx("div", { style: { color: '#888' }, children: "No partition data available" })] }))] }));
+    };
     // 错误显示
     if (currentError) {
-        return (jsx("div", { className: className, style: style, children: jsxs("div", { style: { color: 'red', padding: '10px' }, children: ["\u9519\u8BEF: ", currentError] }) }));
+        return (jsxs("div", { className: className, style: style, children: [jsxs("div", { style: { color: 'red', padding: '10px' }, children: ["\u9519\u8BEF: ", currentError] }), jsx(DebugInfo, {})] }));
     }
-    // 使用goole maps自定义叠加层，不需要实际返回组件内容
-    return null;
+    // 使用goole maps自定义叠加层，返回debug信息（如果启用）
+    return debug ? jsx(DebugInfo, {}) : null;
 });
 MowerMapRenderer.displayName = 'MowerMapRenderer';