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 { mapMutations, mapGetters } from 'vuex'

import * as DT from 'dt-sdk'
import moment from 'moment'
import { connectWebSocket, disconnectWebSocket } from '@/utils/web-socket'
import { ICON_MODE } from '@/enum'
import { AmapImageryProvider, TencentImageryProvider } from '@/utils/map-provider'
import { getResourceList } from '@/api/home'
import { removeRefreshToken, removeToken } from '@/utils/auth'
import { getWeatherInfo } from '@/api/user'
import {
  flyTaskUavCommand,
  getRadarListData,
  getTaskItemDetail,
  getTaskListData,
  getUavListData,
  reRunTask, stopTaskFly, getExecJobs
} from '@/api/task'
import UavTarget from './uavTarget'
import PicturesUpload from '../pictures-upload/index.vue'
import RightSlide from '@/components/RightSlide.vue'
import LeftSlide from '@/components/LeftSlide.vue'

let handler = undefined
let broadcastChannel = null
let broadcastChannelInterval = null

let radarViewer = null
let radarLayer = null
let radarHandler = null
let messageHandler = null

let socketInstance = null
let stompClientInstance = null
let entityCollection = new DT.Cesium.AssociativeArray()

let linePicture = {}
let currentPicture = null
let renderTaskInfo = {}
let pictureHandler = null
let historyPictureList = [] // 存放无人机详情相关历史图片
let taskUavCollection = {}
let taskPlanAreaCollection = {}
let radarSceneEntity = {}
let sceneEntity = {}
let taskListResource = []
export default {
  name: 'TwinSituation',
  props: {
    visible: Boolean,
    sceneComplete: Boolean,
  },
  components: {
    PicturesUpload,
    RightSlide,
    LeftSlide,
  },
  mixins: [SceneInfo],
  data() {
    return {
      visibleLocale: false,
      loadingCount: 0,
      sceneCompleteLocale: false,
      activeTabs: [],
      resourceList: {
        visible: true,
        activeTabId: 1,
        data: [
          // {
          //   signal: 50,
          //   nickName: '无人机1',
          //   battery: 80,
          //   flyHeight: 80,
          //   lon: 115.76,
          //   lat: 40.38,
          //   id: 2
          // }
        ],
        typeDict: {
          1: '无人机',
          2: '消防车',
          3: '成员'
        }
      },
      taskList: {
        visible: true,
        data: [
          // {
          //   status: 1,
          //   name: '巡查任务',
          //   statusName: '巡查中',
          //   beginTime: '2026-01-23 12:14:45'
          // }
        ]
      },
      weatherInfo2: {
        visible: true,
        shrink: false,
        wendu: '-',
        shidu: '-',
        quality: '-',
        pm25: '-',
        pm10: '-',
        weekData: [],
        chart: {
          data: [
            {
              type: 'line',
              name: '温度',
              symbol: 'none',
              areaStyle: {
                color: '#81d3f8'
              },
              style: {
                color: '#81d3f8',
              },
              lineStyle: { color: '#066893', },
              data: [

              ]
            }
          ],
          tooltip: { show: false },
          legend: [{ show: false }],
          title: [{ show: false }],
          grid: [{ left: 0, top: 0, right: 0, bottom: 0, borderWidth: 0 }],
          xAxis: [
            {
              type: 'value',
              min: 0,
              // max: 5,
              axisLine: {
                show: false
              },
              axisTick: {
                show: false
              },
              axisLabel: {
                show: false
              },
              splitLine: {
                show: false
              },
            }
          ],
          yAxis: [
            {
              type: 'value',
              min: 0,
              max: 60,
              axisLine: {
                show: false
              },
              axisTick: {
                show: false
              },
              axisLabel: {
                show: true
              },
              splitLine: {
                show: false
              },
            }
          ]
        }
      },
      radarInfo: {
        visible: true,
      },
      availableList: [
        {
          id: 1,
          name: '成员2'
        },
        {
          id: 2,
          name: '成员3'
        }
      ],
      detailInfo: {
        visible: false,
        id: 1,
        jobId: undefined,
        baseInfo: {},
        taskList: [
        ],
        pictureList: [
        ]
      },
      detailUav: {
        visible: false,
        id: 1,
        baseInfo: {
          url: require('@/assets/img/uav.png'),
          status: true,
          battery: 80,
          flyHeight: 120,
          flyWidth: 120,
          longitude: 123.232312,
          latitude: 23.232312,
        },
        activeNames: ['1'],
        activeTab: 'DEV',
        basicsInfo: {
          name: '无人机1',
          group: '小组1'
        },
        taskList: [
          {
            id: 1,
            executeIcon: 'ri-dv-line',
            executeName: '无人机1',
            typeIcon: 'el-icon-camera',
            taskName: '拍照任务',
            uavCompletion: 30,
            isFinish: false,
            taskProgressName: '30%',
            executeClass: '2',
            taskTime: '2024-12-28 14:00:00'
          },
          {
            id: 6,
            executeIcon: 'ri-dv-line',
            executeName: '无人机1',
            typeIcon: 'el-icon-camera',
            taskName: '拍照任务',
            uavCompletion: 100,
            isFinish: true,
            taskProgressName: '完成',
            executeClass: '2',
            taskTime: '2024-12-27 15:00:00'
          },
        ],
        statusInfo: {
          dev: [
            { name: '是否开机', value: '是', unit: '' },
            { name: '时钟锁定', value: '是', unit: '' },
            { name: 'GPU温度', value: '正常', unit: '' },
            { name: 'CPU温度', value: 40, unit: '℃' },
            { name: '射频温度', value: 40, unit: '℃' },
            { name: '天线温度', value: 40, unit: '℃' },
            { name: '硬盘温度', value: 40, unit: '℃' },
            { name: 'FPGA温度', value: 40, unit: '℃' },
            { name: '硬盘容量', value: 40, unit: '%' },
            { name: '内存容量', value: 40, unit: 'MB' },
          ],
          gps: [
            { name: '定位状态', value: '正常', unit: '' },
            { name: '定向状态', value: '正常', unit: '' },
            { name: 'rtk状态', value: '无效', unit: '' },
            { name: '卫星个数', value: 0, unit: '' },
            { name: '惯导状态', value: '位置+速度+航向', unit: '' },
            { name: '年月日', value: moment().format('YYYY-MM-DD'), unit: '' },
            { name: '经度', value: '120.34534', unit: '°' },
            { name: '维度', value: '40.34534', unit: '°' },
            { name: '高度', value: 45002, unit: 'm' },
          ],
          imu: [
            { name: '配置状态', value: '正常', unit: '' },
            { name: '天线方位角', value: 1.5, unit: '°' },
            { name: '天线俯仰角', value: 0.95, unit: '°' },
            { name: '东向速度', value: 69.28, unit: 'm/s' },
            { name: '北向速度', value: 41.28, unit: 'm/s' },
            { name: '天向速度', value: 0, unit: 'm/s' },
            { name: '俯仰角', value: 3.96, unit: '°' },
            { name: '翻转角', value: 1.02, unit: '°' },
            { name: '偏航角', value: 65.62, unit: '°' },
          ],
          dev2: {
            isWork: true,
            isLock: true,
            cpuTemperature: 40,
            spTemperature: 40,
            txTemperature: 40,
            ypTemperature: 40,
            fpgaTemperature: 40,
            storage: 80,
            memory: 80,
          }
        },
        chart: {
          data: [
            {
              type: 'line',
              name: 'channel1False',
              symbol: 'none',
              style: {
                color: '#fff',
              },
              lineStyle: { color: '#fff', },
              data: []
            },
            {
              type: 'line',
              name: 'channel1Real',
              symbol: 'none',
              style: {
                color: '#fff',
              },
              lineStyle: { color: '#1721c5', },
              data: []
            },
            {
              type: 'line',
              name: 'channel2False',
              symbol: 'none',
              style: {
                color: '#fff',
              },
              lineStyle: { color: '#32a592', },
              data: []
            },
            {
              type: 'line',
              name: 'channel2Real',
              symbol: 'none',
              style: {
                color: '#fff',
              },
              lineStyle: { color: '#d93d9d', },
              data: []
            }
          ],
          tooltip: { show: false },
          legend: [{ show: false }],
          title: [{ show: false }],
          grid: [{ left: 40, top: 40, right: 40, bottom: 20, borderWidth: 0 }],
          xAxis: [
            {
              type: 'value',
              axisLine: {
                show: false
              },
              axisTick: {
                show: false
              },
              axisLabel: {
                show: true
              },
              splitLine: {
                show: false
              },
            }
          ],
          yAxis: [
            {
              type: 'value',
              // max: 1,
              // min: -1,
              axisLine: {
                show: false
              },
              axisTick: {
                show: false
              },
              axisLabel: {
                show: true
              },
              splitLine: {
                show: false
              },
            }
          ]
        },
        backImage: [
          {
            time: moment().subtract(40, 'minutes').format('YYYY-MM-DD HH:mm:ss'),
            url: require('@/assets/img/test.png'),
            uavName: '无人机1',
            id: 1
          },
          {
            time: moment().subtract(10, 'minutes').format('YYYY-MM-DD HH:mm:ss'),
            url: require('@/assets/img/test.png'),
            uavName: '无人机1',
            id: 2
          }
        ]
      },
      isSending: false,
      rightShow: true,
      uploadPictureInfo: {
        visible: false,
      },
      taskLineDetail: {
        visible: false,
        title: '航线详情',
        data: []
      },
      emptyImg: require('@/assets/img/common/empty.svg')
    }
  },
  computed: {
    ...mapGetters([
      'currentTime',
      'iconMode',
      'showSatelliteLabel',
      'shouldAnimate',
      'multiplier',
      'showTrack',
      'showFrontier',
      'showDayNight',
      'showLonLatGrid',
      'viewMode',
      'showRoadNet',
      'isFullscreen',
      'iconMode',
      'showGlobalAtmosphere',
      'duringPlay',
      'theme',
      'showCloud',
      'mapType',
      'userId',
      'imuStatus',
      'enableStatus',
      'successStatus',
      'sarWorkStatus',
      'taskFlightMode',
      'detectType',
      'jobStatus',
      'menusChose'
    ]),
    isIconModeLarge() {
      return this.iconMode === ICON_MODE.LARGE
    }
  },
  watch: {
    visible: {
      handler: function (nv) {
        if (nv) {
          this.visibleLocale = nv
        }
      },
      immediate: true,
    },
    visibleLocale(nv) {
      if (!nv) {
        this.$emit('update:visible', false)
      }
    },
    sceneComplete: {
      handler: function (nv) {
        if (nv && this.visibleLocale) {
        }
      },
      immediate: true,
    },
    'detailInfo.visible': {
      handler: function (nv) {
        if (!nv) {
          if (this.detailInfo.pictureList.length > 0) {
            let jobId = this.detailInfo.pictureList[0].jobId
            let uavId = this.detailInfo.pictureList[0].uavId
            if (taskUavCollection[jobId]) {
              let find = taskUavCollection[jobId].find(item => item.uavId + '' === uavId + '')
              if (find) {
                find.toggleAllLoaderVisible(true)
              }
            }
          }


          historyPictureList.forEach(item => {
            item.forEach(child => {
              viewer.entities.remove(child)
            })
          })
          historyPictureList = []
        }
      }
    }
  },
  created() {
    this.getWeather()
    this.getResourceData()


  },
  mounted() {
    // this.$refs.tools.handleMapChange('sat')
    // this.createBroadcastChannel()
    // TODO 部署打开
    // window.open(window.config.homeUrl + 'task', '_blank')
    // window.open(window.config.homeUrl + 'monitor', '_blank')
    // TODO
    // this.resourceClick(this.resourceList.data[0])
    this.handleSceneComplete()
    this.getTaskList()

    // this.startTest()
  },
  beforeDestroy() {
    this.SET_SPLIT_VISIBLE(false)
    this.removePictureHandle()
    // 移除任务区域
    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])
      }
    }
    taskUavCollection = {}
    // if (lodLayer) {
    //   lodLayer.removeAll()
    //   viewer.entities.removeAll()
    // }
    if (handler) {
      handler.removeInputAction(DT.Cesium.ScreenSpaceEventType.LEFT_CLICK)
    }

    viewer.entities.removeAll()
    // if (broadcastChannel) {
    //   this.closeBroadcastChannel()
    // }
    linePicture = null
    currentPicture = null
    renderTaskInfo = null
    pictureHandler = null
    historyPictureList = null
    taskPlanAreaCollection = {}
    radarSceneEntity = {}
    sceneEntity = {}
    taskListResource = []
    if (stompClientInstance) {
      disconnectWebSocket(stompClientInstance)
      socketInstance = null
      stompClientInstance = null
    }
  },
  methods: {
    ...mapMutations('scene-control', [
      'SET_SWITCH',
      'SET_ANIMATE',
      'SET_MULTIPLIER',
      'SET_TRACK',
      'SET_FRONTIER',
      'SET_DAY_NIGHT',
      'SET_LON_LAT_GRID',
      'SET_VIEW_MODE',
      'SET_FULL_SCREEN',
      'SET_ROAD_NET',
      'SET_INIT_STATE',
      'SET_GLOBAL_ATMOSPHERE_SHOW',
      'SET_SATELLITE_LABEL',
      'SET_INTER_VISIBLE',
      'SET_VIEWABLE_VISIBLE',
      'SET_CLOUD',
      'SET_MAP_TYPE',
      'SET_SPLIT_VISIBLE',
    ]),
    ...mapMutations('app', ['SET_THEME']),
    dealStatusColor(name) {
      if (name === '执行中') {
        return '#6ae965'
      } else if (name === '已完成') {
        return '#336dff'
      }
    },
    // startTest() {
    //   let testHeight = 1000
    //   window.detectType = {
    //     1: '车'
    //   }
    //   let task = [
    //     {
    //       id: 1,
    //       name: '测试任务',
    //       status: 1,
    //       statusName: '执行中',
    //       check: true,
    //       beginTime: moment().format('YYYY-MM-DD HH:mm:ss'),
    //       pointList: [
    //         [
    //           {
    //             longitude: 115.915457,
    //             latitude: 40.359459,
    //           },
    //           {
    //             longitude: 115.915457,
    //             latitude: 40.358999,
    //           },
    //           {
    //             longitude: 115.915874,
    //             latitude: 40.358999,
    //           },
    //           {
    //             longitude: 115.915874,
    //             latitude: 40.359459,
    //           }
    //         ],
    //         [
    //           {
    //             longitude: 115.915457,
    //             latitude: 40.355459
    //           },
    //         ]
    //       ],
    //       uavList: [
    //         {
    //           jobId: 1,
    //           uavId: 2,
    //           uavName: '无人机1',
    //           airlineList: [
    //             {
    //               startLon: 115.917609,
    //               startLat: 40.359843,
    //               startHeight: testHeight,
    //               endLon: 115.917609,
    //               endLat: 40.357843,
    //               endHeight: testHeight,
    //               id: 1
    //             },
    //             {
    //               startLon: 115.919609,
    //               startLat: 40.359843,
    //               startHeight: testHeight,
    //               endLon: 115.919609,
    //               endLat: 40.357843,
    //               endHeight: testHeight,
    //               id: 2
    //             }
    //           ],
    //           trailList: [
    //             {
    //               longitude: 115.917609,
    //               latitude: 40.359843,
    //               height: testHeight
    //             },
    //             {
    //               longitude: 115.918609,
    //               latitude: 40.359843,
    //               height: testHeight
    //             },
    //             {
    //               longitude: 115.919609,
    //               latitude: 40.357843,
    //               height: testHeight
    //             }
    //           ],
    //           startLon: 115.917609,
    //           startLat: 40.359843,
    //           startHeight: testHeight,
    //           payloadList: [
    //             {
    //               payloadId: 1,
    //               payloadName: 'sar',
    //               imageList: [
    //                 {
    //                   left1Lon: 115.917609,
    //                   left1Lat: 40.359843,
    //                   left2Lon: 115.917609,
    //                   left2Lat: 40.358843,
    //                   right2Lon: 115.918609,
    //                   right2Lat: 40.358843,
    //                   right1Lon: 115.918609,
    //                   right1Lat: 40.359843,
    //                   fileId: 1,
    //                   id: 1,
    //                   relativePath: '1.png',
    //                   itemList: [
    //                     {
    //                       id: 2,
    //                       left1Lon: 115.917609,
    //                       left1Lat: 40.359843,
    //                       left2Lon: 115.917609,
    //                       left2Lat: 40.358843,
    //                       right2Lon: 115.918609,
    //                       right2Lat: 40.358843,
    //                       right1Lon: 115.918609,
    //                       right1Lat: 40.359843,
    //                       type: 1,
    //                     },
    //                     {
    //                       id: 4,
    //                       left1Lon: 115.916609,
    //                       left1Lat: 40.359143,
    //                       left2Lon: 115.916609,
    //                       left2Lat: 40.358943,
    //                       right2Lon: 115.918509,
    //                       right2Lat: 40.358943,
    //                       right1Lon: 115.918509,
    //                       right1Lat: 40.359143,
    //                       type: 1,
    //                     }
    //                   ]
    //                 },
    //                 {
    //                   left1Lon: 115.919609,
    //                   left1Lat: 40.359843,
    //                   left2Lon: 115.919609,
    //                   left2Lat: 40.358843,
    //                   right2Lon: 115.920609,
    //                   right2Lat: 40.358843,
    //                   right1Lon: 115.920609,
    //                   right1Lat: 40.359843,
    //                   fileId: 2,
    //                   relativePath: '1.png',
    //                   itemList: [
    //                     {
    //                       id: 5,
    //                       left1Lon: 115.919609,
    //                       left1Lat: 40.359843,
    //                       left2Lon: 115.919609,
    //                       left2Lat: 40.358843,
    //                       right2Lon: 115.920609,
    //                       right2Lat: 40.358843,
    //                       right1Lon: 115.920609,
    //                       right1Lat: 40.359843,
    //                       type: 1,
    //                     },
    //                     {
    //                       id: 6,
    //                       left1Lon: 115.918609,
    //                       left1Lat: 40.359143,
    //                       left2Lon: 115.918609,
    //                       left2Lat: 40.358943,
    //                       right2Lon: 115.920509,
    //                       right2Lat: 40.358943,
    //                       right1Lon: 115.920509,
    //                       right1Lat: 40.359143,
    //                       type: 1,
    //                     }
    //                   ]
    //                 }
    //               ],
    //             }
    //           ]
    //         }
    //       ]
    //     },
    //     {
    //       id: 2,
    //       name: '测试任务2',
    //       status: 2,
    //       check: false,
    //       statusName: '已完成',
    //       beginTime: moment().format('YYYY-MM-DD HH:mm:ss'),
    //       pointList: [
    //         [
    //           {
    //             longitude: 115.905457,
    //             latitude: 40.359459
    //           },
    //           {
    //             longitude: 115.905457,
    //             latitude: 40.358999
    //           },
    //           {
    //             longitude: 115.905874,
    //             latitude: 40.358999
    //           },
    //           {
    //             longitude: 115.905874,
    //             latitude: 40.359459
    //           }
    //         ],
    //         [
    //           {
    //             longitude: 115.905457,
    //             latitude: 40.355459
    //           },
    //         ]
    //       ],
    //       uavList: [
    //         {
    //           jobId: 2,
    //           uavId: 3,

    //           uavName: '无人机1',
    //           airlineList: [
    //             {
    //               startLon: 115.907609,
    //               startLat: 40.359843,
    //               startHeight: testHeight,
    //               endLon: 115.917609,
    //               endLat: 40.357843,
    //               endHeight: testHeight,
    //               id: 1
    //             },
    //             {
    //               startLon: 115.909609,
    //               startLat: 40.359843,
    //               startHeight: testHeight,
    //               endLon: 115.919609,
    //               endLat: 40.357843,
    //               endHeight: testHeight,
    //               id: 2
    //             }
    //           ],
    //           trailList: [
    //             {
    //               longitude: 115.907609,
    //               latitude: 40.359843,
    //               height: testHeight
    //             },
    //             {
    //               longitude: 115.906609,
    //               latitude: 40.359843,
    //               height: testHeight
    //             },
    //             {
    //               longitude: 115.905609,
    //               latitude: 40.357843,
    //               height: testHeight
    //             }
    //           ],
    //           startLon: 115.907609,
    //           startLat: 40.359843,
    //           startHeight: testHeight,
    //           payloadList: [
    //             {
    //               payloadId: 1,
    //               payloadName: 'sar',
    //               imageList: [
    //                 {
    //                   left1Lon: 115.907609,
    //                   left1Lat: 40.359843,
    //                   left2Lon: 115.907609,
    //                   left2Lat: 40.358843,
    //                   right2Lon: 115.908609,
    //                   right2Lat: 40.358843,
    //                   right1Lon: 115.908609,
    //                   right1Lat: 40.359843,
    //                   fileId: 1,
    //                   relativePath: '1.png',
    //                   itemList: [
    //                     {
    //                       id: 1,
    //                       left1Lon: 115.917609,
    //                       left1Lat: 40.359843,
    //                       left2Lon: 115.917609,
    //                       left2Lat: 40.358843,
    //                       right2Lon: 115.918609,
    //                       right2Lat: 40.358843,
    //                       right1Lon: 115.918609,
    //                       right1Lat: 40.359843,
    //                       type: 1,
    //                     },
    //                     {
    //                       id: 2,
    //                       left1Lon: 115.916609,
    //                       left1Lat: 40.359143,
    //                       left2Lon: 115.916609,
    //                       left2Lat: 40.358943,
    //                       right2Lon: 115.918509,
    //                       right2Lat: 40.358943,
    //                       right1Lon: 115.918509,
    //                       right1Lat: 40.359143,
    //                       type: 1,
    //                     }
    //                   ]
    //                 },
    //                 {
    //                   left1Lon: 115.909609,
    //                   left1Lat: 40.359843,
    //                   left2Lon: 115.909609,
    //                   left2Lat: 40.358843,
    //                   right2Lon: 115.910609,
    //                   right2Lat: 40.358843,
    //                   right1Lon: 115.910609,
    //                   right1Lat: 40.359843,
    //                   fileId: 2,
    //                   relativePath: '1.png',
    //                   itemList: [
    //                     {
    //                       id: 1,
    //                       left1Lon: 115.909609,
    //                       left1Lat: 40.359843,
    //                       left2Lon: 115.909609,
    //                       left2Lat: 40.358843,
    //                       right2Lon: 115.910609,
    //                       right2Lat: 40.358843,
    //                       right1Lon: 115.910609,
    //                       right1Lat: 40.359843,
    //                       type: 1,
    //                     },
    //                     {
    //                       id: 2,
    //                       left1Lon: 115.908609,
    //                       left1Lat: 40.359143,
    //                       left2Lon: 115.908609,
    //                       left2Lat: 40.358943,
    //                       right2Lon: 115.910509,
    //                       right2Lat: 40.358943,
    //                       right1Lon: 115.910509,
    //                       right1Lat: 40.359143,
    //                       type: 1,
    //                     }
    //                   ]
    //                 }
    //               ],
    //             }
    //           ]
    //         }
    //       ]
    //     }
    //   ]
    //   this.taskList.data = task
    //   task.forEach(item => {
    //     // 测试
    //     if (item.status === 1) {
    //       this.addUavToScene(item)
    //       this.addTaskPlanArea(item.pointList, item.id)
    //     }
    //   })

    //   let initPosition = [115.919609, 40.357843, testHeight]
    //   // 测试推送
    //   setInterval(() => {
    //     initPosition[0] += 0.001
    //     initPosition[1] += 0.001
    //     let body = [{
    //       jobId: 1,
    //       uavId: 2,
    //       longitude: initPosition[0],
    //       latitude: initPosition[1],
    //       height: initPosition[2],
    //       payloadList: [
    //         {
    //           longitude: initPosition[0],
    //           latitude: initPosition[1],
    //           altitude: initPosition[2],
    //         }
    //       ]
    //     }]
    //     this.handleWebsocketStatus({ body: JSON.stringify(body) })

    //   }, 4000)

    //   let initPic = {
    //     left1Lon: 115.917609,
    //     left1Lat: 40.359843,
    //     left2Lon: 115.917609,
    //     left2Lat: 40.358843,
    //     right2Lon: 115.918609,
    //     right2Lat: 40.358843,
    //     right1Lon: 115.918609,
    //     right1Lat: 40.359843,
    //     fileId: 4,
    //     id: 1,
    //     jobId: 1,
    //     payloadId: 1,
    //     uavId: 2,
    //     relativePath: '1.png',
    //     itemList: [
    //       {
    //         id: 9,
    //         left1Lon: 115.917609,
    //         left1Lat: 40.359843,
    //         left2Lon: 115.917609,
    //         left2Lat: 40.358843,
    //         right2Lon: 115.918609,
    //         right2Lat: 40.358843,
    //         right1Lon: 115.918609,
    //         right1Lat: 40.359843,
    //         type: 1,
    //       },
    //     ]
    //   }
    //   setInterval(() => {
    //     initPic.left1Lon += 0.001
    //     initPic.left1Lat += 0.001
    //     initPic.left2Lon += 0.001
    //     initPic.left2Lat += 0.001
    //     initPic.right2Lon += 0.001
    //     initPic.right2Lat += 0.001
    //     initPic.right1Lon += 0.001
    //     initPic.right1Lat += 0.001
    //     initPic.fileId += 1
    //     initPic.itemList.forEach(item => {
    //       item.left1Lon += 0.001
    //       item.left1Lat += 0.001
    //       item.left2Lon += 0.001
    //       item.left2Lat += 0.001
    //       item.right2Lon += 0.001
    //       item.right2Lat += 0.001
    //       item.right1Lon += 0.001
    //       item.right1Lat += 0.001
    //       item.id += 1
    //     })
    //     this.handleWebsocketImage({ body: JSON.stringify(initPic) })
    //   }, 6000)
    // },
    // 工具栏操作
    toggleTools(tool) {
      tool.active = !tool.active
      switch (tool.type) {
        case 'entityName':
          this.handleGlobeLabelVisible(tool.active)
          break
        case 'ability':
          this.abilityShow = tool.active
          break
      }
    },

    /**
     * 菜单点击事件
     * @author wangxueshen
     * @date 2022-04-29
     * @param {any} menu
     * @param {any} active
     * @returns {any}
     */
    menuClick(menu, active) {
      const blackList = ['setting', 'timeline']
      if (blackList.includes(menu.type)) return
      switch (menu.type) {
        case 'situation': // 遥感卫星能力展示
          this.menus.scenePlay.active = false
          break
        case 'scenePlay':
          this.menus.situation.active = false
          break
      }
    },
    handleSceneComplete() {
      let that = this
      this.$nextTick(() => {
        // this.addHandler()
        if (this.rightShow) {
          //this.createRadar()
        }
        // this.testLine()
        // 移动相机
        // viewer.cesiumViewer.scene.camera.moveBackward(10000000)
        // 加载湘江流域3Dtiles场景
        // loadXJLYSceneasync(DT)

        // this.addPictureHandle()

        viewer.cesiumViewer.scene.camera.changed.addEventListener(function (ev) {
          that.refreshRadar()
        })
      })

      // this.startWebSocket()
      this.createWebsocket()

    },
    toggleRightShow() {
      this.rightShow = !this.rightShow
      if (this.rightShow) {

        this.$nextTick(() => {
          this.createRadar()
        })
      } else {
        this.detailInfo.visible = false
        this.detailUav.visible = false
      }
    },

    getTaskList() {
      getExecJobs({ type: 2, orders: [{ column: 'begin_time', asc: false }] }).then(res => {
        if (res.data.code === 200) {
          console.log('任务列表', res.data.data)
          let data = res.data.data
          let list = []
          data.forEach(item => {
            // item.check = item.status === 1 || item.status === 3
            item.check = false
            item.statusName = this.jobStatus[item.status + '']
            // TODO 临时设置
            item.uavList.forEach(child => {
              if (!child.trailList) {
                child.trailList = []
              }
              child.jobName = item.name
            })
            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,
            })
            // TODO
            // item.pointList = [item.pointList]
            if (item.status === 1 || item.status === 3) {
              // this.addJobLine(item, false)
              // this.addUavToScene(item)
              // this.addTaskPlanArea(item.pointList, item.id, item.name)
            }
            // 测试
            // this.addUavToScene(item)
          })
          taskListResource = data
          this.taskList.data = list
          this.taskList.data[0].check = true
          if (this.menusChose === '1') {
            this.addUavToScene(data[0])
            this.addTaskPlanArea(data[0].pointList, data[0].id, data[0].name)
          }
        } else {
          this.$message.error(res.data.message)
        }
      })
    },
    addTaskPlanArea(data, taskId, taskName) {
      taskPlanAreaCollection[taskId] = []
      let allPositions = []
      let centerLon = 0
      let centerLat = 0
      data.forEach((item, index) => {
        if (item.length > 1) {
          let positions = []
          item.forEach(child => {
            positions.push(DT.Cesium.Cartesian3.fromDegrees(child.longitude, child.latitude))
          })
          positions.push(DT.Cesium.Cartesian3.fromDegrees(item[0].longitude, item[0].latitude))
          allPositions = allPositions.concat(positions)
          let entity = viewer.entities.add({
            position: positions[0],
            label: {
              text: `${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))
        // let rotation = DT.Cesium.Matrix3.fromRotationZ(Math.PI / 2)
        // let matrix = new DT.Cesium.Matrix4()
        // DT.Cesium.Matrix4.fromRotationTranslation(rotation, DT.Cesium.Cartesian3.ZERO, matrix)
        viewer.cesiumViewer.camera.flyToBoundingSphere(DT.Cesium.BoundingSphere.fromPoints(allPositions), {
          duration: 0.1,
          offset: new DT.Cesium.HeadingPitchRange(0, -Math.PI / 2, 0),
          // endTransform:matrix,
        })
        // console.log('相机', viewer.cesiumViewer.camera)
      }

    },
    addUavToScene(info) {
      let arr = []
      info.uavList.forEach(item => {
        let uav = new UavTarget(viewer, item)
        arr.push(uav)
      })
      taskUavCollection[info.id] = arr
      console.log('taskUavCollection添加完毕', taskUavCollection)
      this.refreshRadar()
    },
    /**
     * 更新雷达图上的实体位置
     * @param name
     * @param id
     * @param position
     */
    updateRadarSceneEntityPosition(name, id, position, connected) {
      if (connected) {
        if (radarSceneEntity[id]) {
          radarSceneEntity[id].position = position.clone()
        } else {
          radarSceneEntity[id] = radarViewer.entities.add({
            id: 'uav-' + id,
            position: position.clone(),
            label: {
              text: name,
              font: '14px sans-serif',
              horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
              outlineColor: DT.Cesium.Color.BLACK,
              outlineWidth: 2,
              pixelOffset: new DT.Cesium.Cartesian2(5, -4),
              disableDepthTestDistance: 10000
            },
            billboard: {
              image: process.env.BASE_URL + 'static/img/icon_wrj.png',
              disableDepthTestDistance: 10000
            }
          })
        }
      } else {
        if (radarSceneEntity[id]) {
          radarViewer.entities.remove(radarSceneEntity[id])
          radarSceneEntity[id] = null
        }
      }

    },
    /**
     * 更新雷达图上的实体位置
     * @param name
     * @param id
     * @param position
     */
    updateSceneEntityPosition(name, id, position, connected) {
      if (connected) {
        if (sceneEntity[id]) {
          sceneEntity[id].position = position.clone()
        } else {
          sceneEntity[id] = viewer.entities.add({
            id: 'radar2-' + id,
            position: position.clone(),
            label: {
              text: name + '0000',
              font: '14px sans-serif',
              horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
              outlineColor: DT.Cesium.Color.BLACK,
              outlineWidth: 2,
              pixelOffset: new DT.Cesium.Cartesian2(5, -4),
              disableDepthTestDistance: 10000
            },
            billboard: {
              image: process.env.BASE_URL + 'static/img/icon_wrj.png',
              disableDepthTestDistance: 10000
            }
          })
        }
      } else {
        if (sceneEntity[id]) {
          viewer.entities.remove(sceneEntity[id])
          sceneEntity[id] = null
        }
      }
    },

    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
      }
    },
    addJobLine(info, isFinish) {
      console.log('任务信息', info)
      let load = renderTaskInfo[`${info.id}-${info.uavList[0].uavId}`]
      if (load) {
        return
      }
      let routes = []
      let startHeight = 0
      let endHeight = 0
      info.uavList[0].airlineList.forEach((item, index) => {
        if (index === 0) {
          startHeight = item.flightStartHeight
        }
        if (index === info.uavList[0].airlineList.length - 1) {
          endHeight = item.flightEndHeight
        }
        routes.push([item.flightStartLon, item.flightStartLat, item.flightStartHeight])
        routes.push([item.flightEndLon, item.flightEndLat, item.flightEndHeight])
      })
      routes.unshift([info.uavList[0].startLon, info.uavList[0].startLat, startHeight])
      routes.push([info.uavList[0].endLon, info.uavList[0].endLat, endHeight])
      let positions = []
      let minLon, maxLon, minLat, maxLat
      routes.forEach((item, index) => {
        if (index === 0) {
          minLon = item[0]
          maxLon = item[0]
          minLat = item[1]
          maxLat = item[1]
        } else {
          minLon = Math.min(minLon, item[0])
          maxLon = Math.max(maxLon, item[0])
          minLat = Math.min(minLat, item[1])
          maxLat = Math.max(maxLat, item[1])
        }
        positions.push(DT.Cesium.Cartesian3.fromDegrees(item[0], item[1], item[2]))
      })
      let currentIndex = 0
      let currentPosition = positions[0].clone()
      if (isFinish) {
        currentIndex = positions.length - 1
        currentPosition = positions[currentIndex].clone()
      }

      let pathEntity = new DT.DirectionPath({
        id: `${info.id}-${info.uavList[0].uavId}~baseline`,
        positions: positions,
        dataFit: false,
        currentPosition: currentPosition,
        currentIndex: currentIndex,
        autoStep: false,
        equalsEpsilon: 0.01,
        stepDistance: 30,
        addMark: !isFinish,
        leadLineOption: {
          width: 4,
          dashLength: 20,
          color: DT.Cesium.Color.fromCssColorString('#15cfcd'),
          image: process.env.BASE_URL + 'static/img/dash.png'
        },
        passLineOption: {
          width: 4,
          color: DT.Cesium.Color.fromCssColorString('#15cfcd'),
        },
        labelConfig: {
          font: '21pt Lucida Console',
          horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
          outlineColor: DT.Cesium.Color.BLACK,
          outlineWidth: 2,
          pixelOffset: new DT.Cesium.Cartesian2(5, -4),
          scale: 0.5,
          show: true,
          style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE,
          text: info.uavList[0].uavName,
          verticalOrigin: DT.Cesium.VerticalOrigin.CENTER,
          disableDepthTestDistance: 10000
        },
        billboardConfig: {
          image: process.env.BASE_URL + 'static/img/icon_wrj.png',
          disableDepthTestDistance: 10000
          // enableRotation: true
        },
        enableRepeatAdjust: false,
      })
      let pathEntity2 = new DT.DirectionPath({
        id: `${info.id}-${info.uavList[0].uavId}~baseline`,
        positions: positions,
        dataFit: false,
        currentPosition: currentPosition,
        currentIndex: currentIndex,
        autoStep: false,
        equalsEpsilon: 0.01,
        stepDistance: 30,
        addMark: !isFinish,
        leadLineOption: {
          width: 4,
          dashLength: 20,
          color: DT.Cesium.Color.fromCssColorString('#15cfcd'),
          image: process.env.BASE_URL + 'static/img/dash.png'
        },
        passLineOption: {
          width: 4,
          color: DT.Cesium.Color.fromCssColorString('#15cfcd'),
        },
        labelConfig: {
          font: '21pt Lucida Console',
          horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
          outlineColor: DT.Cesium.Color.BLACK,
          outlineWidth: 2,
          pixelOffset: new DT.Cesium.Cartesian2(5, -4),
          scale: 0.5,
          show: true,
          style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE,
          text: info.uavList[0].uavName,
          verticalOrigin: DT.Cesium.VerticalOrigin.CENTER,
          disableDepthTestDistance: 10000
        },
        billboardConfig: {
          image: process.env.BASE_URL + 'static/img/icon_wrj.png',
          disableDepthTestDistance: 10000
          // enableRotation: true
        },
        enableRepeatAdjust: false,
      })
      console.log('调用添加方法了吗')
      lodLayer.add(pathEntity)
      radarLayer.add(pathEntity2)

      // 添加图片


      renderTaskInfo[`${info.id}-${info.uavList[0].uavId}`] = {
        entity: pathEntity,
        entity2: pathEntity2,
        picture: {}
      }

      info.uavList.forEach(uav => {
        uav.payloadList.forEach(payload => {
          payload.imageList.forEach(image => {
            this.addMarkPicture2(image)
          })
        })
      })
      // 适当扩大视角范围
      let lonDiff = (maxLon - minLon) / 2
      let latDiff = (maxLat - minLat) / 2
      minLon -= lonDiff
      maxLon += lonDiff
      minLat -= latDiff
      maxLat += latDiff

      let boundingPosition = [
        DT.Cesium.Cartesian3.fromDegrees(minLon, minLat),
        DT.Cesium.Cartesian3.fromDegrees(minLon, maxLat),
        DT.Cesium.Cartesian3.fromDegrees(maxLon, minLat),
        DT.Cesium.Cartesian3.fromDegrees(maxLon, maxLat),
      ]
      // console.log('最小最大', minLon, maxLon, minLat, maxLat)
      viewer.cesiumViewer.camera.flyToBoundingSphere(DT.Cesium.BoundingSphere.fromPoints(boundingPosition), { duration: 0.1 })
    },
    removeJobLine(jobId, uavId) {
      let load = renderTaskInfo[`${jobId}-${uavId}`]
      if (load) {
        if (load.entity) {
          lodLayer.remove(load.entity)
          radarLayer.remove(load.entity2)
        }
        if (load.picture) {
          for (let key in load.picture) {
            if (load.picture[key].pictureEntity) {
              viewer.entities.remove(load.picture[key].pictureEntity)
            }
            if (load.picture[key].markArr) {
              load.picture[key].markArr.forEach(item => {
                viewer.entities.remove(item)
              })
            }
          }
        }
      }
      renderTaskInfo[`${jobId}-${uavId}`] = null
    },

    showUpload() {
      this.uploadPictureInfo.visible = true
    },
    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')
          } else {
            this.$message.error(res.data.message)
          }
        })
      })

    },
    toggleTaskSceneShow(info, index) {
      // console.log('切换的info', info)
      // console.log('无人机详情面板', this.detailInfo)
      if (info.check) {
        if (this.detailInfo.visible) {
          let isDetail = false
          taskListResource[index].uavList.forEach(uav => {
            uav.payloadList.forEach(payload => {
              if (payload.payloadId === this.detailInfo.baseInfo.id) {
                isDetail = true
              }
            })
          })
          if (isDetail) {
            this.detailInfo.visible = false
            this.detailUav.visible = false
          }

        }
        info.check = false;
        taskListResource[index].check = false

        // if (currentPicture && currentPicture.jobId === info.id + '') {
        //   currentPicture = null
        // }
        this.removeTaskTarget(info.id);
      } else {
        this.addUavToScene(taskListResource[index])
        this.addTaskPlanArea(taskListResource[index].pointList, info.id, info.name)
        info.check = true

      }
      // console.log('变换后的数据', this.taskList.data)
    },
    stopTask(info, index) {
      this.$confirm('确定结束任务吗', '提示', {
        confirmButtonText: '确定',
        cancelButtonText: '取消',
        type: 'warning'
      }).then(res => {
        stopTaskFly({ id: info.id }).then(res => {
          if (res.data.code === 200) {
            info.status = 2
            this.getTaskList()
            this.$message.success('任务已结束！')
          } else {
            this.$message.error(res.data.message)
          }
        })
      })

    },
    /**
     * 重新执行
     * @param info
     */
    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')
            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.$message.error(res.data.message)
          }
        })
      })
    },
    getWeather() {
      getWeatherInfo().then(res => {
        if (res.data.code === 200) {
          let data = res.data.data
          this.weatherInfo2.wendu = data.wendu
          this.weatherInfo2.shidu = data.shidu
          this.weatherInfo2.quality = data.quality
          this.weatherInfo2.pm25 = data.pm25
          this.weatherInfo2.pm10 = data.pm10
          let list = data.forecast.slice(0, 5)
          let chart = []
          list.forEach((item, index) => {
            let low = item.low.split(' ')[1]
            let high = item.high.split(' ')[1]
            item.temperatureRange = [low, high]
            // chart.push([item.week, parseFloat(high)])
            chart.push([index, parseFloat(high)])
          })
          this.weatherInfo2.weekData = list
          this.weatherInfo2.chart.data[0].data = chart
          console.log('数据', this.weatherInfo2.chart.data)
          if (this.$refs.chart) {
            this.$refs.chart.updateData(this.weatherInfo2.chart.data)

          }
        } else {
          this.$message.error(res.data.message)
        }
      })
    },

    /**
     * @description 添加地面站点击事件
     * @author wzw
     * @date 2022年3月30日
     */
    addHandler() {
      let that = this
      handler = new DT.Cesium.ScreenSpaceEventHandler(
        viewer.cesiumViewer.scene.canvas
      )
      handler.setInputAction(event => {
        let evt = viewer.cesiumViewer.scene.pick(event.position)

        // 卫星和地面站的点击事件
        if (evt && evt.primitive && evt.primitive.entityId) {
          let id = evt.primitive.entityId
          // 点击的是地面站
          if (id.includes('station')) {
            // 激活实体详情面板
            if (!this.visible.entityDetail) {
              this.visible.entityDetail = true
            }
            let data = undefined
            for (let i = 0; i < this.sceneInfo.stationList.length; i++) {
              if ('station-' + this.sceneInfo.stationList[i].staId === id) {
                data = JSON.parse(JSON.stringify(this.sceneInfo.stationList[i]))
                break
              }
            }
          }
          // 点击的是卫星
          if (id.includes('satellite')) {
            // 激活实体详情面板
            if (!this.visible.entityDetail) {
              this.visible.entityDetail = true
            }
            let satId = id.split('-')[1]
            let satelliteInfo = this.sceneInfo.satelliteList.find(
              item => item.satId === +satId
            )
            let info = JSON.parse(JSON.stringify(satelliteInfo))
            this.showSatelliteInfo(info)
          }
        }

        // 覆盖范围属于那个卫星的提示框
        if (evt && evt.id && evt.id.id.includes('area')) {
          let position1
          let feature = viewer.cesiumViewer.scene.pick(event.position)
          if (feature) {
            position1 = viewer.cesiumViewer.scene.pickPosition(event.position)
          } else {
            let ray = viewer.cesiumViewer.scene.camera.getPickRay(
              event.position
            )
            position1 = viewer.cesiumViewer.scene.globe.pick(
              ray,
              viewer.cesiumViewer.scene
            )
          }
          let cartographic = viewer.cesiumViewer.scene.globe.ellipsoid.cartesianToCartographic(
            position1
          )
          let id = evt.id.id
          let isExist = that.eventTips.findIndex(item => {
            return item.id === id
          })
          if (isExist !== -1) {
            that.eventTips[isExist].showAnimation = false
            that.eventTips[isExist].position = [
              DT.Cesium.Math.toDegrees(cartographic.longitude),
              DT.Cesium.Math.toDegrees(cartographic.latitude),
              500
            ]
            Reflect.deleteProperty(that.eventTips[isExist], 'disappearTime')
            Reflect.deleteProperty(that.eventTips[isExist], 'animationTime')
          } else {
            that.eventTips.push({
              id,
              name: evt.id.name,
              show: true,
              showAnimation: false,
              position: [
                DT.Cesium.Math.toDegrees(cartographic.longitude),
                DT.Cesium.Math.toDegrees(cartographic.latitude),
                500
              ]
            })
          }
        } else {
          that.eventTips.forEach(item => {
            item.animationTime = moment().format('YYYY-MM-DD HH:mm:ss')
            item.disappearTime = moment()
              .add(2, 's')
              .format('YYYY-MM-DD HH:mm:ss')
          })
        }
      }, DT.Cesium.ScreenSpaceEventType.LEFT_CLICK)
    },

    /*********************业务代码**********************/
    //#region 测试代码
    testLine() {
      let lineData = [
        {
          lon: 116.538201,
          lat: 40.141529
        },
        {
          lon: 116.538216,
          lat: 40.143778
        },
        {
          lon: 116.546478,
          lat: 40.143742
        },
        {
          lon: 116.546193,
          lat: 40.141043
        },
        {
          lon: 116.546097,
          lat: 40.137875
        },
        {
          lon: 116.537818,
          lat: 40.138056
        },
        {
          lon: 116.537725,
          lat: 40.134348
        }
      ]

      let cartesian3Positions = []
      let minLon, maxLon, minLat, maxLat
      lineData.forEach((item, index) => {
        if (index === 0) {
          minLon = item.lon
          maxLon = item.lon
          minLat = item.lat
          maxLat = item.lat
        } else {
          minLon = Math.min(minLon, item.lon)
          maxLon = Math.max(maxLon, item.lon)
          minLat = Math.min(minLat, item.lat)
          maxLat = Math.max(maxLat, item.lat)
        }
        cartesian3Positions.push(DT.Cesium.Cartesian3.fromDegrees(item.lon, item.lat))
      })
      let pathEntity = new DT.DirectionPath({
        positions: cartesian3Positions,
        dataFit: false,
        // currentPosition:current,
        autoStep: false,
        equalsEpsilon: 0.01,
        stepDistance: 30,
        leadLineOption: {
          width: 4,
          dashLength: 20,
          color: DT.Cesium.Color.fromCssColorString('#15cfcd'),
          image: process.env.BASE_URL + 'static/img/dash.png'
        },
        passLineOption: {
          width: 4,
          color: DT.Cesium.Color.fromCssColorString('#15cfcd'),
        },
        labelConfig: {
          font: '21pt Lucida Console',
          horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
          outlineColor: DT.Cesium.Color.BLACK,
          outlineWidth: 2,
          pixelOffset: new DT.Cesium.Cartesian2(5, -4),
          scale: 0.5,
          show: true,
          style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE,
          text: '无人机',
          verticalOrigin: DT.Cesium.VerticalOrigin.CENTER,
          disableDepthTestDistance: 10000
        },
        billboardConfig: {
          image: process.env.BASE_URL + 'static/img/icon_wrj.png',
          disableDepthTestDistance: 10000
          // enableRotation: true
        },
        enableRepeatAdjust: false,
      })
      lodLayer.add(pathEntity)
      // 适当扩大视角范围
      let lonDiff = (maxLon - minLon) / 2
      let latDiff = (maxLat - minLat) / 2
      minLon -= lonDiff
      maxLon += lonDiff
      minLat -= latDiff
      maxLat += latDiff

      let boundingPosition = [
        DT.Cesium.Cartesian3.fromDegrees(minLon, minLat),
        DT.Cesium.Cartesian3.fromDegrees(minLon, maxLat),
        DT.Cesium.Cartesian3.fromDegrees(maxLon, minLat),
        DT.Cesium.Cartesian3.fromDegrees(maxLon, maxLat),
      ]
      // console.log('最小最大', minLon, maxLon, minLat, maxLat)
      viewer.cesiumViewer.camera.flyToBoundingSphere(DT.Cesium.BoundingSphere.fromPoints(boundingPosition), { duration: 0.1 })
      this.addMarkPicture()
    },
    addMarkPicture() {
      // const layer=viewer.imageryLayers.addImageryProvider( new Cesium.SingleTileImageryProvider({
      //   url: "图片url",
      // }));
      let cby_bg_data = [
        116.540165, 40.138266,
        116.540190, 40.137485,
        116.541745, 40.137458,
        116.541714, 40.138282,


      ];
      let entity = viewer.entities.add({
        id: 'picture-1',
        name: '背景',
        polygon: {
          // hierarchy: DT.Cesium.Cartesian3.fromDegreesArrayHeights(cby_bg_data),
          hierarchy: DT.Cesium.Cartesian3.fromDegreesArray(cby_bg_data),
          perPositionHeight: true,
          material: new DT.Cesium.ImageMaterialProperty({
            image: process.env.BASE_URL + 'static/img/pic.png',
          }),//new Cesium.Color(0.29, 0.85, 0.89, 0.5), //Cesium.Color.PALETURQUOISE.withAlpha(0.5),
          outline: true,
          outlineColor: DT.Cesium.Color.WHITE,
          outlineWidth: 2, //很多电脑当宽度>1时，没用
        }
      });
      let markPosition = DT.Cesium.Cartesian3.fromDegrees(116.540265, 40.138066, 1)
      let markArr = [
        116.540265, 40.138066, 1,
        116.540265, 40.137866, 1,
        116.540845, 40.137866, 1,
        116.540845, 40.138066, 1,
        116.540265, 40.138066, 1,
      ]
      let markLine = viewer.entities.add({
        id: 'picture-text-1',
        show: false,
        position: markPosition,
        label: {
          text: '标注点',
          font: '12px sans-serif',
          fillColor: DT.Cesium.Color.RED,
          horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
          verticalOrigin: DT.Cesium.VerticalOrigin.TOP,
          disableDepthTestDistance: 10000,
          showBackground: false,
          backgroundColor: DT.Cesium.Color.BLACK,
          style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE,
        },
        polyline: {
          positions: DT.Cesium.Cartesian3.fromDegreesArrayHeights(markArr),
          // positions: DT.Cesium.Cartesian3.fromDegreesArray(markArr),
          width: 1,
          material: DT.Cesium.Color.RED,
          depthFailMaterial: DT.Cesium.Color.RED,
          zIndex: 3,
        }
      })
      linePicture['picture-1'] = {
        picEntity: entity,
        mark: markLine
      }

      let handler = new DT.Cesium.ScreenSpaceEventHandler(
        viewer.cesiumViewer.scene.canvas
      )
      handler.setInputAction(({ position }) => {
        let pick = viewer.cesiumViewer.scene.pick(position)
        if (currentPicture) {
          currentPicture.picEntity.polygon.outlineColor = DT.Cesium.Color.WHITE
          currentPicture.picEntity.show = true
          currentPicture.mark.show = false
        }
        currentPicture = null
        if (pick && pick.id && pick.id.id && pick.id.id.indexOf('picture') !== -1) {
          currentPicture = linePicture['picture-1']
          currentPicture.picEntity.polygon.outlineColor = DT.Cesium.Color.RED
          currentPicture.mark.show = true
        } else {

        }
      }, DT.Cesium.ScreenSpaceEventType.LEFT_DOUBLE_CLICK)
      handler.setInputAction(({ position }) => {
        console.log('右键', currentPicture)
        if (currentPicture) {
          let show = !currentPicture.picEntity.show
          console.log('触发显隐', show)
          currentPicture.picEntity.show = show
          currentPicture.mark.show = show
          console.log('触发显隐', currentPicture.picEntity, currentPicture.mark)

        }
      }, DT.Cesium.ScreenSpaceEventType.RIGHT_CLICK)

    },
    //#endregion

    getResourceData() {
      getRadarListData().then(res => {
        if (res.data.code === 200) {
          let data = res.data.data
          data.forEach((item, index) => {
            item.battery = 80
            item.flyHeight = '-'
            item.lon = '-'
            item.lat = '-'
          })
          this.resourceList.data = data
          console.log('雷达列表', res.data.data)
        } else {
          this.$message.error(res.data.message)
        }
      })
      // getUavListData().then(res => {
      //   if (res.data.code === 200) {
      //     let data = res.data.data
      //     data.forEach((item, index) => {
      //       item.battery = 80
      //       item.flyHeight = '-'
      //       item.lon = '-'
      //       item.lat = '-'
      //     })
      //     this.resourceList.data = data
      //     console.log('无人机列表', res.data.data)
      //   } else {
      //     this.$message.error(res.data.message)
      //   }
      // })

    },
    /**
     * 获取装备信号强度css类
     * @param strength
     * @returns {string}
     */
    getDeviceSignalClass(strength) {
      if (strength < 20) {
        return 'device-status__disconnect'
      } else if (strength < 60) {
        return 'device-status__weak'
      } else {
        return 'device-status__normal'
      }
    },
    /**
     * 车航程css
     * @param value
     * @returns {string}
     */
    getCarDistanceClass(value) {
      if (value < 50) {
        return 'battery-danger'
      } else if (value < 200) {
        return 'battery-weak'
      } else {
        return 'battery-normal'
      }
    },
    /**
     * 获取装备电池css类
     * @param strength
     * @returns {string}
     */
    getDeviceBatteryClass(strength) {
      if (strength < 20) {
        return 'battery-danger'
      } else if (strength < 60) {
        return 'battery-weak'
      } else {
        return 'battery-normal'
      }
    },
    flyToTarget(lon, lat, alt = 1000) {
      let longitude = parseFloat(lon)
      let latitude = parseFloat(lat)
      let height = parseFloat(alt)
      if (typeof longitude === 'number' && typeof latitude === 'number') {
        let position = DT.Cesium.Cartesian3.fromDegrees(longitude, latitude, height * 3)
        viewer.cesiumViewer.scene.camera.flyTo({
          destination: position,
          duration: 1
        })
      }
    },


    /**
     * 切换资源列表分组
     * @param tab
     */
    resourceTabClick(tab) {
      if (this.resourceList.activeTabId !== tab.id) {
        this.resourceList.activeTabId = tab.id
      }
    },

    //#region 无人机详情代码
    resourceClick(info) {
      console.log('点击的信息', info)
      this.detailInfo.visible = false
      // TODO 测试
      // this.resourceClickTest(info)
      getTaskListData({ payloadId: info.id }).then(res => {
        if (res.data.code === 200) {
          console.log('任务详情----------------', res.data.data)
          let tasklist = res.data.data
          this.detailInfo.jobId = undefined
          if (tasklist.length > 0) {
            // 有正在执行的任务
            // 判断当前任务是否显示
            let findIndex = -1
            taskListResource.forEach((item, index) => {
              if (item.status === 1) {
                item.uavList.forEach(uav => {
                  let find = uav.payloadList.find(payload => payload.payloadId === info.id)
                  if (find) {
                    findIndex = index
                  }
                })
              }
            })
            if (findIndex > -1) {
              this.detailInfo.jobId = this.taskList.data[findIndex].id
              if (!this.taskList.data[findIndex].check) {
                // 打开任务信息
                this.toggleTaskSceneShow(this.taskList.data[findIndex], findIndex)
              }
            }
          } else {
            // 没有正在执行的任务
          }

          this.detailInfo.baseInfo = JSON.parse(JSON.stringify(info))
          this.detailInfo.taskList = tasklist
          let pictureList = []
          tasklist.forEach((item, index) => {
            item.uavList.forEach(child => {
              child.payloadList.forEach(loader => {
                if (loader.payloadId === info.id) {
                  loader.imageList.forEach(pic => {
                    pictureList.push(Object.assign({
                      jobId: item.id,
                      url: window.config.imagePath + pic.relativePath,
                      taskName: item.name,
                      uavName: child.uavName,
                      uavId: child.uavId,
                      payloadId: loader.payloadId,
                      loaderName: loader.payloadName,
                      status: item.status + '',
                    }, pic))
                  })
                }

              })
            })
          })
          this.detailInfo.pictureList = pictureList
          this.detailInfo.visible = true
        } else {
          this.$message.error(res.data.message)
        }
      })
    },
    showUavMore() {
      console.log('_++++++++++++++++++', this.detailInfo.baseInfo)
      this.detailUav.id = this.detailInfo.baseInfo.id
      this.detailUav.basicsInfo.name = this.detailInfo.baseInfo.name
      this.detailUav.baseInfo.longitude = this.detailInfo.baseInfo.lon
      this.detailUav.baseInfo.latitude = this.detailInfo.baseInfo.lat
      this.detailUav.baseInfo.flyHeight = this.detailInfo.baseInfo.flyHeight
      this.detailUav.visible = true

    },
    lockHistoryPicture(data) {
      console.log('跟踪图片', data)
      if (data.status === '2') {
        let id = `${data.jobId}-${data.uavId}-${data.payloadId}-${data.fileId}`
        let target = historyPictureList[id]
        if (!target) {
          let cby_bg_data = [
            data.left1Lon, data.left1Lat,
            data.left2Lon, data.left2Lat,
            data.right2Lon, data.right2Lat,
            data.right1Lon, data.right1Lat,
          ]
          let entity = viewer.entities.add({
            id: `${data.jobId}-${data.uavId}-${data.payloadId}-${data.fileId}-history`,
            name: '背景',
            polygon: {
              // hierarchy: DT.Cesium.Cartesian3.fromDegreesArrayHeights(cby_bg_data),
              hierarchy: DT.Cesium.Cartesian3.fromDegreesArray(cby_bg_data),
              perPositionHeight: true,
              material: new DT.Cesium.ImageMaterialProperty({
                image: window.config.imagePath + data.relativePath,
                // image: process.env.BASE_URL + 'static/img/ttt.tif',
                // image: process.env.BASE_URL + 'static/img/pic.png',
              }),//new Cesium.Color(0.29, 0.85, 0.89, 0.5), //Cesium.Color.PALETURQUOISE.withAlpha(0.5),
              outline: true,
              outlineColor: DT.Cesium.Color.WHITE,
              outlineWidth: 2, //很多电脑当宽度>1时，没用
            }
          })
          let markLineArr = [entity]
          data.itemList.forEach((item) => {
            let markId = `${data.jobId}-${data.uavId}-${data.payloadId}-${data.fileId}-${item.id}~mark`
            let markPosition = DT.Cesium.Cartesian3.fromDegrees(item.left1Lon, item.left1Lat, 1)
            let markArr = [
              item.left1Lon, item.left1Lat, 1,
              item.left2Lon, item.left2Lat, 1,
              item.right2Lon, item.right2Lat, 1,
              item.right1Lon, item.right1Lat, 1,
              item.left1Lon, item.left1Lat, 1,
            ]
            let markLine = viewer.entities.add({
              id: markId,
              show: true,
              position: markPosition,
              label: {
                text: this.detectType[item.type],
                font: '12px sans-serif',
                fillColor: DT.Cesium.Color.RED,
                horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
                verticalOrigin: DT.Cesium.VerticalOrigin.TOP,
                disableDepthTestDistance: 10000,
                showBackground: false,
                backgroundColor: DT.Cesium.Color.BLACK,
                style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE,
              },
              polyline: {
                positions: DT.Cesium.Cartesian3.fromDegreesArrayHeights(markArr),
                // positions: DT.Cesium.Cartesian3.fromDegreesArray(markArr),
                width: 1,
                material: DT.Cesium.Color.RED,
                depthFailMaterial: DT.Cesium.Color.RED,
                zIndex: 3,
              }
            })
            markLineArr.push(markLine)
            console.log('推进去的', markLine)
          })
          historyPictureList[`${data.jobId}-${data.uavId}-${data.payloadId}-${data.fileId}`] = markLineArr
          console.log('最后生成的1', `${data.jobId}-${data.uavId}-${data.payloadId}-${data.fileId}`)
          console.log('最后生成的2', historyPictureList)
        } else {
          target.forEach(item => {
            item.show = true
          })
        }
      }
      let boundingPosition = [
        DT.Cesium.Cartesian3.fromDegrees(data.left1Lon, data.left1Lat),
        DT.Cesium.Cartesian3.fromDegrees(data.left2Lon, data.left2Lat),
        DT.Cesium.Cartesian3.fromDegrees(data.right2Lon, data.right2Lat),
        DT.Cesium.Cartesian3.fromDegrees(data.right1Lon, data.right1Lat),
      ]
      // console.log('最小最大', minLon, maxLon, minLat, maxLat)
      viewer.cesiumViewer.camera.flyToBoundingSphere(DT.Cesium.BoundingSphere.fromPoints(boundingPosition), { duration: 0.1 })


    },
    toggleHistoryPicture(data) {
      console.log('切换整体信息', data)
      if (taskUavCollection[data.jobId]) {
        let find = taskUavCollection[data.jobId].find(item => item.uavId + '' === data.uavId + '')
        console.log('找到了无人机对象吗吗', find)
        if (find) {
          find.toggleLoaderPictureVisible(data.payloadId, data.fileId)
        }
      }
      // if (data.status + '' === '2') {
      //   let id = `${data.jobId}-${data.uavId}-${data.payloadId}-${data.fileId}`
      //   let target = historyPictureList[id]
      //   if (!target) {
      //     let cby_bg_data=[
      //       data.left1Lon, data.left1Lat,
      //       data.left2Lon, data.left2Lat,
      //       data.right2Lon, data.right2Lat,
      //       data.right1Lon, data.right1Lat,
      //     ]
      //     let entity = viewer.entities.add({
      //       id: `${data.jobId}-${data.uavId}-${data.payloadId}-${data.fileId}-history`,
      //       name: '背景',
      //       polygon: {
      //         // hierarchy: DT.Cesium.Cartesian3.fromDegreesArrayHeights(cby_bg_data),
      //         hierarchy: DT.Cesium.Cartesian3.fromDegreesArray(cby_bg_data),
      //         perPositionHeight: true,
      //         material: new DT.Cesium.ImageMaterialProperty({
      //           image: window.config.imagePath + data.relativePath,
      //           // image: process.env.BASE_URL + 'static/img/ttt.tif',
      //           // image: process.env.BASE_URL + 'static/img/pic.png',
      //         }),//new Cesium.Color(0.29, 0.85, 0.89, 0.5), //Cesium.Color.PALETURQUOISE.withAlpha(0.5),
      //         outline: true,
      //         outlineColor: DT.Cesium.Color.WHITE,
      //         outlineWidth: 2, //很多电脑当宽度>1时，没用
      //       }
      //     })
      //     let markLineArr = [entity]
      //     data.itemList.forEach((item) => {
      //       let markId = `${data.jobId}-${data.uavId}-${data.payloadId}-${data.fileId}-${item.id}~mark`
      //       let markPosition = DT.Cesium.Cartesian3.fromDegrees(item.left1Lon, item.left1Lat, 1)
      //       let markArr = [
      //         item.left1Lon, item.left1Lat, 1,
      //         item.left2Lon, item.left2Lat, 1,
      //         item.right2Lon, item.right2Lat, 1,
      //         item.right1Lon, item.right1Lat, 1,
      //         item.left1Lon, item.left1Lat, 1,
      //       ]
      //       let markLine = viewer.entities.add({
      //         id: markId,
      //         show: true,
      //         position: markPosition,
      //         label: {
      //           text: this.detectType[item.type],
      //           font: '12px sans-serif',
      //           fillColor: DT.Cesium.Color.RED,
      //           horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
      //           verticalOrigin: DT.Cesium.VerticalOrigin.TOP,
      //           disableDepthTestDistance: 10000,
      //           showBackground: false,
      //           backgroundColor: DT.Cesium.Color.BLACK,
      //           style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE,
      //         },
      //         polyline: {
      //           positions: DT.Cesium.Cartesian3.fromDegreesArrayHeights(markArr),
      //           // positions: DT.Cesium.Cartesian3.fromDegreesArray(markArr),
      //           width: 1,
      //           material: DT.Cesium.Color.RED,
      //           depthFailMaterial: DT.Cesium.Color.RED,
      //           zIndex: 3,
      //         }
      //       })
      //       markLineArr.push(markLine)
      //       console.log('推进去的', markLine)
      //     })
      //     historyPictureList[`${data.jobId}-${data.uavId}-${data.payloadId}-${data.fileId}`] = markLineArr
      //     // console.log('最后生成的', target.picture[`${data.fileId}-picture`])
      //   } else {
      //     let show = !target[0].show
      //     target.forEach(item => {
      //       item.show = show
      //     })
      //   }
      // } else if (data.status + '' === '1') {
      //   console.log('切换有任务对象吗', taskUavCollection[data.jobId])
      //   if (taskUavCollection[data.jobId]) {
      //     let find = taskUavCollection[data.jobId].find(item => item.uavId + '' === data.uavId + '')
      //     console.log('找到了无人机对象吗吗', find)
      //     if (find) {
      //       find.toggleLoaderPictureVisible(data.payloadId,data.fileId)
      //     }
      //   }
      //   // let findId = `${data.jobId}-${data.uavId}`
      //   // let find = renderTaskInfo[findId]
      //   // let findShow = !find.picture[`${data.fileId}-picture`].pictureEntity.show
      //   // find.picture[`${data.fileId}-picture`].pictureEntity.show = findShow
      //   // find.picture[`${data.fileId}-picture`].markArr.forEach((item) => {
      //   //   item.show = findShow
      //   // })
      // }
    },
    //#endregion


    //#region tab通信相关代码
    createBroadcastChannel() {
      this.closeBroadcastChannel()
      broadcastChannel = new BroadcastChannel('channel')
      broadcastChannel.onmessage = this.handleChannelMessage;
      broadcastChannelInterval = setInterval(() => {
        this.sendMessageByBroadcastChannel({ type: 'heartbeat', form: 'home' })
      }, 5000)
    },
    handleChannelMessage(data) {
      console.log('home收到消息', data)
      switch (data.data.type) {
        case 'heartbeat':
          let fromTab = data.data.from
          let find = this.activeTabs.find(item => item.name === fromTab)
          if (find) {
            find.lastTime = new Date().getTime()
          } else {
            this.activeTabs.push({
              name: fromTab,
              lastTime: new Date().getTime(),
            })
          }
          break
        case 'viewMode':
          console.log('收到viewmode消息')
          if (this.viewMode !== data.data.value) {
            this.SET_VIEW_MODE(data.data.value)
          }
          break
        case 'showDayNight':
          console.log('收到showDayNight消息')
          if (this.showDayNight !== data.data.value) {
            // this.SET_DAY_NIGHT(data.data.value)
          }
          break
        case 'showFrontier':
          console.log('收到showFrontier消息')
          if (this.showFrontier !== data.data.value) {
            this.SET_FRONTIER(data.data.value)
          }
          break
        case 'showLonLatGrid':
          console.log('收到showLonLatGrid消息')
          if (this.showLonLatGrid !== data.data.value) {
            this.SET_LON_LAT_GRID(data.data.value)
          }
          break
        case 'isFullscreen':
          console.log('收到isFullscreen消息')
          if (this.isFullscreen !== data.data.value) {
            this.SET_FULL_SCREEN(data.data.value)
          }
          break
        case 'mapType':
          console.log('收到mapType消息')
          if (this.mapType !== data.data.value) {
            this.SET_MAP_TYPE(data.data.value)
          }
          break
      }
    },
    sendMessageByBroadcastChannel(msg) {
      if (broadcastChannel) {
        broadcastChannel.postMessage(msg)
      }
    },
    closeBroadcastChannel() {
      if (broadcastChannel) {
        broadcastChannel.close()
        broadcastChannel = null
      }
      if (broadcastChannelInterval) {
        window.clearInterval(broadcastChannelInterval)
        broadcastChannelInterval = null
      }
    },
    //#endregion

    //#region 雷达
    createRadar() {
      let position = viewer.cesiumViewer.scene.camera.position.clone()
      let position2 = DT.Cesium.Cartographic.fromCartesian(position)
      let calHeight = Math.min(position2.height * 2, 1000000)
      calHeight = Math.max(calHeight, 10000)
      let radarPosition = DT.Cesium.Cartesian3.fromRadians(position2.longitude, position2.latitude, calHeight)
      let tilingScheme, satMap, vectorMap, roadMap, arcgisMap
      tilingScheme = new DT.Cesium.WebMercatorTilingScheme()
      // 开发环境或者内网生产环境，访问内网地图服务

      /******************天地图************************/
      let token = window.config.tdtToken
      // 服务域名
      let tdtUrl = 'https://t{s}.tianditu.gov.cn/';
      // 服务负载子域
      let subdomains = ['0', '1', '2', '3', '4', '5', '6', '7'];
      let tdtImgMap = new DT.Cesium.UrlTemplateImageryProvider({
        url: tdtUrl + 'DataServer?T=img_w&x={x}&y={y}&l={z}&tk=' + token,
        subdomains: subdomains,
        tilingScheme: new DT.Cesium.WebMercatorTilingScheme(),
        maximumLevel: 18
      });
      let tdtVecMap = new DT.Cesium.UrlTemplateImageryProvider({
        url: tdtUrl + 'DataServer?T=vec_w&x={x}&y={y}&l={z}&tk=' + token,
        subdomains: subdomains,
        tilingScheme: new DT.Cesium.WebMercatorTilingScheme(),
        maximumLevel: 18
      });
      // 叠加国界服务
      let tdtIboMap = new DT.Cesium.UrlTemplateImageryProvider({
        url: tdtUrl + 'DataServer?T=ibo_w&x={x}&y={y}&l={z}&tk=' + token,
        subdomains: subdomains,
        tilingScheme: new DT.Cesium.WebMercatorTilingScheme(),
        maximumLevel: 10
      });
      // 影像注记
      let tdtImageMarkMap = new DT.Cesium.UrlTemplateImageryProvider({
        url: tdtUrl + 'DataServer?T=cia_w&x={x}&y={y}&l={z}&tk=' + token,
        subdomains: subdomains,
        tilingScheme: new DT.Cesium.WebMercatorTilingScheme(),
        // maximumLevel : 10
      });
      // 叠加地形服务
      let terrainUrls = new Array();
      for (let i = 0; i < subdomains.length; i++) {
        // let url = tdtUrl.replace('{s}', subdomains[i]) + 'mapservice/swdx?T=elv_c&tk=' + token;
        let url = tdtUrl.replace('{s}', subdomains[i]) + 'mapservice/swdx?tk=' + token;
        terrainUrls.push(url);
      }
      /**********************************************************/

      /********************天地图另一种方式********************/
      // 影像地图
      let tdtImgMap2 = new DT.Cesium.WebMapTileServiceImageryProvider({
        url: 'http://t0.tianditu.com/img_w/wmts?service=wmts&request=GetTile&version=1.0.0&LAYER=img&tileMatrixSet=w&TileMatrix={TileMatrix}&TileRow={TileRow}&TileCol={TileCol}&style=default&format=tiles&tk=' + token,
        layer: 'tdtImgLayer',
        style: 'default',
        format: 'image/jpeg',
        subdomains: subdomains,
        tileMatrixSetID: 'GoogleMapsCompatible',
        maximumLevel: 18
      })
      // 影像标记
      let tdtImgMark2 = new DT.Cesium.WebMapTileServiceImageryProvider({
        url: 'http://t0.tianditu.gov.cn/cia_w/wmts?service=wmts&request=GetTile&version=1.0.0&LAYER=cia&tileMatrixSet=w&TileMatrix={TileMatrix}&TileRow={TileRow}&TileCol={TileCol}&style=default&format=tiles&tk=' + token,
        layer: 'tdtCiaLayer',
        style: 'default',
        format: 'image/jpeg',
        tileMatrixSetID: 'GoogleMapsCompatible',
      })
      // 矢量地图
      let tdtVecMap2 = new DT.Cesium.WebMapTileServiceImageryProvider({
        url: 'http://t0.tianditu.gov.cn/vec_w/wmts?service=wmts&request=GetTile&version=1.0.0&LAYER=vec&tileMatrixSet=w&TileMatrix={TileMatrix}&TileRow={TileRow}&TileCol={TileCol}&style=default&format=tiles&tk=' + token,
        layer: 'tdtVecLayer',
        style: 'default',
        format: 'image/jpeg',
        tileMatrixSetID: 'GoogleMapsCompatible'
      })
      // 矢量标注
      let tdtVecMark2 = new DT.Cesium.WebMapTileServiceImageryProvider({
        url: 'http://t0.tianditu.gov.cn/cva_w/wmts?service=wmts&request=GetTile&version=1.0.0&LAYER=cva&tileMatrixSet=w&TileMatrix={TileMatrix}&TileRow={TileRow}&TileCol={TileCol}&style=default&format=tiles&tk=' + token,
        layer: 'tdtCvaLayer',
        style: 'default',
        format: 'image/jpeg',
        tileMatrixSetID: 'GoogleMapsCompatible',
      })
      /***************************************/

      radarViewer = new DT.Viewer(this.$refs.radarCanvas, {
        imageryProvider: tdtVecMap2, // tdtImgMap2
        sceneMode: 2,
        mapProjection: new DT.Cesium.WebMercatorProjection(),
        mapMode2D: DT.Cesium.MapMode2D.INFINITE_SCROLL,
      })
      // 海图地图
      let seaMap = new DT.Cesium.UrlTemplateImageryProvider({
        url: process.env.BASE_URL + 'map/sea/{z}/{x}/{y}.png',
        tilingScheme: tilingScheme,
        minimumLevel: 2,
        maximumLevel: 18
      })
      radarViewer.cesiumViewer.imageryLayers.addImageryProvider(seaMap, 1)
      // viewer.cesiumViewer.imageryLayers.get(4).show = false
      // radarViewer.cesiumViewer.imageryLayers.addImageryProvider(tdtImgMark2, 1)
      // radarViewer.cesiumViewer.imageryLayers.addImageryProvider(tdtVecMap2, 2)
      radarViewer.cesiumViewer.imageryLayers.addImageryProvider(tdtVecMark2, 1)
      // radarViewer.cesiumViewer.imageryLayers.get(2).show = false
      // radarViewer.cesiumViewer.imageryLayers.get(3).show = false

      let vtxf_dpr = window.devicePixelRatio
      while (vtxf_dpr >= 2.0) {
        vtxf_dpr /= 2.0
      }
      radarViewer.cesiumViewer.resolutionScale = vtxf_dpr
      radarLayer = new DT.LODSceneLayer()
      radarViewer.addLayer(radarLayer)
      // radarViewer.cesiumViewer.scene.screenSpaceCameraController.enableTranslate = false
      // radarViewer.cesiumViewer.scene.screenSpaceCameraController.enableRotate = false
      // radarViewer.cesiumViewer.scene.screenSpaceCameraController.enableZoom = false
      // radarViewer.cesiumViewer.scene.screenSpaceCameraController.enableTilt = false
      // radarViewer.cesiumViewer.scene.screenSpaceCameraController.tiltEventTypes = []
      // 去掉版权
      radarViewer.cesiumViewer._innerCreditContainer.style.display = 'none'
      radarViewer.cesiumViewer.scene.camera.flyTo({
        destination: radarPosition,
        duration: 0
      })
      radarHandler = new DT.Cesium.ScreenSpaceEventHandler(
        radarViewer.cesiumViewer.scene.canvas
      )
      this.$nextTick(() => {
        this.refreshRadar()
      })
      // radarHandler.setInputAction(event => {
      //   let car = radarViewer.cesiumViewer.scene.globe.pick(radarViewer.cesiumViewer.scene.camera.getPickRay(event.position),radarViewer.cesiumViewer.scene);
      //   let updateCartographic = DT.Cesium.Cartographic.fromCartesian(car)
      //   let sourceCamera = DT.Cesium.Cartographic.fromCartesian(viewer.cesiumViewer.scene.camera.position.clone())
      //   viewer.cesiumViewer.scene.camera.flyTo({
      //     destination: DT.Cesium.Cartesian3.fromRadians(updateCartographic.longitude, updateCartographic.latitude, sourceCamera.height),
      //     duration: 1
      //   })
      // }, DT.Cesium.ScreenSpaceEventType.LEFT_CLICK)
    },
    refreshRadar() {
      if (!radarViewer) return
      let position = viewer.cesiumViewer.scene.camera.position.clone()
      // let rayCross = viewer.cesiumViewer.scene.camera.position.clone()
      // let ray = new DT.Cesium.Ray(viewer.cesiumViewer.scene.camera.position, viewer.cesiumViewer.scene.camera.direction )
      // if (ray) {
      //   let rayCrossTemp = viewer.cesiumViewer.scene.globe.pick(ray, viewer.cesiumViewer.scene)
      //   if (rayCrossTemp) {
      //     rayCross = rayCrossTemp
      //     console.log('焦点-----------------', rayCross)
      //   }
      // }
      let position2 = DT.Cesium.Cartographic.fromCartesian(position)
      // let position3 = DT.Cesium.Cartographic.fromCartesian(rayCross)
      let calHeight = Math.min(position2.height * 2, 10000000)
      // let calHeight = position2.height * 2
      calHeight = Math.max(calHeight, 1000)
      let radarPosition = DT.Cesium.Cartesian3.fromRadians(position2.longitude, position2.latitude, calHeight)
      radarViewer.cesiumViewer.scene.camera.flyTo({
        destination: radarPosition,
        duration: 1
      })
    },
    dealMapChange(map) {
      return
      switch (map) {
        case 'sat':
          // viewer.cesiumViewer.camera.flyHome()
          radarViewer.cesiumViewer.imageryLayers.get(0).show = true
          radarViewer.cesiumViewer.imageryLayers.get(1).show = true
          radarViewer.cesiumViewer.imageryLayers.get(2).show = false
          radarViewer.cesiumViewer.imageryLayers.get(3).show = false
          break
        case 'vec':
          radarViewer.cesiumViewer.imageryLayers.get(0).show = false
          radarViewer.cesiumViewer.imageryLayers.get(1).show = false
          radarViewer.cesiumViewer.imageryLayers.get(2).show = true
          radarViewer.cesiumViewer.imageryLayers.get(3).show = true
          break

      }
    },
    //#endregion


    //#region socket
    createWebsocket() {
      let options = {
        url: window.config.socket + '/ws',
        topic: [
          {
            name: '/topic/status',
            callback: this.handleWebsocketStatus
          },
          {
            name: '/topic/wave',
            callback: this.handleWebsocketWave
          },
          {
            name: '/topic/image',
            callback: this.handleWebsocketImage
          },
          {
            name: '/topic/jobStatus',
            callback: this.handleWebsocketState
          },
        ],
        success: () => {
          console.log('自身websocket链接成功2')
        }
      }
      let { socket, stompClient } = connectWebSocket(options)
      socketInstance = socket
      stompClientInstance = stompClient
    },
    handleWebsocketStatus(info) {
      console.log('SAR状态信息', info.body)
      let data = JSON.parse(info.body)
      // console.log('SAR状态信息',data)
      data.forEach(item => {
        // 更新场景无人机位置和轨迹
        if (item.jobId && item.payloadList && item.payloadList[0].connected) {
          // 有任务
          // 更新任务路线
          if (taskUavCollection[item.jobId]) {
            let find = taskUavCollection[item.jobId].find(child => child.uavId + '' === item.uavId + '')
            if (find) {
              let position = DT.Cesium.Cartesian3.fromDegrees(item.payloadList[0].longitude, item.payloadList[0].latitude, item.payloadList[0].altitude)
              find.updateCurrentPosition(position)
            }
          }
          // 位置信息更新到列表
          let findTask = taskListResource.find(item => item.jobId === item.jobId)
          if (findTask) {
            let uav = findTask.uavList.find(uav => uav.uavId === item.uavId)
            uav.trailList.push({
              lon: item.payloadList[0].longitude,
              lat: item.payloadList[0].latitude,
              height: item.payloadList[0].altitude
            })
          }
        } else {
          // 无任务
        }
        // 更新资源列表设备状态
        item.payloadList.forEach(child => {
          let find = this.resourceList.data.find(el => el.id === child.sarId)
          if (find) {
            let position = DT.Cesium.Cartesian3.fromDegrees(child.longitude, child.latitude, item.payloadList[0].altitude)
            find.lon = child.longitude.toFixed(2)
            find.lat = child.latitude.toFixed(2)
            find.flyHeight = Math.round(child.altitude * 10) / 10
            find.status = child.connected
            if (find.status) {
              this.updateRadarSceneEntityPosition(find.name, child.sarId, position, child.connected)
              this.updateSceneEntityPosition(find.name, child.sarId, position, child.connected)
            }

          }
          // 更新详情
          if (find && find.status && this.detailInfo.visible && this.detailInfo.id === child.sarId) {
            this.detailInfo.baseInfo.lon = child.longitude.toFixed(2)
            this.detailInfo.baseInfo.lat = child.latitude.toFixed(2)
            this.detailInfo.baseInfo.flyHeight = Math.round(child.altitude * 10) / 10

          }
          // 更新无人机详细数据
          if (find && find.status && this.detailUav.visible && this.detailUav.id === child.sarId) {
            this.updateUavInfo(child)
          }
        })
      })
    },
    updateUavInfo(data) {
      this.detailUav.baseInfo.flyHeight = Math.round(data.altitude * 10) / 10
      this.detailUav.baseInfo.longitude = data.longitude.toFixed(3)
      this.detailUav.baseInfo.latitude = data.latitude.toFixed(3)
      this.detailUav.baseInfo.status = data.connected
      this.detailUav.statusInfo.dev = [
        { name: '是否开机', value: this.sarWorkStatus[data.dIsBoot], unit: '' },
        { name: '时钟锁定', value: this.successStatus[data.clockLock], unit: '' },
        { name: 'GPU温度', value: '正常', unit: '' },
        { name: 'CPU温度', value: data.cpuC, unit: '℃' },
        { name: '射频温度', value: data.rfC, unit: '℃' },
        { name: '天线温度', value: data.antC, unit: '℃' },
        { name: '硬盘温度', value: data.diskC, unit: '℃' },
        { name: 'FPGA温度', value: data.fpgaC, unit: '℃' },
        { name: '硬盘容量', value: data.diskUtilization, unit: '%' },
        { name: '内存容量', value: data.memoryCapacity, unit: 'MB' },
      ]
      this.detailUav.statusInfo.gps = [
        { name: '定位状态', value: '正常', unit: '' },
        { name: '定向状态', value: '正常', unit: '' },
        { name: 'rtk状态', value: data.rtkStatusLabel, unit: '' },
        { name: '卫星个数', value: data.satelliteNum, unit: '' },
        { name: '惯导状态', value: this.imuStatus[data.imuStatus], unit: '' },
        { name: '年月日', value: data.date, unit: '' },
        { name: '经度', value: data.longitude, unit: '°' },
        { name: '维度', value: data.latitude, unit: '°' },
        { name: '高度', value: data.altitude, unit: 'm' },
      ]
      this.detailUav.statusInfo.imu = [
        { name: '配置状态', value: '正常', unit: '' },
        { name: '天线方位角', value: data.antennaAzimuth, unit: '°' },
        { name: '天线俯仰角', value: data.antennaPitch, unit: '°' },
        { name: '东向速度', value: data.eastVelocity, unit: 'm/s' },
        { name: '北向速度', value: data.northVelocity, unit: 'm/s' },
        { name: '天向速度', value: data.skyVelocity, unit: 'm/s' },
        { name: '俯仰角', value: data.anglePitch, unit: '°' },
        { name: '翻转角', value: data.angleRoll, unit: '°' },
        { name: '偏航角', value: data.angleYaw, unit: '°' },
      ]
      // 更新场景中数据
      // this.updateSceneUav(data)
    },
    updateSceneUav(data) {
      let position = DT.Cesium.Cartesian3.fromDegrees(data.longitude, data.latitude, data.altitude)
      let entity = viewer.entities.getById('uav-' + data.id)
      if (entity) {
        entity.position = position
      } else {
        entity = viewer.entities.add({
          id: 'uav-' + data.id,
          position: position,
          label: {
            text: '无人机' + data.id,
            horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
            outlineColor: DT.Cesium.Color.BLACK,
            outlineWidth: 2,
            pixelOffset: new DT.Cesium.Cartesian2(5, -4),
            disableDepthTestDistance: 10000
          },
          billboard: {
            image: process.env.BASE_URL + 'static/img/icon_wrj.png',
            disableDepthTestDistance: 10000
          }
        })
      }
    },
    handleWebsocketWave(info) {
      console.log('SAR波形', JSON.parse(info.body))
      let data = JSON.parse(info.body)
      if (this.detailUav.visible && this.detailUav.id === data.payloadId) {
        let channel1False = []
        let channel1Real = []
        let channel2False = []
        let channel2Real = []
        data.channel1False.forEach((item, index) => {
          channel1False.push([index, item / 32768])
        })
        data.channel1Real.forEach((item, index) => {
          channel1Real.push([index, item / 32768])
        })
        data.channel2False.forEach((item, index) => {
          channel2False.push([index, item / 32768])
        })
        data.channel2Real.forEach((item, index) => {
          channel2Real.push([index, item / 32768])
        })
        this.detailUav.chart.data[0].data = channel1False
        this.detailUav.chart.data[1].data = channel1Real
        this.detailUav.chart.data[2].data = channel2False
        this.detailUav.chart.data[3].data = channel2Real
        if (this.detailUav.activeNames.includes('4')) {
          if (this.$refs.uavDetailChart) {
            this.$refs.uavDetailChart.updateData(this.detailUav.chart.data)
          }
        }
      }
    },
    handleWebsocketImage(info) {
      // console.log('SAR图像', info.body)
      let data = JSON.parse(info.body)
      console.log('SAR图像2', data)
      // this.addMarkPicture2(data)
      // console.log('灭有匹配到吗taskUavCollection', taskUavCollection, taskUavCollection[data.jobId])
      if (taskUavCollection[data.jobId]) {
        let find = taskUavCollection[data.jobId].find(item => item.uavId + '' === data.uavId + '')
        // console.log('找到添加图片的对象', find)
        if (find) {
          find.appendLoaderPicture(data)
        }
      }
      // 更新列表里的数据
      let find = taskListResource.find(item => item.id === data.jobId)
      if (find) {
        let findUav = find.uavList.find(item => item.uavId === data.uavId)
        // TODO 需要匹配载荷ID
        if (findUav && findUav.payloadList && findUav.payloadList.length > 0) {
          let findIndex = findUav.payloadList[0].imageList.findIndex(target => target.airlineId === data.airlineId)
          if (findIndex > -1) {
            findUav.payloadList[0].imageList.splice(findIndex, 1, data)
          } else {
            findUav.payloadList[0].imageList.unshift(data)
          }
        }
      }
      if (this.detailInfo.visible && this.detailInfo.baseInfo.id === data.payloadId) {
        let findIndex = this.detailInfo.pictureList.findIndex(target => target.airlineId === data.airlineId)
        let obj = Object.assign({
          jobId: data.jobId,
          url: window.config.imagePath + data.relativePath,
          taskName: data.jobName,
          uavName: data.uavName,
          uavId: data.uavId,
          payloadId: data.payloadId,
          loaderName: data.payloadName,
          airlineId: data.airlineId,
        }, data)
        if (findIndex > -1) {
          this.detailInfo.pictureList.splice(findIndex, 1, obj)
        } else {
          this.detailInfo.pictureList.unshift(obj)
        }
      }

    },
    addMarkPicture2(data) {
      // const layer=viewer.imageryLayers.addImageryProvider( new Cesium.SingleTileImageryProvider({
      //   url: "图片url",
      // }));
      // if (this.tempAdd) return
      // this.tempAdd = true
      let id = `${data.jobId}-${data.uavId}`
      let target = renderTaskInfo[id]
      if (target) {
        let cby_bg_data = [
          data.left1Lon, data.left1Lat,
          data.left2Lon, data.left2Lat,
          data.right2Lon, data.right2Lat,
          data.right1Lon, data.right1Lat,
        ]
        let entity = viewer.entities.add({
          id: `${data.jobId}-${data.uavId}~${data.fileId}-picture`,
          name: '背景',
          polygon: {
            // hierarchy: DT.Cesium.Cartesian3.fromDegreesArrayHeights(cby_bg_data),
            hierarchy: DT.Cesium.Cartesian3.fromDegreesArray(cby_bg_data),
            perPositionHeight: true,
            material: new DT.Cesium.ImageMaterialProperty({
              image: window.config.imagePath + data.relativePath,
              // image: process.env.BASE_URL + 'static/img/ttt.tif',
              // image: process.env.BASE_URL + 'static/img/pic.png',
            }),//new Cesium.Color(0.29, 0.85, 0.89, 0.5), //Cesium.Color.PALETURQUOISE.withAlpha(0.5),
            outline: true,
            outlineColor: DT.Cesium.Color.WHITE,
            outlineWidth: 2, //很多电脑当宽度>1时，没用
          }
        })
        let markLineArr = []
        if (data.itemList) {
          data.itemList.forEach((item) => {
            let markId = `${data.jobId}-${data.uavId}-${data.fileId}-${item.id}~mark`
            let markPosition = DT.Cesium.Cartesian3.fromDegrees(item.left1Lon, item.left1Lat, 1)
            let markArr = [
              item.left1Lon, item.left1Lat, 1,
              item.left2Lon, item.left2Lat, 1,
              item.right2Lon, item.right2Lat, 1,
              item.right1Lon, item.right1Lat, 1,
              item.left1Lon, item.left1Lat, 1,
            ]
            let markLine = viewer.entities.add({
              id: markId,
              show: false,
              position: markPosition,
              label: {
                text: this.detectType[item.type],
                font: '12px sans-serif',
                fillColor: DT.Cesium.Color.RED,
                horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT,
                verticalOrigin: DT.Cesium.VerticalOrigin.TOP,
                disableDepthTestDistance: 10000,
                showBackground: false,
                backgroundColor: DT.Cesium.Color.BLACK,
                style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE,
              },
              polyline: {
                positions: DT.Cesium.Cartesian3.fromDegreesArrayHeights(markArr),
                // positions: DT.Cesium.Cartesian3.fromDegreesArray(markArr),
                width: 1,
                material: DT.Cesium.Color.RED,
                depthFailMaterial: DT.Cesium.Color.RED,
                zIndex: 3,
              }
            })
            markLineArr.push(markLine)
          })
        }
        target.picture[`${data.fileId}-picture`] = {
          pictureEntity: entity,
          markArr: markLineArr
        }
      }
    },
    addPictureHandle() {
      console.log('双击事件执行了吗', new Date().getTime())
      if (pictureHandler) {
        this.removePictureHandle()
      }
      pictureHandler = new DT.Cesium.ScreenSpaceEventHandler(
        viewer.cesiumViewer.scene.canvas
      )
      pictureHandler.setInputAction(({ position }) => {
        let pick = viewer.cesiumViewer.scene.pick(position)
        console.log('双击前有吗', currentPicture)
        if (currentPicture) {
          currentPicture.uav.toggleLoaderPictureActive(
            currentPicture.payloadId,
            currentPicture.filedId,
            false
          )
        }
        currentPicture = null
        if (pick && pick.id && pick.id.id && pick.id.id.indexOf('picture') !== -1) {
          let findIdArr = pick.id.id.split('-')[0].split('~')
          if (taskUavCollection[findIdArr[0]]) {

            let uav = taskUavCollection[findIdArr[0]].find(item => item.uavId + '' === findIdArr[1])
            if (uav) {
              currentPicture = {
                uav: uav,
                jobId: findIdArr[0],
                uavId: findIdArr[1],
                payloadId: findIdArr[2],
                filedId: findIdArr[3],
              }
              currentPicture.uav.toggleLoaderPictureActive(
                currentPicture.payloadId,
                currentPicture.filedId,
                true
              )
            }

          }
        } else {
        }
      }, DT.Cesium.ScreenSpaceEventType.LEFT_DOUBLE_CLICK)
      pictureHandler.setInputAction(({ position }) => {
        console.log('右键', currentPicture)
        if (currentPicture) {
          currentPicture.uav.toggleLoaderPictureVisible(currentPicture.payloadId, currentPicture.filedId)
        }
      }, DT.Cesium.ScreenSpaceEventType.RIGHT_CLICK)

    },
    removePictureHandle() {
      if (pictureHandler) {
        pictureHandler.removeInputAction(DT.Cesium.ScreenSpaceEventType.LEFT_DOUBLE_CLICK)
        pictureHandler.removeInputAction(DT.Cesium.ScreenSpaceEventType.RIGHT_CLICK)
        pictureHandler = null
      }
    },
    handleWebsocketState(info) {
      console.log('整体状态变更', JSON.parse(info.body))
      let data = JSON.parse(info.body)
      // TODO 待测试
      // airlineId  airlineStatus jobId  jobStatus  payloadStatus payloadId  uavId
      let findIndex = this.taskList.data.findIndex(item => item.id === data.jobId)
      if (findIndex !== -1) {
        // 从未执行到准备中
        if (this.taskList.data[findIndex].status === 0 && data.jobStatus === 1) {
          // this.taskList.data[findIndex].check = true
          this.taskList.data[findIndex].statusName = this.jobStatus[data.jobStatus + '']
          taskListResource[findIndex].statusName = this.jobStatus[data.jobStatus + '']
          this.toggleTaskSceneShow(this.taskList.data[findIndex], findIndex)
        }
        // 从准备中到执行中
        if (this.taskList.data[findIndex].status === 3 && data.jobStatus === 1) {
          // this.taskList.data[findIndex].check = true
          this.taskList.data[findIndex].statusName = this.jobStatus[data.jobStatus + '']
          taskListResource[findIndex].statusName = this.jobStatus[data.jobStatus + '']
          // this.toggleTaskSceneShow(this.taskList.data[findIndex], findIndex)
        }
        if (this.taskList.data[findIndex].status === 2 && data.jobStatus === 1) {
          // this.taskList.data[findIndex].check = true
          // this.taskList.data[findIndex].statusName = '执行中'
          // taskListResource[findIndex].statusName = '执行中'
          // this.toggleTaskSceneShow(this.taskList.data[findIndex], findIndex)
        }

        // 从执行中变为执行完毕
        if (this.taskList.data[findIndex].status === 1 && data.jobStatus === 2) {
          // 移除任务相关信息
          console.log('任务变更', this.jobStatus, this.jobStatus[data.jobStatus + ''])
          this.taskList.data[findIndex].statusName = this.jobStatus[data.jobStatus + '']
          taskListResource[findIndex].statusName = this.jobStatus[data.jobStatus + '']
        }
        this.taskList.data[findIndex].status = data.jobStatus
        taskListResource[findIndex].status = data.jobStatus
        console.log('整体状态变更1', findIndex, this.taskList.data[findIndex])
      }
    },

    handleWebsocket(res) {
      let data = JSON.parse(res.body)
      console.log('websocket数据66666', data)
      this.updatePeople(data)
    },
    stopTempWebSocket() {
      if (socketInstance) {
        disconnectWebSocket(socketInstance)
        socketInstance = null
        stompClientInstance = null
      }
    },
    updatePeople(data) {
      let entity = lodLayer.getEntityById(data.userid)
      let updatePosition = DT.Cesium.Cartesian3.fromDegrees(
        data.lon,
        data.lat,
        Math.min(data.high, 1000)
      )
      if (entity) {
        entity.position = updatePosition
      } else {
        entity = new DT.BillboardEntity({
          id: data.userid,
          position: updatePosition,
          labelConfig: {
            text: data.username,
            font: '12px Microsoft YaHei',
            verticalOrigin: DT.Cesium.VerticalOrigin.CENTER,
            outlineColor: DT.Cesium.Color.BLACK,
            outlineWidth: 2,
            style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE,
            pixelOffset: new DT.Cesium.Cartesian2(10, 0),
            // distanceDisplayCondition: new DT.Cesium.DistanceDisplayCondition(
            //   0,
            //   10000000
            // )
          },
          billboardConfig: {
            image: process.env.BASE_URL + 'data/images/people.png',
            disableDepthTestDistance: Number.POSITIVE_INFINITY,
            width: 24,
            height: 24
          }
        })
        lodLayer.add(entity)
        entityCollection.set(data.userid, entity)
      }
    },
    //#endregion


    //#region
    handleUavDetailCollapse(actives) {
      console.log('展开的', actives)
      if (actives.includes('4')) {
        if (this.$refs.uavDetailChart) {
          this.$nextTick(() => {
            this.$refs.uavDetailChart.chartInstance.resize()
          })
        }
      }
    },
    //#endregion


    //#region 航线详情
    openTaskLineDetail(info) {
      this.taskLineDetail.visible = false
      console.log(taskListResource, 555);

      let find = taskListResource.find(item => item.id === info.id)

      console.log('信息', find)
      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
  }
}