web-Iot/src/components/Map.jsx

import React, { useEffect, useRef, useState, useMemo, useImperativeHandle, forwardRef, useCallback } from 'react';
import carImg from '../assets/images/carplane.png';
import inspectImg from "../assets/images/inspectCar.png"
import planeImg from '../assets/images/planeicon.png';
import cameraImg from '../assets/images/camera.png';
import droneInspectImg from '../assets/images/xunjiancar.png';
import gecocar from '../assets/images/gecaocar.png';
import arrowImg from '../assets/images/arrow.png';
import iotImg from '../assets/images/iot.png';
import envConfig from '../../env';
import { TracePoint, TPAction, TPMode } from '../lib/TracePoint/tracePoint';
import { useTranslation } from 'react-i18next';


const CYAN_ALARM_COLOR = new window.Cesium.Color(
	34 / 255,
	211 / 255,
	238 / 255,
	1
);

const CYAN_GLOW_COLOR = new window.Cesium.Color(
	34 / 255,
	211 / 255,
	238 / 255,
	1
);
window.Cesium.Ion.defaultAccessToken = "eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJqdGkiOiJmNjk0NjI1MC0wZGYyLTQ1YzItYjJmZi0wY2M5ODEwODllYzIiLCJpZCI6Mzk3MTQxLCJpYXQiOjE3NzI1MjkwMjV9.U6qmakhDgXJVXwLFyWzSxAUOFZRrDkIsRUPP6CCdnKg";

const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine, finishPoint, drawRealTime, realtimePosition, realtimeType, pathPoints = [], devices = [], onCameraClick, focusLocation, points = [], markedPoints = [], onPathChange, from, onClearDraw, onMarkPoint, routeMode = '', polyPoints, mapLayer }, ref) => {
	const containerRef = useRef(null);
	const viewerRef = useRef(null);
	const tooltipRef = useRef(null);
	const hasFlownRef = useRef(false);
	const eventHandlerRef = useRef(null);
	const entityMapRef = useRef(new Map());
	const alarmMapRef = useRef(new Map());
	const iotMapRef = useRef(new Map());
	const planLineRef = useRef(null); // points 规划航线
	const polygonRef = useRef(null); // coverage 区域多边形
	const navLineRef = useRef(null); // 完成点实时轨迹
	const markedPointsRef = useRef([]); // 标记点实体
	const markedLineRef = useRef(null); // 标记点连线实体
	const onMarkPointRef = useRef(onMarkPoint); // 总是指向最新的 onMarkPoint，避免闭包滞后
	const onCameraClickRef = useRef(onCameraClick); // 同样处理，避免闭包滞后
	const { t } = useTranslation();


	const realtimeEntityRef = useRef(null);
	const realtimeLineRef = useRef(null);
	const realtimeTrackRef = useRef([]);

	const tracePointRef = useRef(new TracePoint());
	const lastFinishPointRef = useRef(null);
	const isNavigationModeRef = useRef(false);
	const followCarEntityRef = useRef(null); // 跟随小车的实例

	const isCameraFlyingRef = useRef(false);
	const lastFlightPromiseRef = useRef(null);

	// ==============================
	// 飞行优先级调度：优先级高的可打断低的；同级不重复起飞
	// realtime(100) > focus(90) > devices(80) > track(70) > layer(10)
	// ==============================
	const lastFlightPriorityRef = useRef(-1);
	const FLIGHT_PRIORITY = { realtime: 100, focus: 90, devices: 80, track: 70, layer: 10 };
	const flyToView = (viewer, priority, config) => {
		if (!viewer) return;
		if (priority <= lastFlightPriorityRef.current) return; // 同级或更低不重复/覆盖；更高优先级才打断
		lastFlightPriorityRef.current = priority;
		try { viewer.camera.cancelFlight(); } catch (e) { /* 忽略取消异常 */ }
		viewer.camera.flyTo(config);
	};
	const resetFlightPriority = () => { lastFlightPriorityRef.current = -1; };

	const [drawPoints, setDrawPoints] = useState([]);
	const drawLineRef = useRef(null);
	const pointEntitiesRef = useRef([]);

	const movingPathRef = useRef([]);
	const movingIndexRef = useRef(0);
	const isMovingRef = useRef(false);
	const moveSpeedRef = useRef(0.02);
	const movingEntityRef = useRef(null);
	const realtimeCartesianRef = useRef([]);     // 直接存 Cartesian3（性能最高）
	const realtimeLineEntityRef = useRef(null);
	const realtimeCarEntityRef = useRef(null);
	const realtimeLastPointRef = useRef(null);
	const realtimeHiddenRef = useRef(false);
	const focusEntityRef = useRef(null);


	const yellowCircleCanvas = useMemo(
		() => createYellowCircleCanvas(30),
		[]
	);
	const glowCircleCanvas = useMemo(
		() => createGlowCircleCanvas(45),
		[]
	);
	const glowBlinkColor = useMemo(
		() =>
			createGlowBlinkColor({
				minAlpha: 0.25,
				maxAlpha: 0.75,
				speed: 1.1
			}),
		[]
	);

	const clearDrawingPath = () => {
		const viewer = viewerRef.current;
		if (!viewer) return;

		pointEntitiesRef.current.forEach(p => {
			viewer.entities.removeById(p);
		});
		pointEntitiesRef.current = [];

		if (drawLineRef.current) {
			viewer.entities.remove(drawLineRef.current);
			drawLineRef.current = null;
		}

		setDrawPoints([]);
		onPathChange && onPathChange([]);
	};

	const updateDrawPath = (newPoints) => {
		const viewer = viewerRef.current;
		if (!viewer) return;

		pointEntitiesRef.current.forEach(id => {
			viewer.entities.removeById(id);
		});
		pointEntitiesRef.current = [];

		newPoints.forEach((p, i) => {
			const id = `draw-point-${i}`;
			viewer.entities.add({
				id,
				position: window.Cesium.Cartesian3.fromDegrees(p.lon, p.lat),
				point: {
					color: window.Cesium?.Color.SKYBLUE,
					pixelSize: 10,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
				},
				label: {
					text: `${i + 1}`,
					font: '12px sans-serif',
					pixelOffset: new window.Cesium.Cartesian2(0, -15),
					fillColor: window.Cesium?.Color.WHITE
				}
			});
			pointEntitiesRef.current.push(id);
		});

		if (drawLineRef.current) {
			viewer.entities.remove(drawLineRef.current);
		}
		if (newPoints.length >= 2) {
			const positions = newPoints.map(p => {
				return window.Cesium.Cartesian3.fromDegrees(p.lon, p.lat);
			});

			drawLineRef.current = viewer.entities.add({
				polyline: {
					positions: positions,
					width: 4,
					material: window.Cesium?.Color.SKYBLUE,
					clampToGround: true,
				}
			});
		}
		console.log(newPoints, "newPoints")

		onPathChange && onPathChange(newPoints);
	};

	const calculateDirection = (point1, point2) => {
		const lon1 = point1.lon;
		const lat1 = point1.lat;
		const lon2 = point2.lon;
		const lat2 = point2.lat;
		const dLon = lon2 - lon1;
		const dLat = lat2 - lat1;
		const angle = Math.atan2(dLat, dLon);
		return angle;
	};

	const drawTrackLine = (points) => {
		const viewer = viewerRef.current;
		if (!viewer) return;

		const Cesium = window.Cesium;

		// ======================
		// 是否实时模式
		// ======================
		const isRealtimeMode = !!(
			realtimePosition?.lon &&
			realtimePosition?.lat &&
			!isNaN(Number(realtimePosition.lon)) &&
			!isNaN(Number(realtimePosition.lat))
		);

		if (planLineRef.current) {
			viewer.entities.remove(planLineRef.current);
		}

		// 2. 传入的 points 本身为空 → 清空轨迹退出
		if (!points || points.length === 0) {
			const viewer = viewerRef.current;
			if (viewer) {
				try {
					if (planLineRef.current) {
						viewer.entities.remove(planLineRef.current);
						planLineRef.current = null;
					}
				} catch (e) { }
				viewer.scene.requestRender(); // 强制刷新！
			}
			return;
		}
		const validPoints = points?.filter(p => {

			const lon = Number(p.lng);
			const lat = Number(p.lat);
			return (
				!isNaN(lon) &&
				!isNaN(lat) &&
				Math.abs(lon) < 180 &&
				Math.abs(lat) < 90 &&
				lon !== 0 &&
				lat !== 0
			);
		});

		if (validPoints.length === 0) return;

		const positions = validPoints.map(point =>
			Cesium.Cartesian3.fromDegrees(
				Number(point.lng),
				Number(point.lat)
			)
		);

		const trackLine = viewer.entities.add({
			polyline: {
				positions: positions,
				width: 2,
				// 规划航线用橙色，和实时轨迹区分
				material: Cesium.Color.ORANGE.withAlpha(0.8),
				clampToGround: true,
				disableDepthTestDistance: Number.POSITIVE_INFINITY,
			},
		});

		planLineRef.current = trackLine;

		// ======================
		// 🚀 非实时模式 -> 自动飞到轨迹
		// ======================
		if (!isRealtimeMode) {

			let minLon = 180, maxLon = -180;
			let minLat = 90, maxLat = -90;

			validPoints.forEach(p => {
				minLon = Math.min(minLon, p.lng);
				maxLon = Math.max(maxLon, p.lng);
				minLat = Math.min(minLat, p.lat);
				maxLat = Math.max(maxLat, p.lat);
			});
			if (getCameraMode() !== "track") return;

			// 单个点
			if (validPoints.length === 1) {


				const p = validPoints[0];
				viewer.scene.requestRender();
				flyToView(viewer, FLIGHT_PRIORITY.track, {
					destination: Cesium.Cartesian3.fromDegrees(
						p.lng,
						p.lat,
						800
					),
					duration: 1.2
				});
				viewer.scene.requestRender();

			} else {


				const rectangle = Cesium.Rectangle.fromDegrees(
					minLon,
					minLat,
					maxLon,
					maxLat
				);

				viewer.scene.requestRender();

				flyToView(viewer, FLIGHT_PRIORITY.track, {
					destination: rectangle,
					duration: 1.2
				});

				viewer.scene.requestRender();

			}

		}

	};

	const drawPolygon = (points) => {
		const viewer = viewerRef.current;
		if (!viewer) return;
		const isRealtimeMode = !!(
			realtimePosition?.lon &&
			realtimePosition?.lat &&
			!isNaN(Number(realtimePosition.lon)) &&
			!isNaN(Number(realtimePosition.lat))
		);


		const Cesium = window.Cesium;

		// 每次绘制区域前，先移除上一次绘制的地块
		if (polygonRef.current) {
			try {
				viewer.entities.remove(polygonRef.current);
				polygonRef.current = null;
			} catch (e) { }
		}
		if (planLineRef.current) {
			try {
				viewer.entities.remove(planLineRef.current);
				planLineRef.current = null;
			} catch (e) { }
		}

		const validPoints = points?.filter(p => {

			const lon = Number(p.lng);
			const lat = Number(p.lat);
			return (
				!isNaN(lon) &&
				!isNaN(lat) &&
				Math.abs(lon) < 180 &&
				Math.abs(lat) < 90 &&
				lon !== 0 &&
				lat !== 0
			);
		});

		if (validPoints.length === 0) return;

		const positions = validPoints.map(point =>
			Cesium.Cartesian3.fromDegrees(
				Number(point.lng),
				Number(point.lat)
			)
		);

		// coverage（区域覆盖）模式下以多边形 polygon 框绘制，否则为折线
		const isCoverage = routeMode === 'coverage';

		let trackLine;
		if (isCoverage) {
			trackLine = viewer.entities.add({
				polygon: {
					hierarchy: positions,
					material: Cesium.Color.ORANGE.withAlpha(0.2),
					outline: true,
					outlineColor: Cesium.Color.ORANGE.withAlpha(0.8),
					height: 0,
					clampToGround: true,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
				},
			});
		} else {
			trackLine = viewer.entities.add({
				polyline: {
					positions: positions,
					width: 2,

					material: Cesium.Color.ORANGE.withAlpha(0.8),
					clampToGround: true,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
				},
			});
		}

		polygonRef.current = trackLine;

		// ======================
		// 🚀 非实时模式 -> 自动飞到轨迹
		// ======================
		if (!isRealtimeMode) {

			let minLon = 180, maxLon = -180;
			let minLat = 90, maxLat = -90;

			validPoints.forEach(p => {
				minLon = Math.min(minLon, p.lng);
				maxLon = Math.max(maxLon, p.lng);
				minLat = Math.min(minLat, p.lat);
				maxLat = Math.max(maxLat, p.lat);
			});
			if (getCameraMode() !== "track") return;

			// 单个点
			if (validPoints.length === 1) {


				const p = validPoints[0];
				viewer.scene.requestRender();
				flyToView(viewer, FLIGHT_PRIORITY.track, {
					destination: Cesium.Cartesian3.fromDegrees(
						p.lng,
						p.lat,
						800
					),
					duration: 1.2
				});
				viewer.scene.requestRender();

			} else {


				const rectangle = Cesium.Rectangle.fromDegrees(
					minLon,
					minLat,
					maxLon,
					maxLat
				);

				viewer.scene.requestRender();

				flyToView(viewer, FLIGHT_PRIORITY.track, {
					destination: rectangle,
					duration: 1.2
				});

				viewer.scene.requestRender();

			}

		}

	};
	useEffect(() => {
		resetFlightPriority();
		if (polyPoints && polyPoints.length > 0) {
			drawPolygon(polyPoints)
		} else {
			// polyPoints 被清空时，移除已绘制的区域
			const viewer = viewerRef.current;
			if (viewer && polygonRef.current) {
				try {
					viewer.entities.remove(polygonRef.current);
					polygonRef.current = null;
				} catch (e) { }
			}
		}

	}, [polyPoints])


	useEffect(() => {
		resetFlightPriority();
		if (viewerRef.current) {
			drawTrackLine(points);
		}
	}, [points]);

	// 渲染标记点 + 连线（唯一系统，避免重复标记）
	const drawMarkedPoints = (points) => {
		const viewer = viewerRef.current;
		if (!viewer) return;

		// 先清空之前的标记点与连线
		markedPointsRef.current.forEach(id => {
			viewer.entities.removeById(id);
		});
		markedPointsRef.current = [];

		if (markedLineRef.current) {
			try {
				viewer.entities.remove(markedLineRef.current);
			} catch (e) { }
			markedLineRef.current = null;
		}

		if (!points || points.length === 0) return;

		// 先绘制连线：有 2 个及以上打点才连线
		if (points.length >= 2) {
			const linePositions = points.map(p =>
				window.Cesium.Cartesian3.fromDegrees(Number(p.lon), Number(p.lat))
			);
			markedLineRef.current = viewer.entities.add({
				polyline: {
					positions: linePositions,
					width: 4,
					material: window.Cesium.Color.SKYBLUE,
					clampToGround: true,
				}
			});
		}

		points.forEach((p, i) => {
			const id = `marked-point-${i}`;
			viewer.entities.add({
				id,
				position: window.Cesium.Cartesian3.fromDegrees(p.lon, p.lat),
				point: {
					color: window.Cesium.Color.GREEN,
					pixelSize: 15,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
				},
				label: {
					text: `${i + 1}`,
					font: '14px sans-serif',
					pixelOffset: new window.Cesium.Cartesian2(0, -20),
					fillColor: window.Cesium.Color.WHITE,
					outlineColor: window.Cesium.Color.BLACK,
					outlineWidth: 2,
					style: window.Cesium.LabelStyle.FILL_AND_OUTLINE,
				}
			});
			markedPointsRef.current.push(id);
		});
	};

	useEffect(() => {
		if (viewerRef.current) {
			drawMarkedPoints(markedPoints);
		}
	}, [markedPoints]);

	function showRobotTooltip(tooltip, robot, position, t) {
		const statusMap = {
			1: { text: t('common.working'), color: "#10b981" },
			2: { text: t('devices.idle'), color: "#f59e0b" },
			3: { text: t('devices.offline'), color: "#f87171" }
		};
		let status = statusMap[robot.feStatus] || statusMap[1];

		tooltip.style.display = "block";
		tooltip.style.left = position.x + 12 + "px";
		tooltip.style.top = position.y + 12 + "px";

		let deviceValuesHTML = '';
		if (robot.devicevalue && robot.devicevalue.length > 0) {
			deviceValuesHTML = robot.devicevalue.map((device) => `
        <div style="margin-bottom:4px;"><strong>${device.name}:</strong> ${device.value}${device.unit}</div>
      `).join('');
		}

		tooltip.innerHTML = `
    <div style="font-weight:600;margin-bottom:6px;">🤖 ${robot.deviceAlias || robot.serialNumber || robot.name}</div>
    ${deviceValuesHTML ? `<div style="margin-top:8px;"><strong>${t('devices.deviceData')}:</strong>${deviceValuesHTML}</div>` : ''}
    <div>${t('systemSetting.longitude')}：${Number(robot.lastRunningStatus?.longitude).toFixed(6)}</div>
    <div>${t('systemSetting.latitude')}：${Number(robot.lastRunningStatus?.latitude).toFixed(6)}</div>
  `;
	}

	const getCursorLngLat = (viewer, screenPos) => {
		const cartesian = viewer.camera.pickEllipsoid(screenPos, viewer.scene.globe.ellipsoid);
		if (!window.Cesium.defined(cartesian)) return { lon: NaN, lat: NaN };
		const cartographic = window.Cesium.Cartographic.fromCartesian(cartesian);
		return {
			lon: window.Cesium.Math.toDegrees(cartographic.longitude),
			lat: window.Cesium.Math.toDegrees(cartographic.latitude),
		};
	};

	function showCoordinateTooltip(tooltip, position, t, lon, lat, robot) {
		tooltip.style.display = "block";
		tooltip.style.left = position.x + 12 + "px";
		tooltip.style.top = position.y + 12 + "px";
		tooltip.style.whiteSpace = "nowrap";

		const lonStr = Number.isFinite(lon) ? lon.toFixed(6) : "--";
		const latStr = Number.isFinite(lat) ? lat.toFixed(6) : "--";

		if (robot) {
			const statusMap = {
				1: { text: t('common.working'), color: "#10b981" },
				2: { text: t('devices.idle'), color: "#f59e0b" },
				3: { text: t('devices.offline'), color: "#f87171" }
			};
			const status = statusMap[robot.feStatus] || statusMap[1];
			let deviceValuesHTML = '';
			if (robot.devicevalue && robot.devicevalue.length > 0) {
				deviceValuesHTML = robot.devicevalue.map((device) => `
        <div style="margin-bottom:4px;"><strong>${device.name}:</strong> ${device.value}${device.unit}</div>
      `).join('');
			}
			tooltip.innerHTML = `
    <div style="font-weight:600;margin-bottom:6px;">🤖 ${robot.deviceAlias || robot.serialNumber || robot.name}</div>
    ${deviceValuesHTML ? `<div style="margin-top:8px;"><strong>${t('devices.deviceData')}:</strong>${deviceValuesHTML}</div>` : ''}
    <div>${t('systemSetting.longitude')}：${lonStr}</div>
    <div>${t('systemSetting.latitude')}：${latStr}</div>
  `;
		} else {
			tooltip.innerHTML = `
    <div style="font-weight:600;margin-bottom:4px;">📍 ${t('systemSetting.longitude')}：${lonStr}</div>
    <div style="font-weight:600;">${t('systemSetting.latitude')}：${latStr}</div>
  `;
		}
	}

	function fetchPublishedLayers() {
		const baseUrl = envConfig.geoserver_url;
		//const baseUrl = 'https://gis.caasrobot.com/geoserver';
		const getCapabilitiesUrl = `${baseUrl}/wms?service=WMS&version=1.1.1&request=GetCapabilities`;

		fetch(getCapabilitiesUrl)
			.then(response => response.text())
			.then(xmlText => {
				const parser = new DOMParser();
				const xmlDoc = parser.parseFromString(xmlText, 'text/xml');
				const layerElements = xmlDoc.getElementsByTagName('Layer');
				const uniqueLayerNames = new Set();
				const publishedLayers = [];

				for (let i = 0; i < layerElements.length; i++) {
					const layer = layerElements[i];
					const nameElement = layer.getElementsByTagName('Name')[0];
					const titleElement = layer.getElementsByTagName('Title')[0];
					if (nameElement && nameElement.textContent) {
						const layerName = nameElement.textContent;
						if (layerName.includes(':') && !uniqueLayerNames.has(layerName)) {
							uniqueLayerNames.add(layerName);
							publishedLayers.push({
								name: layerName,
								title: titleElement ? titleElement.textContent : layerName
							});
						}
					}
				}
				displayPublishedLayers(publishedLayers, baseUrl);
			})
			.catch(error => console.error('获取图层失败:', error));
	}

	function displayPublishedLayers(publishedLayers, baseUrl) {
		//console.log('已发布的图层:', publishedLayers)
		publishedLayers.forEach((layer, index) => {
			const [workspace, layerName] = layer.name.split(':');
			if (workspace && layerName) {
				addLayerFromList(layer.name, baseUrl, index);
			}
		});
	}

	function addLayerFromList(layerFullName, baseUrl, index) {
		const [workspace, layerName] = layerFullName.split(':');
		if (!workspace || !layerName) return;
		const wmsUrl = `${baseUrl}/wms`;
		addWmsLayerToCesium(wmsUrl, workspace, layerName, index);
	}

	function getLayerBoundsAndFit(wmsUrl, layerName) {
		console.log('=== 获取图层范围开始 ===');

		const getCapabilitiesUrl = `${wmsUrl}?service=WMS&version=1.1.1&request=GetCapabilities`;

		fetch(getCapabilitiesUrl)
			.then(response => response.text())
			.then(xmlText => {
				const parser = new DOMParser();
				const xmlDoc = parser.parseFromString(xmlText, 'text/xml');
				const layerElements = xmlDoc.getElementsByTagName('Layer');
				let layerBbox = null;

				for (let i = 0; i < layerElements.length; i++) {
					const layer = layerElements[i];
					const nameElement = layer.getElementsByTagName('Name')[0];

					if (nameElement && nameElement.textContent === layerName) {
						const bboxElement = layer.getElementsByTagName('BoundingBox')[0];
						if (bboxElement) {
							const minx = parseFloat(bboxElement.getAttribute('minx'));
							const miny = parseFloat(bboxElement.getAttribute('miny'));
							const maxx = parseFloat(bboxElement.getAttribute('maxx'));
							const maxy = parseFloat(bboxElement.getAttribute('maxy'));

							layerBbox = [minx, miny, maxx, maxy];
							console.log('找到图层范围:', layerBbox);
							break;
						}
					}
				}

				if (layerBbox) {
					try {
						const bounds = new AMap.Bounds(
							new AMap.LngLat(layerBbox[0], layerBbox[1]),
							new AMap.LngLat(layerBbox[2], layerBbox[3])
						);
						map.setFitView(bounds, 15, [50, 50, 50, 50]);
						console.log('地图已定位到图层范围');
					} catch (error) {
						console.error('地图定位失败:', error);
					}
				} else {
					console.warn('未找到图层范围，使用默认位置');
					map.setCenter([120.565, 31.453]);
					map.setZoom(10);
				}
			})
			.catch(error => {
				console.error('获取图层范围失败:', error);
				map.setCenter([120.565, 31.453]);
				map.setZoom(10);
			});
	}
	const getCameraMode = () => {
		const hasRealtime =
			realtimePosition?.lon &&
			realtimePosition?.lat &&
			!isNaN(Number(realtimePosition.lon)) &&
			!isNaN(Number(realtimePosition.lat));

		const hasTrack = (points && points.length > 0) || polyPoints?.length > 0;

		if (hasRealtime) return "realtime";
		if (hasTrack) return "track";
		return "devices";
	};

	function addWmsLayerToCesium(wmsUrl, workspace, layerName, index) {
		const layerIdentifier = `${workspace}:${layerName}`;
		let baseUrl = wmsUrl;
		const cesiumLayers = [];
		//if (index == 2 && from == "other") {
		//	//flyToLayer(layerIdentifier, baseUrl, 100);
		//}
		//if (index == 0 && from == "other") {
		//	flyToLayer(layerIdentifier, baseUrl, 100);
		//}
		//getLayerBoundsAndFit(wmsUrl, layerName);

		if (baseUrl.includes('/gwc/service/wms')) {
			baseUrl = baseUrl.replace('/gwc/service/wms', '');
		} else if (baseUrl.includes('/gwc/service/wmts')) {
			baseUrl = baseUrl.replace('/gwc/service/wmts', '');
		} else if (baseUrl.includes('/wms?')) {
			baseUrl = baseUrl.split('/wms?')[0];
		} else if (baseUrl.includes('/wms')) {
			baseUrl = baseUrl.split('/wms')[0];
		}

		try {
			const imageryProvider = new window.Cesium.WebMapServiceImageryProvider({
				url: `${baseUrl}/gwc/service/wms`,
				layers: layerIdentifier,
				parameters: {
					service: 'WMS',
					version: '1.1.1',
					request: 'GetMap',
					transparent: true,
					format: 'image/png',
					srs: 'EPSG:4326',
					width: 256,
					height: 256,
					styles: ''
				},
				tilingScheme: new window.Cesium.GeographicTilingScheme(),
				tileWidth: 256,
				tileHeight: 256,
				maximumLevel: 21,
				minimumLevel: 1,
				credit: new window.Cesium.Credit('GeoServer GWC WMS'),
				usePreCachedTilesIfAvailable: true,
				enablePickFeatures: false,
				maximumRequests: 15,
				retryAttempts: 2
			});

			const layer = viewerRef.current.imageryLayers.addImageryProvider(imageryProvider);
			cesiumLayers.push(layer);
		} catch (gwcWmsError) {
			try {
				const imageryProvider = new window.Cesium.WebMapServiceImageryProvider({
					url: `${baseUrl}/${workspace}/wms`,
					layers: layerIdentifier,
					parameters: {
						service: 'WMS',
						version: '1.1.1',
						request: 'GetMap',
						transparent: true,
						format: 'image/png',
						srs: 'EPSG:3857',
						width: 256,
						height: 256,
						styles: ''
					},
					tilingScheme: new window.Cesium.WebMercatorTilingScheme(),
					tileWidth: 256,
					tileHeight: 256,
					maximumLevel: 18,
					minimumLevel: 5,
					credit: new window.Cesium.Credit('GeoServer WMS'),
					usePreCachedTilesIfAvailable: true,
					enablePickFeatures: false,
					maximumRequests: 10,
					retryAttempts: 2
				});

				const layer = viewerRef.current.imageryLayers.addImageryProvider(imageryProvider);
				cesiumLayers.push(layer);
			} catch (wmsError) {
				const imageryProvider = new window.Cesium.WebMapServiceImageryProvider({
					url: `${baseUrl}/gwc/service/wms`,
					layers: layerIdentifier,
					parameters: {
						service: 'WMS',
						version: '1.1.1',
						request: 'GetMap',
						transparent: true,
						format: 'image/png',
						srs: 'EPSG:4326',
						width: 256,
						height: 256,
						styles: ''
					},
					tilingScheme: new window.Cesium.GeographicTilingScheme(),
					tileWidth: 256,
					tileHeight: 256,
					maximumLevel: 21,
					minimumLevel: 1,
					credit: new window.Cesium.Credit('GeoServer GWC WMS'),
					usePreCachedTilesIfAvailable: true,
					enablePickFeatures: false,
					maximumRequests: 15,
					retryAttempts: 2
				});

				const layer = viewerRef.current.imageryLayers.addImageryProvider(imageryProvider);
				cesiumLayers.push(layer);
			}
		}
	}

	function flyToLayer(layerIdentifier, baseUrl, flyHeight = 100) {
		//console.log('开始获取图层范围', layerIdentifier);
		const url = `${baseUrl}/wms?service=WMS&version=1.1.1&request=GetCapabilities`;

		fetch(url)
			.then(res => res.text())
			.then(xmlText => {
				const xml = new DOMParser().parseFromString(xmlText, 'text/xml');
				const layerElements = xml.getElementsByTagName('Layer');
				let targetBbox = null;

				for (let i = 0; i < layerElements.length; i++) {
					const layer = layerElements[i];
					const nameElement = layer.getElementsByTagName('Name')[0];

					if (nameElement && nameElement.textContent === layerIdentifier) {
						const bboxElement = layer.getElementsByTagName('BoundingBox')[0];
						if (bboxElement) {
							const minx = parseFloat(bboxElement.getAttribute('minx'));
							const miny = parseFloat(bboxElement.getAttribute('miny'));
							const maxx = parseFloat(bboxElement.getAttribute('maxx'));
							const maxy = parseFloat(bboxElement.getAttribute('maxy'));
							targetBbox = [minx, miny, maxx, maxy];
							console.log('读取到图层bbox', targetBbox);
						}
						break;
					}
				}

				if (!targetBbox) {
					console.warn('该图层未找到BoundingBox，无法飞行', layerIdentifier);
					return;
				}

				const [minx, miny, maxx, maxy] = targetBbox;
				// 取图层中心点
				const centerLon = (minx + maxx) / 2;
				const centerLat = (miny + maxy) / 2;

				flyToView(viewerRef.current, FLIGHT_PRIORITY.layer, {
					// 固定高度，第三个参数就是高度（单位米）
					destination: window.Cesium.Cartesian3.fromDegrees(centerLon, centerLat, flyHeight),
					orientation: {
						heading: 0,
						pitch: window.Cesium.Math.toRadians(-90), // 垂直俯视
						roll: 0
					},
					duration: 2
				});
			})
			.catch(err => {
				console.error('获取WMS Capabilities失败', err);
			});
	}

	function getRobotEntityId(robot, index) {
		if (robot.id != null) return `robot-${robot.id}`;
		if (robot.name) return `robot-${robot.name}`;
		return `robot-index-${index}`;
	}

	function createGlowCircleCanvas(size = 40, innerAlpha = 0.8) {
		const canvas = document.createElement("canvas");
		canvas.width = Math.max(1, Number(size) || 40);
		canvas.height = Math.max(1, Number(size) || 40);
		const ctx = canvas.getContext("2d");
		const r = Math.max(1, Number(size) || 40) / 2;
		const gradient = ctx.createRadialGradient(r, r, r * 0.2, r, r, r);
		gradient.addColorStop(0, `rgba(255,255,255,${innerAlpha})`);
		gradient.addColorStop(0.4, `rgba(255,255,255,0.6)`);
		gradient.addColorStop(0.7, `rgba(255,255,255,0.3)`);
		gradient.addColorStop(1, `rgba(255,255,25,0)`);
		ctx.fillStyle = gradient;
		ctx.beginPath();
		ctx.arc(r, r, r, 0, Math.PI * 2);
		ctx.fill();
		return canvas;
	}

	function createGlowBlinkColor({
		minAlpha = 0.2,
		maxAlpha = 0.9,
		speed = 1.2
	} = {}) {
		const start = Date.now();
		return new window.Cesium.CallbackProperty(() => {
			const t = (Date.now() - start) / 1000;
			const alpha = minAlpha + (maxAlpha - minAlpha) * (0.5 + 0.5 * Math.sin(t * speed * Math.PI * 2));
			return CYAN_GLOW_COLOR.withAlpha(alpha);
		}, false);
	}

	function createRobotEntity(viewer, robot, index) {
		const raw = robot?.lastRunningStatus || {};
		const parsed = parseLngLat(raw.longitude, raw.latitude);
		if (!parsed) return null;
		const { longitude, latitude } = parsed;
		const baseId = getRobotEntityId(robot, index);
		viewer.entities.removeById(baseId);
		viewer.entities.removeById(baseId + "_alarm");
		const position = window.Cesium.Cartesian3.fromDegrees(longitude, latitude, 0);

		viewer.entities.add({
			id: baseId + "_alarm",
			position,
			billboard: {
				image: createGlowCircleCanvas(45),
				width: 45,
				height: 45,
				verticalOrigin: window.Cesium.VerticalOrigin.BOTTOM,
				pixelOffset: new window.Cesium.Cartesian2(0, -6),
				color: createGlowBlinkColor({
					minAlpha: 0.25,
					maxAlpha: 0.75,
					speed: 1.1
				}),
				disableDepthTestDistance: Number.POSITIVE_INFINITY
			}
		});

		const entity = viewer.entities.add({
			id: baseId,
			position,
			billboard: {
				image: carImg,
				width: 30,
				height: 30,
				verticalOrigin: window.Cesium.VerticalOrigin.BOTTOM,
				disableDepthTestDistance: Number.POSITIVE_INFINITY
			},
			label: {
				text: robot.name,
				font: "14px sans-serif",
				pixelOffset: new window.Cesium.Cartesian2(0, -40),
				fillColor: window.Cesium?.Color.WHITE,
				showBackground: true,
				backgroundColor: window.Cesium?.Color.BLACK.withAlpha(0.6)
			}
		});
		entity.robotData = robot;
		return entity;
	}

	useEffect(() => {
		if (!containerRef.current) return;
		if (viewerRef.current) return;

		const viewer = new window.Cesium.Viewer(containerRef.current, {
			animation: false,
			timeline: false,
			baseLayerPicker: true,
			geocoder: false,
			homeButton: false,
			sceneModePicker: false,
			navigationHelpButton: false,
			fullscreenButton: false,
			infoBox: false,
			imageryProvider: new window.Cesium.UrlTemplateImageryProvider({
				url: "https://services.arcgisonline.com/ArcGIS/rest/services/World_Imagery/MapServer/tile/{z}/{y}/{x}",
				fileExtension: "jpg"
			})
		});
		viewerRef.current = viewer;
		viewer.scene.globe.baseColor = window.Cesium?.Color.BLACK;
		viewer.scene.globe.depthTestAgainstTerrain = false;
		viewer.scene.requestRenderMode = true; // 👈 加这个（只在需要时渲染）
		viewer.scene.globe.enableLighting = false;

		//viewer.camera.flyTo({
		//	// 中国中心大致坐标 + 合适高度（200万米）
		//	destination: window.Cesium.Cartesian3.fromDegrees(103.84, 31.15, 2000000),
		//	orientation: {
		//		heading: window.Cesium.Math.toRadians(0),
		//		pitch: window.Cesium.Math.toRadians(-90),
		//		roll: 0
		//	},
		//	duration: 0 // 初始化直接到位，无需动画
		//});


		try { fetchPublishedLayers() } catch (e) { }

		return () => {
			if (lastFlightPromiseRef.current) viewer.camera.cancelFlight();
		};
	}, []);

	// 根据场站映射图层定位地图：切换场站时始终飞向该场站的图层
	// 不再用可能滞后的 devices 判断（避免用上一场站的机器决策）；
	// 若场站有机器，由 devices 效果按更高优先级接管飞向机器
	useEffect(() => {
		if (!mapLayer || !viewerRef.current) return;
		resetFlightPriority();
		flyToLayer(mapLayer, envConfig.geoserver_url, 100);
	}, [mapLayer]);


	useEffect(() => {
		// 如果有 realtimePosition，不显示 focusEntity
		const hasRealtime =
			realtimePosition?.lon &&
			realtimePosition?.lat &&
			!isNaN(Number(realtimePosition.lon)) &&
			!isNaN(Number(realtimePosition.lat));

		if (!viewerRef.current || !focusLocation || hasRealtime) {
			if (focusEntityRef.current) {
				viewerRef.current?.entities.remove(focusEntityRef.current);
				focusEntityRef.current = null;
			}
			return;
		}
		const viewer = viewerRef.current;
		const Cesium = window.Cesium;

		// 选择图片
		let image = carImg;
		if (focusLocation.type === "plane" || focusLocation.type === "drone") {
			image = planeImg;
		} else if (focusLocation.type === "robot") {
			image = droneInspectImg;
		} else if (focusLocation.type === "mower") {
			image = carImg;
		}

		// 如果已经有 focusEntity，先移除
		if (focusEntityRef.current) {
			viewer.entities.remove(focusEntityRef.current);
		}

		// 添加新的 focusEntity
		focusEntityRef.current = viewer.entities.add({
			position: Cesium.Cartesian3.fromDegrees(Number(focusLocation.lon), Number(focusLocation.lat), 0),
			billboard: {
				image: image,
				width: 30,
				height: 30,
				verticalOrigin: Cesium.VerticalOrigin.BOTTOM,
				disableDepthTestDistance: Number.POSITIVE_INFINITY,
			},
			label: {
				text: focusLocation.name,
				font: "12px sans-serif",
				pixelOffset: new Cesium.Cartesian2(0, -80),
				fillColor: Cesium.Color.YELLOW,
				showBackground: true,
				backgroundColor: Cesium.Color.BLACK.withAlpha(0.6)
			}
		});

		flyToView(viewer, FLIGHT_PRIORITY.focus, {
			destination: Cesium.Cartesian3.fromDegrees(Number(focusLocation.lon), Number(focusLocation.lat), focusLocation.height || 800),
			orientation: {
				heading: Cesium.Math.toRadians(0.0),
				pitch: Cesium.Math.toRadians(-90.0),
				roll: 0.0,
			},
			duration: 1.5
		});
	}, [focusLocation]);

	function flyToRobots(viewer, robots) {
		if (!robots || robots.length === 0) return;

		let west = 180, south = 90, east = -180, north = -90;

		robots.forEach(r => {
			const lon = Number(r?.lastRunningStatus?.longitude);
			const lat = Number(r?.lastRunningStatus?.latitude);

			west = Math.min(west, lon);
			south = Math.min(south, lat);
			east = Math.max(east, lon);
			north = Math.max(north, lat);
		});

		const rectangle = window.Cesium.Rectangle.fromDegrees(west, south, east, north);
		flyToView(viewer, FLIGHT_PRIORITY.devices, { destination: rectangle, duration: 1.5 });
	}

	function parseLngLat(lon, lat) {
		const longitude = Number(lon);
		const latitude = Number(lat);
		if (Number.isFinite(longitude) && Number.isFinite(latitude)) {
			return { longitude, latitude };
		}
		return null;
	}

	function createYellowCircleDataUrl(size = 30) {
		const canvas = document.createElement('canvas');
		canvas.width = size;
		canvas.height = size;
		const ctx = canvas.getContext('2d');
		ctx.clearRect(0, 0, size, size);
		ctx.beginPath();
		ctx.arc(size / 2, size / 2, size / 2 - 1, 0, Math.PI * 2);
		ctx.fillStyle = 'rgba(255, 215, 0, 1)';
		ctx.fill();
		return canvas.toDataURL();
	}
	const yellowCircleImg = useMemo(() => createYellowCircleDataUrl(30), []);

	// 监听 drawRealTime 变化，每次开始执行任务时重置为定位模式
	useEffect(() => {
		if (drawRealTime) {
			// 开始执行任务时：重置为定位模式，清空之前的轨迹数据
			tracePointRef.current.setMode(TPMode.LOCATION);
			isNavigationModeRef.current = false;
			lastFinishPointRef.current = null;

			// 清空导航相关的实体
			const viewer = viewerRef.current;
			if (viewer) {
				if (navLineRef.current) {
					viewer.entities.remove(navLineRef.current);
					navLineRef.current = null;
				}
				if (followCarEntityRef.current) {
					viewer.entities.remove(followCarEntityRef.current);
					followCarEntityRef.current = null;
				}
				viewer.scene.requestRender();
			}
		} else {
			tracePointRef.current.setMode(TPMode.LOCATION);
			isNavigationModeRef.current = false;
			lastFinishPointRef.current = null;
		}

	}, [drawRealTime]);

	// 处理完成点
	useEffect(() => {
		if (!finishPoint || !finishPoint.lng || !finishPoint.lat || !drawRealTime) {
			// 没有 finishPoint 时，移除跟随小车
			const viewer = viewerRef.current;
			if (viewer && followCarEntityRef.current) {
				viewer.entities.remove(followCarEntityRef.current);
				followCarEntityRef.current = null;
			}
			return;
		}

		const point = { lng: finishPoint.lng, lat: finishPoint.lat };

		// 如果是定位模式且还没有导航模式，则切换到导航模式
		if (!isNavigationModeRef.current && drawRealTime) {
			tracePointRef.current.setMode(TPMode.NAVIGATION);
			isNavigationModeRef.current = true;
		}

		tracePointRef.current.upsert(point, TPAction.ADD);
		lastFinishPointRef.current = finishPoint;

		// 更新轨迹绘制
		updateTraceLine();

		// 更新或添加跟随小车
	}, [finishPoint, drawRealTime]);

	// 更新跟随小车
	const updateFollowCar = (cartesianPos, heading = 0) => {
		const viewer = viewerRef.current;
		if (!viewer || !cartesianPos) return;
		const Cesium = window.Cesium;

		const hpr = new Cesium.HeadingPitchRoll(heading, 0, 0);
		const orientation = Cesium.Transforms.headingPitchRollQuaternion(cartesianPos, hpr);

		if (followCarEntityRef.current) {
			followCarEntityRef.current.position = cartesianPos;
			followCarEntityRef.current.orientation = orientation;
		} else {
			followCarEntityRef.current = viewer.entities.add({
				position: cartesianPos,
				orientation: orientation,
				billboard: {
					image: carImg,
					width: 30,
					height: 30,
					verticalOrigin: Cesium.VerticalOrigin.BOTTOM,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
					color: Cesium.Color.YELLOW.withAlpha(0.8),
				},
			});
		}
	};



	const updateTraceLine = (clear = false) => {
		const viewer = viewerRef.current;
		if (!viewer) return;
		const Cesium = window.Cesium;

		// 主动清空 或 轨迹数据为空：统一清理
		if (clear) {
			tracePointRef.current.reset?.();
			lastFinishPointRef.current = null;
			isNavigationModeRef.current = false;
			realtimeCartesianRef.current = [];
			realtimeLastPointRef.current = null;

			if (navLineRef.current) {
				viewer.entities.remove(navLineRef.current);
				navLineRef.current = null;
			}
			if (followCarEntityRef.current) {
				viewer.entities.remove(followCarEntityRef.current);
				followCarEntityRef.current = null;
			}
			if (realtimeLineEntityRef.current) {
				viewer.entities.remove(realtimeLineEntityRef.current);
				realtimeLineEntityRef.current = null;
			}
			viewer.scene.requestRender();
			return;
		}

		const tracePoints = tracePointRef.current.getTracePoint();
		if (!tracePoints || tracePoints.length === 0) {
			if (navLineRef.current) {
				viewer.entities.remove(navLineRef.current);
				navLineRef.current = null;
			}
			if (followCarEntityRef.current) {
				viewer.entities.remove(followCarEntityRef.current);
				followCarEntityRef.current = null;
			}
			viewer.scene.requestRender();
			return;
		}

		const validPoints = tracePoints?.filter(p => {
			const lng = Number(p.lng);
			const lat = Number(p.lat);
			return !isNaN(lng) && !isNaN(lat) && Math.abs(lng) < 180 && Math.abs(lat) < 90 && lng !== 0 && lat !== 0;
		});

		if (validPoints.length === 0) {
			if (followCarEntityRef.current) {
				viewer.entities.remove(followCarEntityRef.current);
				followCarEntityRef.current = null;
			}
			return;
		}

		const positions = validPoints.map(point =>
			Cesium.Cartesian3.fromDegrees(Number(point.lng), Number(point.lat))
		);

		// 更新轨迹线
		if (navLineRef.current) {
			navLineRef.current.polyline.positions = positions;
		} else {
			navLineRef.current = viewer.entities.add({
				polyline: {
					positions: positions,
					width: 2,
					material: Cesium.Color.BLUE.withAlpha(0.9),
					clampToGround: true,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
				},
			});
		}

		// 计算小车朝向
		let heading = 0;
		const lastIdx = positions.length - 1;
		if (lastIdx > 0) {
			const prevCart = positions[lastIdx - 1];
			const currCart = positions[lastIdx];
			const prevCartographic = Cesium.Cartographic.fromCartesian(prevCart);
			const currCartographic = Cesium.Cartographic.fromCartesian(currCart);

			const dLon = currCartographic.longitude - prevCartographic.longitude;
			const dLat = currCartographic.latitude - prevCartographic.latitude;
			heading = Math.atan2(dLat, dLon);
		}

		// 直接传 Cartesian3，无需二次转换
		//updateFollowCar(positions[lastIdx], heading);

		viewer.scene.requestRender();
	};
	// 清空规划航线（使用上一次的 ifClearPlanLine 作为比较，避免重复触发）
	const prevIfClearPlanLine = useRef(0);
	useEffect(() => {
		if (ifClearPlanLine !== prevIfClearPlanLine.current && ifClearPlanLine) {
			const viewer = viewerRef.current;
			if (viewer) {
				if (planLineRef.current) {
					viewer.entities.remove(planLineRef.current);


					planLineRef.current = null;
				}

				if (polygonRef.current) {
					viewer.entities.remove(polygonRef.current);


					polygonRef.current = null;
				}
				viewer.scene.requestRender();
			}
			prevIfClearPlanLine.current = ifClearPlanLine;
		}
	}, [ifClearPlanLine]);

	// 清空实时轨迹
	const prevIfClearNavLine = useRef(0);
	useEffect(() => {
		if (ifClearNavLine !== prevIfClearNavLine.current && ifClearNavLine) {
			updateTraceLine(true);
			prevIfClearNavLine.current = ifClearNavLine;
		}
	}, [ifClearNavLine]);

	// 兼容旧 ifClear：同时清空两类
	useEffect(() => {
		if (ifClear) {
			const viewer = viewerRef.current;
			if (viewer) {
				if (planLineRef.current) {
					viewer.entities.remove(planLineRef.current);
					planLineRef.current = null;
				}
				updateTraceLine(true);
			}
		}
	}, [ifClear])

	useEffect(() => {

		const viewer = viewerRef.current;
		if (!viewer || !window.Cesium) return;

		const Cesium = window.Cesium;

		const isRealtimeMode =
			realtimePosition?.lon &&
			realtimePosition?.lat &&
			!isNaN(Number(realtimePosition.lon)) &&
			!isNaN(Number(realtimePosition.lat));

		const nextIds = new Set();

		const validPositions = [];


		devices.forEach((device, index) => {

			const raw = device?.lastRunningStatus || {};
			const parsed = parseLngLat(raw.longitude, raw.latitude);
			if (!parsed) return;

			const { longitude, latitude } = parsed;

			validPositions.push({ lon: longitude, lat: latitude });

			const id = getRobotEntityId(device, index);
			nextIds.add(id);

			const isIOT = device.from == "IOT";

			const position = Cesium.Cartesian3.fromDegrees(
				longitude,
				latitude,
				1
			);

			// ==============================
			// 图标选择
			// ==============================

			let image = carImg;
			let width = 30;
			let height = 30;
			const carsize = device?.productId == 138 ? 30 : 30;




			if (isIOT) {

				image = device?.type === "camera" ? cameraImg : iotImg;

				width = device?.type === "camera" ? 40 : 20;
				height = device?.type === "camera" ? 40 : 20;

			} else {

				image =
					device?.type === "plane" ? planeImg : // 飞机
						device?.type === "drone" ? planeImg : // 无人机
							device?.type === "mower" ? carImg : // 割草
								device?.type === "robot" ? droneInspectImg : // 巡检
									carImg; // 默认车

				width =
					device?.type === "plane" ||
						device?.type === "drone" ||
						device?.type === "drone-inspect"
						? 30
						: carsize;

				height =
					device?.type === "plane" ||
						device?.type === "drone" ||
						device?.type === "drone-inspect"
						? 30
						: carsize;

			}


			// ==============================
			// entity 获取 / 创建
			// ==============================

			let entity = entityMapRef.current.get(id);

			if (!entity) {

				entity = viewer.entities.add({

					id,

					position,

					billboard: {
						image,
						width,
						height,
						verticalOrigin: window.Cesium.VerticalOrigin.BOTTOM,
						disableDepthTestDistance: Number.POSITIVE_INFINITY,
						show: !isIOT
					},

					label: {
						text: device.name || "",
						font: "12px sans-serif",
						pixelOffset: new Cesium.Cartesian2(0, -40),
						fillColor: Cesium?.Color.WHITE,
						showBackground: true,
						backgroundColor: Cesium?.Color.BLACK.withAlpha(0.6)
					},

					properties: {
						robot: device
					}

				});

				entityMapRef.current.set(id, entity);

			} else {

				// ==============================
				// 更新 entity
				// ==============================

				entity.position = position;

				entity.billboard.image = image;
				entity.billboard.width = width;
				entity.billboard.height = height;

				entity.label.text = device.name || "";

				entity.properties.robot = device;

			}

		});

		// ==============================
		// 删除不存在设备
		// ==============================

		entityMapRef.current.forEach((entity, id) => {

			if (!nextIds.has(id)) {

				viewer.entities.remove(entity);

				entityMapRef.current.delete(id);

			}

		});

		// ==============================
		// 请求渲染
		// ==============================

		viewer.scene.requestRender();

		// ==============================
		// 自动 flyTo
		// ==============================

		if (!isRealtimeMode && validPositions.length > 0) {

			let minLon = 180,
				maxLon = -180,
				minLat = 90,
				maxLat = -90;

			validPositions.forEach(p => {

				minLon = Math.min(minLon, p.lon);
				maxLon = Math.max(maxLon, p.lon);
				minLat = Math.min(minLat, p.lat);
				maxLat = Math.max(maxLat, p.lat);

			});
			if (getCameraMode() !== "devices") return;


			if (validPositions.length === 1) {

				const p = validPositions[0];

				flyToView(viewer, FLIGHT_PRIORITY.devices, {
					destination: Cesium.Cartesian3.fromDegrees(
						p.lon,
						p.lat,
						800
					),
					duration: 1.2
				});

			} else {

				const rectangle = Cesium.Rectangle.fromDegrees(
					minLon,
					minLat,
					maxLon,
					maxLat
				);

				flyToView(viewer, FLIGHT_PRIORITY.devices, {
					destination: rectangle,
					duration: 1.2
				});

			}

		}

	}, [devices, realtimePosition]);

	useEffect(() => {
		if (!viewerRef.current || pathPoints.length < 2) return;
		const viewer = viewerRef.current;
		movingPathRef.current = [...points];
		movingIndexRef.current = 0;
		isMovingRef.current = true;

		let targetEntity = null;
		for (let [id, ent] of entityMapRef.current) {
			targetEntity = ent;
			break;
		}
		if (!targetEntity) return;
		movingEntityRef.current = targetEntity;

		const animateMove = () => {
			if (!isMovingRef.current) return;
			const path = movingPathRef.current;
			const idx = movingIndexRef.current;
			if (idx >= path.length - 1) {
				isMovingRef.current = false;
				return;
			}
			const p1 = path[idx];
			const p2 = path[idx + 1];
			const step = moveSpeedRef.current;
			const lon = p1.lon + (p2.lon - p1.lon) * step;
			const lat = p1.lat + (p2.lat - p1.lat) * step;
			const newPos = window.Cesium.Cartesian3.fromDegrees(lon, lat, 1);
			targetEntity.position = newPos;
			const heading = Math.atan2(p2.lat - p1.lat, p2.lon - p1.lon);
			targetEntity.orientation = window.Cesium.Transforms.headingPitchRollQuaternion(
				newPos,
				new window.Cesium.HeadingPitchRoll(heading, 0, 0)
			);
			const distance = Math.hypot(lon - p2.lon, lat - p2.lat);
			if (distance < 0.00005) {
				movingIndexRef.current += 1;
			}
			viewer.scene.requestRender();
			requestAnimationFrame(animateMove);
		};
		animateMove();
		return () => {
			isMovingRef.current = false;
		};
	}, [points]);

	// 每次渲染都更新回调引用，确保单击处理器用最新版本（避免闭包滞后）
	onMarkPointRef.current = onMarkPoint;
	onCameraClickRef.current = onCameraClick;

	useEffect(() => {
		const viewer = viewerRef.current;
		if (!viewer) return;
		const handler = new window.Cesium.ScreenSpaceEventHandler(viewer.scene.canvas);
		eventHandlerRef.current = handler;

		handler.setInputAction((movement) => {
			const picked = viewer.scene.pick(movement.endPosition);
			const pickedRobot = (window.Cesium.defined(picked) && picked.id?.properties?.robot) ? picked.id.properties.robot.getValue() : null;
			const { lon, lat } = getCursorLngLat(viewer, movement.endPosition);
			if (window.Cesium.defined(lon) && Number.isFinite(lon)) {
				showCoordinateTooltip(tooltipRef.current, movement.endPosition, t, lon, lat, pickedRobot);
			} else if (pickedRobot) {
				showCoordinateTooltip(tooltipRef.current, movement.endPosition, t, NaN, NaN, pickedRobot);
			} else {
				tooltipRef.current.style.display = "none";
			}
		}, window.Cesium.ScreenSpaceEventType.MOUSE_MOVE);

		handler.setInputAction((movement) => {
			const picked = viewer.scene.pick(movement.position);
			if (window.Cesium.defined(picked) && picked.id?.properties?.robot) {
				const robot = picked.id.properties.robot.getValue();
				robot.feStatus == 1 && onCameraClickRef.current?.(robot);
			}
		}, window.Cesium.ScreenSpaceEventType.LEFT_CLICK);

		handler.setInputAction((movement) => {
			if (from !== "deviceStatus")
				return;
			const cartesian = viewer.camera.pickEllipsoid(movement.position, viewer.scene.globe.ellipsoid);
			if (!cartesian) return;
			const cartographic = window.Cesium.Cartographic.fromCartesian(cartesian);
			const lon = window.Cesium.Math.toDegrees(cartographic.longitude);
			const lat = window.Cesium.Math.toDegrees(cartographic.latitude);
			const newPoint = { lon, lat };
			onMarkPointRef.current?.({ lon, lat });
		}, window.Cesium.ScreenSpaceEventType.LEFT_CLICK);

		if (onClearDraw) {
			onClearDraw(clearDrawingPath);
		}

		return () => {
			handler.destroy();
		};
	}, [drawPoints, from]);

	//useEffect(() => {
	//	const viewer = viewerRef.current;
	//	if (!viewer) return;
	//	const tick = viewer.clock.onTick.addEventListener(() => {
	//		viewer.scene.requestRender();
	//	});
	//	return () => {
	//		viewer.clock.onTick.removeEventListener(tick);
	//	};
	//}, []);

	function createYellowCircleCanvas(size = 40) {
		const canvas = document.createElement("canvas");
		canvas.width = size; canvas.height = size;
		const ctx = canvas.getContext("2d");
		const r = size / 2;
		ctx.beginPath();
		ctx.arc(r, r, r, 0, Math.PI * 2);
		ctx.fillStyle = "#facc15";
		ctx.fill();
		return canvas;
	}

	// ======================
	// ✅ 永久不闪烁 · 实时轨迹终极版
	// ======================

	useEffect(() => {

		const viewer = viewerRef.current;
		if (!viewer || !window.Cesium) return;

		const Cesium = window.Cesium;

		viewer.scene.requestRender();

		// =============================
		// 判断是否是无人机模式
		// =============================
		const isDroneMode = realtimeType === 'plane' || realtimeType === 'drone' || devices.some(d => d.type === 'plane' || d.type === 'drone');

		// =============================
		// 判断实时数据是否合法
		// =============================

		const hasRealtime =
			realtimePosition &&
			realtimePosition.lon &&
			realtimePosition.lat &&
			!isNaN(Number(realtimePosition.lon)) &&
			!isNaN(Number(realtimePosition.lat));

		// ====================================
		// 情况1：没有实时数据 -> 清理所有 realtime
		// ====================================

		if (!hasRealtime) {

			if (realtimeCarEntityRef.current) {
				viewer.entities.remove(realtimeCarEntityRef.current);
				realtimeCarEntityRef.current = null;
			}

			// 移除实时轨迹线
			if (realtimeLineEntityRef.current) {
				viewer.entities.remove(realtimeLineEntityRef.current);
				realtimeLineEntityRef.current = null;
			}

			realtimeCartesianRef.current = [];
			realtimeLastPointRef.current = null;
			realtimeHiddenRef.current = false;
			hasFlownRef.current = false;
			resetFlightPriority();

			// 恢复所有设备显示
			entityMapRef.current.forEach(e => {
				if (e.billboard) e.billboard.show = true;
			});

			alarmMapRef.current.forEach(e => {
				if (e.billboard) e.billboard.show = true;
			});

			iotMapRef.current.forEach(e => {
				if (e.billboard) e.billboard.show = true;
			});

			viewer.scene.requestRender();
			return;
		}

		// ====================================
		// 情况2：有实时数据 -> 隐藏 focusEntity
		// ====================================
		if (focusEntityRef.current) {
			viewer.entities.remove(focusEntityRef.current);
			focusEntityRef.current = null;
		}

		// ====================================
		// 解析实时坐标
		// ====================================
		entityMapRef.current.forEach((entity) => {
			if (entity.billboard) entity.billboard.show = false;
		});
		alarmMapRef.current.forEach((entity) => {
			if (entity.billboard) entity.billboard.show = false;
		});
		iotMapRef.current.forEach((entity) => {
			if (entity.billboard) entity.billboard.show = false;
		});

		const lon = Number(realtimePosition.lon || finishPoint.lng);
		const lat = Number(realtimePosition.lat || finishPoint.lat);

		const position = Cesium.Cartesian3.fromDegrees(lon, lat, 1);

		// ====================================
		// 无人机模式：保持原来的逻辑
		// ====================================
		if (isDroneMode || from == "deviceStatus" || from == "devicesTask") {
			// 轨迹点去抖动（防止重复点）
			const last = realtimeLastPointRef.current;
			let shouldAdd = true;

			if (last) {
				const dx = last.lon - lon;
				const dy = last.lat - lat;
				const dist = Math.sqrt(dx * dx + dy * dy);
				//if (dist < 0.0000001) {
				//	shouldAdd = false;
				//}
			}

			if (shouldAdd && drawRealTime) {
				realtimeLastPointRef.current = { lon, lat };
				realtimeCartesianRef.current.push(
					Cesium.Cartesian3.fromDegrees(lon, lat)
				);
			}

			// 第一次进入 realtime -> 隐藏所有设备
			if (!realtimeHiddenRef.current) {
				realtimeHiddenRef.current = true;

				entityMapRef.current.forEach(e => {
					if (e.billboard) e.billboard.show = false;
				});

				alarmMapRef.current.forEach(e => {
					if (e.billboard) e.billboard.show = false;
				});

				iotMapRef.current.forEach(e => {
					if (e.billboard) e.billboard.show = false;
				});
			}

			// 无人机图标
			const img = realtimeType === 'plane' || realtimeType === 'drone' ? planeImg : carImg;
			const imgWidth = 30;
			const imgHeight = 30;

			// 如果有航向角，设置旋转
			let rotation = 0;


			if (realtimePosition?.heading !== undefined && !isNaN(Number(realtimePosition.heading))) {
				let headingDeg = Number(realtimePosition.heading);
				rotation = Cesium.Math.toRadians(headingDeg);



			}



			if (!realtimeCarEntityRef.current) {
				realtimeCarEntityRef.current = viewer.entities.add({
					position: position,
					billboard: {
						image: img,
						width: imgWidth,
						height: imgHeight,
						verticalOrigin: Cesium.VerticalOrigin.CENTER,
						rotation: rotation,
						disableDepthTestDistance: Number.POSITIVE_INFINITY,
					}
				});
			} else {
				realtimeCarEntityRef.current.position = position;
				realtimeCarEntityRef.current.billboard.image = img;
				realtimeCarEntityRef.current.billboard.width = imgWidth;
				realtimeCarEntityRef.current.billboard.height = imgHeight;
				realtimeCarEntityRef.current.billboard.rotation = rotation;
			}

			// 无人机模式的实时轨迹线
			if (drawRealTime) {
				if (realtimeLineEntityRef.current) {
					// 已存在，CallbackProperty 会自动更新
				} else {
					const callbackPositions = new Cesium.CallbackProperty(() => {
						return realtimeCartesianRef.current;
					}, false);

					realtimeLineEntityRef.current = viewer.entities.add({
						polyline: {
							positions: callbackPositions,
							width: 5,
							material: new Cesium.PolylineGlowMaterialProperty({
								glowPower: 0.25,
								color: Cesium?.Color.LIME
							}),
							clampToGround: true,
							disableDepthTestDistance: Number.POSITIVE_INFINITY
						}
					});
				}
			} else {
				// 不绘制实时轨迹，移除线
				if (realtimeLineEntityRef.current) {
					viewer.entities.remove(realtimeLineEntityRef.current);
					realtimeLineEntityRef.current = null;
				}
				realtimeCartesianRef.current = [];
			}

			// 无人机模式不需要完成点逻辑，直接返回
			if (!hasFlownRef.current) {
				hasFlownRef.current = true;
				if (getCameraMode() !== "realtime") return;

				flyToView(viewer, FLIGHT_PRIORITY.realtime, {
					destination: Cesium.Cartesian3.fromDegrees(lon, lat, 30),
					orientation: {
						heading: 0,
						pitch: Cesium.Math.toRadians(-90),
						roll: 0
					},
					duration: 1.2
				});
			}

			viewer.scene.requestRender();
			return;
		}

		// ====================================
		// 机器人模式：使用 TracePoint 逻辑
		// ====================================
		const point = { lng: lon, lat: lat };

		// 如果是定位模式且 drawRealTime 为 false，保持定位模式
		if (!drawRealTime) {
			tracePointRef.current.setMode(TPMode.LOCATION);
			isNavigationModeRef.current = false;
		}

		// 更新当前点
		tracePointRef.current.upsert(point, TPAction.UPDATE);

		// 更新轨迹绘制
		updateTraceLine();

		// 第一次进入 realtime -> 隐藏所有设备
		if (!realtimeHiddenRef.current) {

			realtimeHiddenRef.current = true;

			entityMapRef.current.forEach(e => {
				if (e.billboard) e.billboard.show = false;
			});

			alarmMapRef.current.forEach(e => {
				if (e.billboard) e.billboard.show = false;
			});

			iotMapRef.current.forEach(e => {
				if (e.billboard) e.billboard.show = false;
			});

		}

		// 机器人图标
		const img = carImg;
		const imgWidth = 30;
		const imgHeight = 30;

		// 如果有航向角，设置旋转
		let rotation = 0;

		if (realtimePosition?.heading !== undefined && !isNaN(Number(realtimePosition.heading))) {
			let headingDeg = Number(realtimePosition.heading);

			rotation = Cesium.Math.toRadians(headingDeg);
		}
		if (!realtimeCarEntityRef.current) {
			realtimeCarEntityRef.current = viewer.entities.add({
				position: position,
				billboard: {
					image: img,
					width: imgWidth,
					height: imgHeight,
					verticalOrigin: Cesium.VerticalOrigin.CENTER,
					rotation: rotation,
					disableDepthTestDistance: Number.POSITIVE_INFINITY,
				}
			});
		} else {
			realtimeCarEntityRef.current.position = position;
			realtimeCarEntityRef.current.billboard.image = img;
			realtimeCarEntityRef.current.billboard.width = imgWidth;
			realtimeCarEntityRef.current.billboard.height = imgHeight;
			realtimeCarEntityRef.current.billboard.rotation = rotation;
		}

		// 机器人模式只在导航模式下显示额外的实时轨迹线
		if (drawRealTime && isNavigationModeRef.current) {
			// 轨迹点去抖动（防止重复点）
			const last = realtimeLastPointRef.current;
			let shouldAdd = true;

			if (last) {
				const dx = last.lon - lon;
				const dy = last.lat - lat;
				const dist = Math.sqrt(dx * dx + dy * dy);
				//if (dist < 0.0000001) {
				//	shouldAdd = false;
				//}
			}

			//if (shouldAdd) {
			//	realtimeLastPointRef.current = { lon, lat };
			//	realtimeCartesianRef.current.push(
			//		Cesium.Cartesian3.fromDegrees(lon, lat)
			//	);
			//}

			//if (realtimeLineEntityRef.current) {
			//	// 已存在，CallbackProperty 会自动更新
			//} else {
			//	const callbackPositions = new Cesium.CallbackProperty(() => {
			//		return realtimeCartesianRef.current;
			//	}, false);

			//	realtimeLineEntityRef.current = viewer.entities.add({
			//		polyline: {
			//			positions: callbackPositions,
			//			width: 5,
			//			material: new Cesium.PolylineGlowMaterialProperty({
			//				glowPower: 0.25,
			//				color: Cesium?.Color.LIME
			//			}),
			//			clampToGround: true,
			//			disableDepthTestDistance: Number.POSITIVE_INFINITY
			//		}
			//	});
			//}
		} else {
			// 移除实时轨迹线
			if (realtimeLineEntityRef.current) {
				viewer.entities.remove(realtimeLineEntityRef.current);
				realtimeLineEntityRef.current = null;
			}
			realtimeCartesianRef.current = [];
		}

		if (!hasFlownRef.current) {

			hasFlownRef.current = true;
			if (getCameraMode() !== "realtime") return;

			flyToView(viewer, FLIGHT_PRIORITY.realtime, {

				destination: Cesium.Cartesian3.fromDegrees(
					lon,
					lat,
					30
				),

				orientation: {
					heading: 0,
					pitch: Cesium.Math.toRadians(-90),
					roll: 0
				},

				duration: 1.2

			});

		}

		viewer.scene.requestRender();

	}, [realtimePosition]);
	// 截图功能
	const captureScreenshot = useCallback(() => {
		return new Promise((resolve) => {
			const viewer = viewerRef.current;
			if (!viewer) {
				resolve(null);
				return;
			}

			// 使用 Cesium 的截图功能
			viewer.scene.render();

			const canvas = viewer.scene.canvas;
			const dataUrl = canvas.toDataURL('image/jpeg', 0.8);
			resolve(dataUrl);
		});
	}, []);

	// 暴露 ref 方法
	useImperativeHandle(ref, () => ({
		captureScreenshot
	}));

	return (
		<div className="w-full h-full bg-slate-900 overflow-hidden relative">
			<div ref={containerRef} className="w-full h-full overflow-hidden" />
			<div
				ref={tooltipRef}
				style={{
					position: "absolute",
					display: "none",
					pointerEvents: "none",
					background: "rgba(0,0,0,0.75)",
					color: "#fff",
					padding: "8px 10px",
					borderRadius: "4px",
					fontSize: "12px",
					zIndex: 99999,
					whiteSpace: "nowrap",
				}}
			/>
		</div>
	);

});

export default CesiumMap;