feat: 更新路径坐标处理逻辑，增加监控模式下的条件判断

src/apis/map/constant.ts

@@ -18,6 +18,8 @@ export enum MapPointType {
   临时避让点,
   /** 库区点 - 仓储作业区域 */
   库区点,
+  /** 不可避让点 - 机器人不可避让的点位 */
+  不可避让点 = 7,
   /** 密集库区点 - 密集库区点位 */
   // 密集库区点,
 

src/apis/map/type.ts

@@ -32,6 +32,7 @@ export interface MapPointInfo {
   deviceId?: string; // 设备ID
   enabled?: 0 | 1; // 是否启用（仅停靠点使用，0=禁用，1=启用）
   deviceStatus?: number; // 设备状态（仅自动门点使用，0=关门，1=开门）
+  isConnected?: boolean; // 连接状态（仅自动门点使用，true=已连接，false=未连接）
   active?: boolean; // 是否激活状态，用于控制光圈显示
 }
 //#endregion

src/assets/themes/editor-dark.json

@@ -8,7 +8,8 @@
     "fill-2": "#69C6F5",
     "fill-3": "#E48B1D",
     "fill-4": "#E48B1D",
-    "fill-5": "#a72b69"
+    "fill-5": "#a72b69",
+    "fill-6": "#E63A3A"
   },
   "point-l": {
     "stroke": "#595959",

src/assets/themes/editor-light.json

@@ -8,7 +8,8 @@
     "fill-2": "#69C6F5",
     "fill-3": "#E48B1D",
     "fill-4": "#E48B1D",
-    "fill-5": "#a72b69"
+    "fill-5": "#a72b69",
+    "fill-6": "#E63A3A"
   },
   "point-l": {
     "stroke": "#595959",

src/components/card/point-detail-card.vue

@@ -198,6 +198,19 @@ const binTaskData = computed(() => {
           <a-typography-text type="secondary">{{ $t('设备ID') }}</a-typography-text>
           <a-typography-text>{{ point.deviceId }}</a-typography-text>
         </a-list-item>
+        <a-list-item v-if="point.type === MapPointType.自动门点">
+          <a-typography-text type="secondary">{{ $t('连接状态') }}</a-typography-text>
+          <a-flex align="center" :gap="8" class="conn-status">
+            <span
+              class="status-dot"
+              :class="point.isConnected ? 'online' : 'offline'"
+              :title="point.isConnected ? $t('已连接') : $t('未连接')"
+            />
+            <a-typography-text>
+              {{ point.isConnected ? $t('已连接') : $t('未连接') }}
+            </a-typography-text>
+          </a-flex>
+        </a-list-item>
         <a-list-item v-if="point.extensionType">
           <a-typography-text type="secondary">{{ $t('扩展类型') }}</a-typography-text>
           <a-typography-text>{{ $t(MapPointType[point.extensionType]) }}</a-typography-text>
@@ -315,6 +328,24 @@ const binTaskData = computed(() => {
 @use '/src/assets/themes/theme' as *;
 
 @include themed {
+  .conn-status {
+    .status-dot {
+      width: 8px;
+      height: 8px;
+      border-radius: 50%;
+      display: inline-block;
+      box-shadow: 0 0 0 2px rgba(0, 0, 0, 0.05);
+      &.online {
+        background-color: get-color(success);
+        box-shadow: 0 0 0 2px rgba(82, 196, 26, 0.15);
+      }
+      &.offline {
+        background-color: get-color(error);
+        box-shadow: 0 0 0 2px rgba(255, 77, 79, 0.15);
+      }
+    }
+  }
+
   .storage-locations {
     .storage-item {
       display: flex;

src/components/robot-groups.vue

@@ -223,7 +223,7 @@ const toRemoveRobots = () =>
               />
               <span>{{ label }}</span>
             </a-space>
-            <a-button
+            <!-- <a-button
               v-if="showGroupEdit && !editable"
               class="open-group-btn icon-btn"
               size="small"
@@ -231,7 +231,7 @@ const toRemoveRobots = () =>
               @click.stop="toEditGroup(id)"
             >
               <i class="icon edit_group" />
-            </a-button>
+            </a-button> -->
           </a-flex>
         </template>
 

src/pages/movement-supervision.vue

@@ -92,7 +92,7 @@ const monitorScene = async () => {
 
       // 处理路径坐标转换，参考refreshRobot方法的逻辑
       let processedPath: Array<{ x: number; y: number }> | undefined;
-      if (points?.length) {
+      if (points?.length && !isMonitorMode.value) {
         // 新路径：相对于机器人中心的坐标
         const cx = x || 37; // 机器人中心X坐标，默认37
         const cy = y || 37; // 机器人中心Y坐标，默认37
@@ -114,7 +114,8 @@ const monitorScene = async () => {
       } else {
         const newX = x - 60;
         const newY = y - 60;
-        const rotate = angle;
+        // 后端 angle 为逆时针，把转换改为“先取反再加偏移”：
+        const rotate = angle == null ? undefined : -angle + 180;
         return { id, x: newX, y: newY, rotate, visible: true };
       }
     });
@@ -312,6 +313,11 @@ const handleAutoSaveAndRestoreViewState = async () => {
 //#region UI状态管理
 const show = ref<boolean>(true);
 //#endregion
+
+// 返回到父级 iframe 的场景卡片
+const backToCards = () => {
+  window.parent?.postMessage({ type: 'scene_return_to_cards' }, '*');
+};
 </script>
 
 <template>
@@ -319,7 +325,10 @@ const show = ref<boolean>(true);
     <a-layout-header class="p-16" style="height: 64px">
       <a-flex justify="space-between" align="center">
         <a-typography-text class="title">{{ title }}--{{ isMonitorMode ? '场景监控' : '场景仿真' }}</a-typography-text>
-        <a-button type="primary" :loading="isSaving" @click="handleSaveViewState"> 保存比例 </a-button>
+        <a-space align="center">
+          <!-- <a-button @click="backToCards"> 返回 </a-button> -->
+          <a-button type="primary" :loading="isSaving" @click="handleSaveViewState"> 保存比例 </a-button>
+        </a-space>
       </a-flex>
     </a-layout-header>
 

src/pages/scene-editor.vue

@@ -157,6 +157,10 @@ const handleAutoSaveAndRestoreViewState = async () => {
 
   await autoSaveAndRestoreViewState(editor.value, props.id);
 };
+// 返回到父级 iframe 的场景卡片
+const backToCards = () => {
+  window.parent?.postMessage({ type: 'scene_return_to_cards' }, '*');
+};
 </script>
 
 <template>
@@ -165,6 +169,7 @@ const handleAutoSaveAndRestoreViewState = async () => {
       <a-flex justify="space-between" align="center">
         <a-typography-text class="title">{{ title }} --场景编辑</a-typography-text>
         <a-space align="center">
+          <!-- <a-button @click="backToCards"> 返回 </a-button> -->
           <a-button type="primary" :loading="isSaving" @click="handleSaveViewState"> 保存比例 </a-button>
           <a-button v-if="editable" class="warning" @click="editable = false">
             <i class="icon exit size-18 mr-8" />

src/services/auto-door-simulation.service.ts

@@ -88,10 +88,13 @@ export class AutoDoorService {
   private timers = new Map<string, NodeJS.Timeout>();
   private statusMap = new Map<string, 0 | 1>();
   private editorService: EditorService | null = null;
-  private latestAutoDoorData = new Map<string, { deviceId: string; deviceStatus: number; active: boolean }>();
+  private latestAutoDoorData = new Map<
+    string,
+    { deviceId: string; deviceStatus: number; active: boolean; isConnected: boolean }
+  >();
 
-  // 设备ID到自动门点ID的映射缓存，避免每次都遍历查找
-  private deviceIdToPointIdMap = new Map<string, string>();
+  // 设备ID到自动门点ID列表的映射缓存，支持同一设备绑定多个点位
+  private deviceIdToPointIdMap = new Map<string, string[]>();
 
   /**
    * 设置编辑器服务实例并初始化自动门点映射
@@ -124,13 +127,14 @@ export class AutoDoorService {
       if (pen.name === 'point' && (pen as MapPen).point?.type === MapPointType.自动门点) {
         const deviceId = (pen as MapPen).point?.deviceId;
         if (deviceId && pen.id) {
-          this.deviceIdToPointIdMap.set(deviceId, pen.id);
+          const list = this.deviceIdToPointIdMap.get(deviceId) ?? [];
+          list.push(pen.id);
+          this.deviceIdToPointIdMap.set(deviceId, list);
           autoDoorCount++;
         }
       }
     });
 
-    console.log(`🚪 自动门点映射初始化完成: 共找到 ${autoDoorCount} 个自动门点`);
   }
 
   /**
@@ -169,7 +173,7 @@ export class AutoDoorService {
       // 注意：这里不需要创建完整的模拟数据对象，只需要更新状态
 
       if (enableLogging) {
-        console.log(`🚪 自动门点状态更新: ${newStatus === 0 ? '关门(红色)' : '开门(蓝色)'} (deviceId: ${deviceId})`);
+        // console.log(`🚪 自动门点状态更新: ${newStatus === 0 ? '关门(红色)' : '开门(蓝色)'} (deviceId: ${deviceId})`);
       }
 
       // 更新编辑器中的自动门点状态
@@ -233,7 +237,7 @@ export class AutoDoorService {
 
     if (this.editorService) {
       this.editorService.updateAutoDoorByDeviceId(deviceId, status, true);
-      console.log(`🚪 手动设置自动门点状态: ${status === 0 ? '关门(红色)' : '开门(蓝色)'} (deviceId: ${deviceId})`);
+      // console.log(`🚪 手动设置自动门点状态: ${status === 0 ? '关门(红色)' : '开门(蓝色)'} (deviceId: ${deviceId})`);
     }
   }
 
@@ -250,7 +254,7 @@ export class AutoDoorService {
    * @param data WebSocket推送的数据
    */
   handleWebSocketData(data: AutoDoorWebSocketData): void {
-    const { label: deviceId, deviceStatus, active = true } = data;
+    const { label: deviceId, deviceStatus, active = true, isConnected = true } = data;
 
     if (!deviceId || deviceStatus === undefined) {
       console.warn('⚠️ 自动门点数据格式不正确', data);
@@ -258,11 +262,11 @@ export class AutoDoorService {
     }
 
     // 缓存最新数据
-    this.latestAutoDoorData.set(deviceId, { deviceId, deviceStatus, active });
+    this.latestAutoDoorData.set(deviceId, { deviceId, deviceStatus, active, isConnected });
 
-    console.log(
-      `🚪 收到自动门点WebSocket数据: ${deviceStatus === 0 ? '关门(红色)' : '开门(蓝色)'} (deviceId: ${deviceId})`,
-    );
+    // console.log(
+    //   `🚪 收到自动门点WebSocket数据: ${deviceStatus === 0 ? '关门(红色)' : '开门(蓝色)'} (deviceId: ${deviceId})`,
+    // );
   }
 
   /**
@@ -281,17 +285,25 @@ export class AutoDoorService {
       const [deviceId, data] = entry;
       this.latestAutoDoorData.delete(deviceId);
 
-      // 使用映射缓存快速查找点位ID
-      const pointId = this.deviceIdToPointIdMap.get(data.deviceId);
+      // 使用映射缓存快速查找点位ID列表
+      const pointIds = this.deviceIdToPointIdMap.get(data.deviceId);
 
-      if (!pointId) {
+      if (!pointIds || pointIds.length === 0) {
         console.warn(`⚠️ 未找到设备ID ${data.deviceId} 对应的自动门点，可能需要刷新映射`);
         continue;
       }
 
-      // 更新自动门点状态（使用pointId直接更新，避免查找）
+      // 更新该设备对应的所有自动门点状态
       if (this.editorService) {
-        this.editorService.updateAutoDoorByDeviceId(data.deviceId, data.deviceStatus, data.active, pointId);
+        for (const pid of pointIds) {
+          this.editorService.updateAutoDoorByDeviceId(
+            data.deviceId,
+            data.deviceStatus,
+            data.isConnected,
+            data.active,
+            pid,
+          );
+        }
       }
     }
 

src/services/editor.service.ts

@@ -866,7 +866,6 @@ export class EditorService extends Meta2d {
   public updatePointBorderColor(pointId: string, color: string): void {
     const pen = this.getPenById(pointId);
     if (!pen || pen.name !== 'point') return;
-
     this.updatePen(pointId, { statusStyle: color }, false);
   }
 
@@ -874,10 +873,17 @@ export class EditorService extends Meta2d {
    * 根据设备ID更新自动门点状态
    * @param deviceId 设备ID
    * @param deviceStatus 设备状态（0=关门，1=开门）
+   * @param isConnected 连接状态（true=已连接，false=未连接）
    * @param active 是否显示光圈
    * @param pointId 可选的点位ID，如果提供则直接使用，避免查找
    */
-  public updateAutoDoorByDeviceId(deviceId: string, deviceStatus: number, active = true, pointId?: string): void {
+  public updateAutoDoorByDeviceId(
+    deviceId: string,
+    deviceStatus: number,
+    isConnected: boolean,
+    active = true,
+    pointId?: string,
+  ): void {
     let autoDoorPointId = pointId;
 
     // 如果没有提供pointId，则通过deviceId查找
@@ -912,6 +918,7 @@ export class EditorService extends Meta2d {
         point: {
           ...autoDoorPoint.point,
           deviceStatus,
+          isConnected,
           active,
         },
       },
@@ -1445,31 +1452,39 @@ function drawPoint(ctx: CanvasRenderingContext2D, pen: MapPen): void {
   const theme = sTheme.editor;
   const { active, iconSize: r = 0, fontSize = 14, lineHeight = 1.5, fontFamily } = pen.calculative ?? {};
   const { x = 0, y = 0, width: w = 0, height: h = 0 } = pen.calculative?.worldRect ?? {};
-  const { type, deviceStatus, active: pointActive } = pen.point ?? {};
+  const { type, isConnected, deviceStatus, active: pointActive } = pen.point ?? {};
   const { label = '', statusStyle } = pen ?? {};
 
   ctx.save();
 
-  // 为自动门点绘制光圈
-  if (type === MapPointType.自动门点 && pointActive && deviceStatus !== undefined) {
-    const ox = x + w / 2;
-    const oy = y + h / 2;
-    console.log(ox, oy);
-    const haloRadius = Math.max(w, h) / 2 + 6; // 光圈半径比点位本身大一些
+  // 自动门点：根据连接与开关状态绘制矩形光圈（无边框）
+  if (type === MapPointType.自动门点 && pointActive) {
+    // 让光圈随点位尺寸等比缩放，避免缩放画布时视觉上变大
+    const base = Math.min(w, h);
+    const padding = Math.max(2, Math.min(10, base * 0.2));
+    const rx = x - padding;
+    const ry = y - padding;
+    const rw = w + padding * 2;
+    const rh = h + padding * 2;
 
-    ctx.ellipse(ox, oy, haloRadius, haloRadius, 0, 0, Math.PI * 2);
+    // 使用与点位相同的圆角半径，使观感统一
+    ctx.beginPath();
+    ctx.roundRect(rx, ry, rw, rh, r);
 
-    // 根据设备状态选择颜色：0=关门（红色），1=开门（蓝色）
-    if (deviceStatus === 0) {
-      ctx.fillStyle = get(theme, 'autoDoor.fill-closed') ?? '#FF4D4F33';
-      ctx.strokeStyle = get(theme, 'autoDoor.stroke-closed') ?? '#FF4D4F99';
+    if (isConnected === false) {
+      // 未连接：深红色实心，不描边
+      ctx.fillStyle = '#fe5a5ae0';
     } else {
-      ctx.fillStyle = get(theme, 'autoDoor.fill-open') ?? '#1890FF33';
-      ctx.strokeStyle = get(theme, 'autoDoor.stroke-open') ?? '#1890FF99';
+      // 已连接：根据门状态显示颜色（0=关门-浅红，1=开门-蓝色）
+      if (deviceStatus === 0) {
+        ctx.fillStyle = '#cddc39';
+      } else {
+        ctx.fillStyle = '#1890FF';
+      }
     }
-
     ctx.fill();
-    ctx.stroke();
+    // 重置路径，避免后续对点位边框的 stroke 影响到光圈路径
+    ctx.beginPath();
   }
 
   switch (type) {
@@ -1478,6 +1493,7 @@ function drawPoint(ctx: CanvasRenderingContext2D, pen: MapPen): void {
     case MapPointType.避让点:
     case MapPointType.临时避让点:
     case MapPointType.库区点:
+    case MapPointType.不可避让点:
       ctx.beginPath();
       ctx.moveTo(x + w / 2 - r, y + r);
       ctx.arcTo(x + w / 2, y, x + w - r, y + h / 2 - r, r);