和算法测试成功第一步状态界面看到经纬度信息和保存可以成功

2026-08-19 17:00:07 +08:00
parent 5073f64240
commit be8576b887
9 changed files with 237 additions and 180 deletions
--- a/env.js
+++ b/env.js
@@ -15,11 +15,13 @@ const envConfig = {
 		//mqtt_url: "ws://1.95.137.212:8083/mqtt",
 		//geoserver_url: "http://192.168.2.59:7000/geoserver"

-		baseURL: 'http://1.95.137.212:8081',//http://192.168.2.56:8081
+		//baseURL: 'http://1.95.137.212:8081',//http://192.168.2.56:8081
+		baseURL: 'http://192.168.2.34:8081',//http://192.168.2.56:8081
 		//baseURL: 'https://serviceri.satabot.com',
-		WS_URL: 'ws://1.95.137.212:9002/ws/',
+		//WS_URL: 'ws://1.95.137.212:9002/ws/',
+		WS_URL: 'ws://192.168.2.34:9002/ws/',
 		mqtt_url: "ws://1.95.137.212:8083/mqtt",
-		geoserver_url: "http://1.95.137.212:59018/geoserver"
+		geoserver_url: "http://1.95.137.212:7900/geoserver"

 		//baseURL: 'http://1.95.137.212:59015',//http://192.168.2.56:8081
 		////baseURL: 'https://serviceri.satabot.com',
@@ -40,7 +42,7 @@ const envConfig = {
 		//baseURL: 'https://serviceri.satabot.com',
 		WS_URL: 'ws://1.95.137.212:9002/ws/',
 		mqtt_url: "ws://1.95.137.212:8083/mqtt",
-		geoserver_url: "http://1.95.137.212:59018/geoserver"
+		geoserver_url: "http://1.95.137.212:7900/geoserver"
 	},
 };

--- a/src/api/device.ts
+++ b/src/api/device.ts
@@ -455,6 +455,15 @@ export function hasPermission(params) {
 	})
 }

+///iot/workRecord/getTaskPath?taskId=74   get  获取算法回传的路径
+export function getTaskPath(params) {
+	return request({
+		url: '/iot/workRecord/getTaskPath',
+		method: 'get',
+		params
+	})
+}
+



--- a/src/components/Map.jsx
+++ b/src/components/Map.jsx
@@ -344,7 +344,7 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 	}, [markedPoints]);

 	function showRobotTooltip(tooltip, robot, position) {
-	const { t } = useTranslation();
+		const { t } = useTranslation();
 		const statusMap = {
 			1: { text: t('common.working'), color: "#10b981" },
 			2: { text: t('devices.idle'), color: "#f59e0b" },
@@ -498,6 +498,9 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 		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')) {
@@ -1599,7 +1602,6 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,

 			// 如果有航向角，设置旋转
 			let rotation = 0;
-			console.log('realtimePosition.heading:', realtimePosition.heading);


 			if (realtimePosition?.heading !== undefined && !isNaN(Number(realtimePosition.heading))) {
--- a/src/components/SystemSetting/SmartDeviceManagement.tsx
+++ b/src/components/SystemSetting/SmartDeviceManagement.tsx
@@ -484,7 +484,7 @@ export default function SmartDeviceManagement({
 							))}
 						</Select>
 					</Form.Item>
-					<Form.Item label={t('systemSetting.leader')} name="userId" rules={[{ required: true, message: t('systemSetting.fixed2PleaseSelectFixed2LeaderFixed2') }]}>
+					<Form.Item label={t('systemSetting.leader')} name="userId" >
 						<Select
 							placeholder={t('systemSetting.leaderFixed2')}
 							allowClear
--- a/src/components/devices/DeviceStatusPage.tsx
+++ b/src/components/devices/DeviceStatusPage.tsx
@@ -95,6 +95,7 @@ export default function DeviceStatusPage() {
 	const [connecting, setConnecting] = useState(false);
 	const [wsStatus, setWsStatus] = useState('disconnected');
 	const [wsDeviceInfo, setWsDeviceInfo] = useState({});
+	const [locationInfo, setLocationInfo] = useState({});


 	// 👇 加上这两个
@@ -387,8 +388,9 @@ export default function DeviceStatusPage() {


 	const runningStatus = useMemo(() => {
+		console.log(locationInfo, "locationInfo")
 		// 判断对象是否为空
-		if ((!wsDeviceInfo || Object.keys(wsDeviceInfo).length === 0) && !isUAV) {
+		if ((!wsDeviceInfo || Object.keys(wsDeviceInfo).length === 0) && (!locationInfo || Object.keys(locationInfo).length === 0) && !isUAV) {
 			return {};
 		}
 		if (isUAV) {
@@ -403,8 +405,10 @@ export default function DeviceStatusPage() {
 			: {
 				...base,
 				...wsDeviceInfo,
+				...locationInfo
 			};
-	}, [device, wsDeviceInfo, isUAV]);
+	}, [device, wsDeviceInfo, isUAV, locationInfo]);
+	console.log(runningStatus, "runningStatus")

 	const { video: robotVideo, error, ready } = useWebRTCPlayer(
 		(!isUAV && isVideoPlaying) ? (device?.serialNumber || '') : '',
@@ -433,8 +437,8 @@ export default function DeviceStatusPage() {
 		}

 		// 2. 机器人：从 wsDeviceInfo / runningStatus 取实时经纬度
-		const robotLon = runningStatus.longitude || wsDeviceInfo.longitude;
-		const robotLat = runningStatus.latitude || wsDeviceInfo.latitude;
+		const robotLon = runningStatus.longitude || locationInfo.longitude;
+		const robotLat = runningStatus.latitude || locationInfo.latitude;

 		if (robotLon && robotLat) {
 			return {
@@ -453,6 +457,7 @@ export default function DeviceStatusPage() {
 		const controller = new DeviceController(userInfo, messageApi);

 		controller.onDeviceInfoUpdate = setWsDeviceInfo;
+		controller.onLocationInfoUpdate = setLocationInfo;
 		controller.onControlStatusChange = setIsControlled;
 		controller.onHasControlRightChange = setHasControlRight;
 		controller.onRequestControlStatusChange = setConnecting;
@@ -485,6 +490,7 @@ export default function DeviceStatusPage() {
 			return;
 		}
 		setWsDeviceInfo({});
+		setLocationInfo({});

 		controllerRef.current.connectDevice(device);

@@ -656,103 +662,6 @@ export default function DeviceStatusPage() {
 	};

 	// 完成功能 - 调用路径规划接口
-	const handleComplete = async () => {
-		//如果时弓子模式
-		if (isLoopMode) {
-			if (markedPoints.length < 3) {
-				messageApi.warning(t('devices.minThreePoints'));
-				return;
-			}
-
-			try {
-				// 准备路径规划请求参数
-				const positionPoints = [...markedPoints];
-
-
-				const requestParams = {
-					reference: {
-						lat: positionPoints[0].lat,
-						lon: positionPoints[0].lon,
-					},
-					heading: 0,
-					outer: {
-						position: positionPoints.map(point => ({
-							lat: point.lat,
-							lon: point.lon,
-						})),
-						sideWidth: 0.0,
-					},
-					holes: [],
-					workType: 0,
-				};
-
-				const response = await fetch('https://servicepathplan.satabot.com/api/path', {
-					method: 'POST',
-					headers: {
-						'Content-Type': 'application/json',
-					},
-					body: JSON.stringify(requestParams),
-				});
-
-				const result = await response.json();
-
-				if (result) {
-					const path = result?.data?.path?.map(p => {
-						return {
-							lng: p.lon,
-							lat: p.lat
-						}
-					})
-					setPoints(path);
-					setSavePath({
-						path: path, // 存储返回的路径结果
-						outer: requestParams?.outer?.position?.map(p => {
-							return {
-								lng: p.lon,
-								lat: p.lat
-							}
-						}
-						),
-						planModel: 0,
-					});
-					setCompleteFlag(true);
-					messageApi.success(t('devices.pathPlanDone'));
-				}
-			} catch (error) {
-				console.error('路径规划失败:', error);
-				messageApi.error(t('devices.pathPlanFailRetry'));
-			}
-		} else {
-			const positionPoints = [...markedPoints].map(item => {
-				return {
-					lng: item.lon,
-					lat: item.lat
-
-				}
-			});
-
-			setPoints(positionPoints);
-			setSavePath({
-				path: positionPoints, // 存储返回的路径结果
-				outer: [],
-				planModel: 2,
-			});
-			setCompleteFlag(true);
-		}
-
-	};
-
-	// 打开保存模态框
-	const handleOpenSaveModal = () => {
-		if (!completeFlag) {
-			messageApi.warning(t('devices.completePathFirst'));
-			return;
-		}
-		setPlotName('');
-		setIsSaveModalVisible(true);
-	};
-
-	// 保存功能
 	const handleSave = async () => {
 		if (!plotName.trim()) {
 			messageApi.warning(t('devices.inputPlotName'));
@@ -761,6 +670,15 @@ export default function DeviceStatusPage() {

 		setIsSaving(true);
 		try {
+			// ✅重点：接收handleComplete返回的path数据，不再读组件savePath state
+			const pathResult = await handleComplete();
+			if (!pathResult) {
+				messageApi.warning(t('devices.saveFail'));
+
+				// 路径规划失败/校验不通过直接终止
+				return;
+			}
+
 			// 1. 获取地图截图
 			let screenshotDataUrl = null;
 			if (mapRef.current) {
@@ -776,18 +694,20 @@ export default function DeviceStatusPage() {
 				const file = dataUrlToFile(screenshotDataUrl, "screenshot.jpg");
 				console.log("blob", file)

-
 				if (file instanceof File) {
 					formData.append('file', file);
 				}
 			}

-			// 4. 添加 workRecord
+			// 4. 添加 workRecord，直接使用函数返回的 pathResult，不读取state savePath
 			const workRecord = {
 				workName: plotName,
 				siteId: stationId,
-				jsonData: savePath,
+				orgId: currentStation?.orgId,
+				jsonData: pathResult, // 直接用返回值，彻底规避state异步延迟
+				mode: isLoopMode ? "coverage" : "single_point",//"区域还是单点"
 			};
+			console.log("workRecord", workRecord)
 			formData.append(
 				"workRecord",
 				new Blob([JSON.stringify(workRecord)], {
@@ -795,8 +715,6 @@ export default function DeviceStatusPage() {
 				})
 			);

-			//formData.append('workRecord', JSON.stringify(workRecord));
-
 			// 5. 调用保存接口
 			const res = await addRoute(formData);

@@ -818,6 +736,95 @@ export default function DeviceStatusPage() {
 		}
 	};

+
+	/**
+	 * 修改handleComplete：计算完成后 return路径对象；失败返回null
+	 */
+	const handleComplete = async () => {
+		//如果是闭环模式
+		if (isLoopMode) {
+			if (markedPoints.length < 3) {
+				messageApi.warning(t('devices.minThreePoints'));
+				return null; //校验失败返回null
+			}
+
+			try {
+				// 准备路径规划请求参数
+				let positionPoints = [...markedPoints];
+
+				// =========新增：保证闭环，第一个点和最后一个点一致=========
+				const firstPt = positionPoints[0];
+				const lastPt = positionPoints[positionPoints.length - 1];
+				// 判断经纬度是否相等，不相等就把首点追加到末尾
+				if (!(firstPt.lat === lastPt.lat && firstPt.lon === lastPt.lon)) {
+					positionPoints.push({ ...firstPt });
+				}
+
+				const requestParams = {
+					outer: {
+						position: positionPoints.map(point => ({
+							lat: point.lat,
+							lng: point.lon,
+						})),
+					},
+				};
+
+				const path = requestParams?.outer?.position
+				setPoints(path);
+
+				const resultObj = {
+					path: path,
+					outer: requestParams?.outer?.position?.map(p => {
+						return {
+							lng: p.lon,
+							lat: p.lat
+						}
+					}),
+				};
+
+				setSavePath(resultObj);
+				setCompleteFlag(true);
+				messageApi.success(t('devices.pathPlanDone'));
+				return resultObj; // ✅返回计算好的数据给上层调用
+			} catch (error) {
+				console.error('路径规划失败:', error);
+				messageApi.error(t('devices.pathPlanFailRetry'));
+				return null;
+			}
+		} else {
+			// 单点模式
+			const positionPoints = [...markedPoints].map(item => {
+				return {
+					lng: item.lon,
+					lat: item.lat
+				}
+			});
+
+			setPoints(positionPoints);
+
+			const resultObj = {
+				path: positionPoints,
+				outer: [],
+			};
+			setSavePath(resultObj);
+			setCompleteFlag(true);
+
+			return resultObj; // ✅返回
+		}
+	};
+
+	// 打开保存模态框
+	const handleOpenSaveModal = () => {
+		//if (!completeFlag) {
+		//	messageApi.warning(t('devices.completePathFirst'));
+		//	return;
+		//}
+		setPlotName('');
+		setIsSaveModalVisible(true);
+	};
+
+
+
 	const realtimeType = useMemo(() => {
 		return isUAV ? 'plane' : 'car';
 	}, [isUAV]);
@@ -856,8 +863,8 @@ export default function DeviceStatusPage() {
 						}}
 					>
 						<div style={{ display: 'flex', alignItems: 'center', gap: 12 }}>
-						<Text strong>{t('devices.pathPlanning')}：</Text>
-						<Text type="secondary">{t('devices.markedPointsCount', { count: markedPoints.length })}</Text>
+							<Text strong>{t('devices.pathPlanning')}：</Text>
+							<Text type="secondary">{t('devices.markedPointsCount', { count: markedPoints.length })}</Text>
 						</div>
 						<Space size="middle">
 							<Space>
@@ -882,18 +889,18 @@ export default function DeviceStatusPage() {
 							>
 								{t('devices.clearMarks')}
 							</Button>
-							<Button
+							{/*<Button
 								type="primary"
 								ghost
 								onClick={handleComplete}
 								disabled={markedPoints.length < 2}
 							>
 								{t('devices.complete')}
-							</Button>
+							</Button>*/}
 							<Button
 								type="primary"
 								onClick={handleOpenSaveModal}
-								disabled={!completeFlag}
+							//disabled={!completeFlag}
 							>
 								{t('common.save')}
 							</Button>
@@ -961,7 +968,7 @@ export default function DeviceStatusPage() {
 								title={
 									<>
 										<VideoCameraOutlined />
-{t('devices.stationVideo')}
+										{t('devices.stationVideo')}
 									</>
 								}
 								bordered={false}
@@ -1039,7 +1046,7 @@ export default function DeviceStatusPage() {
 								title={
 									<>
 										<VideoCameraOutlined />
-{t('devices.droneVideo')}
+										{t('devices.droneVideo')}
 									</>
 								}
 								bordered={false}
@@ -1103,33 +1110,33 @@ export default function DeviceStatusPage() {
 									}}>
 										<div style={{ marginBottom: 6, fontWeight: 600, color: '#1890ff' }}>{t('devices.robotStatus')}</div>
 										<div style={{ display: 'flex', gap: '3px 10px', flexWrap: 'wrap' }}>
-											<span>{t('devices.rtBattery')}</span>
+											<span>{t('devices.rtBattery')}:</span>
 											<span style={{ color: (runningStatus.battery || 0) < 20 ? '#ff4d4f' : '#52c41a' }}>
 												{runningStatus.battery !== undefined ? `${runningStatus.battery}%` : '-'}
 											</span>
-											<span>{t('devices.rtVoltage')}</span>
+											<span>{t('devices.rtVoltage')}:</span>
 											<span>{runningStatus.voltage !== undefined ? `${Number(runningStatus.voltage).toFixed(2)}V` : '-'}</span>
-											<span>{t('devices.rtLeftMotor')}</span>
+											<span>{t('devices.rtLeftMotor')}:</span>
 											<span>{runningStatus.leftCurrent !== undefined ? `${Number(runningStatus.leftCurrent).toFixed(2)}A` : '-'}</span>
-											<span>{t('devices.rtRightMotor')}</span>
+											<span>{t('devices.rtRightMotor')}:</span>
 											<span>{runningStatus.rightCurrent !== undefined ? `${Number(runningStatus.rightCurrent).toFixed(2)}A` : '-'}</span>
-											<span>{t('devices.rtLeftSpeed')}</span>
+											<span>{t('devices.rtLeftSpeed')}:</span>
 											<span>{runningStatus.leftMeasureSpeed !== undefined ? `${Number(runningStatus.leftMeasureSpeed).toFixed(1)}rpm` : '-'}</span>
-											<span>{t('devices.rtRightSpeed')}</span>
+											<span>{t('devices.rtRightSpeed')}:</span>
 											<span>{runningStatus.rightMeasureSpeed !== undefined ? `${Number(runningStatus.rightMeasureSpeed).toFixed(1)}rpm` : '-'}</span>
-											<span>{t('devices.rtLeftTemp')}</span>
+											<span>{t('devices.rtLeftTemp')}:</span>
 											<span>{runningStatus.leftMotorTemp !== undefined ? `${Number(runningStatus.leftMotorTemp).toFixed(1)}℃` : '-'}</span>
-											<span>{t('devices.rtRightTemp')}</span>
+											<span>{t('devices.rtRightTemp')}:</span>
 											<span>{runningStatus.rightMotorTemp !== undefined ? `${Number(runningStatus.rightMotorTemp).toFixed(1)}℃` : '-'}</span>
-											<span>{t('devices.rtMainTemp')}</span>
+											<span>{t('devices.rtMainTemp')}:</span>
 											<span>{runningStatus.chipTemp !== undefined ? `${Number(runningStatus.chipTemp).toFixed(1)}℃` : '-'}</span>
-											<span>{t('devices.rtHeadingAngle')}</span>
+											<span>{t('devices.rtHeadingAngle')}:</span>
 											<span>{runningStatus.yaw !== undefined ? `${Number(runningStatus.yaw).toFixed(1)}°` : '-'}</span>
-											<span>{t('devices.rtPitchAngle')}</span>
+											<span>{t('devices.rtPitchAngle')}:</span>
 											<span>{runningStatus.pitch !== undefined ? `${Number(runningStatus.pitch).toFixed(1)}°` : '-'}</span>
-											<span>{t('devices.rtHeadingStatus')}</span>
+											<span>{t('devices.rtHeadingStatus')}:</span>
 											<span>{runningStatus.headingStatus !== undefined ? `${runningStatus.headingStatus == 1 ? t('devices.rtInitialized') : t('devices.uninitialized')}` : '-'}</span>
-											<span>{t('devices.rtPositioning')}</span>
+											<span>{t('devices.rtPositioning')}:</span>
 											<span>
 												{runningStatus.qual == 0 ? t('constants.locationInvalid') :
 													runningStatus.qual == 1 ? t('devices.gpsSingle') :
@@ -1137,9 +1144,9 @@ export default function DeviceStatusPage() {
 															runningStatus.qual == 4 ? t('devices.rtkFixed2') :
 																runningStatus.qual == 5 ? t('devices.rtkFloat') : t('constants.locationUnknown')}
 											</span>
-											<span>{t('devices.rtSatellites')}</span>
+											<span>{t('devices.rtSatellites')}:</span>
 											<span>{t('devices.satelliteCount', { count: runningStatus.satelliteCnt || 0 })}</span>
-											<span>{t('devices.rtMode')}</span>
+											<span>{t('devices.rtMode')}:</span>
 											<span>
 												{runningStatus.controlMode == 1 ? t('devices.localMode') :
 													runningStatus.controlMode == 3 ? t('devices.remoteMode') : t('constants.locationUnknown')}
@@ -1322,7 +1329,7 @@ export default function DeviceStatusPage() {
 								title={
 									<>
 										<ControlOutlined />
-{t('devices.remoteControl')}
+										{t('devices.remoteControl')}
 									</>
 								}
 								bordered={false}
--- a/src/components/devices/RobotTaskPage.tsx
+++ b/src/components/devices/RobotTaskPage.tsx
@@ -5,7 +5,8 @@ import {
 	Modal, InputNumber,
 	TimePicker,
 	Popconfirm,
-	App
+	App,
+	Radio
 } from 'antd';
 import {
 	PlusOutlined, ImportOutlined, NodeIndexOutlined,
@@ -35,6 +36,7 @@ import {
 	getSiteDeviceTaskHistory,
 	getRouteByTask,
 	deleteRoute,
+	getTaskPath,
 } from '../../api/device';
 import dayjs from 'dayjs';
 import DraggableBox from '../Draggable';
@@ -116,6 +118,8 @@ export default function RobotTaskPage() {
 		robot: null,
 		dateRange: null,
 	});
+	// 取消任务模式 normal普通取消  force强制取消
+	const [cancelMode, setCancelMode] = useState<'normal' | 'force'>('normal');



@@ -244,7 +248,7 @@ export default function RobotTaskPage() {
 	useEffect(() => {
 		const controller = new DeviceController(userInfo, messageApi);

-		controller.onDeviceInfoUpdate = setRobotRealtimePosition;
+		controller.onLocationInfoUpdate = setRobotRealtimePosition;
 		controller.onIsFinished = handleFinish;
 		controller.handleArrivedPoint = handleFinishEdPoint;

@@ -394,22 +398,14 @@ export default function RobotTaskPage() {
 		// 调用接口获取路线详情
 		const fetchRouteDetail = async () => {
 			try {
-				const res = await getSingleRouteList({ id: selectedPathWork.id });
+				const res = await getTaskPath({ taskId: selectedPathWork.id })
+				//const res = await getSingleRouteList({ id: selectedPathWork.id });
 				if (res?.code === 200 && res?.data) {
 					let pathPoints = [];
-					let outerPoints = [];
-					let method = '';//0弓子  2 回子
+
 					try {
 						// 尝试解析 JSON
-						if (res.data.jsonData) {
-							const data = typeof res.data.jsonData === 'string'
-								? JSON.parse(res.data.jsonData)
-								: res.data.jsonData;
-							pathPoints = data?.path || [];
-							outerPoints = data?.outer || [];
-							method = data?.planModel;
-
-						}
+						pathPoints = res.data || [];
 					} catch (err) {
 						console.error('解析路线数据失败：', err);
 					}
@@ -417,15 +413,9 @@ export default function RobotTaskPage() {
 					if (pathPoints.length === 0) {
 						utils.message.warning(t('devices.route2'));
 					}
-					//if (outerPoints.length === 0 && method == 2) {
-					//	utils.message.warning(t('devices.route2'));
-					//}
-					//if (method == 0) {
-					setPoints(pathPoints);
-					//} else {
-					//	setPoints(outerPoints);

-					//}
+					setPoints(pathPoints);
+
 				} else {
 					setPoints([]);
 				}
@@ -653,13 +643,14 @@ export default function RobotTaskPage() {
 	};

 	// 取消任务
-	const handleCancelTask = async (task) => {
+	const handleCancelTask = async (task, mode) => {
 		try {
 			const params = {
 				taskId: task.id,
 				//deviceId: task.deviceId,
 				siteId: stationId,
 				orgId: task.orgId,
+				forceCancel: mode === 'force' ? true : false,
 			};
 			const res = await cancelRoute(params);
 			if (res.code === 200 && res.data == true) {
@@ -832,15 +823,17 @@ export default function RobotTaskPage() {
 			dataIndex: 'taskStaus',
 			width: 100,
 			render: (status, record) => {
+				console.log('status', status, record);
 				const statusMap = {
 					'NEW': { color: 'default', text: t('devices.statusNew') },
 					'EXECUTING': { color: 'processing', text: t('workOrder.inProgress') },
 					'PAUSE': { color: 'warning', text: t('devices.statusPaused') },
 					'FINISH': { color: 'success', text: t('devices.statusFinished') },
-					'FAILED': { color: 'error', text: t('devices.statusFailed') }
+					'FAILED': { color: 'error', text: t('devices.statusFailed') },
+					"CANCELING": { color: 'warning', text: t('devices.statusCanceling') },
 				};
 				const item = statusMap[status] || { color: 'default', text: record.taskStausTranslate || t('constants.locationUnknown') };
-				return <Tag color={item.color}>{item.text}</Tag>;
+				return <Tag color={item.color}>{record.taskStausTranslate}</Tag>;
 			}
 		},
 		{
@@ -889,7 +882,8 @@ export default function RobotTaskPage() {
 					'EXECUTING': { color: 'processing', text: t('workOrder.inProgress') },
 					'PAUSE': { color: 'warning', text: t('devices.statusPaused') },
 					'FINISH': { color: 'success', text: t('devices.statusFinished') },
-					'FAILED': { color: 'error', text: t('devices.statusFailed') }
+					'FAILED': { color: 'error', text: t('devices.statusFailed') },
+					"CANCELING": { color: 'warning', text: t('devices.statusCanceling') },
 				};
 				const item = statusMap[status] || { color: 'default', text: t('constants.locationUnknown') };
 				return <Tag color={item.color}>{item.text}</Tag>;
@@ -909,27 +903,46 @@ export default function RobotTaskPage() {

 					<>
 						{/*{record.taskStaus === 'NEW' && (*/}
-					<Popconfirm
-						title={t('devices.confirmCancelTask')}
-						onConfirm={() => handleCancelTask(record)}
-						okText={t('common.ok')} cancelText={t('common.cancel')}
-					>
-						<Button type="text" size="small" danger icon={<CloseOutlined />} onClick={(e) => e.stopPropagation()}>
-							{t('common.cancel')}
-						</Button>
-					</Popconfirm>
+						<Popconfirm
+							title={t('devices.confirmCancelTask')}
+							description={
+								<Radio.Group
+									value={cancelMode}
+									onChange={(e) => setCancelMode(e.target.value)}
+									style={{ marginTop: 8 }}
+								>
+									<Space direction="vertical">
+										<Radio value="normal">{t('devices.normalCancel')}</Radio>
+										<Radio value="force">{t('devices.forceCancel')}</Radio>
+									</Space>
+								</Radio.Group>
+							}
+							onConfirm={() => handleCancelTask(record, cancelMode)}
+							okText={t('common.ok')}
+							cancelText={t('common.cancel')}
+						>
+							<Button
+								type="text"
+								size="small"
+								danger
+								icon={<CloseOutlined />}
+								onClick={(e) => e.stopPropagation()}
+							>
+								{t('common.cancel')}
+							</Button>
+						</Popconfirm>
 						{/*//)}*/}

 						{/*{record.taskStaus === 'EXECUTING' && (*/}
-					<Popconfirm
-						title={t('devices.confirmPauseTask')}
-						onConfirm={() => handlePauseTask(record)}
-						okText={t('common.ok')} cancelText={t('common.cancel')}
-					>
-						<Button type="text" size="small" style={{ color: '#FF9500' }} onClick={(e) => e.stopPropagation()}>
-							{t('video.pause')}
-						</Button>
-					</Popconfirm>
+						<Popconfirm
+							title={t('devices.confirmPauseTask')}
+							onConfirm={() => handlePauseTask(record)}
+							okText={t('common.ok')} cancelText={t('common.cancel')}
+						>
+							<Button type="text" size="small" style={{ color: '#FF9500' }} onClick={(e) => e.stopPropagation()}>
+								{t('video.pause')}
+							</Button>
+						</Popconfirm>
 						{/*)}/*/}

 						{record.taskStaus === 'PAUSE' && (
--- a/src/components/devices/deviceController.js
+++ b/src/components/devices/deviceController.js
@@ -27,11 +27,14 @@ export default class DeviceController {

 		this.wsStatus = 'disconnected';
 		this.wsDeviceInfo = {};
+		this.locationInfo = {};

 		this.controlTimeout = null;
 		this.keepAliveInterval = null; // 后台保活定时器

 		this.onDeviceInfoUpdate = null;
+		this.onLocationInfoUpdate = null;
+
 		this.onControlStatusChange = null;
 		this.onWsStatusChange = null;
 		this.onHasControlRightChange = null;
@@ -156,6 +159,7 @@ export default class DeviceController {

 		this.connectedDeviceSn = null;
 		this.wsDeviceInfo = {};
+		this.locationInfo = {};
 		this.isControlled = false;
 		this.onControlStatusChange?.(false);

@@ -263,6 +267,15 @@ export default class DeviceController {
 				this.onDeviceInfoUpdate?.(data);
 				break;
 			}
+			case 'locationInfo': {
+				const data = {};
+				msg.data.forEach((item) => {
+					data[item.name] = item.value;
+				});
+				this.locationInfo = data;
+				this.onLocationInfoUpdate?.(data);
+				break;
+			}

 			case 'AUTH': {
 				if (msg.isAuth) {
--- a/src/locales/en/index.ts
+++ b/src/locales/en/index.ts
@@ -989,6 +989,10 @@ const en = {
 		working: 'Working',
 		workingCurrent: 'Working Current',
 		zoomLens: 'Zoom Lens',
+		controllerNotConnected: "controllerNotConnected",
+		otherWebConnected: "otherWebConnected",
+		clickToRequestControl: "clickToRequestControl",
+		control2: "connecting",

 		fixed2TaskSuspended2: 'Fixed2 Task Suspended2 态势',

--- a/src/locales/zh/index.ts
+++ b/src/locales/zh/index.ts
@@ -558,6 +558,13 @@ const zh = {
 		fillRequiredFields: '填写必填字段',
 		firmwareVersion: '固件版本',
 		fixed: '固定',
+		controllerNotConnected: "控制器未连接",
+		otherWebConnected: "其他网页已连接",
+		clickToRequestControl: "点击请求控制",
+		control2: "已连接",
+
+		controlling: "控制中",
+
 		fixed2: '',
 		fixedEnv: '固定环境',
 		flightAltitude: '飞行高度',