@fleet-frontend/mower-maps 0.0.9-beta.5 → 0.0.9-beta.7

package/dist/index.esm.js

@@ -1,6 +1,135 @@
 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,
+    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',
+};
+const ISOLATED_BOUNDARY_SVG = `<svg width="24" height="24" viewBox="0 0 24 24" fill="none" xmlns="http://www.w3.org/2000/svg">
+<g opacity="0.6">
+<rect width="24" height="24" rx="12" fill="#1E1E1F" fill-opacity="0.5"/>
+<path d="M8.20573 12.4961C6.739 11.1707 4.85775 11.2284 3.60938 11.1707C6.17744 13.0156 6.05584 15.7887 5.67404 16.9446H14.327C13.837 13.1673 15.5321 10.1289 16.4408 9.08187C15.0342 9.46118 13.5794 10.8303 13.0278 11.4674C12.8102 8.94572 13.992 5.97489 14.61 4.80469C12.5235 5.92214 11.0501 8.26056 10.4938 9.56261C9.22803 7.5947 6.83894 7.17806 5.883 6.9432C8.20573 10.2373 8.00039 11.1707 8.20573 12.4961Z" fill="white"/>
+<mask id="path-3-outside-1_9822_43516" maskUnits="userSpaceOnUse" x="13.2344" y="7.20545" width="12.0208" height="12.0208" fill="black">
+<rect fill="white" x="13.2344" y="7.20545" width="12.0208" height="12.0208"/>
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+</mask>
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+</mask>
+<path d="M16.1708 14.5077C15.4353 14.1778 14.5422 14.3133 13.9383 14.9172L13.3548 15.5007C12.574 16.2818 12.5738 17.5481 13.3548 18.3291L13.6821 18.6564C14.4631 19.4374 15.7295 19.4373 16.5105 18.6564L17.094 18.0729C17.6895 17.4775 17.8299 16.6003 17.5173 15.8708L16.7743 16.6138C16.7828 16.8803 16.6863 17.1494 16.4829 17.3527L15.7952 18.0405C15.4046 18.4309 14.7714 18.431 14.3809 18.0405L13.957 17.6165C13.5667 17.226 13.5666 16.5927 13.957 16.2023L14.6447 15.5145C14.8654 15.2939 15.1639 15.1979 15.452 15.2266L16.1708 14.5077Z" fill="white"/>
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+<path d="M20.6852 11.1208C19.9042 10.3398 18.6378 10.3398 17.8568 11.1208L17.2733 11.7043C16.6707 12.3069 16.5358 13.1973 16.8631 13.9319L17.5916 13.2034C17.5657 12.9181 17.6619 12.6236 17.8803 12.4052L18.5674 11.7181C18.9579 11.3276 19.5911 11.3276 19.9816 11.7181L20.4056 12.1421C20.7959 12.5326 20.796 13.1658 20.4056 13.5563L19.7185 14.2434C19.5128 14.449 19.2393 14.5457 18.9699 14.5348L18.2235 15.2812C18.9538 15.596 19.8325 15.4565 20.429 14.86L21.0125 14.2765C21.7935 13.4955 21.7936 12.2291 21.0125 11.4481L20.6852 11.1208Z" fill="white"/>
+<rect width="2.59942" height="2.97264" rx="1" transform="matrix(-0.707107 -0.707107 -0.707107 0.707107 21.1133 12.8486)" fill="#8E8E8F"/>
+<rect width="1.91578" height="4.24403" transform="matrix(-0.707107 -0.707107 -0.707107 0.707107 19.6992 13.8066)" fill="#8E8E8F"/>
+<rect width="2.59942" height="2.97264" rx="1" transform="matrix(-0.707107 -0.707107 -0.707107 0.707107 17.3125 16.6455)" fill="#8E8E8F"/>
+</g>
+</svg>`;
+/**
+ * 遍历割草任务，下述四个字段可以在路径中唯一确定遍历的位置（当前区域、当前块、当前行、在当前行上的路程）
+ */
+const ACTION_BLOCK_COVER = 5;
+/**
+ * 遍历割草块转移任务（在同一区域中的一个块转移到下一个块），下述四个字段可以在路径中唯一确定转移的位置（当前区域、前置块、当前转移路径线序号、在当前线上的路程）
+ */
+const ACTION_BLOCK_TRANSFER = 6;
+/**
+ * 边界割草任务（割草任务内部的巡边任务）
+ */
+const ACTION_BOUNDARY_TASK = 8;
+const SVG_MAP_VIEW_ID = 'fleet-maps-svg-map-view';
+
 /**
  * SVG基础MapView
  * 使用真正的矢量SVG渲染替代Canvas位图渲染
@@ -56,6 +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
@@ -118,7 +248,7 @@ 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 +271,10 @@ 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
@@ -266,7 +397,7 @@ 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()) {
@@ -649,8 +780,6 @@ 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: {
@@ -658,134 +787,28 @@ 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"/>
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-<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
@@ -836,51 +859,90 @@ 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;
     }
     /**
@@ -951,7 +1013,7 @@ 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 +1027,7 @@ 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 +1038,27 @@ 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 +1231,7 @@ class ObstacleLayer extends BaseLayer {
     }
 }
 
-var chargingPileImage = "data:image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAGYAAABqCAYAAABOHSQZAAAACXBIWXMAACxLAAAsSwGlPZapAAAAAXNSR0IArs4c6QAAAARnQU1BAACxjwv8YQUAADRRSURBVHgB7X1pkF3HdV533+W9N9ubGWBmCHCwcEiBImBSBsF9EWBJlMmSIm/FilWJk3+y47J/+Icdu8oxQUflchanKhVX+YeTSiKp7ISU5FiSJZKiTFIiZZIyCqQgQBRIgdiIZQbALG/ect+93Z1zer93BuAQAiG6ig28ufdt9/Xtr893vnO6b19C3i/vl/fL++X98n55v7xf3utFSkkv8RoNnlPyT7Qw8h4v2MD42Lt3L7PPq6/j49FHH7XPcas+i/v4nv2s/XwVtCqo74XyXuxR2IDuCTb4I488ovYff/xxVd+HH36YPPvss67uc3v2qC9MmNcODw/TsSO7xMSEfj43NyerPwLHwNdWvE4p/rwGCvfJT6m8J4DBhggbhJh6IRAIwuOw/zA8/uzPvjqW0+Xd8OYWKeSHBJFboem2gC00iSCjpYMyskCEPA6HWmCUHCWUHWOMPRcNDb46TDYubtvWkhYwBAk6AIEOUAIiAAbrc1VB+qkAYyzC/TZaBW7RMrRVPEwmJgjdt++vR3Ma7ZY83w3f+BSRYgt+Fb+P/4jaqgPq46pnFP5Jf3hKCbVbuy/J96OIvUJI9JW7bv/03xLyrPronj17BP7+oUOHpKmPtB3malvPVQem4rgp9tTt27cbMJ6lw0BDz3z7x7tzkf82WMWHhZCjAAiBrW54s1XgWEAC6sP39A9Q+1/tU6oswAOkHowwRhfgxa9GTH7ugZ/b8Vyr1ZIAkASA1DfBmoSrLNV94GqAdFWAqVKVtRAEZGJiQoHxve8dH1vodH9LcIGAjAoBRGUBkcIBUdrHYwvtKpzlUM86lGgA1L4BhQVbBIYys89wH+iOks9+YOttn5uf6cptLU93hw49bKxIH9wc910D6F0HJgQDqQEMhO7e/axSTYcPD9OlpePgNzoAhgBQDCDwEAoU/bBAhPuaynBXUL2DvVjQ6qlB44MJSWpBQiCctZjn4HtgXwGjtmBFx+Azn982M/DvZ2ZmZEsBhALjcYI0Z33Ru2k57xowgZUgCIr0kb8nJh4GC9lHG40G/crfvfILXIr/JATfInkZDAeKAgk3nBpQpLEco96kcTGW1oKTogYYoupiAZF6N5LaYJgGBgFjkQKLRZF97VgUJZ/9xU/c+rlut2sAmpNIb9jBAuu54gC9K8AYUFTPRksJKQsBeeKZA1t77fwvuRAfloITjqDAtgoK0JjUwAAogI5QmAjqac0KgKBdVBdQWAT+X/sYQqvWoreMGWsJHhGCFOF+hPtfiVL6uzdsuu3ozIwGCIXCo3DIR8i7A86VBqYUgxBlJYRap/7d2VnWPnThtzjnf8gLMYpgcASEayDgdQMIN6BIBYqlML1VRoPOhRoRoPx9CI7VZFaNmTOVTDkGJhEH6oABC4I3lOVEq4Ki9mG7GEXRZ2+95d7/Njm5KJT1gEg4BD/3iPlZwxDOr/1EDUmuUFktFkFQZmb2MbSSb37zjbFOtvSHBee/pQAxIOittxq1lVw5dWHoTVuNNKBYixFOLht/Y2uyomqGx5xc9rSm6SyyNOYsBgCJPEAACOzHdv/P77/rut+dm5sUaD1HIJA9dOhRaYJgaZhC/qTgXBFgTC+x1lKyEgTla988eF3e7T0G1nGLB8I/xCXozINSVWdBHFPxM8QbjdrqNlLUpkCiTpVZyaycDVgS2A2ABQDQyFpMVH3ECNix5uDwz2/btvPoiROL4jOf2YXxzxUVBj8xMKvkmSimSxCU2dkmO3Toe9d18/wJAGCLBqLwYBRgG6KgHhQDDEcWQwpT9LXCr3inr5nDAeICTc9gtppEs5eTuUBjqi8xCxSzADFpLIXqbRmU2OyzKD423Bx48KGPfPpIt7tP7tu3j4yNfcZajwPlcgH6iYCxFovtgSpl+/bHnZNvNpvsb5949brO8vKTvOCbFSDWUgpjKfBawYVSXEKBJT04IYXBG0KDYQDC3xRlUFwsY0/MeR1JieMwYo0HfQoWph2Ocf6UGF8jjbUgOMqCFCBxrC0G9mPcxgjO4IO7fmbDUVBrkJubUMEoCgNbKWOt7xicnwQYlclFXWJyjMpSJicn2eLiYvTS/uNbW4vdb1hLKQpscACiKDyF4euB8xc8oDJHW0L5myB+UUGL0GZDq6pMy2XprMZE6rqCzqYr/gbBIYbKQnUWGV9jfEwUG6txWwXS8cGhxoN3/Oz9b05OdsTzz3fl2NgRYWntcrMFlwXMSjn8CJ2f38egQnR6ejp66SUApdtF+tpsgfCAFN5qtAWBQQgqLEA6llH+Ey1FOitxPsbGltRsbZ3CGpJy3lHt6ygTey81tFYJOpnLBFhgQj+jrEXGSHGxBiU2FgTWc3xsuPng6OjUm3fcMSlmZ2eFiXfC5Og7EgQxucyCDQEOj0GMQlB5QWXY8vI0e/XV8+Otbm8FKAUCElgL+BWJIIGVUGslCJTU1EWNxVDn5KXLkWlNSkIwrPPX+xcpLpdJgjSN2hPoaxgVlCtABIIiGAprsJSwU6CviwJf59za5oX20v+J48ZDBw/W5nfsmMSsBubbRFAhakTSmiwnIu+wYMOglQCPYhYW5PCMAWUUSDuLjp8+88fQ4B/ToGjqQhrjFhwHTEEdKFK/JsM0jAr39UNZUcnxkyDq92KAGOjs+6UH8VkCqT0WDbLS1OXeXGuXRIY9+8pfG8mqMtXvdwZuuH7m6RMnWqBGhyRkyMng4CD54he/iH7nHdHZO6IyWckMgxKJjhxpgMOfZeDw2ZPf+uFv9/vZn2oryREQCVuKWwRCAxVKZEtjPj+mA0ndIPi6axjj2V3jOddOypF/2HiO0aRLb/qz9kLAGZGls1AMMO1jDKVJFATG8TsqS5LEUFtCamnt9++6bdOfcz5TLC/3pY51johwYG4tAK2ZysJkJKZYDh2agO0kgDLATvT70fwLb1yX5/0/cNRVKHCooTPKKz5GR/1ADdwmKn1qXzt8BY3vrSYJZp/jZnCwQe6+cyf5/g9eI2fPniN+RIaUwXHfNW8i3tQeB0ERmOdUgHDtguA51oERGemOwZiUnlrLncE0NDVy7w9ee23+7z74wc6b7fYFTsgwx/wgCYOsNYzvvCMfY9P1KIk/+clheuDALKvXh9n6uBkdab31FxDVN3XDl9WXpbXA4aNvAULx1qIsxViMPXEPggPHSeTJiXXkT//k98jU5Hr11n/5r/+DPP2tF3zuzIgTn5Cxx6MONSPrNL1pyyJOFIClSJXowToxk9EI6M15NW0EuFXfzUlzbuHCX3yAdz+xbt0w5tXw/QKD7ocf1l9YiwhYk4+x1oJ+BdQGveaaaxgGj/W6jIaHG+zl/Qd+rcjzf+MthXtwSg6/kNwqMASFryKLycqo3jai5XN8/4GP3kt233+nq+Pg4AD55ree1593/fPinTK0LDusqX9IWvsixicZ2EKB4b9FnKjQ2Tm9ZZvPXzh/EPzN4VbrDDDBETI9vUReeOEF5W8grCBvV952lox19riv0/YTFDiTLi/PsV6vBd/vx3mW/9vCpVkKL4nRWkKJjKCUUjHGt5igUjqLCZ213zf1Udtf+NQDpXpeP7O59BlJwg7tX7P93fR61xHsQ0jpcnEmoUp9bi88PyVmqBc4hfGp+r1Or/8nBw++tg597/LoKNtHNNNgTs0KmEu1+5qozA5wgTImGNXDS6zfH4RAsh19+8VXfh/oaXMpRuHlEwgDSi4cIFI3ggjVlmlLvW9FADHO2dLIxz5yn6MwW9BiBuDRaXcqYYy0LsbqNUeVJV9EvDqwwgyzf/gX+hP4GALngMcqk4yPWSmhNj7SAmLz3IXZ3yyKLX/S7J+XE2kaYXYAOrcENUukDQYvYtaXtBjrpLTDf9xJ47m5GkVrWVzsjvO8+HSYkKwC5CN6D4qJ7KkMRiSJjxUqEtg2rrUeQj4GNLZauWZyHZElFDwdSuLFgyWlwA71Z0QpkFXn72KsYEiCl9lBFt6vyrBDZnn+60ePHhkH1xuBr2FDQ0MQiM9j7EfNPLgQ27UBY3swTpBD88NpRJgpxsfERDMaGRmMzl6Y/wRUYPNKS8HgMQBKhLRlGh+3pBJnSLLS4fsaqR6NlHXLzR9ctc4zjs5kKIHccQMRQc2LpDyHIKTOciZby3hR6miG4hQ9F1yBQgu9bym8efz0+d8QIo96vWE1/DE2NqbcQQDOqhZzKSpzSKJvMdYC6fBrI8a6EaUcfqz3e8Z3aJrSgNBAEusEpYvsq42Au8I4dN34UpYiEBJaOr73i//sgYtWeOa6zfpzwqkyQ17BuVtRIQNZLf3gVrmd9Ou6vkBn8BBiZTOZ/I4etmYFtfFPAY+8n326X0//IzgdEEpj4uhRQubnh+XTT8/Jxx57RB1gtYzA2zp/tBZEGNEeBSc2ONgCNZayfa8cvh8ae5MDRfWggpqEpAaDC+rHVrjUDpWHvZBK6X1HEGH7yJ7YUESSqan1QGP3XbSu+L50janzbKQCSjDdrEQitk7U0KClTaEFgc5AuCwENzk9JwikPlc8/9CnKsvZdHDfgfsJMEyr1YD2q4HVNOiOHYeonVlqf3/NwKCp4ZfR4R87ltJWa5B1u3WWZV3W7vZ+VViH7rY638Xt2IoMqStobEUfJIwJfAN5vyLdxljYXXfdeqnqAs1tMcwlXduXfAiRpU5ghqxLLVI2GBn8vvA+MBjIMzRNeXXwLwCo0+3+ar2WsoWF2bjZHARfc4xu2PBJF7DrytK1AONTL1oeNyCC/2GE1oKgvPXWuXXg6P45NxMmTBQv/UBXOHYvfE8TVcce+hbhlJJpm1L+Cl//pU99nFyqoFIbAmVW9lN+Pzx5Zx2lNrEAlP2NJL5zOIFQGm3lgcDxDGL9a97PHzp/9PRYo5EpxkH5jFZj5bOpD10DMNSlXvBZuz3L0HmhtQjRiN46M3evM2M0X10ZWgYjnKwnVtBVqMbKklZWu636ixRWlcirlaGhBnF6S6swWfrNks/yIIWdxP2sVXchUEFCVUibSjLDFUjjakCw8KJHs8nI6dkzN/dr61UbNkGhtSG/ePjwYcVI1mpC410NGDfTBfNhc3OTihdrtSWK1iJlAU4/e0hXQj0kD3uOCCJ5GQ56OWuRJYVkk7yUrKC0ELgHPno/WUu55WduChjIy1FnPcY6ifdeHhxZ+vWy5WjT1d8QFUqTgZWU5ixwR+1Ly92HBngRcd6H9htkg5BBsQrNNXxg0asBo6qHJrZ7N/bAYxScPR0YGFBOv9EoInBoO3w8wqlcMR8sSN/bHufBoLZhXA+mvmFC6WyHg2cuIZGrZXJqfXgabmtHEqsnGqhEaTtHSWrbI5RAMoJAUZse2PPWE9BaQOlF0X8QxEEE2XflDur1GYpxjW1r0znoRYGxb1qnj2qsVksgBROjDI5mF5ZwGut2bdJVELyVhNRV5Xp34jZHFfgc62RCi/mlT/08WWuZmpogVVACtUdC4vLeTP/HRnZ1CfxbaEFEigqtCT2wVxIEOiB16Saunk+fnD03WgMRMDERqwD97NmGYiRLZ0aaq1a5aBxjJXK/36dLSy0YbxmIsoiyEyfmbg4Gs/SkPDV9NZg9aWa12JSKl8ceCJV5D9ImYUxh2kqVSfArD3xsbTSG5QZQZsQ2vKVIaclSpW7oDTNbyfXXbyEfunk7ueH6reTM2TnyxFPPkieffsb1DxnUCU+JulnknvKU4TNtPcyoPMZWKjclr2F74vjpe6eu3fjViHej2sY6n4aA5+RJ7TKIqaaNZ6rAlDKmBw8eBBqZoUlS0E6nA5TWZFknu1uYsRMXPJpxeiHC3Jcog2KbK+i9rjOaMSsSgGK/cffbSORqcRajaVFOTU7Qnbdsp7fcsl2Bdj0Asdp3PgTvD4Jw+PLffN39tvQAlbLL2HbqPRfzYBtQNabjWEM6QKTyxbGATs6nxTLQWZTyAVlnLXEepPOC+OQnJ+nXvvaI+U2dBqsC43qWTVbC6Bw0fjdat24cho+zCGTyJj/cqx5SmusbTcNTuWIo2FOD9ScOC5yhH/pd2wCmi/zyLz5I3klBufy7v/MbqrEBBIrP11oe/Pge8qW/+TtTjTKtBpXXjUTtRxAICwir+FhJ3BAHPO/n2Y40jRlCin6mM5jS9lFCT5zYR7ZvPwJHfFiuajHSXzSqUvvT09MQVNZYHEd0YeECZBnqEcTv14og0JJ2fD4MJp3DL1uNswPV9rKkw5xUpr4hPv6xD69JIlfLxx/YTS6ryAAQWx/iUzWqzYIMtNpSagbbjBLFUU+nQjHLEfmh84JvgiFolucsqtfB6ySUTt+IdDZGzdCzs5iS87dooSPasWMHOXcuBf+yQBGYokhYDpwIZjldmetFq1NXnSgOVJZTOxqgcqqEBFrInbsEYNbuW65Eef673yO2itKRR1nVybLCLD23Si1M44TvgWy+FobboYP3lGsY6HbZuXPnVFuH8QyWEjBSD4qBTN5NMAVTq50H/xJTlHhJkrOYFwysZdg4clkCQ/cSiwaeBvVBZLkBnM5xNEecCCBmDj/4BpDIN5GrWZ546pmSWgst3tbcS265QoVaIAyCGqBKkA3KlkXREHT2plK6C7UaffnlWRbGM/g5Fj7BgtG+9i+vExhCxlmHVE0VjQbVdF8wyRF7eUQ1AJM+mJNeItu4xPqZFd7ENUZ4rF/7F79MrmZ55dWDoM7OElN/+7LbLb1W3XEWb6zDW0qp80Isfi20J2RPlqM07TO8zrqepqrN8Oo6G8+oyYdB3dQHkOtwgjRK5QsXLgCyywoYlM2cq+lv1YZ0ZEWc5RAaVteemHOiVn1p4W5OzX1OXjO1nqJ/uZrliaf+3io5WxNVxTDotK9Yf+it3nhNIkm5s658YOeGpqRZxGgSr6OoIW+8sUZ37fLrGCBzOedvL8vDNzFVgKOUIOXY6OhmAKaDfgZ8DGfVHyJaklSsQQaSU5YUji1VeqBBvHG1KQzL/u//gNhh51L9JLGeP5wg6E6JmMk4tr9VQKHGahytg8tnOEeaZox2eJfxdgIK7aQ+UlBCKlP+xXJdvX4OtuOk02nDFxnN1YRrSknYoVzv8ErKUph3kCvoqwRa0OFc5f7Vv/wVcjXL8999mZw5M+tUITGO32JCXBrJ1NXVlBh28FTtgXWHp/YtfBPbEIHJsh4dgVfQh9fr9RIoK1QZctxzz2F+bAgcf40CLgTVg5oFn/dxCBU/3yKuwUuW7H2Go6sAEENzvtg5XP45fkZL5AlyNcvzL7xEnMMXnqgDgnVKUcqAez0IMsSl1CZhnyS0lecUOrkGB13E8nILDr0ROsbQ6hbjv6xLlq2TSauFQoAgujkAk5IUG7MlPQSOgXWUKN0wriwdVboRQylD1UNCnlblavuW5eU2+Qb6F1ek61QlDGSAha03da/R0JeSKqkbWoPufbpex06eY1KYdLsdcBuELCwcotdcs0UatlLBegkY1NG7d+9R+yiVcYtfjsBR1Wp15axZxE6tdoIy3KFh43sQsNhpSFpZaznqZvHABlMjl1Owgc+cnSXvtHznuy85CMIO4q3BmBDV1kR1Qsa+6ZEigX2Z05fl7onnvpQDKMBGqrOrescxhTSFyuLjc3QnK1IyOH8MZwli1nPrVkILsJahDiOLiz0pEpzh28epo2dczWVwErbyzpqooy6nxmhw8uYyL/1cWPdPltsdspY0ynK7rSTuqwcOkTfeeJO88v2DBJOTf/kX/5m8k/LEk9/SAsYVL0Zse6pXhQymP5XewUueJPFxsaTBpdLeIVGclH4an2Xm60NDhDQ4IXi2P3qDkJtv9rW4WBKT9MfHJZicOQCjS5kgkYjYQC39UWeZfoL4yfK+Dk4nh+QqA1HjrSh8bkHBf5/7wuPkN3/9X5NqUUB8/xB5FQBAQH585GjpeFhe//GbYDkA7NDa8mPo8JUaC4okgVUTrZdd28oKRZsTl0RPKjFvhrNyfFIQStqoH4a/BP11rcGAjSLaSbkC5oYbPgB/T7qjrpr2n5rqykWIYcbAYpbhH+mmyhthprSWpqd1NZn6UVfpcl299JRkFVBIRQgQp4i+BNndFyA1gvmuocFBRU8v/MP3tGqqNIvtCH4QTILCegmSkT9H1lL2v3rAUVHASKbaPkfmAHJ1DiUL8SOPrqtSa3LU8LrKf40ODL1uv9ftErAg2FkgymTeeON1sJiG/U26KjBnz56lt956q5ydBYupgb2RRVKDf0UMGcxNG/a/deYsMq29pMSV8pQg3ClP6rOnYljBnXiYNMRdBON/f+FxsqJ/ak60Z+qHB4KPvQIWsFZgHv/yV0u/T1Y5XsmJu/MyFk+cenJURikJiMxOm9Vvbdk0fTgHd9BIajLLCv0hXGWtjxajF7xDZbzCx6DjwTI+foc8cwalcouOxsNS1GpyOdeXBkxMNlsgBk4Dy20wSEj/28EJyXL/poF/CTPJrrervkW9THUst5L67PfDmb9Wxu5/5QdV+121oAW+/sYREjjHkvNfQVklatCxJk7ss1W3lmJrSM3JWbTiJHl9amp8mXNfPWBnQjtgCC1Cdu3aInFCJTHjctU4RmICE6VbluVyaKhw9RPdriQAjsikrNcb36GVK7Rthd0eLXdE6Ruw1ACiFJCK0qGkUz263alhDauBhBAOfV0PSdHa1qLOHvvyV0qVC2V+CIosZZJk6ROuc5RKFRR9hRq4gNf16C5O91JDuxDEc9XGN9wwrE7cLMGlvrbq9CUt3bwqxqmvSZLKGKgMxhPk8NDQfncZNqXBtSGErHQ46hScF/CXdOuzdtbjkfPgUUst0lw2HjaOPoqnStuuknxHBYyXLt954UWvIK2RBto+oF4qA69jqiqdhRhLKl8fY+yL+vYZHx39DkqpONagYJviZRu2PjBYbLMuckXkT0yrLi8vy/Xr10sILqW+TrKugCmiSODBr7th836IXJctEMo6mOF97/c8PZuPSSKNhZgzNDwdNnUpfRMC5i1Iuvfc4aVPncCTVypKq1qA7kwKJjyC+RVPWVIvUmfBoEHNvN2qn6QaKAuCpnYPShTFrXvuue07IJdFDyoK5CMhLoTvDBOIaySOyeCR9phFV7GsiPztqg44SeBsUShUazUhzZg+ACVEc3iwBUHSK/h1ZhdmI87fEHe9nD1ZUmpf50hdgFltnhCcQDEZUU1L78vgk6YF979ygFyqfP2pp0tRvd2x+7rz6F4mpbdSGXIccRZC7cobXoh5UPBi24GBxvMyhwwxJPwTkUAn1+1ZDCzIPB9BA1ALBoXVWXXC3/z8DKQHMpksxeqnONcHiopIxIokpdxwzdSXHCjuURKMoUKRJXSIsQTn5x0/OFoK/Y2dPksMg1hprNURKfksfK21vKyl8EUKWow7BPHiA/+IQNbbutjEcpmqy05Ud00NiJ3tb5ZzlBsnJ59SU4nBP0NHF3GcCA6dfaBAH35efR9GWpz4WhUYeFPi2MDRo0fBzArHg3iwJEHUI0wC8B07btgP6mxZm6yrhAGIeVTCs6GkIj+907XyrOxMDQsa+SUDp+AosNyNXUtrxbWyoG85feasa1sL8mqHCQ5X2np9T40kVuct7TKOeqE6/UiS5OzP7twBPplxdNLYhtiWNejs3W5NZNmIxLbG5YbtQBkWB0x4fQaiR8hWUA3DoJR7AgbJAOVCINoczUcpi0iMjo582a2OZ01XVYy4oIuS8mRu6xrL+lo6ZVROcsrSg5gI2/t5WWlA76EuJgC+/fyLZIVjMwRrG986+KqCJMFXXJ+j1rcy51fM+pq4OBCBQb/PY2dGGgNseBHFoku6JE1TMTQ0LJvNcdlqTanDWovB36xOxlDb06dbEqP/LDsGHDgs07QmEA9wYsAvcHQOPwTc9rM7tn8Jxs/a4TKGnluJWbGVeW4jnjZKztu4cxtLhA1CV2huy3X+GE7uuuNSSM8cUYnNsODzr0NuzNqcDI4j5QrrM1kNGmAYxgZGErsFG+zaZ5F5wAhlkp69/547nhRYIiGKDhcRUlleQGfPBTLS4mJbYHCJJVjrbMVkDPXm9u1zEpUZvoZf1tsULKYQUcQFMBknCeUjIyOt5ljzy3o1PLcgm6E0Zv2n9zcmQxGCYi8hJ6Ry5VdQJ3+1QEjyoX8xDSwcMZHlVpscrtDZt5//h8A/UeJJ0f5WBRxJvAkFgITS2FK3X/TUrRIox5rNpwhNOHyAExj+HRiIFfPotuRyZES37eTkpLDLCFvjWHX6Eo77owA4f35YjIzkstdDKsuV00KuhE9ydbFhTIudt9z8ZXh9lprKmOVxjdUElQ/jYxuyy6CZSxZiSUmucOwOUPuMhq+41lbf+wZmjoPyf7/4FW9wJWsjblUO95r73SBYrIBj/WtpsVOqF5+rJensgx/d/Xmq2V+gVO73YWyeRRzbsiguyFOnctluZ2rxUzuvzJ7WRecub9u2C5zTN+BLk4gyHLwfw6AmJABQVVA4cCyAOgVazTVTk184cfKt3xGMU7WUlNBLSgkIk3DpD0vIKhGokw66AtT+DXutbeBqep2Q0mvONmgJY28QVNEWlqmpSchI/8BbUNAhQkXiMsnhh2wfCqzDMoL1qQYQFEbUrgi48doNX8AOjM4liaKCCFy9pSNwal6W1UU8uZ73Fhclaafq18zyWXj+q06RDcqzwMlb5PT0iFxYOAA/PsqB1gRtRFzStKC8z0kRgZlyfuedu546d/78A1wUNzOBFRR4cbxaagqzPpKF0hOXAlGz6kuA2Maw7sY3O10BiH3dxJtuIV/pglbVkurDX/vG0zLM5JXiKWM55QtjnQIMshSGuojvYN7JR+qc9BQvveosDM2/eP+dt32TIoUh7eeUFxIbZZBj2JGmfZGdFbKeQSpm8KR47rlD9j4C5gxXWbLEjKBRXM5pZmaYdjpnQAlNQZp6maVpwmQO3kRwqEMKGIASUBPdZTQyMHjorTNnPgY8n6q5/HaYubLaRSWlUgZFlhVcqKRDQAKda9vYgUdtA/riQqgAHqKN0tInDX/OfSvMeTlfEqzL7NbIjNViciiDQW3VOnfffttnx5rDC9CRC04gtGQCJ0z0wRByxvKiVhsolpY6ot3m4tprBzm0tTRLmbgqrJorQ/RwLXvkvm53WiU0N2yYBp6MgSNjDm0OOWta0ILxGEQAmuzUxsnTkxOTf216jbSrfZtlc6VTLaW8GgnblPhLt8u+RbqmtNYQ+Bj3GeoaW/tsuSL+CFJhxObFSg6/iowFOIji9bayFDBTy2NRXBpr4zWTf7Vl+tpTMoohg0VhpIQWCbQVKlp0/NiG3e5pUa+3BCpf+2t79+5VWeVLAqPLowTXs8fla3u9IxLGaIwIKAQ6sH4fZIXMCwK9ghAMYWnx4fvu+n/j4+NfdWatQFKVp0ZC6pNkHhwa+FYreav9V9qWtPI2bO3yrgOFEBoIKg+tLFmaNzYnJNwOcVbjgmjqFjNdZenfmKwfX/e1Pbvv+VvgcY4PyCsCIEluBFPR7cYc2xDTMCisTpzQagzXzzRscWmLwQ9oTa1v1QGcCQi3VbCJiFMa8zSlBVoO0FnOojiHuqH2K27fdetf1er1Ny3fMgeOX5jNLdamRh2M/LTKzTZmOQWgICvhQkKrMFYkJamoA49BYE0WzBUgmd8t/Qt9CvNxCgLBotgtWlpv1GYf+vmP/vcI2qRApw+9FkFhrFAMIxusGBmJea3WAPqq88E7Jl3OCaylJEcuCowtiCSmClAEDA9vF51OAywmBTrrwyPnUoGTKnOVOFoD22ZzaOn22279Uxh/mDULfJqbGLjAy69xHFpP0Ih20GUFJWmKo6u5l5LWJAF9ET3yJJwP8kbh00HuePYeWF7mB5TFXEeL3BK/CpRaffa+O+/8d0hdhbKSOMdwIsU/XOaK9rsJb7e7vNPpiSNH+vLMt45RbFtrLdVCyUWK9NdisvmZGbat1Yr6/XHo/Hnc7baSer2ZQqeoZYTXqOQ1RuM6GFo9kkkKcq1+6q2zG7/78kt/3Ot1J3EZRrsmZqEXKNULkwZX/YYL/riHaVnXgCGN0fI8gtBvhedpiJuuakgGBN8YJetVa/4rxcWYk8J6QWy91CLkwWSj3pjbfd/df7R16/RbYBsZdMMM4pa+BNaSfZYlCes1GlEPtVlRzOfd7lgex7McaQyXAbY3DqKVJUsuCgwh7rJyXE+Z4XrKuPISxKlxli2mWmrD4LUsahAO1XIECICJJatxImrg7tNTZ05vfOHFlx/tZd0JEPFUrZNpgFFbfXOFACCVhaNhEOjyliSkrYrjL/kYK6Vl+T1nKhVAEGO0WjvpKIzmmXH0KrMRO3+C6ktZSr0+t+fD9/3RddPTb0kzvltAmAJElMWy6OG2VmMKFFBi/QsXloosY2BUJzkunm2GWBQxVMfmL0VljhWee+45tdCzvodKVywttTn6Gsg1F5BRKzLZL0CIwYgDAWUA/YTFIBFJfs2GqdN3333nXjiBc/qEYr3Ct1sjHx6lVIa+K4V1tKSk4PxWBopJrrCBkoMvBZI0UBsGEu9TGPU39qEBfSkaNnWOy6B8ZM+9ezdPX3sGl8fTwIDPFTLnguQgV3OeyDzL+srxt1od8M11jtdczs/P2zs5yTDhu1ZgQnCI9zUtMTERc/yhgQFWxEUth5AzlxmKZ9lHcOB8ckh55pLExfTGqTP33H333nqtMWd9jllEWqrVWePA95SialbKRZXzU8SDRYKojBgcqAUudOCkFBzalBHzvyddnOIUZez8iAJEUViCS/Ye/cj99+7dsmn6FC6wBEaf45ZT0Y8AlHo97stevxAdijFLjm213OgKbDvMQW7btk36S/tWb3hK3g6ZwNfgmDRYDV4gCzHVZMzYENDacsIGilrCWdoHCoNETcrR10QJ5BoEUJ1IgQ6S+Qvzoy/94z8+PDs39xDnuVs30y/t4S+7thffVn0OFmGGF6txDgl80sqeRQPQAqlRAcrfs8zdM0bl//TFWxogSD9947677nhsfN34IqVRH8YhFYVRHkEAiTTGM0jw9+D8+z0YMYHR3xxEbX7hwgV+/fXXF3YVc4wT9+41VrvS8739sljWKaF6wANiJhSHQqNokYvR5WJwkBZDcdpH9UFZ3EdTBi+pKkzBghj0IDjn/tj42ALIyf+1ZfPmzyUQHWtKSGzUHNzQoKri/MP0aEpLPZ0GsQYt5bFcgtGPkfhl4u1Ne9S4SaSlbxwFFhJbB0/Vesq1Wmdm6+bPf+oTD/7P5ujoEloJdC6gLqLOF0GBMAJpXLEG0jy2TRS1QY21RXzTTfz5bte1pV8ac9U0yNuvImuTanoF2d8kGzYcxhsrkNde65GJIVw0bVBB3u0WNEFuqGEDxoptgHshX0Oxm+MGLz2QAMyPx8bGXzx37vxWsLyJUva5Gjuwko8xa/J7WgtlrelEXlW5gLB8Bz9a9SE28egoTKdZ3Lr9SUJGhkcO/dzu+/7Dzg/dsk/5ErySAgCJqOzDCUJnJJkEHwvn349RB5E455B/HxjogX9B+Xw9X/hxT26O58Ff7xGPPLJHhp1+VYMgayuOOkJKGx29mWXZUtRuX4COxZI4Hkz6/W6CKq0PKg0YIIVR9BqYdprCKGsOtBbj2RIZA3vFL7z44p6jx4//StbL1oerFfFQrdk1A8xFpqazBA/TgQJJXVJgat8DV6IvRkt+LSrdcQlS9/Xa3E3bbvjC3Xfc/jJ8gKMfwdWLoT0VE6DQgVCyD/0b1FeU5TkO9vJ+mqIQAiYZGgcKOwzR/vXFxIS7EUNwC5OLN/9aF8S2t3hSd1XFGy2AslA/UBSTdHx8oliAzhNlHYoGVkSARALGCA0M1UdLkhk4HhxQk7igJ1FLscv77rnn7+++845vP/33z/4K+J4P97JsnUBdBsMGdhUjHDZgCAqz19CrFcXMjUov7V/KXYs6SwvvhenG6K0AiXCcPu1svGbqyfvuvuPrY2OjLa6CLr2kdAKgKN8C25jIPk8oWA2AEqX9WLYBpME8z5eUxfT7yxxTL1u3zrrUC7FdhV7aJtZqMaXv4H1jdu/ezexdlaLoSDw4uIWdOnU0GR8fBashMARBEww+pSjSRlSDdAFJ4DRSGbEUBlkTZTkUHvr2EtHCwsLwD374o9vePHb0l7IsmxBmrc1gjRpiRzKFzVab/L60QajnbGr/u2eBqmPBWEqYMY6TuLNxasMT9957xxOjKKHgBxmOpUhUKSCFGfpLAf4TI3sMC/Ah+jn4lcFY9HUQKXJg7gJ9MIzrc7yXGVpLELNcksIuCxiTaDM39CFk9+5HGN7T8sCBVrRxYx+YgIFzGYnb7VY8NLQ+LoosBUZIsgwAilkaCZ4ylsAwKEkQHPj1OMKuCrQGPRBnRkU4D+cHBw/c9OOjx+8HsHaBHxqw62iuvItsKfiUhITXuVC3ddIafQzxqSAEI4mT9vDQ0Gs33viBJ3fesuOHmCnHBKTewjgKXpjPIpCRCAyQlXH2KIvB0fRrwBNpWgcL6ao4Bk4BBEFSpOkFA8p2sBa11rKsjrlcMWACgKi9nTtmBdByjhw5EjebN7JmcwB6/xyuzJF0uyJO0ygtABzodClaDEvBGzGaQP1wwADAAD+UUAbZanC38Jypmx8y7Kw4t/p7+/btOnXq9K52u7Op0+tuqUpp22GMhrbjY+7UKsIAYxVweOm5dePj+7ZsunYfKK1joBjbOJ8RgYDUrwAZxjUPQ0MXRFkK7jN4E5IdGQwS5yJJc/QpMfgTyEGp94eGZL642ODDw20BnUo0Gg1uKWzv3kfMON7ablVy2cDg1oCDtytRawrjLbBw4WdcAJqNDsXDkivr4RzBoQnSWsTB5UBH5WA5DIYqEBzUqLhlOJ4AYgesBhyUjLApob0YqjwEamlxYfDoyZObT506e1On21nfU6KhGOhn+XqIgQbCYA2Ysg0+rQv+4lwDonToPMdHhgfObf/gjT9sNkfaQDsEh8gRDI0rVWvF44QWNQcMfIoCBrLmKP0xMSkyvLQ16vOY5APgUyAhWTQaw2DUrRyzIc3mZLG4+COgrB18fv55OTY2Zm+JpZptraBcNjABONSMVav7k0HvYLfffjs7fHgpaja70blzeYRqDfNqcEoJrdfiROQp5MwSmg7EHLZoPdCMAEwB3VQiOAAPAFQgrYFH0rdCgq4ucLkUhgof4DKjkjhuwFU8gs2pXiP6xiNoc/o5VhWjesQAL7zmKIW5NjjFzVwNJ+EYMACCwxdUpe1BtoA7QfUFFVJxGmTWcwRF9rJC1GmRFlp9wWguL9PXrJu9r61lr3in7XvZwITfR5DsDRkQHNgCNem1H0F8QWMPxrIBNgPUJpIcEqCgmiHsgQxAAiQP0hnEQAwBUJHHeNccaDMlCHDcU6CW5RAyUJwyp0Mk1cYgHXCtY12LQOLgBAOqb+6AcRO+hDe1kswMtWFl1Wpvhbq9AIGxJUTc+ha0FG0xhcp74ZgKwfw97Kc4/pQCMF1WCEhHiaU2+J+ET07GBabyd+xoch/ZKwVG3olfCctl36PMNoOxHEXxqDzw4loMQKGCJMvqkvMeyQcXoaWH5UAqZJdGsgFMBnkLHiOBSQZjsBCEAe0VMV7hJmKIm5XlKFNAK4EtJuEjzF9j9CA5kzBCh9ErjhXiQioImlpPJUKcUKkxXSnE0zgh5EWuKoz8qKYsCLQOQAZnGAlcZAoH+9RtLQAEtBDQ+4WktYJkEFTWWdEH8VWLed463+IICnyLg/gRg4P+pnGXS19h+UktJkTIpXytIEApPTo6x3AhbaQ28IfxwEA96nRE3KPtuEFglEDyCC2IpDCC0c0TiToaQ29oeSAKCHhgC/oTR0TUnUP1j0VUeWr8Pe51l02CcTQchAJjExwjw/kihbIWOAjKCgUINf4EbzaCzwFFNV9OpVTASmCcFtL1kEEnGQDGimHIqINf4UtAXU2gLnTyP/pRJgcH5wTOwzPjKy68ulxQsLxtrmytxVRCPdBy8L5ceLPokyebHLkX1UoGkfB5ToGreb9BRiG3lGB+CVxqty+zHBJ/pAvepgvqrQfJ856MaQ94qRfFSQ+kQQb9u4tjHGAoPegHMN4h9dgHpRmYC/qBDBo3A6HQA08E3xXwGQqfydXnJD4i2gMi64L5wOd4rw/jJngsgdt+oesAj0T0e5QuZ+DU+6i6MvAx5/linkFCsinOgz8Z4ai8tm4lxaFDE8Le+xKJNmiPy29PcgVLYDWKRcp+53Y2N3canqvlG6OsXmeiaES4FnFbFFFdQpgjeCQhZZCCFfVhDFAmOIGxzvJ+hjEScBIHnwVyAJMiSq1RFWzoeWN4SRWERtD/pRpS0LrK+RWgLoyUkLOYmRmJ87DRYnCqJBAiDJX3C5wGXCONotfr88FBlM1N2D8nOrWeIPMxr88Mi+FWS1gnH/oTHLuvTqq43PJuAKOKjXOw+FhH3wHQCgOgNbWWs7pXACiyWhEzUSuiBLYpAITrFGN810OHAm1JWY0yGAlFcBAkiPlA0iU4EsoQFKLyi+be7UlC7DWPGLkKFOEcQtyIK4cCsTlOLAFAco5XMSBA8VAi1O0sYHw+TUEdZ5CfhE/i/G288gGtZG6yI+Zh0PAzn9mlphOoRqT+1pxvl2pZa7miwNhSBcguRW+tZ+fOnXT//jmGNyDA9YenpqboubwbiaIf4Z1ZIRiNQKCxuoRtAQmPOFbZfmxeu0COCshxYhC0I1Fr3GCL9M3vJ7KgubrtL14zilu8kgtgVrPthUjNfmHmY/c5Xs6ISiutNURvLhe1Wl/gxAmc0QIdSS4sTMAg135c78XdFZYEo7zUTci+MuVdAcYWCxDWGdM4FiC869DY2H10586Unjx5kp440Y/qm1I61G1AoFpjuMx6B5JttX4C1NWFgAEsSS2Lm9FGvYEWAiKgTiAOYiD91BgNHhfBg4hcqkVBMhxtSNS+AENIEAwAARJ1EufG4WUlOHkRp7HgZSY4n7hWm8NoXXS7w+JE/6Ssw7jTkAKkL5G2cGUqvBJildvDX1FQ1HHJVSiVTIG7CZ1J5dChoZ3qZnS4VD1a0MaNCT3VrbOBepeRxSaMr3cZrstpJhKqRYdwhbx8sQ90qH+j0wENNgSWhJckZmpRItVQnNvLSfDSB4GXwkukKQREX1+awevDstEAr56flq3WsBoCxhmoCMj8vL6pNR4DRx1xgMtQl+10VxQQW64KMFiq9IZbbUEPA8U9S7W81rcGnp4mBFM7i2lKa0sJXbduvZo7nSmgIPgaH6Nxp007HcjaDOO1v5iCYXQZD7q8jBMUcaEV0gCrwPtQDgwMSH3HvSGQthoQ9Bv4wOm/M+DQT53CFE2T41qgOEqL04NxJipOeqzQ1rsGRliumFxeS9FJRD3LEx84aHTo0KNqyBobApN+8/MHimaziRRTtI8SNd3nwoVlPjZG8qQz0h8cLPJMxDnQPsjuoh93C5BSJD9/fjFPMtGHTHaewTbJzqvX48kGughIryxAhLJUzM0tqOwvRuuQoIAHwXF4GMw6UuB0YKwDSn2U/Fg3rGNw0WoJoHe1rchPqdgha4z5SHCyOEKKW6Q6XFkVL9RFNacXhfgAaTROqvU6p6c3qc+n6Vl1DufPo2VNyFPQ9fEmEevW5VItIQF/QPpKTZN9daEQTuZGq9DXmu4jp09vk2a4V9UjuNX7VbGO1cpPDZhVihu+DheGDukOn5ul7RVYZAchQ8eOqedbtmyRx45p8JCO8Lk9Bs6JQwAI2UUQaE1TTlm5i1J1XstO9NR+5KcFzHumVObvquUH8VaPwZZB/MZw/7HHVOZZbfHxzDPPxI899pjahg/MTuvPPKYeUudmWOW41AbG1g/Kym2pfhrlvWQxpRL2VhncZNXip61KB7ColIg5l7D3X+zY1Wzv+5Zx5Up5wt9FenhoDeT98n65EuX/AyKt5JJq7iZLAAAAAElFTkSuQmCC";
+var chargingPileImage = "data:image/png;base64,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";
 
 /**
  * 充电桩图层
@@ -1338,7 +1421,7 @@ 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 +1623,6 @@ 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 +1951,14 @@ 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 +2128,7 @@ 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 +4676,36 @@ 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 +4779,6 @@ 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 +4974,12 @@ 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 +5407,14 @@ 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 +5817,13 @@ 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 +5884,13 @@ 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-${svgElement.originalData.id}`, {
+                                        ...svgElement,
+                                    });
+                                }
                             }
                             // 如果有points数据，按传统方式绘制
                             else if ('points' in element &&
@@ -5775,8 +5899,13 @@ class MapDataProcessor {
                                 element.points.length >= 3) {
                                 const mapElement = element;
                                 const polygonElement = ObstacleDataBuilder.createTimeLimitObstacle(mapElement, this.mapConfig.obstacle);
-                                if (polygonElement)
+                                if (polygonElement) {
                                     result.push(polygonElement);
+                                    const { addObstacles } = useSubBoundaryBorderStore.getState();
+                                    addObstacles(`time-limit-obstacle-${polygonElement.originalData.id}`, {
+                                        ...polygonElement,
+                                    });
+                                }
                             }
                         }
                         catch (error) {
@@ -6113,7 +6242,6 @@ class BoundaryLabelsManager {
         this.collapseOtherLabels(boundaryId);
         // 展开当前标签
         extendedContent.style.display = 'block';
-        labelDiv.style.whiteSpace = 'normal';
         this.currentExpandedBoundaryId = boundaryId;
     }
     /**
@@ -6614,7 +6742,7 @@ class ChargingPileManager {
 }
 // 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
 };
 
 /**
@@ -7026,7 +7154,7 @@ class AntennaManager {
 }
 // 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
 };
 
@@ -7173,9 +7301,10 @@ 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 +7318,10 @@ 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 +7331,7 @@ 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 +7381,7 @@ 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 +7435,12 @@ 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 +7467,7 @@ 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 +8754,6 @@ 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 +8873,7 @@ 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 +8927,12 @@ 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 +9025,26 @@ 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 +9141,12 @@ 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 +9160,7 @@ 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 +9168,6 @@ 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 +9196,12 @@ 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 +9215,7 @@ 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
@@ -9088,12 +9229,26 @@ const MowerMapRenderer = forwardRef(({ mapConfig, modelType, mapRef, mapJson, pa
             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 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.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({});
+                curMowPartitionData = {};
+            }
         }
-        const curMowPartitionData = mowingPartition || mowPartitionData;
         if (!mapJson ||
             !pathJson ||
             !overlayRef.current)
@@ -9209,8 +9364,9 @@ 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) {