修复地图 跳转的顺序问题

.workbuddy/memory/2026-09-04.md

@@ -0,0 +1,19 @@
+# 2026-09-04
+
+### 任务1：补全 SOP v2.0 文档
+- 源文件：D:\工作\绩效文档\202609\机器人智慧服务系统_SOP_v2.0_目录可点击.docx
+- 输出：同上 _已完善.docx
+- 工作内容：
+  - 为 19 章 + 5 附录共 24 个标题插入 Word 书签
+  - 将目录条目改造为内部超链接（HYPERLINK \\l 锚点）
+  - 用 matplotlib 生成 27 张界面示意图，替换所有【截图 X-Y】占位符
+  - 在登录、监控、设备控制、任务控制、AI 编排等关键位置补充 💡 使用提示
+- 工具：python-docx + matplotlib + Pillow，隔离 venv：C:\Users\15563\.workbuddy\binaries\python\envs\sopenv
+
+### 任务2：编写版本发布说明（V2.4.1 / V2.4.0 / V2.3.x）
+- 输出：D:\工作\绩效文档\202609\机器人智慧服务系统_版本发布说明_V2.4.1.docx（42.9 KB）
+- 工作内容：
+  - 基于 git log 三个分支（master / feat-suanfaceshi-0817 / feat-yanshi0821 / feat-lazyLoad-0602）梳理实际迭代历史
+  - 覆盖三个发布版本，含 1.1-1.6 / 2.1-2.6 / 3.1-3.5 完整结构
+  - 含 1 张能力对比表（4 列 14 行）
+  - 22 个 Word 书签便于跨文档引用

src/components/Map.jsx

@@ -55,6 +55,21 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 	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([]);
@@ -262,7 +277,7 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 
 				const p = validPoints[0];
 				viewer.scene.requestRender();
-				viewer.camera.flyTo({
+				flyToView(viewer, FLIGHT_PRIORITY.track, {
 					destination: Cesium.Cartesian3.fromDegrees(
 						p.lng,
 						p.lat,
@@ -284,7 +299,7 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 
 				viewer.scene.requestRender();
 
-				viewer.camera.flyTo({
+				flyToView(viewer, FLIGHT_PRIORITY.track, {
 					destination: rectangle,
 					duration: 1.2
 				});
@@ -400,7 +415,7 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 
 				const p = validPoints[0];
 				viewer.scene.requestRender();
-				viewer.camera.flyTo({
+				flyToView(viewer, FLIGHT_PRIORITY.track, {
 					destination: Cesium.Cartesian3.fromDegrees(
 						p.lng,
 						p.lat,
@@ -422,7 +437,7 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 
 				viewer.scene.requestRender();
 
-				viewer.camera.flyTo({
+				flyToView(viewer, FLIGHT_PRIORITY.track, {
 					destination: rectangle,
 					duration: 1.2
 				});
@@ -435,6 +450,7 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 
 	};
 	useEffect(() => {
+		resetFlightPriority();
 		if (polyPoints && polyPoints.length > 0) {
 			drawPolygon(polyPoints)
 		} else {
@@ -452,6 +468,7 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
 
 
 	useEffect(() => {
+		resetFlightPriority();
 		if (viewerRef.current) {
 			drawTrackLine(points);
 		}
@@ -527,7 +544,7 @@ const CesiumMap = React.forwardRef(({ ifClear, ifClearPlanLine, ifClearNavLine,
   `;
 	}
 
-const getCursorLngLat = (viewer, screenPos) => {
+	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);
@@ -846,7 +863,7 @@ const getCursorLngLat = (viewer, screenPos) => {
 				const centerLon = (minx + maxx) / 2;
 				const centerLat = (miny + maxy) / 2;
 
-				viewerRef.current.camera.flyTo({
+				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: {
@@ -994,9 +1011,12 @@ const getCursorLngLat = (viewer, screenPos) => {
 		};
 	}, []);
 
-	// 根据场站映射图层定位地图
+	// 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]);
 
@@ -1054,7 +1074,7 @@ const getCursorLngLat = (viewer, screenPos) => {
 			}
 		});
 
-		viewer.camera.flyTo({
+		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),
@@ -1081,7 +1101,7 @@ const getCursorLngLat = (viewer, screenPos) => {
 		});
 
 		const rectangle = window.Cesium.Rectangle.fromDegrees(west, south, east, north);
-		viewer.camera.flyTo({ destination: rectangle, duration: 1.5 });
+		flyToView(viewer, FLIGHT_PRIORITY.devices, { destination: rectangle, duration: 1.5 });
 	}
 
 	function parseLngLat(lon, lat) {
@@ -1530,7 +1550,7 @@ const getCursorLngLat = (viewer, screenPos) => {
 
 				const p = validPositions[0];
 
-				viewer.camera.flyTo({
+				flyToView(viewer, FLIGHT_PRIORITY.devices, {
 					destination: Cesium.Cartesian3.fromDegrees(
 						p.lon,
 						p.lat,
@@ -1548,7 +1568,7 @@ const getCursorLngLat = (viewer, screenPos) => {
 					maxLat
 				);
 
-				viewer.camera.flyTo({
+				flyToView(viewer, FLIGHT_PRIORITY.devices, {
 					destination: rectangle,
 					duration: 1.2
 				});
@@ -1731,6 +1751,7 @@ const getCursorLngLat = (viewer, screenPos) => {
 			realtimeLastPointRef.current = null;
 			realtimeHiddenRef.current = false;
 			hasFlownRef.current = false;
+			resetFlightPriority();
 
 			// 恢复所有设备显示
 			entityMapRef.current.forEach(e => {
@@ -1891,7 +1912,7 @@ const getCursorLngLat = (viewer, screenPos) => {
 				hasFlownRef.current = true;
 				if (getCameraMode() !== "realtime") return;
 
-				viewer.camera.flyTo({
+				flyToView(viewer, FLIGHT_PRIORITY.realtime, {
 					destination: Cesium.Cartesian3.fromDegrees(lon, lat, 30),
 					orientation: {
 						heading: 0,
@@ -2031,7 +2052,7 @@ const getCursorLngLat = (viewer, screenPos) => {
 			hasFlownRef.current = true;
 			if (getCameraMode() !== "realtime") return;
 
-			viewer.camera.flyTo({
+			flyToView(viewer, FLIGHT_PRIORITY.realtime, {
 
 				destination: Cesium.Cartesian3.fromDegrees(
 					lon,

src/components/devices/DeviceOverviewPage.tsx

@@ -642,7 +642,7 @@ export default function DeviceOverviewPage() {
 										<div><span style={{ color: '#ff4d4f' }}>■</span>{t('devices.s9')}</div>
 									</div>
 								</div>
-								<CesiumMap devices={devicesAll} />
+								<CesiumMap devices={devicesAll} mapLayer={currentStation?.siteMapName} />
 							</div>
 						</Card>
 

src/components/devices/RobotTaskPage.tsx

@@ -1245,6 +1245,7 @@ export default function RobotTaskPage() {
 								ifClearNavLine={clearNavLine}
 								ifClearPlanLine={clearPlanLine}
 								routeMode={routeMode}
+								mapLayer={currentStation?.siteMapName}
 							/>
 
 							{/* 机器人状态悬浮面板 - 绝对定位左上角 */}

src/components/devices/WayLinePage.tsx

@@ -39,6 +39,8 @@ export default function WayLinePage({ onRefresh }) {
 	const { t } = useTranslation();
 	const { userInfo } = useSelector((state: RootState) => state.user);
 	const { stationId } = useSelector((state: RootState) => state.station);
+	const { currentStation } = useSelector((state: RootState) => state.station);
+
 
 	const fontSmall = 'clamp(10px, 0.7vw, 11px)';
 	const fontNormal = 'clamp(12px, 0.75vw, 13px)';
@@ -896,7 +898,8 @@ export default function WayLinePage({ onRefresh }) {
 						style={{ ...cardStyle, marginBottom: 10 }}
 					>
 						<div style={{ width: '100%', height: 420, background: '#e8f3ff url(https://picsum.photos/seed/solar_map_v2/1600/1000) center/cover', position: 'relative' }}>
-							<CesiumMap realtimePosition={realtimePosition} drawRealTime={true}
+							<CesiumMap realtimePosition={realtimePosition} drawRealTime={true} mapLayer={currentStation?.siteMapName}
+
 								points={points} focusLocation={focusLocation} from="device-control" realtimeType='plane' ifClearNavLine={clearNavLine} ifClearPlanLine={clearPlanLine} />
 							<div style={{ position: 'absolute', top: 16, left: 16, background: 'rgba(255,255,255,0.92)', backdropFilter: 'blur(8px)', padding: '14px 16px', borderRadius: 10, width: 150, boxShadow: '0 4px 12px rgba(0,0,0,0.1)' }}>
 								<div style={{ fontSize: fontSmall, display: 'flex', flexDirection: 'column', gap: 10 }}>