From f0e1c14644371c648fee91e5143d2367c42bf4eb Mon Sep 17 00:00:00 2001
From: mmc <1556375442@qq.com>
Date: Fri, 4 Sep 2026 16:22:28 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E5=A4=8D=E5=9C=B0=E5=9B=BE=20?=
=?UTF-8?q?=E8=B7=B3=E8=BD=AC=E7=9A=84=E9=A1=BA=E5=BA=8F=E9=97=AE=E9=A2=98?=
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Content-Type: text/plain; charset=UTF-8
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---
.workbuddy/memory/2026-09-04.md | 19 ++++++++
src/components/Map.jsx | 47 ++++++++++++++-----
src/components/devices/DeviceOverviewPage.tsx | 2 +-
src/components/devices/RobotTaskPage.tsx | 1 +
src/components/devices/WayLinePage.tsx | 5 +-
5 files changed, 59 insertions(+), 15 deletions(-)
create mode 100644 .workbuddy/memory/2026-09-04.md
diff --git a/.workbuddy/memory/2026-09-04.md b/.workbuddy/memory/2026-09-04.md
new file mode 100644
index 0000000..cdbd101
--- /dev/null
+++ b/.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
\ No newline at end of file
diff --git a/src/components/Map.jsx b/src/components/Map.jsx
index 4763133..fd6b295 100644
--- a/src/components/Map.jsx
+++ b/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,
diff --git a/src/components/devices/DeviceOverviewPage.tsx b/src/components/devices/DeviceOverviewPage.tsx
index b930b2e..88afea9 100644
--- a/src/components/devices/DeviceOverviewPage.tsx
+++ b/src/components/devices/DeviceOverviewPage.tsx
@@ -642,7 +642,7 @@ export default function DeviceOverviewPage() {
■{t('devices.s9')}
-
+
diff --git a/src/components/devices/RobotTaskPage.tsx b/src/components/devices/RobotTaskPage.tsx
index 6c5c918..48879bf 100644
--- a/src/components/devices/RobotTaskPage.tsx
+++ b/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 */}
diff --git a/src/components/devices/WayLinePage.tsx b/src/components/devices/WayLinePage.tsx
index e56e9b6..7437ac0 100644
--- a/src/components/devices/WayLinePage.tsx
+++ b/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 }}
>