From e7506728afcab35eded8f4e536f5f66889785226 Mon Sep 17 00:00:00 2001
From: szdot <szdot@qq.com>
Date: Sun, 22 Jun 2025 20:39:40 +0800
Subject: [PATCH] =?UTF-8?q?=E3=80=90=E7=B1=BB=20=20=E5=9E=8B=E3=80=91?=
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MIME-Version: 1.0
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# 类型 包含:
# feat：新功能（feature）
# fix：修补bug
# docs：文档（documentation）
# style： 格式（不影响代码运行的变动）
# refactor：重构（即不是新增功能，也不是修改bug的代码变动）
# test：增加测试
# chore：构建过程或辅助工具的变动
---
 src/components/ControllerTabs.vue             |    4 +-
 src/components/SwarmControllerTabs.vue        | 1087 ++---------------
 src/router/index.js                           |   10 +
 src/store/modules/app.js                      |    8 +-
 src/styles/myIcon.scss                        |    2 +-
 .../layout/components/main/home/index.vue     |    2 +-
 .../layout/components/main/planes/index.vue   |   33 +-
 .../layout/components/main/planes/swarm.vue   |  278 +++--
 .../layout/components/main/register/index.vue |   35 +-
 src/views/layout/components/menubar.vue       |   43 +-
 10 files changed, 331 insertions(+), 1171 deletions(-)

diff --git a/src/components/ControllerTabs.vue b/src/components/ControllerTabs.vue
index 7850db7..f96308e 100644
--- a/src/components/ControllerTabs.vue
+++ b/src/components/ControllerTabs.vue
@@ -207,12 +207,12 @@
           </div>
           <div class="butIconBox gap10 flex">
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{unlock:1}'); speakText('解锁飞机')">
+              @click="confirmation('确认对飞机解锁？请确保飞行环境安全。', '解锁操作', '{unlock:1}'); speakText('解锁飞机')">
               <i class="iconfont icon-jiesuo f-s-24"></i>
               <div class="m-t-5">解锁</div>
             </el-button>
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="confirmation('飞机加锁，螺旋桨将停转，请谨慎操作！', '加锁操作', '{lock:1}'); speakText('加锁,请注意安全')">
+              @click="confirmation('飞机加锁，螺旋桨将停转，请谨慎操作！', '加锁操作', '{lock:1}'); speakText('加锁飞机,请注意安全')">
               <i class=" iconfont icon-suoding f-s-24"></i>
               <div class="m-t-5">加锁</div>
             </el-button>
diff --git a/src/components/SwarmControllerTabs.vue b/src/components/SwarmControllerTabs.vue
index 7850db7..332a798 100644
--- a/src/components/SwarmControllerTabs.vue
+++ b/src/components/SwarmControllerTabs.vue
@@ -4,220 +4,43 @@
     <el-dialog :title="dialogTitle" :visible.sync="dialogVisible" width="320px" top="30vh" @close="closeCallback"
       @open="openCallback">
       <!-- 起飞设置弹出框 -->
-      <template v-if="dialogItem == 'takeoffBox'">
-        <div class="flex  mse mac">
-          <el-slider class="w-100" v-model="takeoffValue" :show-tooltip="false" show-input :min="1" :max="100">
-          </el-slider>
+      <template v-if="dialogItem === 'takeoffBox'">
+        <div class="flex mse mac">
+          <el-slider class="w-100" v-model="takeoffValue" :show-tooltip="false" show-input :min="1" :max="100" />
           <font class="m-l-5">米</font>
         </div>
         <span slot="footer" class="dialog-footer">
           <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
           <el-button size="medium" type="primary"
-            @click="publishFun(`{guidedMode:{alt:${takeoffValue}}}`); speakText('确认起飞')">飞至</el-button>
-        </span>
-      </template>
-      <!-- 摄像头弹出框 -->
-      <template v-else-if="dialogItem == 'cameraBox'">
-        <div class="slider-container w-100 flex mse mac">
-          <font>俯</font>
-          <el-slider @change="releaseCameraSlider('pitch')" @input="setCamera('pitch')" v-model="pitchValue"
-            :show-tooltip="false" class="w-80"></el-slider>
-          <font>仰</font>
-        </div>
-        <div class="slider-container w-100 flex mse mac m-t-10">
-          <font>左</font>
-          <el-slider @change="releaseCameraSlider('yaw')" @input="setCamera('yaw')" v-model="yawValue"
-            :show-tooltip="false" class="w-80"></el-slider>
-          <font>右</font>
-        </div>
-        <div class="slider-container w-100 flex mse mac m-t-10">
-          <font>大</font>
-          <el-slider @change="releaseCameraSlider('scale')" @input="setCamera('scale')" v-model="scaleValue"
-            :show-tooltip="false" class="w-80"></el-slider>
-          <font>小</font>
-        </div>
-        <span slot="footer" class="dialog-footer">
-          <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
-        </span>
-      </template>
-      <!-- 校准磁罗盘 -->
-      <template v-else-if="dialogItem === 'compassBox'">
-        <div>
-          <template v-if="reportCal === null">
-            <el-progress :percentage="completionPct"></el-progress>
-          </template>
-          <template v-else>
-            {{ reportCal === 'successful' ? '校准成功，重启飞机即可生效！' : '校准失败!' }}
-          </template>
-        </div>
-        <span slot="footer" class="dialog-footer">
-          <el-button size="medium" @click="handlerCloseCompassBox">关闭</el-button>
-        </span>
-      </template>
-      <!-- 校准加速度计 -->
-      <template v-else-if="dialogItem === 'acceBox'">
-        <div v-loading="acceState === null"></div>
-        <div v-if="acceState === 'level'">
-          水平
-        </div>
-        <div v-else-if="acceState === 'left'">
-          左
-        </div>
-        <div v-else-if="acceState === 'right'">
-          右
-        </div>
-        <div v-else-if="acceState === 'down'">
-          前
-        </div>
-        <div v-else-if="acceState === 'up'">
-          后
-        </div>
-        <div v-else-if="acceState === 'back'">
-          反
-        </div>
-        <div v-else-if="acceState === 'successful'">
-          校准成功，重启飞机即可生效！
-        </div>
-        <div v-else-if="acceState === 'failed'">
-          校准失败
-        </div>
-        <span slot="footer" class="dialog-footer">
-          <el-button size="medium" @click="handlerCloseAcceBox">关闭</el-button>
-          <el-button size="medium" v-if="acceState !== 'successful' && acceState !== 'failed' && acceState !== null"
-            @click="publishFun('{initAcce:2}')" type="primary">已摆好</el-button>
-        </span>
-      </template>
-      <!-- 喊话参数 -->
-      <template v-else-if="dialogItem === 'talkBox'">
-        <el-form label-position="left">
-          <el-form-item label="喊话内容" label-width="80px">
-            <el-input v-model="talkValue" type="textarea" :autosize="{ minRows: 2, maxRows: 4 }"
-              placeholder="请输入喊话内容"></el-input>
-          </el-form-item>
-          <el-form-item label="音量设置" label-width="80px">
-            <el-slider class="w-90" v-model="talkVolume" :show-tooltip="false" :min="1" :max="9">
-            </el-slider>
-          </el-form-item>
-        </el-form>
-        <span slot="footer" class="dialog-footer">
-          <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
-          <el-button size="medium" type="primary" @click="playText(talkValue, talkVolume);">发送</el-button>
-        </span>
-      </template>
-      <!-- 读写参数 -->
-      <template v-else-if="dialogItem === 'paramBox'">
-        <el-input v-model="paramItem" placeholder="参数名"></el-input>
-        <el-input v-model="paramValue" placeholder="值" class="m-t-20"></el-input>
-        <span slot="footer" class="dialog-footer">
-          <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
-          <el-button size="medium" type="primary"
-            @click="paramValue = ''; clearPlanePar(); publishFun(`{'getParam':'${paramItem}'}`);">读取</el-button>
-          <el-button size="medium" type="primary"
-            @click="publishFun(`{'setParam':{'item':'${paramItem}','value':'${paramValue}'}}`)">写入</el-button>
+            @click="publishFun(`{guidedMode:{alt:${takeoffValue}}}`); speakText('确认起飞')">
+            飞至
+          </el-button>
         </span>
       </template>
     </el-dialog>
-    <!-- 底边 tab控件组 -->
+
+    <!-- tab 控件组 -->
     <div class="flex column mr mac tabContainer p-l-10 p-r-10">
-      <!-- tab控件组 内容组 -->
-      <div class="tabContent" :class="{ 'active': activeIndex !== null }">
-        <!-- 订单任务 -->
+      <!-- 内容面板 -->
+      <div class="tabContent" :class="{ active: activeIndex !== null }">
+        <!-- 控制 -->
         <div v-if="activeIndex === 0" class="tabContentBox">
-          <!-- 标题 -->
-          <div class="clearB m-b-15 fb f-s-16 contentTit">
-            <i class="iconfont icon-dingdanguanli f-s-22 m-r-5"></i>
-            <span>送餐任务</span>
-          </div>
-          <!-- 内容 -->
-          <el-form label-position="left" ref="questForm" :model="questForm" label-width="80px">
-            <el-form-item label="订单选择" v-if="!executeOrder">
-              <el-select v-model="questForm.id" :filterable="isMobile" placeholder="请选择，也可输入搜索"
-                :disabled="executeOrder">
-                <el-option v-for="item in questList" :key="item.id" :label="item.id" :value="item.id"
-                  :class="isWaring(item) ? 'danger-color' : ''">
-                  <span class="l">{{ item.id }}</span>
-                  <span class="l m-l-5">{{ item.receiver }}</span>
-                  <span class="l m-l-5">{{ item.receive_site_name }}</span>
-                </el-option>
-              </el-select>
-            </el-form-item>
-            <template v-else>
-              <el-form-item v-if="waringTags.length > 0" label="提示">
-                <el-tag v-for="(tag, index) in waringTags" :key="index" class="m-r-5" type="warning">{{ tag }}</el-tag>
-              </el-form-item>
-              <el-form-item label="订单ID">
-                {{ executeOrder.id }}
-              </el-form-item>
-              <el-form-item label="收货站点">
-                {{ executeOrder.receive_site_name }}
-              </el-form-item>
-              <el-form-item label="联系电话">
-                {{ executeOrder.tel }}
-              </el-form-item>
-            </template>
-            <el-form-item label="飞机操作">
-              <el-button-group>
-                <!-- <el-button size="mini" class="f-s-14" v-if="Number(plane.planeState.questState) === 1" type="primary"
-                  icon="f-s-14 iconfont icon-chakanzhihangrizhi" @click="checkQuest">
-                  <font class="m-l-5">上传航点</font>
-                </el-button> -->
-                <el-button size="mini" class="f-s-14"
-                  v-if="Number(plane.planeState.questState) === 1 || Number(plane.planeState.questState) === 4"
-                  type="warning" icon="f-s-14 iconfont icon-chakanzhihangrizhi" @click="checkQuest">
-                  <font class="m-l-5">准备任务</font>
-                </el-button>
-                <el-button size="mini" class="f-s-14" v-else-if="Number(plane.planeState.questState) === 2"
-                  key="wirteBut" type="info" :loading="true" disabled>
-                  <font class="m-l-5">航点写入中···</font>
-                </el-button>
-                <el-button size="mini" class="f-s-14" v-else-if="Number(plane.planeState.questState) === 12" type="info"
-                  :loading="true" disabled>
-                  <font class="m-l-5">解锁中...</font>
-                </el-button>
-                <el-button size="mini" class="f-s-14" v-else-if="Number(plane.planeState.questState) === 20"
-                  type="success" icon="f-s-14 iconfont icon-yangshi_icon_tongyong_departure"
-                  @click="publishFun('{setQuestState:{bit:5,state:1}}'); speakText('执行送餐任务')">
-                  <font class="m-l-5">执行任务</font>
-                </el-button>
-                <el-button size="mini" class="f-s-14" v-else-if="isShipped" type="info" :loading="true" disabled>
-                  <font class="m-l-5">执行任务中...</font>
-                </el-button>
-              </el-button-group>
-            </el-form-item>
-            <el-form-item label="任务确认">
-              <el-button-group>
-                <el-button size="mini" class="f-s-14" type="danger" icon="iconfont icon-cuowu" key="celBUt"
-                  @click="reQuest">
-                  <font class="m-l-5">取消</font>
-                </el-button>
-                <el-button size="mini" class="f-s-14" type="success" icon="iconfont icon-qiandai" key="bingBut"
-                  @click="overQuest">
-                  <font class="m-l-5">已送达</font>
-                </el-button>
-              </el-button-group>
-            </el-form-item>
-          </el-form>
-        </div>
-        <!-- 飞机操作 -->
-        <div v-else-if="activeIndex === 1" class="tabContentBox">
-          <!-- 标题 -->
           <div class="clearB m-b-15 fb f-s-16 contentTit">
             <i class="iconfont icon-youxishoubing f-s-22 m-r-5"></i>
             <span>飞机控制</span>
           </div>
           <div class="butIconBox gap10 flex">
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{unlock:1}'); speakText('解锁飞机')">
+              @click="confirmation('确认对全部飞机解锁？请确保飞行环境安全。', '解锁操作', '{unlock:1}'); speakText('解锁全部飞机')">
               <i class="iconfont icon-jiesuo f-s-24"></i>
               <div class="m-t-5">解锁</div>
             </el-button>
             <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="confirmation('飞机加锁，螺旋桨将停转，请谨慎操作！', '加锁操作', '{lock:1}'); speakText('加锁,请注意安全')">
-              <i class=" iconfont icon-suoding f-s-24"></i>
+              @click="confirmation('飞机全部加锁，螺旋桨将停转，请谨慎操作！', '加锁操作', '{lock:1}'); speakText('加锁全部飞机,请注意安全')">
+              <i class="iconfont icon-suoding f-s-24"></i>
               <div class="m-t-5">加锁</div>
             </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="dialogVisible = true; dialogTitle = '高度设置'; dialogItem = 'takeoffBox'; speakText('设置起飞高度')">
+            <el-button size="medium" type="primary" class="flex1 butIcon" @click="showTakeoffDialog">
               <i class="iconfont icon-yangshi_icon_tongyong_departure f-s-24"></i>
               <div class="m-t-5">起飞</div>
             </el-button>
@@ -226,11 +49,6 @@
               <i class="iconfont icon-fengzheng1 f-s-24"></i>
               <div class="m-t-5">悬停</div>
             </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{autoMode:1}'); speakText('继续执行航线')">
-              <i class="iconfont icon-duandianxufei f-s-24"></i>
-              <div class="m-t-5">复航</div>
-            </el-button>
             <el-button size="medium" type="primary" class="flex1 butIcon"
               @click="publishFun('{rtlMode:1}'); speakText('返航')">
               <i class="iconfont icon-yijianfanhang f-s-24"></i>
@@ -243,102 +61,19 @@
             </el-button>
           </div>
         </div>
-        <!-- 附加模组操作 -->
-        <div v-else-if="activeIndex === 2" class="tabContentBox">
-          <!-- 标题 -->
+        <!-- 重选 -->
+        <div v-else-if="activeIndex === 1" class="tabContentBox">
           <div class="clearB m-b-15 fb f-s-16 contentTit">
-            <i class="iconfont icon-mianxingdiaogou f-s-22 m-r-5"></i>
-            <span>挂载仓控制</span>
-          </div>
-          <div class="butIconBox m-b-15 gap10 flex">
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{hookConteroller:4}'); pesoIsZero(); speakText('重置重量传感器')">
-              <i class="iconfont icon-zhongliang f-s-24"></i>
-              <div class="m-t-5">归零</div>
-            </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{hookConteroller:0}'); speakText('收钩')">
-              <i class="iconfont icon-xiangshang f-s-24"></i>
-              <div class="m-t-5">收钩</div>
-            </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{hookConteroller:3}'); speakText('继续放钩')">
-              <i class="iconfont icon-qiyong f-s-24"></i>
-              <div class="m-t-5">继续</div>
-            </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{hookConteroller:2}'); speakText('暂停放钩')">
-              <i class="iconfont icon-xuanting-zanting f-s-24"></i>
-              <div class="m-t-5">暂停</div>
-            </el-button>
-          </div>
-          <!-- 标题 -->
-          <div class="clearB m-b-15 fb f-s-16 contentTit">
-            <i class="iconfont icon-shipinjiankong f-s-22 m-r-5"></i>
-            <span>摄像头控制</span>
-          </div>
-          <div class="butIconBox m-b-15 gap10 flex">
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{cameraController:{item:0,val:0}}'); speakText('摄像头一键回中')">
-              <i class="iconfont icon-icon-rotation f-s-24"></i>
-              <div class="m-t-5">回中</div>
-            </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{cameraController:{item:2,val:0,yaw:0,pitch:-50}}'); speakText('摄像头一键俯瞰')">
-              <i class="iconfont icon-down f-s-24"></i>
-              <div class="m-t-5">俯瞰</div>
-            </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="dialogVisible = true; dialogTitle = '摄像头控制'; dialogItem = 'cameraBox'; speakText('手动调整摄像头')">
-              <i class="iconfont icon-chukong f-s-24"></i>
-              <div class="m-t-5">手动</div>
-            </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="dialogVisible = true; dialogTitle = '摄像头控制'; dialogItem = 'cameraBox'; speakText('调整镜头焦距')">
-              <i class="iconfont icon-fangda f-s-24"></i>
-              <div class="m-t-5">焦距</div>
-            </el-button>
-          </div>
-          <!-- 标题 -->
-          <div class="clearB m-b-15 fb f-s-16 contentTit">
-            <i class="iconfont icon-tongzhi f-s-22 m-r-5"></i>
-            <span>喇叭控制</span>
-          </div>
-          <div class="butIconBox gap10 flex">
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="dialogVisible = true; dialogTitle = '喊话参数'; dialogItem = 'talkBox';">
-              <i class="iconfont icon-icon-test f-s-24"></i>
-              <div class="m-t-5">喊话</div>
-            </el-button>
-          </div>
-        </div>
-        <!-- 飞机调试 -->
-        <div v-else-if="activeIndex === 3" class="tabContentBox">
-          <!-- 标题 -->
-          <div class="clearB m-b-15 fb f-s-16 contentTit">
-            <i class="iconfont icon-banshou_Line f-s-22 m-r-5"></i>
-            <span>飞机调试</span>
-          </div>
-          <div class="butIconBox m-b-15 gap10 flex">
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{resetCompass:1}'); dialogVisible = true; dialogTitle = '校准磁罗盘'; dialogItem = 'compassBox'; speakText('校准磁罗盘')">
-              <i class="iconfont icon-zhinanzhen f-s-24"></i>
-              <div class="m-t-5">磁罗盘</div>
-            </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="publishFun('{initAcce:1}'); speakText('校准加速度计'); dialogVisible = true; dialogTitle = '校准加速度计'; dialogItem = 'acceBox';">
-              <i class="iconfont icon-zuobiaozhoupeizhixiang f-s-24"></i>
-              <div class="m-t-5">加速度计</div>
-            </el-button>
-            <el-button size="medium" type="primary" class="flex1 butIcon"
-              @click="speakText('读写参数'); dialogVisible = true; dialogTitle = '读写参数'; dialogItem = 'paramBox';">
-              <i class="iconfont icon-canshupeizhi f-s-24"></i>
-              <div class="m-t-5">读写参数</div>
-            </el-button>
+            <i class="iconfont icon-zhongxuanwenjian f-s-22 m-r-5"></i>
+            <span>重新选择飞机</span>
           </div>
+          <el-button type="danger" size="medium" class="m-t-10" @click="confirmReselect">
+            确认重选
+          </el-button>
         </div>
       </div>
-      <!-- tab控件组 按钮组 -->
+
+      <!-- tab 按钮组 -->
       <div class="flex gap10 m-b-10 taButGroup">
         <div class="flex1 h-100 taBut flex column mac mc animation" :class="activeIndex === index ? 'taButBG' : ''"
           v-for="(item, index) in controlItems" :key="index" @click="toggleContent(index, item.voice)">
@@ -351,215 +86,53 @@
 </template>
 
 <script>
-import { lockSite } from '@/utils/api/table'
 import mqtt from '@/utils/mqtt'
 import { speakText } from '@/utils/index'
 
 export default {
   name: 'TabController',
-  data () {
-    return {
-      dialogTitle: '', // 弹出框 标题
-      dialogItem: '', // 弹出框 项目类型判断
-      dialogVisible: false, // 弹出框 显隐
-      pitchValue: 50, // 摄像头控制滑动条 俯仰值
-      yawValue: 50, // 摄像头控制滑动条 旋转值
-      scaleValue: 50, // 摄像头控制滑动条 焦距值
-      takeoffValue: 2, // 起飞高度
-      controlItems: [// 菜单
-        { title: '任务', icon: 'icon-songcanfuwu', voice: '设置送餐任务' },
-        { title: '控制', icon: 'icon-youxishoubing', voice: '控制飞机' },
-        { title: '扩展', icon: 'icon-linghuokuozhan', voice: '控制扩展组件' },
-        { title: '调试', icon: 'icon-banshou_Line', voice: '调试飞机' }
-      ],
-      activeIndex: null, // 当前选中的菜单
-      tabIsOpen: false, // 判断tab 是否弹出
-      questForm: { // 送餐任务表单
-        id: ''
-      },
-      waringTags: [], // 任务栏 提示标签 有退款 超重 等
-      paramItem: '', // 参数 键
-      paramValue: '', // 参数 值
-      talkValue: '', // 喊话参数
-      talkVolume: 9// 喊话音量
+  props: {
+    planes: {
+      type: Array,
+      required: true
     }
   },
-  props: {
-    plane: {
-      type: Object,
-      deep: true
+  data () {
+    return {
+      dialogTitle: '',
+      dialogItem: '',
+      dialogVisible: false,
+      takeoffValue: 2,
+      controlItems: [
+        { title: '控制', icon: 'icon-youxishoubing', voice: '控制飞机' },
+        { title: '重选', icon: 'icon-zhongxuanwenjian', voice: '重新选择飞机' }
+      ],
+      activeIndex: null,
+      tabIsOpen: false
     }
   },
   computed: {
-    /**
-     * @description: 终端平台是否是pc
-     */
     isMobile () {
       return this.$store.state.app.isMobile
-    },
-    /**
-     * @description: 已付款 已接单 未发起退款 订单列表
-     */
-    questList () {
-      const plane = this.plane
-      return plane ? this.$store.state.paidOrderList.filter((item) => item.shop_id === plane.shop_id && item.shipment_status === '已接单' && item.refund_status !== '申请中') : []
-    },
-    /**
-     * @description: 已发货 订单列表
-     */
-    ShippedList () {
-      const plane = this.plane
-      return plane ? this.$store.state.paidOrderList.filter((item) => item.shop_id === plane.shop_id && item.shipment_status === '已发货') : []
-    },
-    /**
-     * @description: 当前选框 中的订单
-     */
-    currentOrder () {
-      if (this.questForm && this.questForm.id !== undefined) {
-        return this.questList.find((item) => item.id === this.questForm.id) || null
-      }
-      return null
-    },
-    /**
-     * @description: 正在执行的订单 没有未null 代表飞机空闲
-     */
-    executeOrder () {
-      const plane = this.plane
-      if (plane) {
-        const order = this.ShippedList.find((item) => item.by_plane_id === plane.id)
-        return order && Object.keys(order).length === 0 ? null : order || null
-      }
-      return null
-    },
-    /**
-     * @description: 是否已经发货
-     */
-    isShipped () {
-      if (this.executeOrder) {
-        return this.executeOrder.shipment_status === '已发货'
-      }
-      return false
-    },
-    /**
-     * @description: 航线列表
-     */
-    routeList () {
-      return this.$store.state.routeList
-    },
-    /**
-     * @description: 获取站点列表
-     */
-    siteList () {
-      return this.$store.state.siteList
-    },
-    /**
-     * @description: 磁罗盘校准进度
-     */
-    completionPct () {
-      if (this.plane && this.plane.planeState && this.plane.planeState.completionPct) {
-        return Number(this.plane.planeState.completionPct)
-      }
-      return 0
-    },
-    /**
-     * @description: 磁罗盘校准结果
-     */
-    reportCal () {
-      if (this.plane && this.plane.planeState && this.plane.planeState.reportCal) {
-        return this.plane.planeState.reportCal
-      }
-      return null
-    },
-    /**
-     * @description:加速度计 状态
-     */
-    acceState () {
-      if (this.plane && this.plane.planeState && this.plane.planeState.acceState) {
-        return this.plane.planeState.acceState
-      }
-      return null
-    },
-    /**
-     * @description: 从飞控获取的参数键值对
-     */
-    parameterValue () {
-      if (this.plane && this.plane.planeState && this.plane.planeState.parameterValue) {
-        return this.plane.planeState.parameterValue
-      }
-      return null
     }
   },
   methods: {
     speakText,
-    /**
-     *关闭磁盘校准弹出窗口
-     */
-    handlerCloseCompassBox () {
-      this.dialogVisible = false
-      // 磁罗盘校准进度 校准结果 重置
-      this.plane.planeState.reportCal = null
-      this.plane.planeState.completionPct = 0
-    },
-    /**
-     *关闭磁盘校准弹出窗口
-     */
-    handlerCloseAcceBox () {
-      this.dialogVisible = false
-      // 加速度计校准状态 重置
-      this.plane.planeState.acceState = null
-    },
-    /** 弹出框 关闭事件回调 */
+    /** 关闭弹出框后的处理 */
     closeCallback () {
-      if (this.dialogItem === 'compassBox') { this.handlerCloseCompassBox() } else if (this.dialogItem === 'acceBox') { this.handlerCloseAcceBox() }
+      if (this.dialogItem === 'compassBox') this.handlerCloseCompassBox()
+      else if (this.dialogItem === 'acceBox') this.handlerCloseAcceBox()
     },
-    /** 弹出框 打开事件回调 */
-    openCallback () {
-      if (this.dialogItem === 'compassBox') { this.plane.planeState.reportCal = null }// 如果是校准磁罗盘 先重置校准结果
-    },
-    /**
-     * @description: 摄像头 滑动条松开
-     * @param {string} item 项目
-     */
-    releaseCameraSlider (item) {
-      if (item === 'pitch') {
-        this.pitchValue = 50
-        this.publishFun('{cameraController:{item:2,val:0,yaw:0,pitch:0}}')
-      } else if (item === 'yaw') {
-        this.yawValue = 50
-        this.publishFun('{cameraController:{item:2,val:0,yaw:0,pitch:0}}')
-      } else if (item === 'scale') {
-        this.publishFun('{cameraController:{item:1,val:0}}')
-        this.scaleValue = 50
-      }
-    },
-    /**
-     * @description: 摄像头 滑动条滚动 发送设置命令
-     * @param {*} item 项目
-     */
-    setCamera (item) {
-      if (item === 'pitch') { // 设置pitch轴
-        const pitchV = (this.pitchValue - 50) * 2
-        this.publishFun(`{cameraController:{item:2,yaw:0,pitch:${pitchV}}`)
-      } else if (item === 'yaw') { // 设置yaw轴
-        const yawV = (this.yawValue - 50) * 2
-        this.publishFun(`{cameraController:{item:2,yaw:${yawV},pitch:0}`)
-      } else if (item === 'scale') {
-        if (this.scaleValue < 50) { // 焦距放大
-          this.publishFun('{cameraController:{item:1,val:1}}')
-        } else if (this.scaleValue > 50) {
-          this.publishFun('{cameraController:{item:1,val:255}}')
-        }
-      }
-    },
-    /**
-     * @description: 菜单切换 PS:UI
-     * @param {*} index 序号
-     * @param {*} voice 播放声音的文本
-     */
+    /** 打开弹出框时处理 */
+    openCallback () { },
+
+    /** 切换 tab 内容 */
     toggleContent (index, voice) {
-      this.activeIndex = this.activeIndex === index ? null : index
+      const wasActive = this.activeIndex === index
+      this.activeIndex = wasActive ? null : index
+
       if (this.tabIsOpen) {
-        if (index !== this.activeIndex) {
+        if (!wasActive) {
           this.tabIsOpen = false
           this.$emit('mapXOffset', 0, -200)
         } else {
@@ -571,534 +144,55 @@ export default {
         this.speakText(voice)
       }
     },
-    /**
-     * @description: 发布 mqtt 信息
-     * @param {*} jsonData {'item':val} // item: questAss飞行航点任务 setQuestState 设置飞机状态  resetQuestState设置飞机初始状态 chan1油门通道1 chan2油门通道2  chan3油门通道3  chan4油门通道4 hookConteroller钩子控制 cameraController云台相机控制
-     */
+
+    /** 打开发送起飞指令的对话框 */
+    showTakeoffDialog () {
+      this.dialogVisible = true
+      this.dialogTitle = '高度设置'
+      this.dialogItem = 'takeoffBox'
+      this.speakText('设置起飞高度')
+    },
+
+    /** 群发 MQTT 指令 */
     publishFun (jsonData) {
-      if (this.plane) {
-        mqtt.publishFun(`cmd/${this.plane.macadd}`, jsonData)
-      } else {
-        this.$message.warning('与飞机通信未接通,请稍后')
+      if (!this.planes || this.planes.length === 0) {
+        return this.$message.warning('没有连接的飞机')
       }
-    },
-    /**
-     * @description: 控制飞机上的喇叭播放语音
-     * @param {*} val 播放文本
-     * @param {*} vol 播放音量 默认音量为1声音最小  范围1-9
-     */
-    playText (val, vol = 1) {
-      const jsonData = {
-        playText: {
-          val: val,
-          vol: parseInt(vol)
-        }
-      }
-      this.publishFun(JSON.stringify(jsonData))
-    },
-    /**
- * @description: 监听重量传感器是否归零，8秒内 loadweight 进入±60 范围则语音播报
- */
-    pesoIsZero () {
-      const timeout = 8000 // 最大监听时间 8 秒
-      const interval = 200 // 轮询间隔 200ms
-      const threshold = 60 // 正负60以内
-      let elapsed = 0
-
-      const checkInterval = setInterval(() => {
-        if (!this.plane || !this.plane.planeState) return
-
-        const weight = Number(this.plane.planeState.loadweight)
-        if (Math.abs(weight) <= threshold) {
-          this.playText('重量传感器已归零')
-          this.speakText('重量传感器已归零')
-          clearInterval(checkInterval) // 停止监听
-        }
-
-        elapsed += interval
-        if (elapsed >= timeout) {
-          clearInterval(checkInterval) // 超时后停止监听
-        }
-      }, interval)
-    },
-    /**
-     * @description: 执行任务前 先检测订单是否合法，例如：订单重量会不会超出飞机载重上限
-     */
-    checkQuest () {
-      let checkOrder // 要检查的订单
-      // 如果有正在执行的订单，检查正在执行的；否则检查当前选中的订单
-      if (this.executeOrder) {
-        checkOrder = this.executeOrder
-      } else {
-        checkOrder = this.currentOrder
-      }
-
-      // 检查是否选择了订单
-      if (this.questForm.id === '' && !checkOrder) {
-        this.$message.error('未选择订单任务!')
-        return
-      }
-
-      // 检查订单是否在退款状态
-      if (checkOrder.refund_status === '申请中') {
-        this.$message.error('此订单已被申请退款或者订单已经被取消!')
-        return
-      }
-
-      // 检查站点是否已经绑定任务航点
-      if (checkOrder.bind_route === null) {
-        this.$message.error('此站点，未绑定任务航点')
-        return
-      }
-
-      // 如果有正在执行的订单，直接调用重新提交
-      if (this.executeOrder) {
-        this.continueQuest()
-        return
-      }
-
-      /* 综合检查，针对新提交订单 */
-      // 飞机载重上限检查
-      const weightCheck = new Promise((resolve, reject) => {
-        if (Number(checkOrder.total_weight) >= Number(this.plane.weight_max)) {
-          // 如果订单总重超出飞机载重上限，显示确认弹窗
-          this.$confirm('此订单总重超出本飞机的载重上限', '检测订单', {
-            confirmButtonText: '继续',
-            cancelButtonText: '放弃',
-            type: 'warning'
-          })
-            .then(() => {
-              resolve() // 用户选择继续
-            })
-            .catch(() => {
-              this.$message({
-                type: 'info',
-                message: '取消提交订单'
-              })
-              reject(new Error('Weight check failed')) // 用户取消操作
-            })
-        } else {
-          resolve() // 如果重量没有超出限制，直接通过检查
-        }
-      })
-
-      // 检查站点是否有飞机正在执行
-      const runningCheck = weightCheck.then(() => {
-        return new Promise((resolve, reject) => {
-          if ((checkOrder.runing ?? '').split(',').some(item => item !== '')) {
-            // 如果站点已经有飞机在执行任务，显示确认弹窗
-            this.$confirm('此订单的目标站点，已经有飞机正在执行任务。请注意安全！', '检测订单', {
-              confirmButtonText: '继续',
-              cancelButtonText: '放弃',
-              type: 'warning'
-            })
-              .then(() => {
-                resolve() // 用户选择继续
-              })
-              .catch(() => {
-                this.$message({
-                  type: 'info',
-                  message: '取消提交订单'
-                })
-                reject(new Error('Running check failed')) // 用户取消操作
-              })
-          } else {
-            resolve() // 如果没有飞机正在执行任务，直接通过检查
-          }
-        })
-      })
-
-      // 选择订单检查并执行任务
-      runningCheck
-        .then(() => {
-          this.runQuest() // 如果所有检查通过，执行任务
-        })
-        .catch((error) => {
-          console.log(error.message) // 处理检查失败的情况
-        })
-    },
-    /** 等待上传完航点之后 解锁飞机 */
-    watchUnlock () {
-      // 使用 Vue 的 $watch 方法监听 planeState.questState 的变化
-      const unwatch = this.$watch(() => this.plane.planeState.questState, (newVal) => {
-        if (Number(newVal) === 4) { // 如果 questState 变为 4
-          this.publishFun('{unlock:1}') // 解锁飞机
-          unwatch() // 解除监听，防止多次触发
+      this.planes.forEach(plane => {
+        if (plane.macadd) {
+          mqtt.publishFun(`cmd/${plane.macadd}`, jsonData)
         }
       })
     },
-    /**
-     * @description: 正在执行的任务 重新上传航线
-     */
-    continueQuest () {
-      /* 执行写在这里 */
-      let routeData // 航线数据内容
-      try {
-        /* 航线选择 */
-        const bindRoute = (this.executeOrder.bind_route ?? '').split(',')
-        const runing = (this.executeOrder.runing ?? '').split(',')
-        const matchingIndex = runing
-          .map((route, index) => route === this.executeOrder.by_plane_id ? index : -1)
-          .filter(index => index !== -1)// 找到注册飞机与绑定航线对应索引
-        routeData = this.routeList.find(element => element.id === bindRoute[matchingIndex]).route_data
-        routeData = JSON.parse(routeData)// 反序列化
-        // 处理声音航点 航点里面的表达式 如$food_sn$ 正则替换成订单对应的字段
-        this.executeOrder.telTail = this.executeOrder.tel.substr(-4)// 手动加一个手机尾号telTail字段 从 tel字段截取后四位
-        routeData.questAss.tasks.forEach((x, index) => {
-          if (x.sound) {
-            const str = this.voiceRouteParse(this.executeOrder, x.sound)
-            routeData.questAss.tasks[index].sound = str// 重新写入声音航点
-          }
-        })
-        routeData = JSON.stringify(routeData)// 重新序列化
-        this.publishFun(routeData) // 发送航点信息主题
-        this.watchUnlock()// 等待飞机写完航点 解锁飞机
-      } catch (error) {
-        this.$message.error('操作失败,航线异常')
-      }
-    },
-    /**
-     * @description: 选择订单的 执行订单任务 ps:改变订单状态 站点runing状态 上传航线
-     */
-    async runQuest () {
-      /* 插入日志 */
-      this.$store.dispatch('fetchLog', { content: `${this.plane.name} 开始执行 订单ID：${this.currentOrder.id}、叫餐号：${this.currentOrder.food_sn}号。` })
-      /* 执行写在这里 */
-      let routeData // 航线数据内容
-      let newRuning // 执行飞机注册后的 running字段信息
-      try {
-        /* 站点正在执行任务runing 注册 */
-        const runing = (this.currentOrder.runing ?? '').split(',')
-        let foundEmpty = false
-        let matchingIndex // 记录执行飞机注册的索引 此索引对应要使用的航线的索引
-
-        runing.some((item, index, arr) => {
-          if (item === '') {
-            arr[index] = this.plane.id
-            foundEmpty = true
-            matchingIndex = index
-            return true // 找到空位后退出循环
-          }
-        })
-
-        newRuning = runing.join(',')
-        if (!foundEmpty) {
-          this.$message({
-            type: 'warning',
-            message: '此站点所有航线均被占用，等航线空闲再试！'
-          })
-          return // 退出外层函数
-        }
-        /* 航线选择 */
-        const bindRoute = (this.currentOrder.bind_route ?? '').split(',')
-        routeData = this.routeList.find(element => element.id === bindRoute[matchingIndex]).route_data
-        routeData = JSON.parse(routeData)// 反序列化
-        // 处理声音航点 航点里面的表达式 如$food_sn$ 正则替换成订单对应的字段
-        this.currentOrder.telTail = this.currentOrder.tel.substr(-4)// 手动加一个手机尾号telTail字段 从 tel字段截取后四位
-        routeData.questAss.tasks.forEach((x, index) => {
-          if (x.sound) {
-            const str = this.voiceRouteParse(this.currentOrder, x.sound)
-            routeData.questAss.tasks[index].sound = str// 重新写入声音航点
-          }
-        })
-        routeData = JSON.stringify(routeData)// 重新序列化
-      } catch (error) {
-        this.$message.error('操作失败,航线异常')
-        return
-      }
-      // 站点表 和 订单表 同时修改 没问题 向飞机提交航点
-      const res = await lockSite({
-        site_id: this.currentOrder.receive_site_id,
-        shop_id: this.plane.shop_id,
-        runing: newRuning,
-        order_id: this.currentOrder.id,
-        shipment_status: '已发货',
-        by_plane_id: this.plane.id
-      })
-      if (res.data.status === 1) {
-        this.publishFun(routeData)// 发送航点信息主题
-        this.watchUnlock()// 等待飞机写完航点 解锁飞机
-      }
-    },
-    /**
-     * @description: 匹配声音航点字符串 比如$food_sn$ food_sn匹配成 送餐订单里面的对应字段
-     * @param {*} questItem 送餐的订单 ps:从数据库里拿的 订单信息对象
-     * @param {*} voiceRouteStr 声音航点的字符串
-     */
-    voiceRouteParse (questItem, voiceRouteStr) {
-      // 定义正则表达式
-      const regex = /\$(.*?)\$/g
-      // 使用replace()方法进行匹配和替换
-      const replacedStr = voiceRouteStr.replace(regex, (match, p1) => {
-        // match表示匹配到的字符串，p1表示捕获组中的内容
-        return questItem[p1] // 用捕获组的内容替换匹配到的字符串
-      })
-      // 输出替换后的字符串
-      return replacedStr // 输出 "请45号电话为13301115846的先生取餐"
-    },
-    /**
-     * @description: 确认操作
-     * @param {*}msg 提示的话语内容
-     * @param {*}tit 提示框的标题
-     * @param {*}instruct 需要发送的mqtt指令内容
-     */
-    confirmation (msg, tit, instruct) {
-      this.$confirm(msg, tit, {
+    // 重选飞机 确定
+    confirmReselect () {
+      this.$confirm('将清空当前选中的所有飞机，是否确认重选？', '确认重选', {
         confirmButtonText: '确定',
         cancelButtonText: '取消',
         type: 'warning'
       }).then(() => {
-        this.publishFun(instruct)
+        this.$store.state.app.swarmIdArr = []
+        this.$router.replace('/register/index')
       }).catch(() => {
-        this.$message.info('取消操作！')
+        this.$message.info('取消重选操作')
       })
     },
-    /**
-     * @description: 取消任务
-     */
-    async reQuest () {
-      if (!this.executeOrder) { // 只有飞机锁定状态 才向下执行 "取消"操作
-        this.$message.warning('当前没有执行任务')
-        return
-      }
-      try {
-        const confirmation = await this.$confirm('确认货物未送达，取消已发货状态，并使飞机复位?', '提示', {
-          confirmButtonText: '确定',
-          cancelButtonText: '取消',
-          type: 'warning'
-        })
 
-        if (confirmation) {
-          // 分割字符串成数组
-          const runingArray = this.executeOrder.runing.split(',')
-          // 遍历数组并替换相等的值
-          for (let i = 0; i < runingArray.length; i++) {
-            if (runingArray[i] === this.executeOrder.by_plane_id) {
-              runingArray[i] = ''
-            }
-          }
-          // 将数组重新组合成字符串
-          const newRuning = runingArray.join(',')
-          // 站点表 和 订单表 同时修改 没问题 让飞机状态复位
-          const res = await lockSite({
-            site_id: this.executeOrder.receive_site_id,
-            shop_id: this.plane.shop_id,
-            runing: newRuning,
-            order_id: this.executeOrder.id,
-            shipment_status: '已接单',
-            by_plane_id: 'null'
-          })
-
-          if (res.data.status === 1) {
-            this.publishFun('{"resetQuestState":1}') // 发送设置飞机状态主题 状态设为闲置
-          }
-        }
-      } catch (error) {
-        this.$message.info('取消操作！')
-      }
-    },
-    /**
- * @description: 已送达任务
- */
-    async overQuest () {
-      if (!this.executeOrder) {
-        this.$message.warning('当前没有执行任务')
-        return
-      }
-
-      try {
-        const confirmation = await this.$confirm('确认货物已送达?', '提示', {
-          confirmButtonText: '确定',
-          cancelButtonText: '取消',
-          type: 'warning'
-        })
-
-        if (confirmation) {
-          // 分割字符串成数组
-          const runingArray = this.executeOrder.runing.split(',')
-          // 遍历数组并替换相等的值
-          for (let i = 0; i < runingArray.length; i++) {
-            if (runingArray[i] === this.executeOrder.by_plane_id) {
-              runingArray[i] = ''
-            }
-          }
-          // 将数组重新组合成字符串
-          const newRuning = runingArray.join(',')
-
-          // 站点表 和 订单表 同时修改 没问题 让飞机状态复位
-          const res = await lockSite({
-            site_id: this.executeOrder.receive_site_id,
-            shop_id: this.plane.shop_id,
-            runing: newRuning,
-            order_id: this.executeOrder.id,
-            shipment_status: '已送达',
-            by_plane_id: this.plane.id
-          })
-
-          if (res.data.status === 1) {
-            this.publishFun('{"resetQuestState":1}') // 发送设置飞机状态主题 状态设为闲置
-          }
-        }
-      } catch (error) {
-        console.error('Confirmation dialog error:', error)
-        this.$message.info('取消操作！')
-      }
-    },
-    /**
-     * @description: 在地图上绘制航线
-     */
-    makeRouteForMap () {
-      let bindRoute
-      let routeData
-      let found = false
-      this.siteList.some(item => {
-        const runing = (item.runing ?? '').split(',')
-        const index = runing.indexOf(this.plane.id.toString())
-        if (index !== -1) {
-          found = true
-          // 获取航点信息
-          if (item.bind_route !== null) { // 判断站点是否已经绑定站点
-            bindRoute = (item.bind_route ?? '').split(',')
-            this.$store.dispatch('fetchRouteList').then(res => { // 只能异步拿 虽然效率低一些
-              routeData = res.find(element => element.id === bindRoute[index]).route_data
-              this.$emit('makeRoute', JSON.parse(routeData))
-            })
-          } else {
-            this.$message.error('此站点，未绑定任务航点')
-          }
-          return true // 找到匹配项后退出循环
-        }
-        return false // 继续循环
+    /** 弹窗确认发送指令 */
+    confirmation (msg, title, instruct) {
+      this.$confirm(msg, title, {
+        confirmButtonText: '确定',
+        cancelButtonText: '取消',
+        type: 'warning'
       })
-      if (!found) {
-        this.$message.error('未找到匹配的站点')
-      }
-    },
-    /**
-     * @description: 判断 已接订单下拉框 的任务 有疑问的 坐标集 class样式显示成红色
-     * @param {*} item 对应下拉框的任务
-     */
-    isWaring (item) {
-      const isOverWaight = Number(item.total_weight) >= Number(this.plane.weight_max)// 是否超重
-      const isQuestIng = (item.runing ?? '').split(',').some(i => i !== '') // 是否有飞机正在执行
-      return isOverWaight || isQuestIng
-    },
-    /**
-     * 设置执行订单 提示标签
-     * @param order 执行订单
-     */
-    setExecuteOrderTag (order) {
-      const aIndex = this.waringTags.indexOf('已申请退款')
-      const bIndex = this.waringTags.indexOf('已退款')
-      const cIndex = this.waringTags.indexOf('超出飞机载重')
-      const dIndex = this.waringTags.indexOf('站点多架执行')
-      // 退款提示
-      if (order.refund_status === '申请中') {
-        if (aIndex === -1) {
-          this.waringTags.push('已申请退款')
-        }
-      } else if (order.refund_status === '已同意') {
-        if (bIndex === -1) {
-          this.waringTags.push('已退款')
-        }
-      } else {
-        if (aIndex !== -1) {
-          this.waringTags.splice(aIndex, 1)
-        }
-        if (bIndex !== -1) {
-          this.waringTags.splice(bIndex, 1)
-        }
-      }
-      // 超出飞机载重 提示
-      if (Number(this.plane.weight_max) < Number(order.total_weight)) {
-        if (cIndex === -1) {
-          this.waringTags.push('超出飞机载重')
-        }
-      } else {
-        if (cIndex !== -1) {
-          this.waringTags.splice(cIndex, 1)
-        }
-      }
-      // 站点多飞机执行 提示
-      const splitArray = order.runing.split(',')// 分割执行任务的飞机s
-      const nonEmptyArray = splitArray.filter(item => item.trim() !== '')// 过滤掉空值
-      if (nonEmptyArray.length > 1) { // 不止一架
-        this.waringTags.push('站点多架执行')
-      } else {
-        if (dIndex !== -1) {
-          this.waringTags.splice(dIndex, 1)
-        }
-      }
-    },
-    // 飞机状态参数默认值 复位
-    clearPlanePar () {
-      // 调用 Vuex 的 mutation 更新对应飞机的 parameterValue
-      this.$store.commit('updateParameterValue', { planeId: this.$route.params.id, parameterValue: '{}' })
+        .then(() => {
+          this.publishFun(instruct)
+        })
+        .catch(() => {
+          this.$message.info('取消操作！')
+        })
     }
-  },
-  mounted () {
-    // 初始化
-    if (this.executeOrder) { // 有正在执行单点
-      // 设置提示标签
-      this.setExecuteOrderTag(this.executeOrder)
-      // 绘制地图
-      if (this.siteList.length > 0) {
-        this.makeRouteForMap()
-      } else {
-        setTimeout(() => {
-          this.makeRouteForMap()
-        }, 1000)
-      }
-    } else { // 没有执行订单
-      if (this.plane) {
-        this.publishFun('{"resetQuestState":1}')// 发送设置飞机状态主题 状态设为闲置
-      }
-    }
-  },
-  watch: {
-    executeOrder (val) {
-      if (val) {
-        /* 如果当前飞机正在执行任务 把航线绘制到地图上 */
-        if (this.siteList.length > 0) {
-          this.makeRouteForMap()
-        } else {
-          setTimeout(() => {
-            this.makeRouteForMap()
-          }, 1000)
-        }
-        /* 检查添加提示标签 */
-        this.setExecuteOrderTag(val)
-      } else {
-        this.$emit('clearRoute')// 如果没有执行任务 把地图上航线清除
-        this.publishFun('{"resetQuestState":1}')// 发送设置飞机状态主题 状态设为闲置
-      }
-    },
-    questList (val) {
-      /* 任务列表更新时 判断还有没有当前选择的id 没有就清空 */
-      const found = val.some(item => item.id === this.questForm.id)
-      if (!found) {
-        this.questForm.id = ''
-      }
-    },
-    // 监听parameterValue 对比飞控更新的 参数名 和 要读取的参数名一致 把值显示出来
-    parameterValue (val) {
-      // 反序列化 JSON 字符串
-      const parsed = JSON.parse(val)
-
-      // 假设 JSON 只有一个键值对，提取参数名和值
-      const key = Object.keys(parsed)[0] // 获取键名
-      const value = parsed[key] // 获取键对应的值
-
-      // 更新 data 中的 paramName 和 paramValue
-      if (key === this.paramItem) {
-        this.paramValue = value
-      }
-      this.paramName = key
-    }
-  },
-  destroyed () {
   }
-
 }
 </script>
 
@@ -1123,10 +217,10 @@ export default {
   z-index: 90;
   position: relative;
   width: 100%;
-  border-radius: 10px;
   max-width: 470px;
+  border-radius: 10px;
   background-color: rgba(255, 255, 255, 0.8);
-  box-shadow: 0px 0px 4px rgba(0, 0, 0, 0.2);
+  box-shadow: 0 0 4px rgba(0, 0, 0, 0.2);
   top: -50px;
   opacity: 0;
   transition: top 0.5s ease, opacity 1s ease;
@@ -1147,18 +241,15 @@ export default {
 
 .butIconBox {
   flex-wrap: wrap;
-  /* 允许换行 */
   justify-content: flex-start;
-  /* 主轴对齐方式 */
   align-content: space-around;
-  /* 多行在侧轴上的对齐方式 */
 }
 
 .butIcon {
   border-radius: 10px;
   text-align: center;
   border: none;
-  margin-left: 0px !important;
+  margin-left: 0 !important;
 }
 
 .taButGroup {
@@ -1172,7 +263,7 @@ export default {
 
 @media (max-width: 480px) {
   .taButGroup {
-    height: calc((100vw - 50px)/4);
+    height: calc((100vw - 50px) / 4);
   }
 
   .tabContainer {
@@ -1186,7 +277,7 @@ export default {
   border-radius: 10px;
   padding: 5px;
   text-align: center;
-  box-shadow: 0px 0px 4px rgba(0, 0, 0, 0.2);
+  box-shadow: 0 0 4px rgba(0, 0, 0, 0.2);
 }
 
 .taButBG {
diff --git a/src/router/index.js b/src/router/index.js
index bc1fa7e..5b4c703 100644
--- a/src/router/index.js
+++ b/src/router/index.js
@@ -300,6 +300,16 @@ const routes = [
       tapName: 'plane'
     },
     children: [
+      {
+        path: '/planes/swarm',
+        component: () => import('@/views/layout/components/main/planes/swarm'),
+        meta: {
+          title: '集群控制',
+          icon: 'iconfont icon-a-jiqunkongzhianniu_huaban1',
+          roles: ['admin', 'editor'],
+          tapName: 'plane'
+        }
+      },
       {
         path: '/planes/index/:id/:name', // 动态加载路由时加ID参数
         component: () => import('@/views/layout/components/main/planes/index'),
diff --git a/src/store/modules/app.js b/src/store/modules/app.js
index 64cbde2..e37aedd 100644
--- a/src/store/modules/app.js
+++ b/src/store/modules/app.js
@@ -9,7 +9,8 @@ const state = {
   /* 页面参数 */
   orderSerch: null, // 订单列表页搜索条件
   toMessageIdArr: [], // 用户管理 发布公告页面  id临时传参
-  toFlyDataIdArr: [] // 飞机飞行数据 临时传参
+  toFlyDataIdArr: [], // 飞机飞行数据 临时传参
+  swarmIdArr: []// 选中的 集群控制飞机ID组
 }
 
 const mutations = {
@@ -64,7 +65,12 @@ const mutations = {
   // 飞机飞行数据 传递id数组
   setToFlyDataIdArr (state, idArr) {
     state.toFlyDataIdArr = idArr
+  },
+  // 设置 '选取的集群飞机'id组
+  setSwarmIdArr (state, idArr) {
+    state.swarmIdArr = idArr
   }
+
 }
 
 const actions = {
diff --git a/src/styles/myIcon.scss b/src/styles/myIcon.scss
index 6534b34..6e0cd14 100644
--- a/src/styles/myIcon.scss
+++ b/src/styles/myIcon.scss
@@ -1 +1 @@
-@import 'https://at.alicdn.com/t/c/font_3703467_793cqnnxv0f.css'; //iconfont阿里巴巴
\ No newline at end of file
+@import 'https://at.alicdn.com/t/c/font_3703467_cqwk36imkj.css'; //iconfont阿里巴巴
\ No newline at end of file
diff --git a/src/views/layout/components/main/home/index.vue b/src/views/layout/components/main/home/index.vue
index 2e0bbce..05d43b8 100644
--- a/src/views/layout/components/main/home/index.vue
+++ b/src/views/layout/components/main/home/index.vue
@@ -73,7 +73,7 @@ export default {
       async handler () {
         try {
           // 等待地图画布准备好
-          await waitForMapCanvasReady(this.map)
+          await waitForMapCanvasReady(this.$refs.mapbox.map)
           // 画布准备好后执行你自己的逻辑
           this.onMapReady()
         } catch (err) {
diff --git a/src/views/layout/components/main/planes/index.vue b/src/views/layout/components/main/planes/index.vue
index fd074ef..c9922ee 100644
--- a/src/views/layout/components/main/planes/index.vue
+++ b/src/views/layout/components/main/planes/index.vue
@@ -23,15 +23,21 @@
           <el-form-item label="经度" label-width="80px">
             <el-input v-model="guidedLonLat.lon" placeholder="请输经度" label="经度"></el-input>
           </el-form-item>
-          <el-form-item label="高度设置" label-width="80px">
+          <el-form-item label="高度" label-width="80px">
             <el-input-number v-model="guidedAlt" label="高度设置"></el-input-number>
             <font class="m-l-5">米</font>
           </el-form-item>
         </el-form>
         <span slot="footer" class="dialog-footer">
           <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
-          <el-button size="medium" type="primary"
-            @click="publishFun(`{guidedMode:{lon:${guidedLonLat.lon},lat:${guidedLonLat.lat},alt:${guidedAlt}}`); isReserveGuidedMaker = true; dialogVisible = false">飞至</el-button>
+          <el-button size="medium" type="primary" @click="() => {
+            if (flyToSinglePlane(guidedLonLat.lon, guidedLonLat.lat, guidedAlt)) {
+              isReserveGuidedMaker = true;
+              dialogVisible = false;
+            }
+          }">
+            飞至
+          </el-button>
         </span>
       </template>
     </el-dialog>
@@ -128,6 +134,25 @@ export default {
       }
       this.guidedAlt = height
     },
+    // 单架飞机点飞指令，参数：lon, lat, alt
+    flyToSinglePlane (lon, lat, alt) {
+      const lonNum = Number(lon)
+      const latNum = Number(lat)
+      const altNum = Number(alt)
+
+      if (
+        isNaN(lonNum) || isNaN(latNum) || isNaN(altNum) ||
+        lonNum < -180 || lonNum > 180 ||
+        latNum < -90 || latNum > 90
+      ) {
+        this.$message.warning('请输入有效的经纬度（经度-180~180，纬度-90~90）和高度')
+        return false
+      }
+
+      const cmd = `{guidedMode:{lon:${lonNum.toFixed(7)},lat:${latNum.toFixed(7)},alt:${altNum.toFixed(1)}}}`
+      this.publishFun(cmd)
+      return true
+    },
     // 地图组件回调地图加载完成后 执行
     onMapReady () {
       this.mapReady = true// 标记地图加载完成
@@ -190,7 +215,7 @@ export default {
       async handler () {
         try {
           // 等待地图画布准备好
-          await waitForMapCanvasReady(this.map)
+          await waitForMapCanvasReady(this.$refs.mapbox.map)
           // 画布准备好后执行你自己的逻辑
           this.onMapReady()
         } catch (err) {
diff --git a/src/views/layout/components/main/planes/swarm.vue b/src/views/layout/components/main/planes/swarm.vue
index fd074ef..6873783 100644
--- a/src/views/layout/components/main/planes/swarm.vue
+++ b/src/views/layout/components/main/planes/swarm.vue
@@ -1,13 +1,12 @@
 <template>
   <div class="h-100">
     <!-- 地图组件 -->
-    <map-box ref="mapbox" :enableShowNofly="true" :enableGuided="true" :enableFollow="true"
-      :enblueScale="!$store.state.app.isWideScreen" @longPress="handleLongPress" @map-ready="onMapReady">
+    <map-box ref="mapbox" :enableShowNofly="true" :enableGuided="true" :enblueScale="!$store.state.app.isWideScreen"
+      @longPress="handleLongPress" @map-ready="onMapReady">
       <template #content>
         <div v-show="mapReady">
-          <BatteryStatus :plane="plane" />
-          <PlaneStatus :plane="plane" />
-          <ControllerTabs :plane="plane" @mapXOffset="mapXOffset" @makeRoute="makeRoute" @clearRoute="clearRoute" />
+          <!-- <SwarmStatus :planes="planeList" /> -->
+          <SwarmControllerTabs :planes="planeList" @mapXOffset="mapXOffset" @makeRoute="makeRoute" @clearRoute="clearRoute" />
         </div>
       </template>
     </map-box>
@@ -17,21 +16,20 @@
       <!-- 点飞设置弹出框 -->
       <template v-if="dialogItem == 'guidedBox'">
         <el-form label-position="left">
-          <el-form-item label="纬度" label-width="80px">
+          <el-form-item label="中心纬度" label-width="80px">
             <el-input v-model="guidedLonLat.lat" placeholder="请输维度" label="纬度"></el-input>
           </el-form-item>
-          <el-form-item label="经度" label-width="80px">
+          <el-form-item label="中心经度" label-width="80px">
             <el-input v-model="guidedLonLat.lon" placeholder="请输经度" label="经度"></el-input>
           </el-form-item>
-          <el-form-item label="高度设置" label-width="80px">
+          <el-form-item label="中心高度" label-width="80px">
             <el-input-number v-model="guidedAlt" label="高度设置"></el-input-number>
             <font class="m-l-5">米</font>
           </el-form-item>
         </el-form>
         <span slot="footer" class="dialog-footer">
           <el-button size="medium" @click="dialogVisible = false">关闭</el-button>
-          <el-button size="medium" type="primary"
-            @click="publishFun(`{guidedMode:{lon:${guidedLonLat.lon},lat:${guidedLonLat.lat},alt:${guidedAlt}}`); isReserveGuidedMaker = true; dialogVisible = false">飞至</el-button>
+          <el-button size="medium" type="primary" @click="onSwarmFlyTo">飞至</el-button>
         </span>
       </template>
     </el-dialog>
@@ -40,14 +38,12 @@
 
 <script>
 import MapBox from '@/components/MapBox'
-import ControllerTabs from '@/components/ControllerTabs'
-import BatteryStatus from '@/components/BatteryStatus'
-import PlaneStatus from '@/components/PlaneStatus'
-import mqtt from '@/utils/mqtt'
+// import SwarmStatus from '@/components/SwarmStatus.vue'
+import SwarmControllerTabs from '@/components/SwarmControllerTabs.vue'
 import { waitForMapCanvasReady } from '@/utils'
 
 export default {
-  name: 'Planes',
+  name: 'Swarm',
   data () {
     return {
       dialogTitle: '', // 弹出框 标题
@@ -56,40 +52,20 @@ export default {
       guidedLonLat: {}, // 点飞 的经纬度
       guidedAlt: '', // 点飞的高度
       isReserveGuidedMaker: false, // 关闭指点飞行操作窗口时 标记是否删除图标
-      planesId: this.$route.params.id,
-      localCount: 0, // 本地存储计数器
-      mapReady: false// 地图加载完成后 回调时 设置此值  让地图组件插槽内容 滞后显示
+      mapReady: false // 地图加载完成后 回调时 设置此值  让地图组件插槽内容 滞后显示
     }
   },
   components: {
     MapBox,
-    ControllerTabs,
-    BatteryStatus,
-    PlaneStatus
+    // SwarmStatus,
+    SwarmControllerTabs
   },
   computed: {
-    plane () {
-      if (this.$store.state.airList.length > 0) {
-        return this.$store.state.airList.find(plane => plane.id === this.planesId)
-      }
-      return null
-    },
-    position () {
-      if (this.plane) {
-        if (this.plane.planeState.position.length > 0) {
-          return this.plane.planeState.position
-        } else {
-          return []
-        }
-      } else {
-        return []
-      }
-    },
-    noflyData () {
-      return this.$store.state.noflyData
-    },
-    ADSBList () {
-      return this.$store.state.ADSBList
+    // 选中的集群控制飞机s
+    planeList () {
+      const allPlanes = this.$store.state.airList
+      const idArr = this.$store.state.app.swarmIdArr
+      return allPlanes.filter(plane => idArr.includes(plane.id))
     },
     /**
      * @description: 侧边栏显隐
@@ -98,6 +74,12 @@ export default {
       return this.$store.state.app.isCollapse
     }
   },
+  created () {
+    // 没有参数 跳转到飞机列表页
+    if (this.$store.state.app.swarmIdArr.length < 2) {
+      this.$router.replace('/register/index')
+    }
+  },
   methods: {
     /** 弹出框 关闭事件回调 */
     closeCallback () {
@@ -111,86 +93,136 @@ export default {
     openCallback () {
     },
     // 地图长按事件 记录地图经纬度
+    // 地图长按事件 记录地图经纬度
     handleLongPress (lonLat) {
       this.isReserveGuidedMaker = false
-      this.dialogTitle = '指点飞行'
+      this.dialogTitle = '集群指点'
       this.dialogVisible = true
       this.dialogItem = 'guidedBox'
-      this.guidedLonLat = lonLat // 设置点击的经纬度
+      this.guidedLonLat = lonLat // 点击的新位置中心点
 
-      // 安全获取飞机当前高度
-      let height = 0
-      if (this.plane && this.plane.planeState && Array.isArray(this.plane.planeState.position)) {
-        const posLen = this.plane.planeState.position.length
-        if (posLen > 0 && Array.isArray(this.plane.planeState.position[posLen - 1])) {
-          height = this.plane.planeState.position[posLen - 1][2] || 0
-        }
+      // 获取所有飞机的高度并求平均
+      const validHeights = this.planeList.map(p => {
+        const pos = p?.planeState?.position
+        const last = Array.isArray(pos) && pos.length > 0 ? pos[pos.length - 1] : null
+        return Array.isArray(last) ? last[2] || 0 : 0
+      }).filter(h => typeof h === 'number')
+
+      const avgAlt = validHeights.length
+        ? (validHeights.reduce((sum, h) => sum + h, 0) / validHeights.length).toFixed(1)
+        : 0
+
+      this.guidedAlt = Number(avgAlt)
+    },
+    // 集群指点飞行  保持所有飞机拓扑关系飞到指定位置
+    onSwarmFlyTo () {
+      const targetLon = Number(this.guidedLonLat.lon)
+      const targetLat = Number(this.guidedLonLat.lat)
+      const targetAlt = Number(this.guidedAlt)
+
+      if (
+        isNaN(targetLon) || isNaN(targetLat) || isNaN(targetAlt) ||
+    targetLon < -180 || targetLon > 180 ||
+    targetLat < -90 || targetLat > 90
+      ) {
+        this.$message.warning('请输入有效的经纬度（经度-180~180，纬度-90~90）和高度')
+        return
+      }
+
+      // 所有飞机当前中心点
+      const currentCenter = this.getSwarmCenter()
+
+      if (!currentCenter) {
+        this.$message.error('无法获取飞行器中心位置，检查飞机是否都已定位')
+        return
+      }
+
+      // 计算每架飞机相对于当前中心的偏移量
+      const commands = this.planeList.map(p => {
+        const pos = p?.planeState?.position
+        const last = Array.isArray(pos) && pos.length > 0 ? pos[pos.length - 1] : null
+        if (!Array.isArray(last)) return null
+
+        const offsetLon = last[0] - currentCenter.lon
+        const offsetLat = last[1] - currentCenter.lat
+        const offsetAlt = last[2] - currentCenter.alt
+
+        const newLon = targetLon + offsetLon
+        const newLat = targetLat + offsetLat
+        const newAlt = targetAlt + offsetAlt
+
+        return {
+          id: p.id,
+          cmd: `{guidedMode:{lon:${newLon.toFixed(7)},lat:${newLat.toFixed(7)},alt:${newAlt.toFixed(1)}}}`
+        }
+      }).filter(Boolean)
+
+      // 发送控制指令
+      commands.forEach(({ id, cmd }) => {
+        this.publishFun(cmd, id)
+      })
+
+      this.isReserveGuidedMaker = true
+      this.dialogVisible = false
+    },
+    // 获取集群中心点
+    getSwarmCenter () {
+      const positions = this.planeList.map(p => {
+        const pos = p?.planeState?.position
+        const last = Array.isArray(pos) && pos.length > 0 ? pos[pos.length - 1] : null
+        return Array.isArray(last) ? last : null
+      }).filter(Boolean)
+
+      if (!positions.length) return null
+
+      const sum = positions.reduce((acc, pos) => {
+        acc.lon += pos[0]
+        acc.lat += pos[1]
+        acc.alt += pos[2] || 0
+        return acc
+      }, { lon: 0, lat: 0, alt: 0 })
+
+      const count = positions.length
+      return {
+        lon: sum.lon / count,
+        lat: sum.lat / count,
+        alt: sum.alt / count
       }
-      this.guidedAlt = height
     },
     // 地图组件回调地图加载完成后 执行
     onMapReady () {
-      this.mapReady = true// 标记地图加载完成
-      this.makePlane(this.plane)
+      this.mapReady = true // 标记地图加载完成
+      this.makePlanes(this.planeList)
     },
     /**
      * @description: 创建飞机图标
      */
-    makePlane (plane) {
-      let planeDefaultLonLat
-      if (localStorage.getItem(plane.name)) { // 从本地缓存 拿飞机得初始位置
-        planeDefaultLonLat = JSON.parse(localStorage.getItem(plane.name))
-        plane.lon = planeDefaultLonLat.lon
-        plane.lat = planeDefaultLonLat.lat
-      } else {
-        // 缺省 给经纬度 小数点后随机第五位 即有个10米左右的随机距离
-        plane.lon = 100 + Number((Math.random() * 0.01).toFixed(5))
-        plane.lat = 40 + Number((Math.random() * 0.01).toFixed(5))
-      }
+    makePlanes (planes) {
       this.$refs.mapbox.removePlanes()// 先清除画布上现有的飞机
-      this.$refs.mapbox.makePlane(plane)// 创建飞机
-      this.$refs.mapbox.goto({ lon: plane.lon, lat: plane.lat })// 跳转到飞机位置
-    },
-    /**
-     * @description: 创建航线
-     */
-    makeRoute (routeData) {
-      this.$refs.mapbox.makeRoute(routeData)
-    },
-    /**
-     * @description: 清楚航线
-     */
-    clearRoute () {
-      this.$refs.mapbox.clearRoute()
-    },
-    /**
-     * @description: 屏幕横移
-     * @param {*} val 正数向左移动 负数向右移动
-     * @param {*} y 正数向上移动 负数向下移动
-     */
-    mapXOffset (x, y) {
-      this.$refs.mapbox.mapXOffset(x, y)
-    },
-    /**
-     * @description: 发布 mqtt 信息
-     * @param {*} jsonData {'item':val} // item: questAss飞行航点任务 setQuestState 设置飞机状态  resetQuestState设置飞机初始状态 chan1油门通道1 chan2油门通道2  chan3油门通道3  chan4油门通道4 hookConteroller钩子控制 cameraController云台相机控制
-     */
-    publishFun (jsonData) {
-      if (this.plane) {
-        mqtt.publishFun(`cmd/${this.plane.macadd}`, jsonData)
-      } else {
-        this.$message.warning('与飞机通信未接通,请稍后')
-      }
+      planes.forEach((plane, index) => { // 创建所有飞机
+        let planeDefaultLonLat
+        if (localStorage.getItem(plane.name) !== null) { // 从本地缓存 拿飞机得初始位置
+          planeDefaultLonLat = JSON.parse(localStorage.getItem(plane.name))
+          plane.lon = planeDefaultLonLat.lon
+          plane.lat = planeDefaultLonLat.lat
+        } else {
+          // 缺省 给经纬度 小数点后随机第五位 即有个10米左右的随机距离
+          plane.lon = 100 + Number((Math.random() * 0.01).toFixed(5))
+          plane.lat = 40 + Number((Math.random() * 0.01).toFixed(5))
+        }
+        this.$refs.mapbox.makePlane(plane, index)
+      })
     }
   },
-  mounted () {
-  },
   watch: {
-    plane: {
+    /**
+     * @description: 飞机列表更新时候 更新地图
+     */
+    planeList: {
       async handler () {
         try {
           // 等待地图画布准备好
-          await waitForMapCanvasReady(this.map)
+          await waitForMapCanvasReady(this.$refs.mapbox.map)
           // 画布准备好后执行你自己的逻辑
           this.onMapReady()
         } catch (err) {
@@ -200,47 +232,13 @@ export default {
       immediate: true
     },
     /**
-     * @description: 更新飞机位置 并画出轨迹 跟随飞机
+     * @description: 侧边栏显隐
      */
-    position: {
-      handler (val) {
-        const len = val.length
-        if (len > 2) {
-          const lon = val[len - 1][0]
-          const lat = val[len - 1][1]
-          this.localCount++// 计数器 叠加
-          if (this.localCount % 100 === 1) {
-            localStorage.setItem(this.plane.name, `{ "lon": ${lon}, "lat": ${lat} }`)
-          }
-          this.$refs.mapbox.setPlaneLonLat({ lon: lon, lat: lat }, 0, val)// 更新飞机位置 并画出轨迹 跟随飞机
-        }
-      },
-      deep: true
-    },
-    ADSBList: {
-      handler (newList) {
-        if (this.$refs.mapbox && typeof this.$refs.mapbox.makeADSBPlanes === 'function') {
-          this.$refs.mapbox.makeADSBPlanes(newList)
-        }
-      },
-      immediate: true,
-      deep: true
-    },
-    /**
-     * @description: 侧边栏缩进有变化时 地图重新自适应
-     */
-    isCollapse: {
-      handler (val) {
-        if (val) {
-          this.$nextTick(() => {
-            this.$refs.mapbox.handleResize()
-          })
-        }
-      }
+    isCollapse () {
+      return this.$store.state.app.isCollapse
     }
   }
 }
-
 </script>
 
 <style lang="scss" scoped></style>
diff --git a/src/views/layout/components/main/register/index.vue b/src/views/layout/components/main/register/index.vue
index 4924826..9b7f0e4 100644
--- a/src/views/layout/components/main/register/index.vue
+++ b/src/views/layout/components/main/register/index.vue
@@ -2,19 +2,21 @@
   <div class="app-container">
     <!-- 组合按钮 -->
     <el-button-group class="m-r-20 m-b-20">
-        <el-button type="primary" icon="el-icon-plus" @click="$router.replace('/register/add')">添加</el-button>
-        <el-button type="danger" icon="el-icon-delete" @click="deleteAir(countSelIdArr($refs.myTable.selection))">删除
-        </el-button>
-        <el-button type="warning" icon="el-icon-edit" @click="toEditPage()">编辑</el-button>
-        <el-button type="success" icon="el-icon-data-line" @click="toFlyDataPage(countSelIdArr($refs.myTable.selection))">飞行数据</el-button>
+      <el-button type="primary" icon="el-icon-plus" @click="$router.replace('/register/add')">添加</el-button>
+      <el-button type="danger" icon="el-icon-delete" @click="deleteAir(countSelIdArr($refs.myTable.selection))">删除
+      </el-button>
+      <el-button type="warning" icon="el-icon-edit" @click="toEditPage()">编辑</el-button>
+      <el-button type="warning" class="swarmButton" icon="iconfont icon-a-jiqunkongzhianniu_huaban1" @click="toSwarmPage()">集群控制</el-button>
+      <el-button type="success" icon="el-icon-data-line"
+        @click="toFlyDataPage(countSelIdArr($refs.myTable.selection))">飞行数据</el-button>
     </el-button-group>
     <!-- 用户select选项 -->
     <el-button-group class="m-b-20">
       <SelectionShopId v-model="form.shop_id" :allSel="true" />
     </el-button-group>
     <!-- 飞机表格 -->
-    <el-table class="w-100" ref="myTable"
-      :data="airListArr.slice((currentPage - 1) * pageSize, currentPage * pageSize)" border tooltip-effect="dark">
+    <el-table class="w-100" ref="myTable" :data="airListArr.slice((currentPage - 1) * pageSize, currentPage * pageSize)"
+      border tooltip-effect="dark">
       <el-table-column align="center" type="selection" width="40">
       </el-table-column>
       <el-table-column align="center" prop="id" label="id" width="50">
@@ -117,6 +119,20 @@ export default {
           this.$message.error('只能选择一条记录')
       }
     },
+    /**
+     * @description: 跳转到编辑页面
+     */
+    toSwarmPage () {
+      const selId = this.countSelIdArr(this.$refs.myTable.selection)
+      if (selId.length < 2) {
+        this.$message.error('请选择至少两架飞机')
+        return
+      }
+      // 用缓存传参 swarmIdArr
+      this.$store.commit('app/setSwarmIdArr', selId)
+      // 跳转到集群控制页面
+      this.$router.push('/planes/swarm')
+    },
     /**
      * @description: 跳转到飞机数据统计页面
      */
@@ -155,6 +171,11 @@ export default {
   }
 }
 
+.swarmButton {
+  background-color: #7C4DFF;
+  border-color: #7C4DFF
+}
+
 .no-wrap-btn-group {
   white-space: nowrap;
   /* 禁止换行 */
diff --git a/src/views/layout/components/menubar.vue b/src/views/layout/components/menubar.vue
index 40d392c..9c18d13 100644
--- a/src/views/layout/components/menubar.vue
+++ b/src/views/layout/components/menubar.vue
@@ -111,25 +111,34 @@ export default {
       }
     },
     /**
-    * @description: 动态加载路由
-    */
+     * @description: 动态加载无人机子路由，并保留静态配置（如集群控制）
+     * @param {Array} planes - 飞机对象数组，每个对象包含 id 和 name
+     */
     loadRoute (planes) {
-      const arr = new Array(0)
-      planes.map((item, index) => {
-        arr[index] = {
-          path: '/planes/index/' + item.id + '/' + item.name,
-          component: () => import('@/views/layout/components/main/planes/index.vue'),
-          meta: {
-            title: item.name,
-            icon: 'iconfont icon-wurenji',
-            roles: ['admin', 'editor'],
-            tapName: 'plane'
-          }
+      // 1. 将每架飞机转换为一个路由配置对象
+      const dynamicPlaneRoutes = planes.map((item) => ({
+        path: '/planes/index/' + item.id + '/' + item.name, // 动态路径，携带飞机ID和名称
+        component: () => import('@/views/layout/components/main/planes/index.vue'), // 对应的组件路径
+        meta: {
+          title: item.name, // 用于左侧菜单或标签页显示
+          icon: 'iconfont icon-wurenji', // 图标（可替换）
+          roles: ['admin', 'editor'], // 权限控制
+          tapName: 'plane' // 自定义标记
+          // activeMenu: '/planes/swarm' // 可选：保持菜单高亮在“集群控制”
         }
-      })
-      this.routes.map((element) => {
-        if (element.meta.title === '无人机') {
-          element.children = arr
+      }))
+
+      // 2. 遍历顶层路由配置，找到 path 为 "/planes" 的主路由
+      this.routes.forEach((element) => {
+        if (element.path === '/planes') {
+          // 3. 过滤原本 children 中的静态路由（排除旧的动态飞机 index 路由）
+          const staticChildren = element.children?.filter(child => !child.path.startsWith('/planes/index/')) || []
+
+          // 4. 合并：静态子路由（如 /planes/swarm） + 动态生成的飞机子路由
+          element.children = [
+            ...staticChildren,
+            ...dynamicPlaneRoutes
+          ]
         }
       })
     }