@fleet-frontend/mower-maps 0.0.9-beta.5 → 0.0.9-beta.6

package/dist/index.esm.js

@@ -118,7 +118,7 @@ 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
@@ -141,9 +141,10 @@ 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,
         };
+        console.log('viewbox->', this.viewBox);
         // 根据宽高比选择合适的preserveAspectRatio设置
         if (Math.abs(contentAspectRatio - containerAspectRatio) < 0.01) {
             // 宽高比接近，使用slice填满容器
@@ -649,8 +650,6 @@ 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: {
@@ -658,17 +657,69 @@ 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: {} }),
 }));
 
+/**
+ * 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
  */
@@ -721,36 +772,6 @@ const LAYER_DEFAULT_TYPE = {
     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"/>
@@ -850,37 +871,66 @@ class ChannelLayer extends BaseLayer {
         }
         // 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;
     }
     /**
@@ -951,7 +1001,7 @@ 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) {
@@ -965,7 +1015,7 @@ 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) {
@@ -976,6 +1026,27 @@ 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 ';
+            }
+        });
+        console.error('svgElements----', svgElements);
+        // 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');
@@ -1148,7 +1219,7 @@ 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
@@ -1338,7 +1409,7 @@ 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(' ');
@@ -1540,15 +1611,6 @@ 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
  */
@@ -1877,6 +1939,14 @@ 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
@@ -2046,7 +2116,7 @@ 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;
@@ -4594,6 +4664,36 @@ var merge = createAssigner(function(object, source, srcIndex) {
  */
 var round = createRound('round');
 
+/**
+ * 工具模块类型定义
+ */
+/**
+ * 路径段类型枚举
+ */
+var PathSegmentType;
+(function (PathSegmentType) {
+    PathSegmentType["EDGE"] = "edge";
+    PathSegmentType["MOWING"] = "mowing";
+    PathSegmentType["TRANS"] = "trans";
+})(PathSegmentType || (PathSegmentType = {}));
+/**
+ * 单位类型枚举
+ */
+var UnitsType;
+(function (UnitsType) {
+    UnitsType["Metric"] = "metric";
+    UnitsType["Imperial"] = "imperial";
+})(UnitsType || (UnitsType = {}));
+/**
+ * 面积单位类型枚举
+ */
+var UnitsAreaType;
+(function (UnitsAreaType) {
+    UnitsAreaType["SQUARE_METER"] = "m\u00B2";
+    UnitsAreaType["SQUARE_FOOT"] = "ft\u00B2";
+    UnitsAreaType["ACRE"] = "ac";
+})(UnitsAreaType || (UnitsAreaType = {}));
+
 /**
  * 默认航向相对于canvas的偏移角度: 航向默认是东
  */
@@ -4667,17 +4767,6 @@ 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）
@@ -4873,7 +4962,12 @@ class BoundaryBorderLayer extends BaseLayer {
      * 设置当前割草任务的边界
      */
     setMowingBoundarys(mowingBoundarys) {
-        this.mowingBoundarys = mowingBoundarys;
+        if (!mowingBoundarys) {
+            this.mowingBoundarys = this.elements?.map(item => item?.originalData?.id);
+        }
+        else {
+            this.mowingBoundarys = mowingBoundarys;
+        }
     }
     /**
      * SVG渲染方法
@@ -5301,6 +5395,14 @@ 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,
@@ -5703,8 +5805,13 @@ 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);
@@ -5765,8 +5872,13 @@ 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-${svgElement.originalData.id}`, {
+                                        ...svgElement,
+                                    });
+                                }
                             }
                             // 如果有points数据，按传统方式绘制
                             else if ('points' in element &&
@@ -5775,8 +5887,13 @@ class MapDataProcessor {
                                 element.points.length >= 3) {
                                 const mapElement = element;
                                 const polygonElement = ObstacleDataBuilder.createTimeLimitObstacle(mapElement, this.mapConfig.obstacle);
-                                if (polygonElement)
+                                if (polygonElement) {
                                     result.push(polygonElement);
+                                    const { addObstacles } = useSubBoundaryBorderStore.getState();
+                                    addObstacles(`time-limit-obstacle-${polygonElement.originalData.id}`, {
+                                        ...polygonElement,
+                                    });
+                                }
                             }
                         }
                         catch (error) {
@@ -6113,7 +6230,6 @@ class BoundaryLabelsManager {
         this.collapseOtherLabels(boundaryId);
         // 展开当前标签
         extendedContent.style.display = 'block';
-        labelDiv.style.whiteSpace = 'normal';
         this.currentExpandedBoundaryId = boundaryId;
     }
     /**
@@ -7173,9 +7289,10 @@ class MowerPositionManager {
             return;
         this.mowerPositionConfig = chargingPilesPositionConfig;
         const lastPosition = this.lastPosition;
-        const postureX = chargingPilesPositionConfig.postureX ?? chargingPilesPositionConfig.lastPostureX ?? lastPosition?.x ?? 0;
-        const postureY = chargingPilesPositionConfig.postureY ?? chargingPilesPositionConfig.lastPostureY ?? lastPosition?.y ?? 0;
-        const postureTheta = chargingPilesPositionConfig.postureTheta ?? chargingPilesPositionConfig.lastPostureTheta ?? lastPosition?.rotation ?? 0;
+        const postureX = chargingPilesPositionConfig.postureX || chargingPilesPositionConfig.lastPostureX || lastPosition?.x || 0;
+        const postureY = chargingPilesPositionConfig.postureY || chargingPilesPositionConfig.lastPostureY || lastPosition?.y || 0;
+        const postureTheta = chargingPilesPositionConfig.postureTheta || chargingPilesPositionConfig.lastPostureTheta || lastPosition?.rotation || 0;
+        console.log('updatePositionByLastPosition->', postureX, postureY, postureTheta, chargingPilesPositionConfig);
         // 检查是否需要更新图片
         this.updateMowerImage(chargingPilesPositionConfig);
         // 立即更新位置
@@ -7189,10 +7306,10 @@ class MowerPositionManager {
         this.updateMowerImage(positionConfig);
         // 更新配置
         this.mowerPositionConfig = positionConfig;
-        const postureX = positionConfig?.postureX ?? this.lastPosition?.x;
-        const postureY = positionConfig?.postureY ?? this.lastPosition?.y;
-        const postureTheta = positionConfig?.postureTheta ?? this.lastPosition?.rotation;
-        console.log('updatePosition  manager', positionConfig, this.lastPosition);
+        const postureX = positionConfig?.postureX || this.lastPosition?.x || 0;
+        const postureY = positionConfig?.postureY || this.lastPosition?.y || 0;
+        const postureTheta = positionConfig?.postureTheta || this.lastPosition?.rotation || 0;
+        console.log('updatePosition  manager', JSON.stringify(this.currentPosition), this.currentPosition, !this.currentPosition, positionConfig, this.lastPosition, animationTime);
         // 停止当前动画（如果有）
         this.stopAnimation();
         // 第一个点
@@ -7202,6 +7319,7 @@ class MowerPositionManager {
                 y: postureY,
                 rotation: postureTheta,
             };
+            console.log('updatePosition first->', this.currentPosition);
             this.setElementPosition(this.currentPosition.x, this.currentPosition.y, this.currentPosition.rotation);
             return;
         }
@@ -7251,7 +7369,7 @@ class MowerPositionManager {
         if (!positonOutOfRange && !positionValid) {
             this.lastPosition = { x, y, rotation: theta };
         }
-        // console.log('setElementPosition', x, y, targetRotation, positonOutOfRange, positionValid, targetPixelPosition);
+        // console.log('setElementPosition', x, y, theta, targetRotation, positonOutOfRange, positionValid, targetPixelPosition);
         if (!this.mowerElement)
             return;
         this.mowerElement.style.left = `${targetPixelPosition?.x}px`;
@@ -7305,10 +7423,12 @@ class MowerPositionManager {
             y: this.onlyUpdateTheta ? 0 : this.targetPosition.y - this.startPosition.y,
             rotation: radNormalize(targetTheta - startTheta),
         };
+        console.log('startAnimationToPosition-->', this.deltaPosition, this.onlyUpdateTheta, this.targetPosition, this.startPosition);
         // 开始动画循环
         this.animateStep();
     }
     forceUpdatePosition() {
+        console.log('forceUpdatePosition-->', this.currentPosition, this.targetPosition, this.startPosition);
         this.animateStep();
     }
     /**
@@ -7335,6 +7455,7 @@ class MowerPositionManager {
                 vehicleState: this.mowerPositionConfig?.vehicleState,
             });
         }
+        // console.log('animateStep-->', this.startPosition, this.deltaPosition, this.targetPosition,  easedProgress)
         // 继续动画或结束
         if (progress < 1) {
             // 设置当前位置
@@ -8621,13 +8742,6 @@ class MowerMapOverlay {
     }
 }
 
-var RealTimeDataType;
-(function (RealTimeDataType) {
-    RealTimeDataType[RealTimeDataType["LOCATION"] = 1] = "LOCATION";
-    RealTimeDataType[RealTimeDataType["PROCESS"] = 2] = "PROCESS";
-    RealTimeDataType[RealTimeDataType["PARTITION"] = 3] = "PARTITION";
-})(RealTimeDataType || (RealTimeDataType = {}));
-
 // 获取车辆状态的中文文案
 const getVehicleStateText = (vehicleState) => {
     switch (vehicleState) {
@@ -8747,7 +8861,7 @@ 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);
@@ -8801,8 +8915,12 @@ 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,
+            lastPostureX: currentPositionData?.lastPostureX
+                ? Number(currentPositionData.lastPostureX)
+                : 0,
+            lastPostureY: currentPositionData?.lastPostureY
+                ? Number(currentPositionData.lastPostureY)
+                : 0,
             vehicleState: currentPositionData?.vehicleState || RobotStatus.CHARGING,
         };
     }, [realTimeData, modelType]);
@@ -8895,12 +9013,26 @@ 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]);
     // 初始化效果
     useEffect(() => {
         initializeGoogleMapsOverlay();
         // 清理函数
         return () => {
             clearSubBoundaryBorder();
+            clearObstacles();
             updateProcessStateIsMowing(false);
             currentProcessMowingStatusRef.current = false;
             if (overlayRef.current) {
@@ -8997,12 +9129,12 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
                         // 计算左下角和右上角坐标
                         sw: {
                             x: viewBoxInfo.x / SCALE_FACTOR,
-                            y: viewBoxInfo.y / SCALE_FACTOR
+                            y: viewBoxInfo.y / SCALE_FACTOR,
                         },
                         ne: {
                             x: (viewBoxInfo.x + viewBoxInfo.width) / SCALE_FACTOR,
-                            y: (viewBoxInfo.y + viewBoxInfo.height) / SCALE_FACTOR
-                        }
+                            y: (viewBoxInfo.y + viewBoxInfo.height) / SCALE_FACTOR,
+                        },
                     };
                 }
             }
@@ -9016,7 +9148,7 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
                     lastY: mowerPositionData.lastPostureY || 0,
                     lastTheta: mowerPositionData.lastPostureTheta || 0,
                     vehicleState: mowerPositionData.vehicleState || RobotStatus.UNKNOWN,
-                    vehicleStateText: getVehicleStateText(mowerPositionData.vehicleState || RobotStatus.UNKNOWN)
+                    vehicleStateText: getVehicleStateText(mowerPositionData.vehicleState || RobotStatus.UNKNOWN),
                 };
             }
             // 获取当前割草地块数据
@@ -9024,9 +9156,6 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
             setDebugInfo(newDebugInfo);
         };
         updateDebugInfo();
-        // 设置定时更新（仅在没有数据变化时使用）
-        const interval = setInterval(updateDebugInfo, 1000);
-        return () => clearInterval(interval);
     }, [debug, mapJson, mowerPositionData, mowPartitionData, defaultTransform]);
     // 当关键数据变化时立即更新debug信息
     useEffect(() => {
@@ -9055,12 +9184,12 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
                         // 计算左下角和右上角坐标
                         sw: {
                             x: viewBoxInfo.x / SCALE_FACTOR,
-                            y: viewBoxInfo.y / SCALE_FACTOR
+                            y: viewBoxInfo.y / SCALE_FACTOR,
                         },
                         ne: {
                             x: (viewBoxInfo.x + viewBoxInfo.width) / SCALE_FACTOR,
-                            y: (viewBoxInfo.y + viewBoxInfo.height) / SCALE_FACTOR
-                        }
+                            y: (viewBoxInfo.y + viewBoxInfo.height) / SCALE_FACTOR,
+                        },
                     };
                 }
             }
@@ -9074,7 +9203,7 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
                     lastY: mowerPositionData.lastPostureY || 0,
                     lastTheta: mowerPositionData.lastPostureTheta || 0,
                     vehicleState: mowerPositionData.vehicleState || RobotStatus.UNKNOWN,
-                    vehicleStateText: getVehicleStateText(mowerPositionData.vehicleState || RobotStatus.UNKNOWN)
+                    vehicleStateText: getVehicleStateText(mowerPositionData.vehicleState || RobotStatus.UNKNOWN),
                 };
             }
             // 获取当前割草地块数据
@@ -9094,6 +9223,24 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
             setMowPartitionData(mowingPartition);
         }
         const curMowPartitionData = mowingPartition || mowPartitionData;
+        const statusData = realTimeData?.find(item => item?.type === RealTimeDataType.STATUS);
+        if (statusData) {
+            // 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(statusData?.vehicleState || RobotStatus.UNKNOWN)) {
+                resetInCharginPie();
+            }
+            else if (statusData?.vehicleState === RobotStatus.MOWING) {
+                // 兜底收不到割草地块的实时数据，使用状态来兜底
+                const partitionids = curMowPartitionData?.partitionIds;
+                if (!partitionids) {
+                    overlayRef.current.setBorderLayerHighlight();
+                }
+            }
+            else if (statusData?.vehicleState === RobotStatus.WORKING) {
+                // 同上
+                overlayRef.current.resetBorderLayerHighlight();
+            }
+        }
         if (!mapJson ||
             !pathJson ||
             !overlayRef.current)
@@ -9209,8 +9356,9 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
                 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" })] }))] }));
+                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) {