解决了一下 机器转向的问题

env.js

@@ -18,7 +18,7 @@ const envConfig = {
 		baseURL: 'http://1.95.137.212:8081',//http://192.168.2.56:8081
 		//baseURL: 'https://serviceri.satabot.com',
 		WS_URL: 'ws://1.95.137.212:9002/ws/',
-		mqtt_url: "ws://1.95.137.212:59021/mqtt",
+		mqtt_url: "ws://1.95.137.212:8083/mqtt",
 		geoserver_url: "http://1.95.137.212:59018/geoserver"
 
 		//baseURL: 'http://1.95.137.212:59015',//http://192.168.2.56:8081

src/components/Map.jsx

@@ -1,7 +1,7 @@
 import React, { useEffect, useRef, useState, useMemo, useImperativeHandle, forwardRef, useCallback } from 'react';
-import carImg from '../assets/images/car.png';
+import carImg from '../assets/images/carplane.png';
 import inspectImg from "../assets/images/inspectCar.png"
-import planeImg from '../assets/images/plane.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';
@@ -65,6 +65,8 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 	const realtimeCarEntityRef = useRef(null);
 	const realtimeLastPointRef = useRef(null);
 	const realtimeHiddenRef = useRef(false);
+	const focusEntityRef = useRef(null);
+
 
 	const yellowCircleCanvas = useMemo(
 		() => createYellowCircleCanvas(30),
@@ -290,6 +292,7 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 
 	};
 
+
 	useEffect(() => {
 		if (viewerRef.current) {
 			drawTrackLine(points);
@@ -722,8 +725,8 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 			position,
 			billboard: {
 				image: carImg,
-				width: 60,
+				width: 30,
-				height: 60,
+				height: 30,
 				verticalOrigin: window.Cesium.VerticalOrigin.BOTTOM,
 				disableDepthTestDistance: Number.POSITIVE_INFINITY
 			},
@@ -784,7 +787,6 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 		};
 	}, []);
 
-	const focusEntityRef = useRef(null);
 
 	useEffect(() => {
 		// 如果有 realtimePosition，不显示 focusEntity
@@ -824,8 +826,8 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 			position: Cesium.Cartesian3.fromDegrees(Number(focusLocation.lon), Number(focusLocation.lat), 0),
 			billboard: {
 				image: image,
-				width: 60,
+				width: 30,
-				height: 60,
+				height: 30,
 				verticalOrigin: Cesium.VerticalOrigin.BOTTOM,
 				disableDepthTestDistance: Number.POSITIVE_INFINITY,
 			},
@@ -963,8 +965,8 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 				orientation: orientation,
 				billboard: {
 					image: carImg,
-					width: 50,
+					width: 30,
-					height: 50,
+					height: 30,
 					verticalOrigin: Cesium.VerticalOrigin.BOTTOM,
 					disableDepthTestDistance: Number.POSITIVE_INFINITY,
 					color: Cesium.Color.YELLOW.withAlpha(0.8),
@@ -1153,9 +1155,9 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 			// ==============================
 
 			let image = carImg;
-			let width = 60;
+			let width = 30;
-			let height = 60;
+			let height = 30;
-			const carsize = device?.productId == 138 ? 40 : 60;
+			const carsize = device?.productId == 138 ? 30 : 30;
 
 
 
@@ -1180,14 +1182,14 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 					device?.type === "plane" ||
 						device?.type === "drone" ||
 						device?.type === "drone-inspect"
-						? 70
+						? 30
 						: carsize;
 
 				height =
 					device?.type === "plane" ||
 						device?.type === "drone" ||
 						device?.type === "drone-inspect"
-						? 70
+						? 30
 						: carsize;
 
 			}
@@ -1554,9 +1556,9 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 				const dx = last.lon - lon;
 				const dy = last.lat - lat;
 				const dist = Math.sqrt(dx * dx + dy * dy);
-				if (dist < 0.0000001) {
+				//if (dist < 0.0000001) {
-					shouldAdd = false;
+				//	shouldAdd = false;
-				}
+				//}
 			}
 
 			if (shouldAdd && drawRealTime) {
@@ -1585,14 +1587,18 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 
 			// 无人机图标
 			const img = realtimeType === 'plane' || realtimeType === 'drone' ? planeImg : carImg;
-			const imgWidth = 70;
+			const imgWidth = 30;
-			const imgHeight = 70;
+			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);
+
+
+
 			}
 
 			//rotation = Cesium.Math.toRadians(-3.17);
@@ -1707,16 +1713,17 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 
 		// 机器人图标
 		const img = carImg;
-		const imgWidth = 60;
+		const imgWidth = 30;
-		const imgHeight = 60;
+		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,

src/components/SystemSetting/ErrorManagement.tsx

@@ -438,6 +438,7 @@ export default function ErrorManagement() {
 	];
 
 	return (
+
 		<div style={{ padding: '8px 0px', paddingTop: 8, background: '#f5f7fa', minHeight: 'calc(100vh - 120px)' }}>
 
 			<AntdCard title="错误管理" style={{ borderRadius: 8 }}>
@@ -506,7 +507,7 @@ export default function ErrorManagement() {
 					columns={columns}
 					dataSource={errorList}
 					loading={loading}
-					scroll={{ x: 1400, y: 'calc(100vh - 380px)' }}
+					scroll={{ x: 1400, y: 1200 }}
 					pagination={{
 						current: params.pageNum,
 						pageSize: params.pageSize,

src/components/devices/DeviceOverviewPage.tsx

@@ -17,6 +17,7 @@ import {
 } from '@ant-design/icons';
 
 
+
 import DroneLivePlayer from '../VolcRtcPlayer.jsx';
 import DroneVideoPlayer from './DroneVideoPlayer';
 import AgoraTextTest from '../AgoraRtc.tsx';
@@ -642,7 +643,7 @@ export default function DeviceOverviewPage({ onViewStatus, selectedSn, onDeviceS
 									title: '操作',
 									key: 'action',
 									width: 80,
-									fixed: 'right',
+									//fixed: 'right',
 									render: (_, record) => (
 										<Space size={4}>
 											{/* 编辑按钮绑定弹窗 */}
@@ -655,7 +656,7 @@ export default function DeviceOverviewPage({ onViewStatus, selectedSn, onDeviceS
 											<Button size="small" type="text" icon={<SettingOutlined />} />
 										</Space>
 									)
-								},]}
+								}]}
 							dataSource={dynamicScheduleList}
 							scroll={{ x: 'max-content', y: 280 }}
 						/>
@@ -676,6 +677,7 @@ export default function DeviceOverviewPage({ onViewStatus, selectedSn, onDeviceS
 				</Col>
 
 				<Col xs={24} lg={10}>
+
 					<Card title={<><SettingOutlined style={{ marginRight: 6, }} /> 设备控制面板</>} bordered={false} style={{ borderRadius: 8, marginBottom: 8 }} bodyStyle={{ padding: 12, paddingBottom: 0 }}>
 						<Select
 							style={{ width: "80%", marginBottom: 8 }}

src/components/devices/DeviceStatusPage.tsx

@@ -76,6 +76,43 @@ export default function DeviceStatusPage({
 	const [devicesAll, setDevicesAll] = useState([]);
 	const [arrivedPoint, setArrivedPoint] = useState(null);//完成点
 	const [isLoopMode, setIsLoopMode] = useState(true);
+	const controllerRef = useRef<DeviceController | null>(null);
+	const [messageApi, contextHolder] = message.useMessage();
+
+
+	const [isControlled, setIsControlled] = useState(false);
+	const [hasControlRight, setHasControlRight] = useState(false);
+	const [connecting, setConnecting] = useState(false);
+	const [wsStatus, setWsStatus] = useState('disconnected');
+	const [wsDeviceInfo, setWsDeviceInfo] = useState({});
+
+
+	// 👇 加上这两个
+	const [queryTimeRange, setQueryTimeRange] = useState([]); // 时间范围
+	const [startTimestamp, setStartTimestamp] = useState('');  // 开始时间戳
+	const [endTimestamp, setEndTimestamp] = useState('');      // 结束时间戳
+
+	const [isModalOpen, setIsModalOpen] = useState(false);
+	const [modalContent, setModalContent] = useState({
+		title: '',
+		content: '',
+	});
+
+	const [mowerView, setMowerView] = useState('front');
+	const [uavState, setUavState] = useState<any>(null);
+	const [points, setPoints] = useState([]);
+	const [clearNavLine, setClearNavLine] = useState(0);
+	const [clearPlanLine, setClearPlanLine] = useState(0);
+	const timerRef = useRef<any>(null);
+	// 打点相关状态
+	const [markedPoints, setMarkedPoints] = useState([]); // 标记的点
+	const [completeFlag, setCompleteFlag] = useState(false); // 是否完成路径规划
+	const [savePath, setSavePath] = useState(null); // 保存的路径数据
+	const [isSaveModalVisible, setIsSaveModalVisible] = useState(false); // 保存模态框可见性
+	const [plotName, setPlotName] = useState(''); // 地块名称
+	const [isSaving, setIsSaving] = useState(false); // 是否正在保存
+	const mapRef = useRef(null); // 地图 ref
+
 
 	// 开关切换回调
 	const handleChange = (checked: boolean) => {
@@ -297,43 +334,7 @@ export default function DeviceStatusPage({
 	// 实时位置数据（用于地图）
 
 
-	const [messageApi, contextHolder] = message.useMessage();
 
-	const controllerRef = useRef<DeviceController | null>(null);
-
-	const [isControlled, setIsControlled] = useState(false);
-	const [hasControlRight, setHasControlRight] = useState(false);
-	const [connecting, setConnecting] = useState(false);
-	const [wsStatus, setWsStatus] = useState('disconnected');
-	const [wsDeviceInfo, setWsDeviceInfo] = useState({});
-	const [selectedDrone, setSelectedDrone] = useState(null);
-	const [taskList, setTaskList] = useState([]);
-
-	// 👇 加上这两个
-	const [queryTimeRange, setQueryTimeRange] = useState([]); // 时间范围
-	const [startTimestamp, setStartTimestamp] = useState('');  // 开始时间戳
-	const [endTimestamp, setEndTimestamp] = useState('');      // 结束时间戳
-
-	const [isModalOpen, setIsModalOpen] = useState(false);
-	const [modalContent, setModalContent] = useState({
-		title: '',
-		content: '',
-	});
-
-	const [mowerView, setMowerView] = useState('front');
-	const [uavState, setUavState] = useState<any>(null);
-	const [points, setPoints] = useState([]);
-	const [clearNavLine, setClearNavLine] = useState(0);
-	const [clearPlanLine, setClearPlanLine] = useState(0);
-	const timerRef = useRef<any>(null);
-	// 打点相关状态
-	const [markedPoints, setMarkedPoints] = useState([]); // 标记的点
-	const [completeFlag, setCompleteFlag] = useState(false); // 是否完成路径规划
-	const [savePath, setSavePath] = useState(null); // 保存的路径数据
-	const [isSaveModalVisible, setIsSaveModalVisible] = useState(false); // 保存模态框可见性
-	const [plotName, setPlotName] = useState(''); // 地块名称
-	const [isSaving, setIsSaving] = useState(false); // 是否正在保存
-	const mapRef = useRef(null); // 地图 ref
 
 	const runningStatus = useMemo(() => {
 		// 判断对象是否为空
@@ -382,7 +383,8 @@ export default function DeviceStatusPage({
 			return {
 				lon: robotLon,
 				lat: robotLat,
-				heading: runningStatus.pitch || wsDeviceInfo.pitch || 0,
+				//heading: 0
+				heading: runningStatus.yaw || wsDeviceInfo.yaw || 0,
 			};
 		}
 
@@ -420,7 +422,11 @@ export default function DeviceStatusPage({
 	}, []);
 
 	useEffect(() => {
-		if (!device || !controllerRef.current || !device?.serialNumber || isUAV) return;
+		if (!device || !controllerRef.current || !device?.serialNumber || isUAV) {
+			//controllerRef.current?.destroy();
+			//setWsDeviceInfo({});
+			return;
+		}
 		setWsDeviceInfo({});
 
 		controllerRef.current.connectDevice(device);

src/index.css

@@ -142,6 +142,12 @@ h4, .ant-typography h4 { font-size: clamp(1rem, 1.5vw, 1.25rem) !important; }
 }
 
 
+.ant-table-body {
+  overflow: auto !important; /* 超出高度时显示滚动条 */
+}
+
+
+
 
 @keyframes sunRotate {
   from { transform: rotate(0deg); }
@@ -155,3 +161,4 @@ h4, .ant-typography h4 { font-size: clamp(1rem, 1.5vw, 1.25rem) !important; }
   0% { transform: translateY(0); opacity: 1; }
   100% { transform: translateY(12px); opacity: 0.4; }
 }
+