@fleet-frontend/mower-maps 0.0.9-beta.1 → 0.0.9-beta.10

package/dist/index.esm.js

@@ -1,6 +1,135 @@
-import { jsx, jsxs } from 'react/jsx-runtime';
+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"/>
+<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"/>
+</mask>
+<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"/>
+<path d="M20.6852 11.1208L21.7458 10.0601L21.7459 10.0601L20.6852 11.1208ZM17.8568 11.1208L16.7961 10.0601L16.7962 10.0601L17.8568 11.1208ZM17.2733 11.7043L16.2126 10.6437L16.2126 10.6436L17.2733 11.7043ZM16.8631 13.9319L17.9238 14.9926L16.381 16.5354L15.493 14.5425L16.8631 13.9319ZM17.5916 13.2034L19.0855 13.0678L19.149 13.7674L18.6523 14.2641L17.5916 13.2034ZM20.4056 12.1421L21.4662 11.0814L21.4665 11.0817L20.4056 12.1421ZM18.9699 14.5348L17.9093 13.4741L18.3741 13.0093L19.0309 13.036L18.9699 14.5348ZM18.2235 15.2812L17.6298 16.6587L15.5997 15.7837L17.1628 14.2206L18.2235 15.2812ZM20.429 14.86L21.4897 15.9207L21.4897 15.9207L20.429 14.86ZM21.0125 14.2765L22.0732 15.3371L22.0732 15.3372L21.0125 14.2765ZM20.6852 11.1208L19.6246 12.1815C19.4294 11.9862 19.1127 11.9863 18.9174 12.1815L17.8568 11.1208L16.7962 10.0601C18.163 8.69337 20.379 8.6934 21.7458 10.0601L20.6852 11.1208ZM17.8568 11.1208L18.9175 12.1814L18.334 12.7649L17.2733 11.7043L16.2126 10.6436L16.7961 10.0601L17.8568 11.1208ZM17.2733 11.7043L18.334 12.7649C18.1877 12.9112 18.1488 13.1318 18.2333 13.3214L16.8631 13.9319L15.493 14.5425C14.9228 13.2629 15.1537 11.7026 16.2126 10.6437L17.2733 11.7043ZM16.8631 13.9319L15.8025 12.8713L16.531 12.1428L17.5916 13.2034L18.6523 14.2641L17.9238 14.9926L16.8631 13.9319ZM17.5916 13.2034L16.0978 13.339C16.0334 12.6302 16.2727 11.8914 16.8196 11.3445L17.8803 12.4052L18.9409 13.4658C19.051 13.3558 19.098 13.206 19.0855 13.0678L17.5916 13.2034ZM17.8803 12.4052L16.8196 11.3445L17.5067 10.6574L18.5674 11.7181L19.628 12.7788L18.9409 13.4658L17.8803 12.4052ZM18.5674 11.7181L17.5067 10.6574C18.483 9.68112 20.0659 9.68112 21.0422 10.6574L19.9816 11.7181L18.9209 12.7788C19.1162 12.974 19.4328 12.974 19.628 12.7788L18.5674 11.7181ZM19.9816 11.7181L21.0422 10.6574L21.4662 11.0814L20.4056 12.1421L19.3449 13.2027L18.9209 12.7788L19.9816 11.7181ZM20.4056 12.1421L21.4665 11.0817C22.4419 12.0577 22.4428 13.6404 21.4662 14.617L20.4056 13.5563L19.3449 12.4956C19.1493 12.6913 19.1498 13.0076 19.3446 13.2024L20.4056 12.1421ZM20.4056 13.5563L21.4662 14.617L20.7791 15.304L19.7185 14.2434L18.6578 13.1827L19.3449 12.4956L20.4056 13.5563ZM19.7185 14.2434L20.7791 15.304C20.2628 15.8204 19.5762 16.0607 18.909 16.0335L18.9699 14.5348L19.0309 13.036C18.9025 13.0308 18.7629 13.0777 18.6578 13.1827L19.7185 14.2434ZM18.9699 14.5348L20.0306 15.5954L19.2841 16.3419L18.2235 15.2812L17.1628 14.2206L17.9093 13.4741L18.9699 14.5348ZM18.2235 15.2812L18.8172 13.9037C19.0042 13.9843 19.2223 13.9455 19.3684 13.7993L20.429 14.86L21.4897 15.9207C20.4427 16.9676 18.9034 17.2077 17.6298 16.6587L18.2235 15.2812ZM20.429 14.86L19.3684 13.7994L19.9519 13.2159L21.0125 14.2765L22.0732 15.3372L21.4897 15.9207L20.429 14.86ZM21.0125 14.2765L19.9518 13.2159C20.1471 13.0206 20.1471 12.704 19.9519 12.5088L21.0125 11.4481L22.0732 10.3874C23.4401 11.7543 23.4399 13.9703 22.0732 15.3371L21.0125 14.2765ZM21.0125 11.4481L19.9519 12.5088L19.6246 12.1814L20.6852 11.1208L21.7459 10.0601L22.0732 10.3874L21.0125 11.4481Z" fill="#8E8E8F" mask="url(#path-3-outside-1_9822_43516)"/>
+<mask id="path-5-outside-2_9822_43516" maskUnits="userSpaceOnUse" x="9.22265" y="10.388" width="12.7279" height="12.7279" fill="black">
+<rect fill="white" x="9.22265" y="10.388" width="12.7279" height="12.7279"/>
+<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"/>
+</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"/>
+<path d="M16.1708 14.5077L16.7847 13.1391L18.7701 14.0297L17.2315 15.5684L16.1708 14.5077ZM13.3548 15.5007L12.294 14.4402L12.2941 14.44L13.3548 15.5007ZM16.5105 18.6564L17.5712 19.7171L17.5711 19.7172L16.5105 18.6564ZM17.5173 15.8708L16.4567 14.8102L18.0236 13.2433L18.8962 15.2802L17.5173 15.8708ZM16.7743 16.6138L15.2751 16.6613L15.2545 16.0123L15.7137 15.5532L16.7743 16.6138ZM15.7952 18.0405L16.8558 19.1011L16.8556 19.1013L15.7952 18.0405ZM13.957 17.6165L12.8963 18.6772L12.8959 18.6767L13.957 17.6165ZM13.957 16.2023L12.8961 15.1418L12.8963 15.1416L13.957 16.2023ZM15.452 15.2266L16.5126 16.2872L16.0102 16.7896L15.3032 16.7192L15.452 15.2266ZM16.1708 14.5077L15.5569 15.8763C15.3688 15.792 15.1469 15.8299 14.999 15.9779L13.9383 14.9172L12.8776 13.8565C13.9375 12.7967 15.5018 12.5636 16.7847 13.1391L16.1708 14.5077ZM13.9383 14.9172L14.999 15.9779L14.4155 16.5614L13.3548 15.5007L12.2941 14.44L12.8776 13.8565L13.9383 14.9172ZM13.3548 15.5007L14.4156 16.5612C14.2202 16.7567 14.2204 17.0734 14.4155 17.2685L13.3548 18.3291L12.2941 19.3898C10.9272 18.0229 10.9277 15.8069 12.294 14.4402L13.3548 15.5007ZM13.3548 18.3291L14.4155 17.2685L14.7428 17.5958L13.6821 18.6564L12.6215 19.7171L12.2941 19.3898L13.3548 18.3291ZM13.6821 18.6564L14.7428 17.5958C14.9378 17.7908 15.2546 17.791 15.45 17.5956L16.5105 18.6564L17.5711 19.7172C16.2044 21.0836 13.9884 21.084 12.6215 19.7171L13.6821 18.6564ZM16.5105 18.6564L15.4499 17.5958L16.0334 17.0123L17.094 18.0729L18.1547 19.1336L17.5712 19.7171L16.5105 18.6564ZM17.094 18.0729L16.0334 17.0123C16.1795 16.8662 16.2185 16.6481 16.1385 16.4615L17.5173 15.8708L18.8962 15.2802C19.4413 16.5526 19.1996 18.0887 18.1547 19.1336L17.094 18.0729ZM17.5173 15.8708L18.578 16.9315L17.835 17.6745L16.7743 16.6138L15.7137 15.5532L16.4567 14.8102L17.5173 15.8708ZM16.7743 16.6138L18.2736 16.5664C18.2945 17.226 18.0544 17.9026 17.5436 18.4134L16.4829 17.3527L15.4223 16.2921C15.3182 16.3961 15.2711 16.5346 15.2751 16.6613L16.7743 16.6138ZM16.4829 17.3527L17.5436 18.4134L16.8558 19.1011L15.7952 18.0405L14.7345 16.9798L15.4223 16.2921L16.4829 17.3527ZM15.7952 18.0405L16.8556 19.1013C15.8795 20.0771 14.2967 20.0776 13.3203 19.1011L14.3809 18.0405L15.4416 16.9798C15.2461 16.7844 14.9297 16.7847 14.7347 16.9797L15.7952 18.0405ZM14.3809 18.0405L13.3203 19.1011L12.8963 18.6772L13.957 17.6165L15.0176 16.5558L15.4416 16.9798L14.3809 18.0405ZM13.957 17.6165L12.8959 18.6767C11.9207 17.7008 11.92 16.1182 12.8961 15.1418L13.957 16.2023L15.0178 17.2628C15.2133 17.0672 15.2128 16.7512 15.018 16.5563L13.957 17.6165ZM13.957 16.2023L12.8963 15.1416L13.5841 14.4539L14.6447 15.5145L15.7054 16.5752L15.0176 17.2629L13.957 16.2023ZM14.6447 15.5145L13.5841 14.4539C14.1364 13.9015 14.8848 13.6626 15.6007 13.734L15.452 15.2266L15.3032 16.7192C15.443 16.7331 15.5943 16.6862 15.7054 16.5752L14.6447 15.5145ZM15.452 15.2266L14.3913 14.1659L15.1101 13.4471L16.1708 14.5077L17.2315 15.5684L16.5126 16.2872L15.452 15.2266Z" fill="#8E8E8F" mask="url(#path-5-outside-2_9822_43516)"/>
+<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
  * 使用真正的矢量SVG渲染替代Canvas位图渲染
@@ -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
@@ -81,7 +210,6 @@ class SvgMapView {
         this.layers.sort((a, b) => a.getLevel() - b.getLevel());
     }
     getLayer(type) {
-        console.log('getLayer----->', this.layers, type);
         return this.layers.find((layer) => layer.getType() === type) || null;
     }
     /**
@@ -119,7 +247,7 @@ class SvgMapView {
      * 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
@@ -142,8 +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) {
@@ -155,42 +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
@@ -198,15 +290,6 @@ 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
      */
@@ -310,7 +393,7 @@ class SvgMapView {
         //       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 => 
+        //       const targetLayer = this.layers.find(layer =>
         //         layer.getType() === layerType && layer.getLevel() === layerLevel
         //       );
         //       if (targetLayer && targetLayer.isVisible()) {
@@ -347,12 +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
@@ -477,22 +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
      */
@@ -513,13 +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
      */
@@ -721,8 +775,6 @@ const create = (createState) => createState ? createImpl(createState) : createIm
 
 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: {
@@ -730,134 +782,28 @@ const useSubBoundaryBorderStore = create((set, get) => ({
             [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: {} }),
+    // 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: {} }),
 }));
 
-/**
- * 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"/>
-<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"/>
-<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"/>
-</mask>
-<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"/>
-<path d="M20.6852 11.1208L21.7458 10.0601L21.7459 10.0601L20.6852 11.1208ZM17.8568 11.1208L16.7961 10.0601L16.7962 10.0601L17.8568 11.1208ZM17.2733 11.7043L16.2126 10.6437L16.2126 10.6436L17.2733 11.7043ZM16.8631 13.9319L17.9238 14.9926L16.381 16.5354L15.493 14.5425L16.8631 13.9319ZM17.5916 13.2034L19.0855 13.0678L19.149 13.7674L18.6523 14.2641L17.5916 13.2034ZM20.4056 12.1421L21.4662 11.0814L21.4665 11.0817L20.4056 12.1421ZM18.9699 14.5348L17.9093 13.4741L18.3741 13.0093L19.0309 13.036L18.9699 14.5348ZM18.2235 15.2812L17.6298 16.6587L15.5997 15.7837L17.1628 14.2206L18.2235 15.2812ZM20.429 14.86L21.4897 15.9207L21.4897 15.9207L20.429 14.86ZM21.0125 14.2765L22.0732 15.3371L22.0732 15.3372L21.0125 14.2765ZM20.6852 11.1208L19.6246 12.1815C19.4294 11.9862 19.1127 11.9863 18.9174 12.1815L17.8568 11.1208L16.7962 10.0601C18.163 8.69337 20.379 8.6934 21.7458 10.0601L20.6852 11.1208ZM17.8568 11.1208L18.9175 12.1814L18.334 12.7649L17.2733 11.7043L16.2126 10.6436L16.7961 10.0601L17.8568 11.1208ZM17.2733 11.7043L18.334 12.7649C18.1877 12.9112 18.1488 13.1318 18.2333 13.3214L16.8631 13.9319L15.493 14.5425C14.9228 13.2629 15.1537 11.7026 16.2126 10.6437L17.2733 11.7043ZM16.8631 13.9319L15.8025 12.8713L16.531 12.1428L17.5916 13.2034L18.6523 14.2641L17.9238 14.9926L16.8631 13.9319ZM17.5916 13.2034L16.0978 13.339C16.0334 12.6302 16.2727 11.8914 16.8196 11.3445L17.8803 12.4052L18.9409 13.4658C19.051 13.3558 19.098 13.206 19.0855 13.0678L17.5916 13.2034ZM17.8803 12.4052L16.8196 11.3445L17.5067 10.6574L18.5674 11.7181L19.628 12.7788L18.9409 13.4658L17.8803 12.4052ZM18.5674 11.7181L17.5067 10.6574C18.483 9.68112 20.0659 9.68112 21.0422 10.6574L19.9816 11.7181L18.9209 12.7788C19.1162 12.974 19.4328 12.974 19.628 12.7788L18.5674 11.7181ZM19.9816 11.7181L21.0422 10.6574L21.4662 11.0814L20.4056 12.1421L19.3449 13.2027L18.9209 12.7788L19.9816 11.7181ZM20.4056 12.1421L21.4665 11.0817C22.4419 12.0577 22.4428 13.6404 21.4662 14.617L20.4056 13.5563L19.3449 12.4956C19.1493 12.6913 19.1498 13.0076 19.3446 13.2024L20.4056 12.1421ZM20.4056 13.5563L21.4662 14.617L20.7791 15.304L19.7185 14.2434L18.6578 13.1827L19.3449 12.4956L20.4056 13.5563ZM19.7185 14.2434L20.7791 15.304C20.2628 15.8204 19.5762 16.0607 18.909 16.0335L18.9699 14.5348L19.0309 13.036C18.9025 13.0308 18.7629 13.0777 18.6578 13.1827L19.7185 14.2434ZM18.9699 14.5348L20.0306 15.5954L19.2841 16.3419L18.2235 15.2812L17.1628 14.2206L17.9093 13.4741L18.9699 14.5348ZM18.2235 15.2812L18.8172 13.9037C19.0042 13.9843 19.2223 13.9455 19.3684 13.7993L20.429 14.86L21.4897 15.9207C20.4427 16.9676 18.9034 17.2077 17.6298 16.6587L18.2235 15.2812ZM20.429 14.86L19.3684 13.7994L19.9519 13.2159L21.0125 14.2765L22.0732 15.3372L21.4897 15.9207L20.429 14.86ZM21.0125 14.2765L19.9518 13.2159C20.1471 13.0206 20.1471 12.704 19.9519 12.5088L21.0125 11.4481L22.0732 10.3874C23.4401 11.7543 23.4399 13.9703 22.0732 15.3371L21.0125 14.2765ZM21.0125 11.4481L19.9519 12.5088L19.6246 12.1814L20.6852 11.1208L21.7459 10.0601L22.0732 10.3874L21.0125 11.4481Z" fill="#8E8E8F" mask="url(#path-3-outside-1_9822_43516)"/>
-<mask id="path-5-outside-2_9822_43516" maskUnits="userSpaceOnUse" x="9.22265" y="10.388" width="12.7279" height="12.7279" fill="black">
-<rect fill="white" x="9.22265" y="10.388" width="12.7279" height="12.7279"/>
-<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"/>
-</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"/>
-<path d="M16.1708 14.5077L16.7847 13.1391L18.7701 14.0297L17.2315 15.5684L16.1708 14.5077ZM13.3548 15.5007L12.294 14.4402L12.2941 14.44L13.3548 15.5007ZM16.5105 18.6564L17.5712 19.7171L17.5711 19.7172L16.5105 18.6564ZM17.5173 15.8708L16.4567 14.8102L18.0236 13.2433L18.8962 15.2802L17.5173 15.8708ZM16.7743 16.6138L15.2751 16.6613L15.2545 16.0123L15.7137 15.5532L16.7743 16.6138ZM15.7952 18.0405L16.8558 19.1011L16.8556 19.1013L15.7952 18.0405ZM13.957 17.6165L12.8963 18.6772L12.8959 18.6767L13.957 17.6165ZM13.957 16.2023L12.8961 15.1418L12.8963 15.1416L13.957 16.2023ZM15.452 15.2266L16.5126 16.2872L16.0102 16.7896L15.3032 16.7192L15.452 15.2266ZM16.1708 14.5077L15.5569 15.8763C15.3688 15.792 15.1469 15.8299 14.999 15.9779L13.9383 14.9172L12.8776 13.8565C13.9375 12.7967 15.5018 12.5636 16.7847 13.1391L16.1708 14.5077ZM13.9383 14.9172L14.999 15.9779L14.4155 16.5614L13.3548 15.5007L12.2941 14.44L12.8776 13.8565L13.9383 14.9172ZM13.3548 15.5007L14.4156 16.5612C14.2202 16.7567 14.2204 17.0734 14.4155 17.2685L13.3548 18.3291L12.2941 19.3898C10.9272 18.0229 10.9277 15.8069 12.294 14.4402L13.3548 15.5007ZM13.3548 18.3291L14.4155 17.2685L14.7428 17.5958L13.6821 18.6564L12.6215 19.7171L12.2941 19.3898L13.3548 18.3291ZM13.6821 18.6564L14.7428 17.5958C14.9378 17.7908 15.2546 17.791 15.45 17.5956L16.5105 18.6564L17.5711 19.7172C16.2044 21.0836 13.9884 21.084 12.6215 19.7171L13.6821 18.6564ZM16.5105 18.6564L15.4499 17.5958L16.0334 17.0123L17.094 18.0729L18.1547 19.1336L17.5712 19.7171L16.5105 18.6564ZM17.094 18.0729L16.0334 17.0123C16.1795 16.8662 16.2185 16.6481 16.1385 16.4615L17.5173 15.8708L18.8962 15.2802C19.4413 16.5526 19.1996 18.0887 18.1547 19.1336L17.094 18.0729ZM17.5173 15.8708L18.578 16.9315L17.835 17.6745L16.7743 16.6138L15.7137 15.5532L16.4567 14.8102L17.5173 15.8708ZM16.7743 16.6138L18.2736 16.5664C18.2945 17.226 18.0544 17.9026 17.5436 18.4134L16.4829 17.3527L15.4223 16.2921C15.3182 16.3961 15.2711 16.5346 15.2751 16.6613L16.7743 16.6138ZM16.4829 17.3527L17.5436 18.4134L16.8558 19.1011L15.7952 18.0405L14.7345 16.9798L15.4223 16.2921L16.4829 17.3527ZM15.7952 18.0405L16.8556 19.1013C15.8795 20.0771 14.2967 20.0776 13.3203 19.1011L14.3809 18.0405L15.4416 16.9798C15.2461 16.7844 14.9297 16.7847 14.7347 16.9797L15.7952 18.0405ZM14.3809 18.0405L13.3203 19.1011L12.8963 18.6772L13.957 17.6165L15.0176 16.5558L15.4416 16.9798L14.3809 18.0405ZM13.957 17.6165L12.8959 18.6767C11.9207 17.7008 11.92 16.1182 12.8961 15.1418L13.957 16.2023L15.0178 17.2628C15.2133 17.0672 15.2128 16.7512 15.018 16.5563L13.957 17.6165ZM13.957 16.2023L12.8963 15.1416L13.5841 14.4539L14.6447 15.5145L15.7054 16.5752L15.0176 17.2629L13.957 16.2023ZM14.6447 15.5145L13.5841 14.4539C14.1364 13.9015 14.8848 13.6626 15.6007 13.734L15.452 15.2266L15.3032 16.7192C15.443 16.7331 15.5943 16.6862 15.7054 16.5752L14.6447 15.5145ZM15.452 15.2266L14.3913 14.1659L15.1101 13.4471L16.1708 14.5077L17.2315 15.5684L16.5126 16.2872L15.452 15.2266Z" fill="#8E8E8F" mask="url(#path-5-outside-2_9822_43516)"/>
-<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;
-
 /**
  * 路径图层
  * 专门处理路径元素的渲染
@@ -908,51 +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;
     }
     /**
@@ -1023,7 +1008,7 @@ class PathLayer extends BaseLayer {
      * 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) {
@@ -1037,7 +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) {
@@ -1048,6 +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]} ${bCoords[i][1]}`;
+                }
+                d += ' Z ';
+            }
+        });
+        // 3. svgElements（直接拼接path字符串，建议逆时针）
+        if (Array.isArray(svgElements)) {
+            svgElements.forEach((svgPath) => {
+                const svgPathString = svgPath?.metadata?.svg;
+                if (svgPathString && typeof svgPathString === 'string' && svgPathString.trim()) {
+                    d += svgPathString + ' ';
+                }
+            });
+        }
         const path = document.createElementNS('http://www.w3.org/2000/svg', 'path');
         path.setAttribute('d', d);
         const clipPath = document.createElementNS('http://www.w3.org/2000/svg', 'clipPath');
@@ -1072,7 +1077,7 @@ class PathLayer extends BaseLayer {
         // 2. 创建一个组，应用 clipPath
         const group = document.createElementNS('http://www.w3.org/2000/svg', 'g');
         group.setAttribute('clip-path', `url(#${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) {
             const { id, elements } = element;
@@ -1220,7 +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
@@ -1410,7 +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(' ');
@@ -1508,7 +1513,7 @@ 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)',
@@ -1540,10 +1545,10 @@ 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',
-    mowedLineColor: 'rgba(194, 203, 212)',
+    mowedLineColor: 'rgba(231, 238, 246)',
     mowingLineColor: 'rgba(123, 200, 187)',
 };
 const CHANNEL_STYLES = {
@@ -1612,15 +1617,6 @@ function convertCoordinate(x, y) {
     };
 }
 
-/**
- * 路径段类型
- */
-var PathSegmentType;
-(function (PathSegmentType) {
-    PathSegmentType["EDGE"] = "edge";
-    PathSegmentType["MOWING"] = "mowing";
-    PathSegmentType["TRANS"] = "trans";
-})(PathSegmentType || (PathSegmentType = {}));
 /**
  * 按Python逻辑创建路径段：根据连续的两点之间的关系确定线段类型
  */
@@ -1895,26 +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;
@@ -1936,6 +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
@@ -1945,7 +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) {
@@ -1966,6 +1945,14 @@ function generateBoundaryData(mapData, pathData) {
     return boundaryData;
 }
 
+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
  * @param x 点的x坐标
@@ -2083,7 +2070,6 @@ const handleMultipleRealTimeData = ({ realTimeData, isMowing, pathData, partitio
             // 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] = {
@@ -2136,7 +2122,7 @@ const getProcessMowingDataFromRealTimeData = ({ realTimeData, isMowing, pathData
     let newMowingStatus = isMowing;
     let newPathData = pathData || {};
     // 找到返回的第一个实时进度的点
-    const firstProcessData = realTimeData.find((item) => item.type === REAL_TIME_DATA_TYPE.PROCESS);
+    const firstProcessData = realTimeData.find((item) => item.type === RealTimeDataType.PROCESS);
     if (firstProcessData) {
         // console.log('firstProcessData==', firstProcessData);
         const { action, subAction, currentMowBoundary, currentMowProgress } = firstProcessData;
@@ -2214,10 +2200,10 @@ function getNoPositionMowerImageByModal(mowerModal) {
     }
     return iNoPosition;
 }
-function getMowerImage(positonConfig) {
+function getMowerImage(positonConfig, modelType) {
     if (!positonConfig)
         return '';
-    const model = positonConfig.vehicleModel || '';
+    const model = modelType?.toLowerCase() || 'i';
     const state = positonConfig.vehicleState;
     const mowerImage = getMowerImageByModal(model);
     const disabledImage = getDisabledMowerImageByModal(model);
@@ -4682,7 +4668,37 @@ var merge = createAssigner(function(object, source, srcIndex) {
  * _.round(4060, -2);
  * // => 4100
  */
-var round = createRound('round');
+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
@@ -4757,17 +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）
@@ -4957,6 +4962,18 @@ class BoundaryBorderLayer extends BaseLayer {
         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
@@ -5002,7 +5019,8 @@ class BoundaryBorderLayer extends BaseLayer {
      * 创建直接路径（type=2）
      */
     createDirectPath(svgGroup, points, style, id) {
-        const strokeColor = style.lineColor;
+        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
@@ -5035,7 +5053,8 @@ class BoundaryBorderLayer extends BaseLayer {
      * 使用PathMeasure逻辑创建平行路径（type=1）
      */
     createParallelPathsWithMeasure(svgGroup, points, style, id) {
-        const strokeColor = style.lineColor;
+        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
@@ -5381,6 +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,
@@ -5783,8 +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);
@@ -5845,8 +5877,13 @@ class MapDataProcessor {
                                 element.direction !== undefined) {
                                 const mapElement = element;
                                 const svgElement = SvgElementDataBuilder.fromMapElement(mapElement, this.mapConfig.doodle);
-                                if (svgElement)
+                                if (svgElement) {
                                     result.push(svgElement);
+                                    const { addSvgElements } = useSubBoundaryBorderStore.getState();
+                                    addSvgElements(`time-limit-obstacle-${svgElement.originalData.id}`, {
+                                        ...svgElement,
+                                    });
+                                }
                             }
                             // 如果有points数据，按传统方式绘制
                             else if ('points' in element &&
@@ -5855,8 +5892,13 @@ class MapDataProcessor {
                                 element.points.length >= 3) {
                                 const mapElement = element;
                                 const polygonElement = ObstacleDataBuilder.createTimeLimitObstacle(mapElement, this.mapConfig.obstacle);
-                                if (polygonElement)
+                                if (polygonElement) {
                                     result.push(polygonElement);
+                                    const { addObstacles } = useSubBoundaryBorderStore.getState();
+                                    addObstacles(`time-limit-obstacle-${polygonElement.originalData.id}`, {
+                                        ...polygonElement,
+                                    });
+                                }
                             }
                         }
                         catch (error) {
@@ -6006,7 +6048,6 @@ class PathDataProcessor {
                 elements,
             };
         });
-        console.log('result->', result);
         return result;
     }
 }
@@ -6016,7 +6057,7 @@ 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;
@@ -6027,6 +6068,8 @@ class BoundaryLabelsManager {
         this.svgView = svgView;
         this.boundaryData = boundaryData;
         this.initializeContainer();
+        this.unitType = unitType;
+        this.language = language;
     }
     /**
      * 初始化容器
@@ -6126,9 +6169,10 @@ class BoundaryLabelsManager {
             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);
@@ -6194,7 +6238,6 @@ class BoundaryLabelsManager {
         this.collapseOtherLabels(boundaryId);
         // 展开当前标签
         extendedContent.style.display = 'block';
-        labelDiv.style.whiteSpace = 'normal';
         this.currentExpandedBoundaryId = boundaryId;
     }
     /**
@@ -6237,7 +6280,6 @@ class BoundaryLabelsManager {
      * @param viewBox SVG的viewBox信息
      */
     updatePositionsWithPrecomputedData(divWidth, divHeight, viewBox) {
-        console.log('updatePositionsWithPrecomputedData----->', this.rotation);
         if (!this.container || !this.svgView)
             return;
         const dw = parseFloat(this.svgView.getSVG().getAttribute('width')) || divWidth;
@@ -6431,12 +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
      */
@@ -6486,18 +6522,6 @@ 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;
-    }
     /**
      * 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）
@@ -6514,19 +6538,6 @@ class BoundaryLabelsManager {
             labelElement.style.transform = `translate(-50%, -50%) rotate(${counterRotation}deg)`;
         });
     }
-    /**
-     * 重置标签旋转角度
-     */
-    resetLabelsRotation() {
-        if (!this.container)
-            return;
-        const labels = this.container.querySelectorAll('.boundary-label');
-        labels.forEach((label) => {
-            const labelElement = label;
-            // 重置为默认的居中变换
-            labelElement.style.transform = 'translate(-50%, -50%)';
-        });
-    }
 }
 // 简化的层级定义
 BoundaryLabelsManager.Z_INDEX = {
@@ -6702,26 +6713,6 @@ class ChargingPileManager {
             this.container.innerHTML = '';
         }
     }
-    /**
-     * 设置可见性
-     */
-    setVisible(visible) {
-        if (this.container) {
-            this.container.style.display = visible ? 'block' : 'none';
-        }
-    }
-    /**
-     * 获取充电桩数量
-     */
-    getElementCount() {
-        return this.chargingPileElements.length;
-    }
-    /**
-     * 充电桩不需要动态层级调整（为了接口统一而保留）
-     */
-    resetZIndex() {
-        // 充电桩层级始终保持固定，无需重置
-    }
     /**
      * 销毁管理器
      */
@@ -6744,21 +6735,10 @@ class ChargingPileManager {
             pileElement.style.transform = `translate(-50%, -50%) rotate(${this.originalRotation - this.rotation}deg)`;
         });
     }
-    /**
-     * 重置充电桩旋转角度
-     */
-    resetRotation() {
-        this.rotation = 0;
-        const allContainers = this.container.querySelectorAll('.charging-pile');
-        allContainers.forEach((container) => {
-            const pileElement = container;
-            pileElement.style.transform = `translate(-50%, -50%) rotate(${this.originalRotation - this.rotation}deg)`;
-        });
-    }
 }
 // 简化的层级定义 - 充电桩只需要一个固定层级
 ChargingPileManager.Z_INDEX = {
-    CHARGING_PILE: 800, // 充电桩图标固定层级
+    CHARGING_PILE: 750, // 充电桩图标固定层级
 };
 
 /**
@@ -7140,32 +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;
-    }
     /**
      * 销毁管理器
      */
@@ -7193,21 +7147,10 @@ class AntennaManager {
             antennaContainer.style.transform = `translate(-50%, -50%) rotate(${-this.rotation}deg)`;
         });
     }
-    /**
-     * 重置天线旋转角度
-     */
-    resetRotation() {
-        this.rotation = 0;
-        const allContainers = this.container.querySelectorAll('.antenna-container-item');
-        allContainers.forEach((container) => {
-            const antennaContainer = container;
-            antennaContainer.style.transform = `translate(-50%, -50%) rotate(${-this.rotation}deg)`;
-        });
-    }
 }
 // 简化的层级定义
 AntennaManager.Z_INDEX = {
-    DEFAULT: 750, // 默认层级
+    DEFAULT: 800, // 默认层级
     ACTIVE: 9999, // 点击激活时的高层级
 };
 
@@ -7259,7 +7202,7 @@ const EDIT_BEHAVIOR = {
 };
 
 class MowerPositionManager {
-    constructor(svgView, mowerPositionConfig, overlayDiv, onAnimationComplete, onMowingPositionChange) {
+    constructor(svgView, mowerPositionConfig, modelType, overlayDiv, onAnimationComplete, onMowingPositionChange) {
         this.container = null;
         this.overlayDiv = null;
         this.mowerElement = null;
@@ -7277,6 +7220,7 @@ class MowerPositionManager {
         this.onlyUpdateTheta = false;
         this.svgView = svgView;
         this.mowerPositionConfig = mowerPositionConfig;
+        this.modelType = modelType;
         this.overlayDiv = overlayDiv;
         this.onAnimationComplete = onAnimationComplete;
         this.onMowingPositionChange = onMowingPositionChange;
@@ -7331,6 +7275,7 @@ class MowerPositionManager {
         }
         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）
@@ -7351,11 +7296,22 @@ class MowerPositionManager {
         if (!chargingPilesPositionConfig)
             return;
         this.mowerPositionConfig = chargingPilesPositionConfig;
-        console.log('manager updatePositionByLastPosition----->', chargingPilesPositionConfig, this.lastPosition);
+        const positonOutOfRange = isOutOfRange(chargingPilesPositionConfig);
+        const positionInValid = isInvalidPosition(chargingPilesPositionConfig);
+        let postureX = 0;
+        let postureY = 0;
+        let postureTheta = 0;
         const lastPosition = this.lastPosition;
-        const postureX = chargingPilesPositionConfig.postureX || chargingPilesPositionConfig.lastPostureX || lastPosition?.x;
-        const postureY = chargingPilesPositionConfig.postureY || chargingPilesPositionConfig.lastPostureY || lastPosition?.y;
-        const postureTheta = chargingPilesPositionConfig.postureTheta || chargingPilesPositionConfig.lastPostureTheta || lastPosition?.rotation;
+        if (positonOutOfRange || positionInValid) {
+            postureX = lastPosition?.x || 0;
+            postureY = lastPosition?.y || 0;
+            postureTheta = lastPosition?.rotation || 0;
+        }
+        else {
+            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
@@ -7365,12 +7321,13 @@ class MowerPositionManager {
      * 更新割草机位置
      */
     updatePosition(positionConfig, animationTime = 0) {
-        console.log('manager updatePosition----->', positionConfig);
         // 检查是否需要更新图片
         this.updateMowerImage(positionConfig);
-        const postureX = positionConfig.postureX || this.lastPosition?.x;
-        const postureY = positionConfig.postureY || this.lastPosition?.y;
-        const postureTheta = positionConfig.postureTheta || this.lastPosition?.rotation;
+        // 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
@@ -7391,8 +7348,6 @@ class MowerPositionManager {
             // 立即更新位置
             this.setElementPosition(positionConfig.postureX, positionConfig.postureY, positionConfig.postureTheta);
         }
-        // 更新配置
-        this.mowerPositionConfig = positionConfig;
     }
     /**
      * 更新割草机图片
@@ -7403,9 +7358,14 @@ class MowerPositionManager {
         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;
         }
     }
     /**
@@ -7415,17 +7375,9 @@ class MowerPositionManager {
         const { x: pointX, y: pointY } = convertCoordinate(x, y);
         const targetPixelPosition = this.convertMapCoordinateToOverlayPixel(pointX, pointY);
         const targetRotation = radToDegree(theta);
-        const positonOutOfRange = isOutOfRange({
-            postureX: x,
-            postureY: y});
-        const positionValid = isInvalidPosition({
-            postureX: x,
-            postureY: y,
-            postureTheta: theta,
-        });
-        if (!positonOutOfRange && !positionValid) {
-            this.lastPosition = { x, y, rotation: theta };
-        }
+        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`;
@@ -7451,15 +7403,29 @@ class MowerPositionManager {
     startAnimationToPosition(positionConfig, duration) {
         if (!this.mowerElement || !this.currentPosition)
             return;
-        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;
@@ -7489,7 +7455,7 @@ class MowerPositionManager {
      * 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;
@@ -7500,25 +7466,22 @@ class MowerPositionManager {
         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 };
         // 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,
+                vehicleState: this.mowerPositionConfig?.vehicleState,
             });
         }
-        // console.log('animateStep----->', this.onlyUpdateTheta, currentX, currentY, currentRotation);
-        // 
+        // 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();
             // 通知动画完成
@@ -7565,12 +7528,6 @@ class MowerPositionManager {
             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
      */
@@ -7632,10 +7589,34 @@ function throttleAdvanced(func, delay, options = { leading: true, trailing: true
         }
     };
 }
+/**
+ * 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, partitionBoundary, mowerPositionConfig, pathData, isEditMode = false, mapConfig = {}, antennaConfig = {}, mowPartitionData = null, defaultTransform, 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;
@@ -7683,6 +7664,8 @@ class MowerMapOverlay {
         this.partitionBoundary = partitionBoundary;
         this.pathData = pathData;
         this.isEditMode = isEditMode;
+        this.unitType = unitType;
+        this.language = language;
         this.mapConfig = mapConfig;
         this.antennaConfig = antennaConfig;
         this.onMapLoad = onMapLoad;
@@ -7690,6 +7673,7 @@ class MowerMapOverlay {
         this.dragCallbacks = dragCallbacks;
         this.mowerPositionConfig = mowerPositionConfig;
         this.mowPartitionData = mowPartitionData;
+        this.modelType = modelType;
         // 设置默认的transform
         if (defaultTransform) {
             this.defaultTransform = {
@@ -7722,7 +7706,6 @@ class MowerMapOverlay {
         this.boundaryData = generateBoundaryData(mapData, pathData);
     }
     updatePosition(positionConfig, animationTime = 2200) {
-        console.log('updatePosition==', positionConfig, animationTime);
         // 保存当前动画时长
         this.currentAnimationTime = animationTime;
         // 标记是否为用户动画（大于0表示用户主动触发的动画）
@@ -7735,7 +7718,7 @@ class MowerMapOverlay {
         }
     }
     updatePositionByLastPosition(chargingPilesPositionConfig) {
-        console.log('overlay updatePositionByLastPosition----->', this.mowerPositionManager, chargingPilesPositionConfig);
+        this.mowerPositionConfig = chargingPilesPositionConfig;
         // 更新配置
         if (this.mowerPositionManager) {
             this.mowerPositionManager.updatePositionByLastPosition(chargingPilesPositionConfig);
@@ -7756,32 +7739,24 @@ class MowerMapOverlay {
         return this.overlayView ? this.overlayView.getPanes() : null;
     }
     resetBorderLayerHighlight() {
+        this.mowPartitionData = null;
         const boundaryBorderLayer = this.svgMapView?.getLayer(LAYER_DEFAULT_TYPE.BOUNDARY_BORDER);
-        Object.keys(boundaryBorderLayer?.boudaryBorderPaths || {}).forEach((key) => {
-            const paths = boundaryBorderLayer?.boudaryBorderPaths?.[key];
-            if (paths) {
-                paths.forEach((path) => {
-                    path.setAttribute('stroke', BOUNDARY_STYLES.lineColor);
-                });
-            }
-        });
+        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 || [];
-        console.log('setBorderLayerHighlight----->', partitionIds);
-        for (const partitionId of partitionIds) {
-            const boundaryBorderPaths = boundaryBorderLayer?.boudaryBorderPaths?.[partitionId];
-            console.log('boundaryBorderPaths----->', boundaryBorderLayer, boundaryBorderPaths);
-            if (boundaryBorderPaths) {
-                boundaryBorderPaths.forEach((path) => {
-                    path.setAttribute('stroke', BOUNDARY_STYLES.mowingLineColor);
-                });
-            }
-        }
+        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';
@@ -7803,6 +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();
@@ -7841,16 +7817,6 @@ class MowerMapOverlay {
         const map = this.getMap();
         if (!map || !this.svgMapView)
             return;
-        // const currentZoom = 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);
-        // 当缩放变化时，重新绘制以确保位置正确
         this.draw();
     }
     // 创建边界标签管理器
@@ -7858,7 +7824,10 @@ class MowerMapOverlay {
         if (!this.div || !this.svgMapView)
             return;
         // 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
@@ -7902,9 +7871,7 @@ 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.mowerPositionManager = new MowerPositionManager(this.svgMapView, this.mowerPositionConfig, this.div, () => {
-            console.log('动画完成');
-        }, this.updatePathDataByMowingPositionThrottled.bind(this));
+        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.mowerPositionManager.setOverlayDiv(this.div);
         // 获取容器并添加到主div
@@ -7935,7 +7902,7 @@ 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;
         // 更新充电桩位置
@@ -7986,7 +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';
@@ -7997,6 +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);
@@ -8038,7 +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) => {
@@ -8054,39 +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();
@@ -8103,8 +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();
@@ -8164,7 +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) {
@@ -8186,7 +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) {
@@ -8298,7 +8271,6 @@ class MowerMapOverlay {
         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() {
@@ -8328,14 +8300,6 @@ 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 };
         this.draw();
@@ -8373,8 +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;
@@ -8467,6 +8429,9 @@ class MowerMapOverlay {
             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();
     }
@@ -8500,12 +8465,10 @@ class MowerMapOverlay {
         try {
             // 创建SvgMapView实例
             this.svgMapView = new SvgMapView(this.offscreenContainer, 800, 600);
-            window.svgMapView = this.svgMapView;
             // 加载地图数据
             this.loadMapData();
             // 加载路径数据
             if (this.pathData && this.svgMapView) {
-                console.log('initializeSvgMapView->', this.pathData, this.mowPartitionData);
                 this.loadPathData(this.pathData, this.mowPartitionData);
             }
             // 刷新绘制图层
@@ -8532,9 +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
@@ -8549,6 +8509,10 @@ class MowerMapOverlay {
             const layers = drawLayer.getLayers();
             this.svgMapView.clear();
             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) {
@@ -8578,7 +8542,6 @@ class MowerMapOverlay {
         try {
             // 使用现有的PathDataProcessor处理路径数据
             const pathElements = PathDataProcessor.processPathData(pathData, this.mapConfig);
-            console.log('pathdaata->', pathElements, mowPartitionData);
             const newPathElements = pathElements.map((pathElement) => {
                 const { id, elements } = pathElement;
                 const isMowBoundary = mowPartitionData && mowPartitionData?.partitionIds?.includes(id);
@@ -8626,7 +8589,6 @@ class MowerMapOverlay {
         // 找到当前position所在的分区id，将该点更新到pathData中
         const currentPartitionId = getPartitionId(this.partitionBoundary, position.x, position.y);
         const processStateIsMowing = useProcessMowingState.getState().processStateIsMowing;
-        // console.log('processStateIsMowing==', processStateIsMowing);
         if (currentPartitionId && this.pathData?.[currentPartitionId]) {
             const currentPathData = this.pathData[currentPartitionId];
             this.pathData[currentPartitionId] = {
@@ -8815,15 +8777,41 @@ class MowerMapOverlay {
             this.mowerPositionManager.setVisible(visible);
         }
     }
-}
-
-var RealTimeDataType;
-(function (RealTimeDataType) {
-    RealTimeDataType[RealTimeDataType["LOCATION"] = 1] = "LOCATION";
-    RealTimeDataType[RealTimeDataType["PROCESS"] = 2] = "PROCESS";
-    RealTimeDataType[RealTimeDataType["PARTITION"] = 3] = "PARTITION";
-})(RealTimeDataType || (RealTimeDataType = {}));
-
+    // 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)
@@ -8837,35 +8825,76 @@ 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);
-    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, antennaConfig, onMapLoad, onPathLoad, onError, className, style, googleMapInstance, isEditMode = false, dragCallbacks, defaultTransform, }, ref) => {
+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 [currentError, setCurrentError] = useState(null);
@@ -8873,10 +8902,12 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
     // 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 = [];
@@ -8901,7 +8932,12 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
     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 undefined;
+            return {
+                postureX: 0,
+                postureY: 0,
+                postureTheta: 0,
+                vehicleState: RobotStatus.DISCONNECTED,
+            };
         let currentPositionData;
         if (realTimeData.length === 1 && realTimeData[0].type === RealTimeDataType.LOCATION) {
             currentPositionData = realTimeData[0];
@@ -8920,13 +8956,15 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
             lastPostureTheta: currentPositionData?.lastPostureTheta
                 ? Number(currentPositionData.lastPostureTheta)
                 : 0,
-            lastPostureX: currentPositionData?.lastPostureX ? Number(currentPositionData.lastPostureX) : 0,
-            lastPostureY: currentPositionData?.lastPostureY ? Number(currentPositionData.lastPostureY) : 0,
-            vehicleState: currentPositionData?.vehicleState || RobotStatus.CHARGING,
-            vehicleModel: modelType?.toLowerCase() || '',
+            lastPostureX: currentPositionData?.lastPostureX
+                ? Number(currentPositionData.lastPostureX)
+                : 0,
+            lastPostureY: currentPositionData?.lastPostureY
+                ? Number(currentPositionData.lastPostureY)
+                : 0,
+            vehicleState: currentPositionData?.vehicleState || RobotStatus.DISCONNECTED,
         };
     }, [realTimeData, modelType]);
-    console.log('mowerPositionData', mowerPositionData);
     // 处理错误
     const handleError = (error) => {
         setCurrentError(error);
@@ -8942,18 +8980,17 @@ 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);
+        const validBounds = getValidGpsBounds(mapJson, defaultTransform?.rotation);
         // 地图数据中的坐标格式是 [longitude, latitude]
-        const swLat = validBounds.sw[1];
-        const swLng = validBounds.sw[0];
-        const neLat = validBounds.ne[1];
-        const neLng = validBounds.ne[0];
+        const 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
         );
-        console.log('fitBounds----->', googleBounds);
         mapRef.fitBounds(googleBounds);
-    }, [mapJson, mapRef]);
+    }, [mapJson, mapRef, defaultTransform]);
     // 初始化Google Maps叠加层
     const initializeGoogleMapsOverlay = async () => {
         if (!mapJson)
@@ -8977,7 +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];
@@ -8992,7 +9030,7 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
                 overlayRef.current = null;
             }
             // 创建叠加层
-            const overlay = new MowerMapOverlay(googleBounds, mapJson, partitionBoundary, mowerPositionData, pathJson || {}, isEditMode, mergedMapConfig, mergedAntennaConfig, null, defaultTransform, (count) => {
+            const overlay = new MowerMapOverlay(googleBounds, mapJson, partitionBoundary, mowerPositionData, modelType, pathJson || {}, isEditMode, unitType, language, mergedMapConfig, mergedAntennaConfig, null, defaultTransform, (count) => {
                 setElementCount(count);
                 onMapLoad?.(count);
             }, (count) => {
@@ -9013,12 +9051,26 @@ 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 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();
         // 清理函数
         return () => {
             clearSubBoundaryBorder();
+            clearObstacles();
             updateProcessStateIsMowing(false);
             currentProcessMowingStatusRef.current = false;
             if (overlayRef.current) {
@@ -9049,10 +9101,9 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
         const inChargingPiles = [RobotStatus.CHARGING, RobotStatus.PARKED];
         const isOffLine = mowerPositionData.vehicleState === RobotStatus.DISCONNECTED;
         const isInChargingPile = inChargingPiles.includes(mowerPositionData.vehicleState);
-        console.log('isInChargingPile-----------》', isInChargingPile, mowerPositionData);
         // 如果在充电桩上，则直接更新位置到充电桩的位置
+        console.log('usefeect mowerPositionData----->', mowerPositionData, isInChargingPile);
         if (isInChargingPile) {
-            console.log('isInChargingPile', isInChargingPile, mowerPositionData);
             overlayRef.current.updatePosition({
                 ...mowerPositionData,
                 postureX: chargingPiles?.originalData.position[0],
@@ -9065,7 +9116,6 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
             const positonOutOfRange = isOutOfRange(mowerPositionData);
             const positionValid = isInvalidPosition(mowerPositionData);
             const isStandby = mowerPositionData.vehicleState === RobotStatus.STANDBY;
-            console.log('positonOutOfRange', positonOutOfRange, positionValid, isOffLine);
             if (positonOutOfRange || positionValid || isOffLine) {
                 // 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，
@@ -9085,29 +9135,165 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
                 }
             }
             else {
-                console.log('hook updatePosition----->', mowerPositionData);
                 overlayRef.current.updatePosition(mowerPositionData, isStandby ? 0 : 2000);
             }
         }
     }, [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
-        console.log('realTimeData----->', realTimeData);
-        // realtime中包含当前割草任务的数据，根据数据进行path路径和边界的高亮操作
-        const curMowPartitionData = realTimeData.find((item) => item.type === RealTimeDataType.PARTITION) || mowPartitionData;
         if (curMowPartitionData) {
-            setMowPartitionData(curMowPartitionData);
             const isMowing = curMowPartitionData?.partitionIds && curMowPartitionData.partitionIds.length > 0;
             overlayRef.current.updateMowPartitionData(curMowPartitionData);
-            console.log('isMowing', isMowing, curMowPartitionData);
             if (!isMowing) {
                 overlayRef.current.resetBorderLayerHighlight();
             }
@@ -9145,14 +9331,11 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
         }
     }, [realTimeData, mapJson, pathJson]);
     useEffect(() => {
-        console.log('defaultTransform----->', defaultTransform);
         if (!overlayRef.current || !defaultTransform)
             return;
-        if (defaultTransform.x === 0 && defaultTransform.y === 0 && defaultTransform.rotation === 0) {
-            return;
-        }
+        console.log('defaultTransform----->', defaultTransform, overlayRef.current, mapJson);
         overlayRef.current?.setTransform(defaultTransform);
-        const validBounds = getValidGpsBounds(mapJson);
+        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;
@@ -9198,12 +9381,32 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
         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';