skyeyesystem/frontend/Skyeye-sys-ui/src/views/home/components/task-manage/index.js

import { lodLayer, viewer } from '@/components/dt-scene/index.vue'
// 新增空间态势统计

// 台风列表
import SceneInfo from '@/mixin/scene-info'
import LeftSlide from '@/components/LeftSlide.vue'

import { mapGetters, mapMutations } from 'vuex'

import * as DT from 'dt-sdk'
import { ICON_MODE } from '@/enum'
import { getUnionId } from '@/utils'
import { AreaPlotManager } from '@/utils/area-plot-manager'
import {
  addTaskFast,
  deleteTaskItem, editTaskName, getLoaderEnabledList, getTaskEditItemDetail,
  getTaskListData, getUavCurrentHeight, getUavEnabledListData, previewTaskFast,
  reRunTask, flyTaskUavCommand, stopTaskFly
} from '@/api/task'
import { getLastStatus } from '@/api/device'
import LineTarget from './lineTarget'
import UavTarget from '../twin-situation/uavTarget'
let theViewerTools = null
let pickHandler = null
let startPoint = null
let endPoint = null
let linePlot = null
let airlineCollection = {}
let previewEntities = []
let taskListResource = []
let taskUavCollection = {}
let taskPlanAreaCollection = {}
let sceneEntity = {}
export default {
  name: 'TaskManage',
  props: {
    visible: Boolean,
    sceneComplete: Boolean,
    readOnly: {
      type: Boolean,
      default: false
    },
  },
  components: {
    LeftSlide
  },
  mixins: [SceneInfo],
  data() {
    return {
      IconDelete: require('@/assets/img/platform/delete.png'),
      rightArrow: require('@/assets/img/platform/right-arrow.png'),
      startDrawIcon: require('@/assets/img/platform/start-draw.png'),
      endDrawIcon: require('@/assets/img/platform/end-draw.png'),
      visibleLocale: false,
      taskList: {
        visible: true,
        data: [
          // {
          //   id: 1,
          //   executeIcon: 'ri-dv-line',
          //   executeName: '无人机1',
          //   typeIcon: 'el-icon-camera',
          //   name: '拍照任务',
          //   check: false,
          //   status: 0,
          //   uavCompletion: 30,
          //   isFinish: false,
          //   taskProgressName: '30%',
          //   executeClass: '2',
          //   taskTime: '2024-12-28 14:00:00'
          // },
        ]
      },
      taskForm: {
        show: false,
        visible: false,
        form: {},
        title: '新增任务'
      },
      form: {
        id: '',
        targetChoose: undefined,
        loaderType: undefined,
        direction: 1,
        startAltitude: undefined,
        imageLight: undefined,
        imageBit: 0,
        headingDiff: 0,
        polarization: '0',
        name: '',
        ratio: '',
        airlineList: [],
        heightMode: 1,
        mode: undefined,
        width: undefined,
        theta: undefined,
        flyHeight: 300,
        initSpeed: 10,
        targetList: [],
        loader: undefined,
        uav: undefined,
        routepoints: [],
        waveAngle: 20,
        waveRotation: 20,
        autoFocus: 0,
        imageMode: '0',
        moto: 0,
        // startPoint: {
        //   lon: undefined,
        //   lat: undefined,
        // },
        // endPoint: {
        //   lon: undefined,
        //   lat: undefined,
        // }

      },
      rules: {
        name: [{ required: true, message: '请输入任务名称', trigger: 'blur' }],
        startAltitude: [{ required: true, message: '请输入起飞点高度', trigger: 'blur' }],
        imageLight: [{ required: true, message: '请输入图片亮度', trigger: 'blur' }],
        mode: [{ required: true, message: '请选择飞行模式', trigger: 'change' }],
        imageMode: [{ required: true, message: '请选择成像模式', trigger: 'change' }],
        targetList: [{ required: true, message: '请选择区域', trigger: 'change' }],
        uav: [{ required: true, message: '请选择无人机', trigger: 'change' }],
        loader: [{ required: true, message: '请选择载荷', trigger: 'change' }],
        loaderType: [{ required: true, message: '请选择载荷类型', trigger: 'change' }],
        ratio: [{ required: true, message: '请选择分辨率', trigger: 'change' }],

      },
      settingExpand: false,
      duringDraw: false,
      duringPick: false,
      flyModeOptions: [
        {
          label: '点目标模式',
          value: 1
        },
        {
          label: '区域目标模式',
          value: 2
        },
        {
          label: '航线创建',
          value: 3
        }
      ],
      drawOptions: [
        {
          label: '点',
          value: '点'
        },
        {
          label: '区域',
          value: '多边形'
        }
      ],
      loaderTypeOptions: [
        {
          label: '可见光',
          value: 1
        },
        {
          label: '红外',
          value: 2
        },
        {
          label: '多光谱',
          value: 3
        },
        {
          label: '激光雷达',
          value: 4
        },
        {
          label: 'SAR',
          value: 'SAR'
        }
      ],
      loaderOptions: [],
      ratioOptions: [
        {
          label: '0.1m',
          value: 0.1
        },
        {
          label: '0.3m',
          value: 0.3
        },
        {
          label: '1m',
          value: 1
        },
        {
          label: '3m',
          value: 3
        },
      ],
      directionOptions: [
        {
          label: '左侧视',
          value: 1
        },
        {
          label: '右侧视',
          value: -1
        }
      ],
      ratioMap: {
        '0.1': {
          width: 317.5523063, // y 方向幅宽
          length: 0.1, // x 方向幅宽
          theta: 55.07020714, // 下视角
          reserved: 100, //预留距离 (m)
          direction: 1, //侧视方向
          polarization: '0', //极化方式
        },
        '0.15': {
          width: 2597.873969, // y 方向幅宽
          length: 0.1, // x 方向幅宽
          theta: 83.1449936, // 下视角
          reserved: 100, //预留距离 (m)
          direction: 1, //侧视方向
          polarization: '0', //极化方式
        },
        '0.2': {
          width: 2597.87396, // y 方向幅宽
          length: 0.1, // x 方向幅宽
          theta: 83.1449936, // 下视角
          reserved: 100, //预留距离 (m)
          direction: 1, //侧视方向
          polarization: '0', //极化方式
        },
        '0.3': {
          width: 4200.426476, // y 方向幅宽
          length: 0.1, // x 方向幅宽
          theta: 85.0964241, // 下视角
          reserved: 100, //预留距离 (m)
          direction: 1, //侧视方向
          polarization: '0', //极化方式
        },
        '0.5': {
          width: 5009.03516, // y 方向幅宽
          length: 0.1, // x 方向幅宽
          theta: 84.99811885, // 下视角
          reserved: 100, //预留距离 (m)
          direction: 1, //侧视方向
          polarization: '0', //极化方式
        },
        '1': {
          width: 3329.435, // y 方向幅宽
          length: 0.1, // x 方向幅宽
          theta: 83.14499, // 下视角
          reserved: 100, //预留距离 (m)
          direction: 1, //侧视方向
          polarization: '0', //极化方式
        },
        '3': {
          width: 3329.435, // y 方向幅宽
          length: 0.1, // x 方向幅宽
          theta: 83.14499, // 下视角
          reserved: 100, //预留距离 (m)
          direction: 1, //侧视方向
          polarization: '0', //极化方式
        },
        '10': {
          width: 6808.414439, // y 方向幅宽
          length: 0.1, // x 方向幅宽
          theta: 86.56482716, // 下视角
          reserved: 100, //预留距离 (m)
          direction: 1, //侧视方向
          polarization: '0', //极化方式
        },
        'gmti': {
          width: 6808.414439, // y 方向幅宽
          length: 0.1, // x 方向幅宽
          theta: 86.56482716, // 下视角
          reserved: 100, //预留距离 (m)
          direction: 1, //侧视方向
          polarization: '0', //极化方式
        }
      },
      heightModeOptions: [
        {
          label: '海拔高度',
          value: 1
        },
        {
          label: '相对起飞点高度',
          value: 2
        },
        {
          label: '相对地形高度',
          value: 3
        },
      ],
      uavOptions: [],
      duringAirlinePick: false,
      calculateMap: [
        {
          minSpeed: 5,
          maxSpeed: 10,
          '0.1': {
            minDistance: 105,
            maxDistance: 1760,
            defaultAngle: 70.91580209,
          },
          '0.15': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 70.91580209,
          },
          '0.2': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 80.12850849,
          },
          '0.3': {
            minDistance: 105,
            maxDistance: 7000,
            defaultAngle: 83.14499366,
          },
          '1': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 83.14499366,
          },
          '3': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 83.14499366,
          },
          '10': {
            minDistance: 105,
            maxDistance: 10000,
            defaultAngle: 82.14499366,
          },
          'gmti': {
            minDistance: 105,
            maxDistance: 10000,
            defaultAngle: 82.14499366,
          }
        },
        {
          minSpeed: 10,
          maxSpeed: 15,
          '0.1': {
            minDistance: 105,
            maxDistance: 1192,
            defaultAngle: 62.52119039,
          },
          '0.15': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 62.52119039,
          },
          '0.2': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 75.41290323,
          },
          '0.3': {
            minDistance: 105,
            maxDistance: 7000,
            defaultAngle: 82.53841873,
          },
          '1': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 83.14499366,
          },
          '3': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 83.14499366,
          },
          '10': {
            minDistance: 105,
            maxDistance: 10000,
            defaultAngle: 82.14499366,
          },
          'gmti': {
            minDistance: 105,
            maxDistance: 10000,
            defaultAngle: 82.14499366,
          }
        },
        {
          minSpeed: 15,
          maxSpeed: 20,
          '0.1': {
            minDistance: 105,
            maxDistance: 910,
            defaultAngle: 55.07020714,
          },
          '0.15': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 55.07020714,
          },
          '0.2': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 70.91580209,
          },
          '0.3': {
            minDistance: 105,
            maxDistance: 7000,
            defaultAngle: 80.12850849,
          },
          '1': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 83.14499366,
          },
          '3': {
            minDistance: 105,
            maxDistance: 5000,
            defaultAngle: 83.14499366,
          },
          '10': {
            minDistance: 105,
            maxDistance: 10000,
            defaultAngle: 82.14499366,
          },
          'gmti': {
            minDistance: 105,
            maxDistance: 10000,
            defaultAngle: 82.14499366,
          }
        }
      ],
      minDistance: 105,
      maxDistance: 1760,
      maxAngle: 80,
      minAngle: 10,
      minWaveAngle: 1,
      maxWaveAngle: 10,
      airlineCreateInfo: {
        during: false,
        id: undefined
      },
      lastLimitUpdate: {
        index: -1,
        ratio: undefined
      },
      editName: {
        visible: false,
        name: '',
        id: '',
        loading: false
      },
      nameRules: {
        name: [{ required: true, message: '请输入任务名称', trigger: 'blur' }],
      },
      uavReady: false,
      loaderReady: false,
      taskLineDetail: {
        visible: false,
        title: '航线详情',
        data: []
      },
      currentUavInfo: {
        lon: undefined,
        lat: undefined,
        height: undefined
      },
      previewLoading: false,
      imageModeOptions: [
        {
          label: '条带',
          value: 0
        },
        {
          label: 'GMTI',
          value: 4
        }
      ],
      focusOptions: [
        {
          label: '否',
          value: 0
        },
        {
          label: '是',
          value: 1
        }
      ],
      motoOptions: [
        {
          label: '否',
          value: 0
        },
        {
          label: '是',
          value: 1
        }
      ],
      emptyImg: require('@/assets/img/common/empty.svg'),
    }
  },
  computed: {
    ...mapGetters([
      'currentTime',
      'sarResolution',
      'sarResolutionOptions',
      'jobMode',
      'jobModeOptions',
      'jobStatus',
      'polarization',
      'polarizationOptions',
      'sarImageModeOptions',
    ]),
    isIconModeLarge() {
      return this.iconMode === ICON_MODE.LARGE
    },
    readyUavLocation() {
      return this.uavReady && this.loaderReady
    }
  },
  watch: {
    visible: {
      handler: function (nv) {
        if (nv) {
          this.visibleLocale = nv
        }
      },
      immediate: true,
    },
    visibleLocale(nv) {
      if (!nv) {
        if (lodLayer) {
          lodLayer.removeAll()
          viewer.entities.removeAll()
        }
        this.$emit('update:visible', false)
      }
    },
    sceneComplete: {
      handler: function (nv) {
        if (nv && this.visibleLocale) {
        }
      },
      immediate: true,
    },
    'taskForm.visible'(nv) {
      if (nv) {
        this.taskList.visible = false

      } else {
        if (this.visibleLocale) {
          this.taskList.visible = true
        }
        if (startPoint) {
          viewer.entities.remove(startPoint)
          startPoint = null
        }
        if (endPoint) {
          viewer.entities.remove(endPoint)
          endPoint = null
        }
        console.log('走这一步了吗')
        if (theViewerTools) {
          theViewerTools.destroy()
        }
        theViewerTools = null
        // this.$nextTick(() => {
        //   this.form = {
        //     id: '',
        //     targetChoose: undefined,
        //     loaderType: undefined,
        //     direction: 1,
        //     name: '',
        //     ratio: '',
        //     heightMode: 1,
        //     mode: undefined,
        //     flyHeight: 300,
        //     initSpeed: 10,
        //     targetList: [],
        //     loader: undefined,
        //     uav: undefined,
        //     routepoints: [],
        //   }
        // })
      }
    },
    'form.targetList': {
      handler: function (newValue, oldValue) {
        if (newValue.length && this.taskForm.visible && this.$refs.form) {
          this.$refs.form.validateField('targetList')
        }
      },
      deep: true
    },
    readyUavLocation(nv) {
      if (nv) {
        // this.refreshUavHeight()
      }
    }
  },
  created() {
    this.getLoaderData()
    this.getList()
    this.getUavList()
    // TODO 临时
    // this.onLoaderTypeChange('SAR')
  },
  mounted() {
    // this.openAddForm()
  },
  beforeDestroy() {
    taskListResource = []
    this.removeAllAirline()
    this.removePreviewLine()
    this.taskForm.visible = false
    if (theViewerTools) {
      theViewerTools.destroy()
    }
    theViewerTools = null
    pickHandler = null
    if (lodLayer) {
      // lodLayer.removeAll()
      // viewer.entities.removeAll()
    }
    viewer.entities.removeAll()
    startPoint = null
    endPoint = null
    if (linePlot) {
      linePlot.destroy()
      linePlot = null
    }
    for (let key in taskPlanAreaCollection) {
      if (taskPlanAreaCollection[key]) {
        taskPlanAreaCollection[key].forEach(item => {
          viewer.entities.remove(item)
        })
      }
    }
    for (let key in taskUavCollection) {
      if (taskUavCollection[key]) {
        taskUavCollection[key].forEach(item => {
          item.destroy()
        })
      }
    }
    for (let key in sceneEntity) {
      if (sceneEntity[key]) {
        viewer.entities.remove(sceneEntity[key])
      }
    }
    sceneEntity = {}
    taskPlanAreaCollection = {}
    taskUavCollection = {}
  },
  methods: {
    ...mapMutations('app', ['SET_MENUS_CHOSE']),
    // #region 任务启动部分代码迁移
    reRunTask(info) {
      if (info.status !== 2) return
      this.$confirm('确定重新执行吗', '提示', {
        confirmButtonText: '确定',
        cancelButtonText: '取消',
        type: 'warning'
      }).then(res => {
        reRunTask({ id: info.id }).then(res => {
          if (res.data.code === 200) {
            console.log('重新运行结果', res)
            this.$message.success('任务重新执行成功')
            this.getList()
            this.SET_MENUS_CHOSE('1')
            // let data = res.data.data
            // data.check = data.status === 1
            // data.statusName = this.jobStatus[data.status + '']
            // data.uavList.forEach(child => {
            //   if (!child.trailList) {
            //     child.trailList = []
            //   }
            //   child.jobName = data.name
            // })
            // this.taskList.data.unshift({
            //   id: data.id,
            //   beginTime: data.beginTime,
            //   check: data.check,
            //   endTime: data.endTime,
            //   mode: data.mode,
            //   name: data.name,
            //   status: data.status,
            //   statusName: data.statusName,
            // })
            // taskListResource.unshift(data)
            // this.addUavToScene(data)
            // this.addTaskPlanArea(data.pointList, data.id, data.name)
          } else {
            this.$message.error(res.data.message)
          }
        })
      })
    },
    stopTask(info, index) {
      this.$confirm('确定结束任务吗', '提示', {
        confirmButtonText: '确定',
        cancelButtonText: '取消',
        type: 'warning'
      }).then(res => {
        stopTaskFly({ id: info.id }).then(res => {
          if (res.data.code === 200) {
            // info.status = 2
            this.getList()
            // info.statusName = this.jobStatus[info.status + '']
            this.$message.success('任务已结束！')
          } else {
            this.$message.error(res.data.message)
          }
        })
      })

    },
    makeTaskUavFly(info, index) {
      this.$confirm('确定执行吗', '提示', {
        confirmButtonText: '确定',
        cancelButtonText: '取消',
        type: 'warning'
      }).then(res => {
        flyTaskUavCommand({ id: info.id }).then(res => {
          if (res.data.code === 200) {
            // info.status = 1
            // info.check = false
            // info.statusName = this.jobStatus[info.status + '']
            // this.toggleTaskSceneShow(info, index)
            // this.taskList.data.forEach((child, childIndex) => {
            //   if (child.check && child.status === 2) {
            //     this.toggleTaskSceneShow(child, childIndex)
            //   }
            // })
            this.$message.success('起飞成功')
            this.SET_MENUS_CHOSE('1')
          } else {
            this.$message.error(res.data.message)
          }
        })
      })
    },
    toggleTaskSceneShow(info, index) {
      console.log(5555555555);

      if (info.check) {
        info.check = false;
        taskListResource[index].check = false
        this.removeTaskTarget(info.id);
      } else {
        this.addUavToScene(taskListResource[index])
        this.addTaskPlanArea(taskListResource[index].pointList, info.id, info.name)
        info.check = true
      }
    },
    addTaskPlanArea(data, taskId, taskName) {
      taskPlanAreaCollection[taskId] = []
      let allPositions = []
      let centerLon = 0
      let centerLat = 0
      data.forEach((item, index) => {
        if (item.length > 1) {
          let positions = []
          item.forEach(child => {
            positions.push(DT.Cesium.Cartesian3.fromDegrees(child.longitude, child.latitude))
          })
          positions.push(DT.Cesium.Cartesian3.fromDegrees(item[0].longitude, item[0].latitude))
          allPositions = allPositions.concat(positions)
          let entity = viewer.entities.add({
            position: positions[0],
            label: {
              text: `${taskName}任务-规划区域${index + 1}`,
              disableDepthTestDistance: 10000,
              font: '14px sans-serif',
              fillColor: DT.Cesium.Color.RED,
              horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
              verticalOrigin: DT.Cesium.VerticalOrigin.BOTTOM,
              pixelOffset: new DT.Cesium.Cartesian2(0, -10),
              scaleByDistance: new DT.Cesium.NearFarScalar(0, 1, 1, 0.8),
              distanceDisplayCondition: new DT.Cesium.DistanceDisplayCondition(0, 10000),
              showBackground: true,
              backgroundColor: DT.Cesium.Color.fromCssColorString('rgba(255,255,255,0.6)')
            },
            polyline: {
              positions: positions,
              width: 2,
              arcType: DT.Cesium.ArcType.NONE,
              material: DT.Cesium.Color.RED,
              depthFailMaterial: DT.Cesium.Color.RED,
              disableDepthTestDistance: 10000,
              zIndex: -1
            }
          })
          taskPlanAreaCollection[taskId].push(entity)
        } else if (item.length === 1) {
          let position = DT.Cesium.Cartesian3.fromDegrees(item[0].longitude, item[0].latitude)
          allPositions.push(position)
          let entity = viewer.entities.add({
            position,
            label: {
              text: `${taskName}任务-规划区域${index + 1}`,
              disableDepthTestDistance: 10000,
              font: '14px sans-serif',
              fillColor: DT.Cesium.Color.RED,
              horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
              pixelOffset: new DT.Cesium.Cartesian2(10, 0),
              showBackground: true,
              backgroundColor: DT.Cesium.Color.fromCssColorString('rgba(255,255,255,0.6)')
            },
            point: {
              pixelSize: 4,
              color: DT.Cesium.Color.RED,
              disableDepthTestDistance: 10000
            }
          })
          taskPlanAreaCollection[taskId].push(entity)

        }
      })
      if (allPositions.length > 0) {
        let cat = DT.Cesium.Cartographic.fromCartesian(allPositions[0])
        allPositions.push(DT.Cesium.Cartesian3.fromRadians(cat.longitude, cat.latitude, 2000))
        viewer.cesiumViewer.camera.flyToBoundingSphere(DT.Cesium.BoundingSphere.fromPoints(allPositions), {
          duration: 0.1,
          offset: new DT.Cesium.HeadingPitchRange(0, -Math.PI / 2, 0),
        })
      }
    },
    addUavToScene(info) {
      let arr = []
      info.uavList.forEach(item => {
        console.log(viewer, item, 8888);
        let uav = new UavTarget(viewer, item)
        arr.push(uav)
      })
      taskUavCollection[info.id] = arr
    },
    removeTaskTarget(taskId) {
      if (taskPlanAreaCollection[taskId]) {
        taskPlanAreaCollection[taskId].forEach(item => {
          viewer.entities.remove(item)
        })
        taskPlanAreaCollection[taskId] = null
      }
      if (taskUavCollection[taskId]) {
        taskUavCollection[taskId].forEach(item => {
          item.destroy()
        })
        taskUavCollection[taskId] = null
      }
    },
    toggleHistoryPicture(data) {
      if (taskUavCollection[data.jobId]) {
        let find = taskUavCollection[data.jobId].find(item => item.uavId + '' === data.uavId + '')
        if (find) {
          find.toggleLoaderPictureVisible(data.payloadId, data.fileId)
        }
      }
    },
    // #endregion
    handleCommand(command, item) {
      switch (command) {
        case 'edit':
          this.editTaskName(item)
          break;
        case 'copy':
          this.copyTask(item)
          break;
        case 'remove':
          this.deleteTask(item)
          break;

      }
    },
    dealStatusColor(name) {
      if (name === '执行中') {
        return '#6ae965'
      } else if (name === '已完成') {
        return '#336dff'
      }
    },
    getUavList() {
      this.uavReady = false
      getUavEnabledListData().then(res => {
        if (res.data.code === 200) {
          console.log('无人机列表', res.data.data)
          this.uavOptions = res.data.data
          // TODO 临时
          if (this.uavOptions.length > 0) {
            // this.form.uav = this.uavOptions[0].id
            this.uavReady = true
          }
        } else {
          this.$message.error(res.data.message)
        }
      })
    },
    onLoaderTypeChange(type) {
      this.loaderOptions = []
      if (type) {
        this.getLoaderData(type)
      }

    },
    loaderChange() {
      getLastStatus({ payloadId: this.form.loader }).then(res => {
        const data = res.data.data
        console.log(data, '载荷状态信息');

        let position = DT.Cesium.Cartesian3.fromDegrees(data.longitude, data.latitude, 2000)
        viewer.cesiumViewer.scene.camera.flyTo({
          destination: position,
          duration: 1
        })
      })
    },
    getLoaderData(type) {
      // getLoaderList
      this.loaderReady = false
      getLoaderEnabledList().then(res => {
        if (res.data.code === 200) {
          console.log('载荷数据-------------', res.data.data)
          this.loaderOptions = res.data.data
          // TODO 临时
          if (this.loaderOptions.length > 0) {
            // this.form.loader = this.loaderOptions[0].id
            // getLastStatus({ payloadId: this.loaderOptions[0].id }).then(res => {
            //   console.log(res.data.data, 777777777777777);
            //   const data = res.data.data
            //   let position = DT.Cesium.Cartesian3.fromDegrees(data.longitude, data.latitude, 1000)
            //   viewer.cesiumViewer.scene.camera.flyTo({
            //     destination: position,
            //     duration: 1
            //   })
            // })
            this.loaderReady = true
          }
        } else {
          this.$message.error(res.data.message)
        }
      })
    },
    refreshUavHeight() {
      if (this.form.uav) {
        if (this.form.loader) {
          getUavCurrentHeight({ payloadId: this.form.loader }).then(res => {
            if (res.data.code === 200) {
              this.form.startAltitude = res.data.data.altitude
              this.currentUavInfo = {
                longitude: res.data.data.longitude,
                latitude: res.data.data.latitude,
                height: res.data.data.altitude,
              }
              console.log(this.currentUavInfo, 889999999);

              let position = DT.Cesium.Cartesian3.fromDegrees(res.data.data.longitude, res.data.data.latitude, 3000)
              viewer.cesiumViewer.scene.camera.flyTo({
                destination: position,
                duration: 1
              })
              this.$message.success('获取当前高度成功！')
            } else {
              this.$message.error(res.data.message)
            }
          })
        } else {
          this.$message.warning('请选择雷达！')
        }
      } else {
        this.$message.warning('请选择无人机！')
      }
    },
    getList() {
      getTaskListData({ type: 2, orders: [{ column: 'begin_time', asc: false }] }).then(res => {
        if (res.data.code === 200) {
          let data = res.data.data
          let list = []
          data.forEach(item => {
            item.statusName = this.jobStatus[item.status + '']
            list.push({
              id: item.id,
              beginTime: item.beginTime,
              check: item.check,
              endTime: item.endTime,
              mode: item.mode,
              name: item.name,
              status: item.status,
              statusName: item.statusName,
            })
            this.removeTaskTarget(item.id)
          })
          taskListResource = data
          this.taskList.data = list
        } else {
          this.$message.error(res.data.message)
        }
      })
    },
    copyTask(info) {
      getTaskEditItemDetail({ jobId: info.id }).then(res => {
        if (res.data.code === 200) {
          console.log('编辑详情', res.data.data)
          this.editTask(JSON.parse(res.data.data))
        } else {
          this.$message.error(res.data.message)
        }
      })
    },
    editTaskName(info) {
      this.editName.visible = false
      this.editName.loading = false
      this.editName.name = info.name
      this.editName.id = info.id
      this.editName.visible = true
    },
    submitName() {
      this.$refs.form.validate(valid => {
        if (valid) {
          let params = {
            id: this.editName.id,
            name: this.editName.name,
          }
          editTaskName(params).then(res => {
            this.editName.loading = false
            if (res.data.code === 200) {
              this.$message.success('修改成功！')
              this.editName.visible = false
              this.getList()
            } else {
              this.$message.error(res.data.message)
            }
          }).catch(err => {
            this.editName.loading = false
          })
        }
      })
    },
    // 删除任务
    deleteTask(info) {
      this.$confirm('确定删除吗', '提示', {
        confirmButtonText: '确定',
        cancelButtonText: '取消',
        type: 'warning'
      }).then(res => {
        deleteTaskItem([info.id]).then(res => {
          if (res.data.code === 200) {
            this.$message.success('删除成功')
            this.getList()
          } else {
            this.$message.error(res.data.message)
          }
        })
      })

    },
    /**
     * 重新执行
     * @param info
     */
    reRunTask(info) {
      this.$confirm('确定重新执行吗', '提示', {
        confirmButtonText: '确定',
        cancelButtonText: '取消',
        type: 'warning'
      }).then(res => {
        reRunTask({ id: info.id }).then(res => {
          if (res.data.code === 200) {
            this.$message.success('任务重新执行成功')
            this.getList()
          } else {
            this.$message.error(res.data.message)
          }
        })
      })
    },

    /**
     * 编辑任务
     * @param info
     */
    editTask(info) {
      console.log('复制信息', info)
      // 移除所有线
      this.removeAllAirline()
      // 移除预览
      this.removePreviewLine()
      this.taskForm.visible = false

      this.form = info
      this.form.name = info.name + '-copy'
      this.form.id = undefined

      this.calculateLimit()
      this.getUavList()
      this.getLoaderData()
      // TODO 临时
      // this.onLoaderTypeChange('SAR')
      viewer.cesiumViewer.scene.globe.depthTestAgainstTerrain = this.form.mode === '3'
      this.taskForm.visible = true
      if (theViewerTools) {
        theViewerTools.destroy()
        theViewerTools = null
      }
      theViewerTools = new AreaPlotManager(viewer)
      theViewerTools.initPlot(this.theCallback)
      this.$nextTick(() => {
        if (this.$refs.form && this.form.mode === '1') {
          this.$refs.form.validateField('targetList')
        }
      })

      switch (this.form.mode) {
        case '1':
          // 快速模式
          this.form.targetList.forEach(item => {
            theViewerTools.restoreEntity(item)
          })
          break
        case '2':
          break
        case '3':
          // 航线创建
          this.form.airlineList.forEach(item => {
            let arr = new LineTarget({
              viewer: viewer,
              id: item.id,
              endCallback: this.airlineEndCallback,
              baseHeight: this.form.flyHeight,
              angle: this.form.waveAngle,
              // rotation: this.form.theta * this.form.direction,
              rotation: this.form.theta,
              name: item.name,
            })
            airlineCollection[item.id] = arr
            arr.restoreTarget(item)
          })
          break
      }
    },
    openAddForm() {
      this.form = {
        id: '',
        startAltitude: undefined,
        imageLight: undefined,
        imageBit: 0,
        headingDiff: 0,
        autoFocus: 0,
        imageMode: '0',
        moto: 0,
        targetChoose: undefined,
        loaderType: undefined,
        direction: 1,
        polarization: '0',
        name: '',
        airlineList: [],
        // ratio: this.sarResolutionOptions[0].value,
        ratio: 0.2,
        heightMode: 1,
        mode: '1',
        width: undefined,
        theta: 70.91580209,
        flyHeight: 300,
        initSpeed: 10,
        targetList: [],
        loader: this.loaderOptions[0].id,
        uav: this.uavOptions[0].id,
        routepoints: [],
        waveAngle: 20,
        waveRotation: 20,

      }
      this.calculateLimit()
      this.getUavList()
      this.getLoaderData()
      // TODO 临时
      // this.onLoaderTypeChange('SAR')

      this.taskForm.visible = true
      if (theViewerTools) {
        theViewerTools.destroy()
        theViewerTools = null
      }
      this.taskList.data.forEach(el => {
        if (el.check) {
          this.removeTaskTarget(el.id)
          el.check = false
        }
      })

      theViewerTools = new AreaPlotManager(viewer)
      theViewerTools.initPlot(this.theCallback)
      console.log('船舰了吗', theViewerTools)
    },


    resetForm() {
      // this.taskForm.show = false
      // this.taskForm.visible = false
      this.removeAllAirline()
      this.removePreviewLine()
      this.form = {
        id: '',
        startAltitude: undefined,
        imageLight: undefined,
        imageBit: 0,
        headingDiff: 0,
        autoFocus: 0,
        imageMode: '0',
        moto: 0,
        targetChoose: undefined,
        loaderType: undefined,
        airlineList: [],
        direction: 1,
        polarization: '0',
        name: '',
        ratio: this.sarResolutionOptions[0].value,
        heightMode: 1,
        mode: '1',
        width: undefined,
        theta: 70.91580209,
        flyHeight: 300,
        initSpeed: 10,
        targetList: [],
        loader: undefined,
        uav: undefined,
        routepoints: [],
        waveAngle: 20,
        waveRotation: 20,
      }
      this.calculateLimit()
      this.getUavList()
      // TODO 临时
      this.onLoaderTypeChange('SAR')
      this.$nextTick(() => {
        // this.taskForm.visible = true
        // this.taskForm.show = true
        if (theViewerTools) {
          theViewerTools.destroy()
          theViewerTools = null
        }
        theViewerTools = new AreaPlotManager(viewer)
        theViewerTools.initPlot(this.theCallback)
      })
    },
    submit() {
      console.log(this.form, 88888888);

      this.$refs.form.validate((valid) => {
        if (valid) {
          let params = JSON.parse(JSON.stringify(this.form))
          let pointList = []
          params.targetList.forEach(item => {
            let arr = []
            item.boundary.forEach(child => {
              arr.push({
                longitude: child[0],
                latitude: child[1],
              })
            })
            pointList.push(arr)
          })
          params.airlineList.forEach((item, index) => {
            if (item.boundaryLonLat) {
              pointList.push(item.boundaryLonLat)
            }
          })
          let info = {
            info1: JSON.stringify(this.form),
            id: params.id,
            name: params.name,
            mode: params.mode,
            pointList: pointList,
            startAltitude: params.startAltitude,
            imageLight: parseFloat(params.imageLight),
            headingDiff: parseFloat(params.headingDiff),
            imageBit: parseFloat(params.imageBit),
            targetType: params.targetChoose === '点' ? '1' : '2',
            imageMode: params.imageMode,
            uavList: [
              {
                uavId: params.uav,
                // startLon: params.startPoint.lon,
                // startLat: params.startPoint.lat,
                // endLon: params.endPoint.lon,
                // endLat: params.endPoint.lat,
                speed: params.initSpeed,
                height: params.flyHeight,
                resolution: params.ratio,
                startAltitude: params.startAltitude,
                payloadList: [{
                  payloadId: params.loader,
                  resolution: params.ratio,
                  width: params.width,
                  length: this.form.imageMode === '4' ? this.ratioMap.gmti.length : this.ratioMap[params.ratio].length,
                  theta: params.theta,
                  reserved: this.form.imageMode === '4' ? this.ratioMap.gmti.reserved : this.ratioMap[params.ratio].reserved,
                  direction: params.direction,
                  polarization: params.polarization,
                  autoFocus: params.autoFocus,
                  imageMode: params.imageMode,
                  moto: params.moto,
                  imageLight: parseFloat(params.imageLight),
                  imageBit: parseFloat(params.imageBit),
                  headingDiff: parseFloat(params.headingDiff),
                }],
                airlineList: params.airlineList
              }
            ]
          }

          if (info.id) {
            addTaskFast(info).then(res => {
              if (res.data.code === 200) {
                this.$message.success('新增任务任务成功')
                this.taskForm.visible = false
                this.getList()
              } else {
                this.$message.error(res.data.message)
              }
            })
          } else {
            addTaskFast(info).then(res => {
              if (res.data.code === 200) {
                this.$message.success('新增任务任务成功')
                this.taskForm.visible = false
                this.resetForm()
                this.getList()
              } else {
                this.$message.error(res.data.message)
              }
            })
          }
        }
      })
    },


    /*************************任务编辑相关*************************/
    /**
     * 飞行模式改变
     * @param value
     */
    onModeChange(value) {
      console.log('飞行模式', value)
      // if (linePlot) {
      //   linePlot.destroy()
      //   linePlot = null
      // }
      this.form.targetList.forEach(item => {
        this.tagClose(item)
      })
      this.endDraw()
      this.removeAllAirline()
      this.removePreviewLine()
      viewer.cesiumViewer.scene.globe.depthTestAgainstTerrain = value === '3'
      this.lastLimitUpdate = {
        index: -1,
        ratio: undefined
      }
      // this.form.routepoints = []
      switch (value) {
        case '1':
          this.settingExpand = false
          // this.form.targetChoose = '点'
          break
        case '2':
          this.settingExpand = false
          // this.form.targetChoose = '多边形'
          break
        case '3':
          this.calculateLimit()
          this.settingExpand = true

          // this.form.targetChoose = '点'
          // linePlot = new LinePlot({
          //   viewer: viewer,
          //   lodLayer: lodLayer,
          //   Cesium: DT.Cesium,
          //   callback: this.pickCallback,
          //   changeCallback: this.onChangeCallback,
          //   endCallback: this.endCallback,
          //   readOnly: this.readOnly,
          //   loop: false
          // })
          // console.log('创建了吗', linePlot)
          break
      }
    },
    getDrawTargetDisabled(info) {
      if (this.form.imageMode === '1') {
        return info.value === '多边形'
      } else {
        return false
      }
    },
    createLine() {

    },
    /**
     * 目标类型改变事件
     * @author wangxueshen
     * @date 2022-11-03
     * @param {any} val
     * @returns {any}
     */
    targetTypeChange(val) {
      this.endDraw()

      switch (val) {
        case '区域选择':
          break
        case '形状选择':
          // this.form.targetList = []
          // theViewerTools.removebyName('区域1')
          // const data = {
          //   id: 1,
          //   targetName: '区域1',
          //   targetType: 2,
          //   areaType: 3,
          //   data: [
          //     [119.65860240889127, 26.341999829244322],
          //     [117.25916413364445, 23.61439484133452],
          //     [120.67063487635603, 21.896506978647942],
          //     [121.88328392808693, 25.240668250328035],
          //     [119.65860240889127, 26.341999829244322]
          //   ]
          // }
          // this.form.targetList.push(data)
          // theViewerTools.addProvinceMap(data.targetName, data.data)
          break
        case 'ROI区域':
          // this.form.targetList = []
          // theViewerTools.removebyName('区域1')
          // this.form.targetList.push({
          //   id: 2,
          //   targetName: '船舶AIS编号：413118000',
          //   targetType: 3,
          // })
          break
        default:
          break
      }
    },
    /**
     * tag 删除时间，删除已选择的区域或绘制的图形
     * @author wangxueshen
     * @date 2022-04-28
     * @param {any} target
     * @returns {any}
     */
    tagClose(target) {
      // 删除 form.targetList 中的项
      let tagIndex = this.form.targetList.findIndex(
        item => target.groupTargetId === item.groupTargetId
      )
      this.form.targetList.splice(tagIndex, 1)

      // 删除 form.provinceValue 中的项
      this.$set(this.form, 'provinceValue', [])
      this.removePreviewLine()
      // 清楚当前目标
      if (this.form.reqType !== 3) {
        theViewerTools.removeByName(target.targetName)
      }
    },

    //#region 绘制代码区域
    endDraw(type) {
      if (theViewerTools) {
        theViewerTools.endDraw()
      }
    },
    destroyDraw() {
      if (theViewerTools) {
        theViewerTools.destroy()
      }
      theViewerTools = null
    },
    startDraw(type) {
      theViewerTools.startDraw(
        type,
        this.theCallback,
        'rgba(0, 255, 0, 1)',
        'rgba(0, 255, 0, 1)'
      )
    },
    drawFromButton() {
      this.duringDraw = true
      this.startDraw(this.form.targetChoose)
    },
    theCallback(targetName, targetType, areaType, data) {
      this.duringDraw = false
      let result = data

      if (targetType === 3) {
        let minLon = Math.min(data[0][0], data[1][0])
        let minLat = Math.min(data[0][1], data[1][1])
        let maxLon = Math.max(data[0][0], data[1][0])
        let maxLat = Math.max(data[0][1], data[1][1])
        result = [
          [minLon, minLat],
          [maxLon, minLat],
          [maxLon, maxLat],
          [minLon, maxLat],
          [minLon, minLat]
        ]
      }
      this.form.targetList.push({
        groupTargetId: getUnionId(),
        targetName,
        targetType,
        areaType,
        boundary: result
      })
      this.endDraw()
    },

    // 航线创建
    /**
     * 开始绘制
     */
    startAirlineDraw() {
      if (this.readOnly) return
      if (this.duringAirlinePick) {
        this.$message.info('已经处于绘制模式！')
        return
      }
      if (this.form.routepoints.length > 0) {
        this.$confirm('绘制会清除历史数据，是否继续?', '提示', {
          confirmButtonText: '确定',
          cancelButtonText: '取消',
          type: 'warning'
        }).then(() => {
          this.form.routepoints = []
          this.duringAirlinePick = true
          linePlot.startPick()
        })
      } else {
        linePlot.startPick()
        this.duringAirlinePick = true
      }
    },
    /**
     * 结束绘制
     */
    endAirlineDraw() {
      if (this.readOnly) return
      if (this.duringAirlinePick) {
        linePlot.abortPick()
      }
    },
    pickCallback(position) {
      let cat = DT.Cesium.Cartographic.fromCartesian(position)
      let lon = Math.round(DT.Cesium.Math.toDegrees(cat.longitude) * 10000000000000) / 10000000000000
      let lat = Math.round(DT.Cesium.Math.toDegrees(cat.latitude) * 10000000000000) / 10000000000000
      let length = this.form.routepoints.length
      this.form.routepoints.push({
        longitude: lon,
        latitude: lat,
        routePointIndex: length
      })
      // this.calculateDistance()
    },
    // pickCallback(positions) {
    //   this.duringAirlinePick = false
    //   let list = []
    //   positions.forEach((item, index) => {
    //     let cat = DT.Cesium.Cartographic.fromCartesian(item)
    //     let lon = Math.round(DT.Cesium.Math.toDegrees(cat.longitude) * 10000000000000) / 10000000000000
    //     let lat = Math.round(DT.Cesium.Math.toDegrees(cat.latitude) * 10000000000000) / 10000000000000
    //     list.push({
    //       templateType: 1,
    //       longitude: lon,
    //       latitude: lat,
    //       gimbalPitchAngle: -90
    //     })
    //   })
    //   this.form.list = list
    //   this.calculateDistance()
    // },
    onChangeCallback(info) {
      let cat = DT.Cesium.Cartographic.fromCartesian(info.position)
      let lon = Math.round(DT.Cesium.Math.toDegrees(cat.longitude) * 10000000000000) / 10000000000000
      let lat = Math.round(DT.Cesium.Math.toDegrees(cat.latitude) * 10000000000000) / 10000000000000
      this.form.routepoints[info.index].longitude = lon
      this.form.routepoints[info.index].latitude = lat
      // this.calculateDistance()
    },
    endCallback() {
      this.duringAirlinePick = false
    },
    onTableCommand(info, index) {
      if (this.readOnly || this.duringAirlinePick) return
      if (this.form.routepoints.length < 3) {
        this.$message.warning('至少需要保留两个点！')
        return
      }
      let position = DT.Cesium.Cartesian3.fromDegrees(info.longitude, info.latitude)
      linePlot.deleteItem({ position: position, index: index })
      this.form.routepoints.splice(index, 1)
    },
    onTableInputChange(info, index) {
      let position = DT.Cesium.Cartesian3.fromDegrees(info.longitude, info.latitude)
      linePlot.editItem({ position: position, index: index })
    },

    //#endregion


    theCallback2(targetName, targetType, areaType, data) {
      let result = JSON.parse(JSON.stringify(data))
      switch (this.addRegion.currentSelfDrawType) {
        case 'rectangle':
          this.addRegion.recTopLeft = {
            lon: result[0][0].toFixed(4),
            lat: result[0][1].toFixed(4)
          }
          this.addRegion.recBottomRight = {
            lon: result[1][0].toFixed(4),
            lat: result[1][1].toFixed(4)
          }
          this.endDraw()
          this.updateRectangle()
          break
        case 'circle':
          this.addRegion.circleCenter = {
            lon: result[0][0].toFixed(4),
            lat: result[0][1].toFixed(4)
          }
          this.addRegion.circleRadius =
            this.getDistance(
              { lon: result[0][0], lat: result[0][1] },
              { lon: result[1][0], lat: result[1][1] }
            ) * 1852
          this.endDraw()
          this.updateCircle()
          break
        case 'polygon':
          let lineData = []
          let length = result.length
          result.forEach((item, index) => {
            if (index < length - 1) {
              lineData.push({
                name: '点' + (index + 1),
                lon: item[0].toFixed(4),
                lat: item[1].toFixed(4)
              })
            }
          })
          this.addRegion.polylinePoints = lineData
          this.addRegion.polylineCount = lineData.length + 1
          this.endDraw()
          this.updatePolygon()
          break
      }
    },
    pickPoint(type) {
      this.duringPick = true
      if (!pickHandler) {
        pickHandler = new DT.Cesium.ScreenSpaceEventHandler(
          viewer.cesiumViewer.scene.canvas
        )
      }
      pickHandler.setInputAction(evt => {
        let cartesian = this.getCartesian3FromPX(evt.position)
        if (cartesian) {
          let cat = DT.Cesium.Cartographic.fromCartesian(cartesian)
          let lon = DT.Cesium.Math.toDegrees(cat.longitude)
          let lat = DT.Cesium.Math.toDegrees(cat.latitude)
          let newPosition = DT.Cesium.Cartesian3.fromDegrees(lon, lat, 50)
          newPosition = cartesian
          if (type === 'startPoint') {
            if (startPoint) {
              // viewer.entities.remove(startPoint)
              startPoint.position = newPosition
            } else {
              startPoint = viewer.entities.add({
                position: newPosition,
                label: {
                  text: '航线起点',
                  font: '12px sans-serif',
                  disableDepthTestDistance: 10000,
                  horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
                  verticalOrigin: DT.Cesium.VerticalOrigin.CENTER,
                  pixelOffset: new DT.Cesium.Cartesian2(10, 0),
                  showBackground: true,
                  backgroundColor: DT.Cesium.Color.BLACK.withAlpha(0.7),
                  backgroundPadding: new DT.Cesium.Cartesian2(5, 3),
                },
                point: {
                  pixelSize: 8,
                  color: DT.Cesium.Color.WHITE,
                  disableDepthTestDistance: 10000,
                }
              })
            }
          } else {
            if (endPoint) {
              // viewer.entities.remove(startPoint)
              endPoint.position = newPosition
            } else {
              endPoint = viewer.entities.add({
                position: newPosition,
                label: {
                  text: '航线终点',
                  font: '12px sans-serif',
                  disableDepthTestDistance: 10000,
                  horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
                  verticalOrigin: DT.Cesium.VerticalOrigin.CENTER,
                  pixelOffset: new DT.Cesium.Cartesian2(10, 0),
                  showBackground: true,
                  backgroundColor: DT.Cesium.Color.BLACK.withAlpha(0.7),
                  backgroundPadding: new DT.Cesium.Cartesian2(5, 3),
                },
                point: {
                  pixelSize: 8,
                  color: DT.Cesium.Color.WHITE,
                  disableDepthTestDistance: 10000,
                }
              })
            }
          }
          this.form[type].lon = Math.round(lon * 1000000000) / 1000000000
          this.form[type].lat = Math.round(lat * 1000000000) / 1000000000
          pickHandler.removeInputAction(DT.Cesium.ScreenSpaceEventType.LEFT_CLICK)
          this.duringPick = false
        }
      }, DT.Cesium.ScreenSpaceEventType.LEFT_CLICK)
    },
    getCartesian3FromPX(px) {
      let cartesian
      let ray = viewer.cesiumViewer.camera.getPickRay(px)
      if (!ray) return null
      cartesian = viewer.cesiumViewer.scene.globe.pick(ray, viewer.cesiumViewer.scene)
      if (!cartesian) {
        cartesian = viewer.cesiumViewer.camera.pickEllipsoid(px, viewer.cesiumViewer.scene.globe.ellipsoid)
      }
      return cartesian
    },
    onImageModeChange(value) {
      switch (this.form.imageMode) {
        case '0':
          // 条带
          if (this.form.ratio === '10') {
            this.form.ratio = this.sarResolutionOptions[0].value
          }
          break;
        case '1':
          // 聚束模式
          if (this.form.ratio === '10') {
            this.form.ratio = this.sarResolutionOptions[0].value
          }
          if (this.form.mode === '1') {
            if (this.form.targetChoose === '多边形') {
              this.onModeChange('1')
              this.form.targetChoose = '点'
            }
          } else {
            this.form.mode = '1'
            this.onModeChange('1')
          }
          break;
        case '4':
          // gmti
          this.form.ratio = '10'
          break;
      }
      this.calculateLimit()
    },
    getRatioDisabled(value) {
      if (this.form.imageMode !== '4') {
        return value.value === '10'
      } else {
        return value.value !== '10'
      }
    },
    calculateLimit() {
      if (this.form.ratio && this.form.initSpeed) {
        let findIndex = this.calculateMap.findIndex(item => this.form.initSpeed > item.minSpeed && this.form.initSpeed <= item.maxSpeed)
        if (this.form.initSpeed === 5) {
          findIndex = 0
        }
        if (findIndex !== -1) {
          let find = this.calculateMap[findIndex]
          if (this.lastLimitUpdate.index === findIndex && this.lastLimitUpdate.ratio === this.form.ratio) {
            // return
          }
          let info = this.form.imageMode === '4' ? find.gmt : find[this.form.ratio]
          this.form.theta = info.defaultAngle
          this.lastLimitUpdate.index = findIndex
          this.lastLimitUpdate.ratio = this.form.ratio
          this.minDistance = Math.max(info.minDistance, this.form.flyHeight / Math.cos(Math.PI / 18))
          this.maxDistance = info.maxDistance
          this.calculateWidth()
        }
      }
    },
    calculateHeightLimit() {
      let find = this.calculateMap[this.lastLimitUpdate.index]
      let info = this.form.imageMode === '4' ? find.gmti : find[this.form.ratio]
      this.minDistance = Math.max(info.minDistance, this.form.flyHeight / Math.cos(Math.PI / 18))
      this.maxDistance = info.maxDistance
      this.calculateWidth()
    },
    calculateWidth() {

      // 算角度范围
      let angleMin = 10
      if (this.form.flyHeight < this.minDistance) {
        angleMin = Math.max(180 * Math.acos(this.form.flyHeight / this.minDistance) / Math.PI, 10)

      }
      let angleMax = 180 * Math.acos(this.form.flyHeight / this.maxDistance) / Math.PI

      this.maxAngle = Math.round((angleMax - 1.2) * 10) / 10
      this.minAngle = Math.round((angleMin + 1.2) * 10) / 10
      if (this.form.theta > this.maxAngle || this.form.theta < this.minAngle) {
        this.form.theta = Math.round((this.maxAngle + this.minAngle) * 100 / 2) / 100
      }
      let maxWaveAngle = Math.min(this.maxAngle - this.form.theta, this.form.theta - this.minAngle)
      maxWaveAngle = Math.min(maxWaveAngle + 1.2, 13)
      maxWaveAngle = Math.ceil(maxWaveAngle * 100) / 100
      this.maxWaveAngle = maxWaveAngle

      if (this.form.waveAngle > this.maxWaveAngle || this.form.waveAngle < this.minWaveAngle) {
        this.form.waveAngle = this.maxWaveAngle
      }
      let width = 2 * (this.form.flyHeight * Math.tan(this.form.theta * Math.PI / 180) - this.form.flyHeight * Math.tan((this.form.theta - this.form.waveAngle) * Math.PI / 180))
      width = Math.round(width * 1000000) / 1000000
      this.form.width = width
      this.updateSceneAirline()
    },
    updateWaveAngle() {
      let width = 2 * (this.form.flyHeight * Math.tan(this.form.theta * Math.PI / 180) - this.form.flyHeight * Math.tan((this.form.theta - this.form.waveAngle) * Math.PI / 180))
      width = Math.round(width * 1000000) / 1000000
      this.form.width = width
      this.updateSceneAirline()
    },
    handleRatioChange(value) {
      let info
      if (this.form.imageMode === '4') {
        info = this.ratioMap.gmti
      } else {
        info = this.ratioMap[value]
      }
      this.form.width = info.width
      this.form.theta = info.theta
    },

    //#region 航线创建
    createAirline() {
      if (this.airlineCreateInfo.during) {
        return
      }
      this.$message({
        type: 'success',
        message: '在场景中点击鼠标左键创建航线',
        duration: 4000,
      })
      this.airlineCreateInfo.during = true
      let id = new Date().getTime() + ''
      this.airlineCreateInfo.id = id
      let length = this.form.airlineList.length
      let name = `航线${length + 1}`
      let arr = new LineTarget({
        viewer: viewer,
        id: id,
        endCallback: this.airlineEndCallback,
        baseHeight: this.form.flyHeight,
        angle: this.form.waveAngle,
        // rotation: this.form.theta * this.form.direction,
        rotation: this.form.theta,
        name: name,
      })
      airlineCollection[id] = arr
      arr.startPick()
    },
    updateSceneAirline() {
      let params = {
        baseHeight: this.form.flyHeight,
        angle: this.form.waveAngle,
        rotation: this.form.theta * this.form.direction,
      }
      // this.form.airlineList.forEach(item => {
      //   item.height = this.form.flyHeight
      // })
      for (let key in airlineCollection) {
        if (airlineCollection[key]) {
          let find = this.form.airlineList.find(target => target.id == key)
          if (find) {
            params.rotation = this.form.theta * find.direction
            airlineCollection[key].updateHeightAndAngle(params)
          }
        }
      }
    },
    airlineEndCallback(data) {
      this.airlineCreateInfo.during = false
      let findIndex = this.form.airlineList.findIndex(item => item.id === data.id)
      if (findIndex > -1) {
        let obj = Object.assign({}, this.form.airlineList[findIndex], data)
        this.form.airlineList.splice(findIndex, 1, obj)
      } else {
        let length = this.form.airlineList.length
        data.name = `航线${length + 1}`
        this.form.airlineList.push(data)
      }

    },
    deleteAirlineItem(info, index) {
      this.form.airlineList.splice(index, 1)
      if (airlineCollection[info.id]) {
        airlineCollection[info.id].destroy()
        airlineCollection[info.id] = null
      }
    },
    removeAllAirline() {
      for (let key in airlineCollection) {
        if (airlineCollection[key]) {
          airlineCollection[key].destroy()
        }
      }
      this.form.airlineList = []
      airlineCollection = {}
    },
    handleDirectionChange(value) {
      for (let key in airlineCollection) {
        if (airlineCollection[key]) {
          let rotation = this.form.theta * value
          airlineCollection[key].changeWaveRotation(rotation)
        }
      }
    },
    handleSelfDirectionChange(value, info, index) {
      if (airlineCollection[info.id]) {
        let rotation = this.form.theta * value
        airlineCollection[info.id].changeWaveRotation(rotation)
      }
    },
    //#endregion



    //#region 预览
    previewLine() {
      this.$refs.form.validate((valid) => {
        if (valid) {
          this.removePreviewLine()
          let params = JSON.parse(JSON.stringify(this.form))
          let pointList = []
          params.targetList.forEach(item => {
            let arr = []
            item.boundary.forEach(child => {
              arr.push({
                longitude: child[0],
                latitude: child[1],
              })
            })
            pointList.push(arr)
          })
          params.airlineList.forEach((item, index) => {
            if (item.boundaryLonLat) {
              pointList.push(item.boundaryLonLat)
            }
          })
          console.log('提交航线', params.airlineList)

          let info = {
            id: params.id,
            name: params.name,
            mode: params.mode,
            pointList: pointList,
            startAltitude: params.startAltitude,
            imageLight: parseFloat(params.imageLight),
            headingDiff: parseFloat(params.headingDiff),
            imageBit: parseFloat(params.imageBit),
            targetType: params.targetChoose === '点' ? '1' : '2',
            imageMode: params.imageMode,
            uavList: [
              {
                uavId: params.uav,
                // startLon: params.startPoint.lon,
                // startLat: params.startPoint.lat,
                // endLon: params.endPoint.lon,
                // endLat: params.endPoint.lat,
                speed: params.initSpeed,
                height: params.flyHeight,
                resolution: params.ratio,
                startAltitude: params.startAltitude,
                payloadList: [{
                  payloadId: params.loader,
                  resolution: params.ratio,
                  width: params.width,
                  length: this.form.imageMode === '4' ? this.ratioMap.gmti.length : this.ratioMap[params.ratio].length,
                  theta: params.theta,
                  reserved: this.form.imageMode === '4' ? this.ratioMap.gmti.reserved : this.ratioMap[params.ratio].reserved,
                  direction: params.direction,
                  polarization: params.polarization,
                  autoFocus: params.autoFocus,
                  imageMode: params.imageMode,
                  moto: params.moto,
                  imageLight: parseFloat(params.imageLight),
                  imageBit: parseFloat(params.imageBit),
                  headingDiff: parseFloat(params.headingDiff),
                }],
                airlineList: params.airlineList
              }
            ]
          }
          this.previewLoading = true
          previewTaskFast(info).then(res => {
            this.previewLoading = false
            if (res.data.code === 200) {
              let data = res.data.data
              for (let key in data) {
                this.addPreviewLine(data[key], key)
              }
              this.$message.success('获取航线成功！')
            } else {
              this.$message.error(res.data.message)
            }
          }).catch(err => {
            this.previewLoading = false
          })

          // let params = JSON.parse(JSON.stringify(this.form))
          // let pointList = []
          // params.targetList.forEach((item, index) => {
          //   let arr = []
          //   item.boundary.forEach(child => {
          //     arr.push([child[0], child[1]])
          //   })
          //   pointList.push({
          //     type: params.targetChoose === '点' ? 'point' : 'region',
          //     coords: arr,
          //     valid_TYPES: [
          //       'region',
          //       'line',
          //       'point'
          //     ],
          //     id: index
          //   })
          // })
          // console.log('提交航线', params.airlineList)
          // let info = {
          //   optimize: false,
          //   targets: pointList,
          //   uavs: [
          //     {
          //       id: params.uav,
          //       constraint: {
          //         endurance: 1000000.0,
          //         height: params.flyHeight
          //       },
          //       start_coord: [this.currentUavInfo.longitude,  this.currentUavInfo.latitude],
          //       end_coord: [this.currentUavInfo.longitude,  this.currentUavInfo.latitude],
          //       payload: {
          //         type: 'SAR',
          //         width: params.width,
          //         length: this.form.imageMode === 0 ? this.ratioMap[params.ratio].length : this.ratioMap.gmti.length,
          //         theta: params.theta,
          //         direction: params.direction,
          //         reserved_distance: this.form.imageMode === 0 ? this.ratioMap[params.ratio].reserved : this.ratioMap.gmti.reserved,
          //         valid_DIRECTIONS: [ 'left', 'right'],
          //       },
          //
          //     }
          //   ]
          // }
          // console.log('任务预览提交', info)
          // this.previewLoading = true
          // axios.post(window.config.arithmeticPath, info).then(res => {
          //   console.log('预览返回', res)
          //
          //   if (res.status === 200) {
          //     let data = res.data.data
          //     for (let key in data) {
          //       this.addPreviewLine(data[key], key)
          //     }
          //   } else {
          //     this.$message.error(res.data.message)
          //   }
          //   this.previewLoading = false
          // }).catch(
          //   this.previewLoading = false
          // )

        }
      })
    },
    addPreviewLine(data, parentId) {
      data.forEach((item, index) => {
        let startPosition = DT.Cesium.Cartesian3.fromDegrees(item.startLon, item.startLat, item.startHeight)
        let endPosition = DT.Cesium.Cartesian3.fromDegrees(item.endLon, item.endLat, item.endHeight)
        let entity = viewer.entities.add({
          position: startPosition,
          label: {
            text: `航线${index + 1}起点`,
            font: '24px',
            showBackground: true,
            backgroundColor: DT.Cesium.Color.fromCssColorString('rgba(0,0,0,0.7)'),
            fillColor: DT.Cesium.Color.WHITE,
            horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
            pixelOffset: this.labelPixelOffset,
            disableDepthTestDistance: 20000
          },
          polyline: {
            //使用cesium的peoperty
            positions: [startPosition, endPosition],
            show: true,
            material: DT.Cesium.Color.LIMEGREEN,
            width: 4,
          }
        })
        previewEntities.push(entity)
      })
    },
    removePreviewLine() {
      previewEntities.forEach((item, index) => {
        viewer.entities.remove(item)
      })
      previewEntities = []
    },
    //#endregion

    //#region 航线详情
    openTaskLineDetail(info) {
      this.taskLineDetail.visible = false
      let find = taskListResource.find(item => item.id === info.id)

      if (find && find.uavList) {
        let line = []
        find.uavList.forEach(item => {
          if (item.airlineList) {
            item.airlineList.forEach(airline => {
              line.push({
                startLon: airline.startLon,
                startLat: airline.startLat,
                startHeight: airline.startHeight,
                startAlt: airline.startHeight + item.startAltitude,
                endLon: airline.endLon,
                endLat: airline.endLat,
                endHeight: airline.endHeight,
                endAlt: airline.endHeight + item.startAltitude,
              })
            })
          }
        })
        this.taskLineDetail.title = find.name + '-航线详情'
        this.taskLineDetail.data = line
        this.taskLineDetail.visible = true
      }
    }
    //#endregion
  }
}