feat: 航线 Y 偏移 1/2 幅宽、推荐帧率/曝光时间计算、速度默认值调整

- 第一条航线 Y 坐标偏移 1/2 幅宽，不再紧贴绘制区域边缘
- 生成航线时自动计算推荐帧率和曝光时间（Pika L 900像元 / Pika NIR 320像元）
- 推荐帧率×曝光时间=999，Pika L 最大帧率限制 250fps
- 生成航线后自动填入子任务帧率和曝光时间
- Y 轴定位速度默认 10cm/s，X 扫描 3cm/s，X 回起点 10cm/s

package.json

@@ -1,7 +1,7 @@
 {
   "name": "happa-mission-plan",
   "private": true,
-  "version": "0.0.9",
+  "version": "0.0.10",
   "type": "module",
   "scripts": {
     "dev": "vite",

src-tauri/Cargo.lock

@@ -3180,7 +3180,7 @@ dependencies = [
 
 [[package]]
 name = "spectral-insight-mission-plan"
-version = "0.0.8"
+version = "0.0.9"
 dependencies = [
  "byteorder",
  "chrono",

src-tauri/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "spectral-insight-mission-plan"
-version = "0.0.9"
+version = "0.0.10"
 description = "Spectral Insight Mission Plan"
 authors = ["you"]
 edition = "2021"

src-tauri/src/commands/path_commands.rs

@@ -4,6 +4,7 @@ use crate::error::AppError;
 use crate::io;
 use crate::models::{PathLineFile, ScanParams, ScanRegion, CameraParams, ScanMode};
 use crate::services;
+use crate::services::camera_recommender::RecommendedCameraParams;
 
 #[command]
 pub fn load_path_line(path: String) -> Result<PathLineFile, AppError> {
@@ -63,3 +64,15 @@ pub fn estimate_scan_time_multi_minutes(
         speed_y_cm_s, speed_x_start_cm_s, speed_x_scan_cm_s, &mode,
     )
 }
+
+#[command]
+pub fn recommend_hyperspectral_params(
+    device_type: String,
+    height_cm: f64,
+    fov_degrees: f64,
+    scan_speed_cm_s: f64,
+) -> RecommendedCameraParams {
+    services::camera_recommender::recommend_hyperspectral_params(
+        &device_type, height_cm, fov_degrees, scan_speed_cm_s,
+    )
+}

src-tauri/src/lib.rs

@@ -40,6 +40,7 @@ pub fn run() {
             commands::path_commands::estimate_scan_time_minutes,
             commands::path_commands::generate_scan_paths_multi,
             commands::path_commands::estimate_scan_time_multi_minutes,
+            commands::path_commands::recommend_hyperspectral_params,
             commands::devtools_commands::toggle_devtools,
             commands::defaults_commands::save_default_scan_config,
             commands::defaults_commands::load_default_scan_config,

src-tauri/src/models/path_plan.rs

@@ -68,9 +68,9 @@ impl Default for PlannerDefaults {
             fov_degrees: 30.0,
             height_cm: 50.0,
             coverage_rate: 30.0,
-            speed_y_cm_s: 5.0,
+            speed_y_cm_s: 10.0,
-            speed_x_start_cm_s: 20.0,
+            speed_x_start_cm_s: 10.0,
-            speed_x_scan_cm_s: 10.0,
+            speed_x_scan_cm_s: 3.0,
             mode: "OneWay".to_string(),
         }
     }

src-tauri/src/services/camera_recommender.rs

@@ -0,0 +1,54 @@
+use serde::Serialize;
+
+use super::path_generator::calc_footprint;
+
+#[derive(Debug, Clone, Serialize)]
+pub struct RecommendedCameraParams {
+    #[serde(rename = "recommendedFrameRate")]
+    pub recommended_frame_rate: u32,
+    #[serde(rename = "recommendedExposureTime")]
+    pub recommended_exposure_time: u32,
+}
+
+/// Calculate recommended frame rate and maximum exposure time for hyperspectral cameras.
+///
+/// Formula:
+///   across-track pixel size = footprint / num_pixels
+///   along-track pixel size = scan_speed / frame_rate
+///   Square pixels: footprint / num_pixels = scan_speed / frame_rate
+///   => frame_rate = scan_speed * num_pixels / footprint
+///   => exposure_time = 999 / frame_rate
+///
+/// Device limits:
+///   Pika L  max frame rate = 250 fps
+pub fn recommend_hyperspectral_params(
+    device_type: &str,
+    height_cm: f64,
+    fov_degrees: f64,
+    scan_speed_cm_s: f64,
+) -> RecommendedCameraParams {
+    let (num_pixels, max_fps) = match device_type {
+        "HyperSpectual400_1000nm" => (900.0, 250),   // Pika L
+        "HyperSpectual1000_1700nm" => (320.0, u32::MAX),   // Pika NIR
+        _ => return RecommendedCameraParams {
+            recommended_frame_rate: 0,
+            recommended_exposure_time: 0,
+        },
+    };
+
+    if scan_speed_cm_s <= 0.0 || height_cm <= 0.0 || fov_degrees <= 0.0 {
+        return RecommendedCameraParams {
+            recommended_frame_rate: 0,
+            recommended_exposure_time: 0,
+        };
+    }
+
+    let footprint = calc_footprint(height_cm, fov_degrees);
+    let frame_rate = ((scan_speed_cm_s * num_pixels / footprint).round() as u32).max(1).min(max_fps);
+    let exposure_time = 999 / frame_rate;
+
+    RecommendedCameraParams {
+        recommended_frame_rate: frame_rate,
+        recommended_exposure_time: exposure_time,
+    }
+}

src-tauri/src/services/mod.rs

@@ -1,3 +1,4 @@
 pub mod scheduler;
 pub mod validator;
+pub mod camera_recommender;
 pub mod path_generator;

src-tauri/src/services/path_generator.rs

@@ -18,10 +18,15 @@ pub fn generate_path(params: &ScanParams) -> Vec<PathLineRecord> {
     let y_min = params.region.y_min;
     let y_max = params.region.y_max;
 
-    let line_count = if step <= 0.0 {
+    let half_fp = footprint / 2.0;
+    let y_start = y_min + half_fp;
+    let y_end = y_max - half_fp;
+
+    let single_line = step <= 0.0 || y_end <= y_start;
+    let line_count = if single_line {
         1
     } else {
-        ((y_max - y_min) / step).ceil() as u64 + 1
+        ((y_end - y_start) / step).ceil() as u64 + 1
     };
 
     let mut records = Vec::with_capacity(line_count as usize);
@@ -29,8 +34,12 @@ pub fn generate_path(params: &ScanParams) -> Vec<PathLineRecord> {
     match params.mode {
         ScanMode::Zigzag => {
             for i in 0..line_count {
-                let y = y_min + (i as f64) * step;
+                let y = if single_line {
-                if y > y_max {
+                    (y_min + y_max) / 2.0
+                } else {
+                    y_start + (i as f64) * step
+                };
+                if !single_line && y > y_end {
                     break;
                 }
 
@@ -53,8 +62,12 @@ pub fn generate_path(params: &ScanParams) -> Vec<PathLineRecord> {
         }
         ScanMode::OneWay => {
             for i in 0..line_count {
-                let y = y_min + (i as f64) * step;
+                let y = if single_line {
-                if y > y_max {
+                    (y_min + y_max) / 2.0
+                } else {
+                    y_start + (i as f64) * step
+                };
+                if !single_line && y > y_end {
                     break;
                 }
 
@@ -117,13 +130,26 @@ pub fn generate_paths_multi(
     let mut all_records = Vec::new();
     for (i, region) in regions.iter().enumerate() {
         let is_circle = shapes.get(i).map(|s| s == "Circle").unwrap_or(false);
-        let step = calc_footprint(camera.height_cm, camera.fov_degrees)
+        let footprint = calc_footprint(camera.height_cm, camera.fov_degrees);
-            * (1.0 - coverage_rate / 100.0);
+        let step = footprint * (1.0 - coverage_rate / 100.0);
-        let line_count = if step <= 0.0 { 1 } else { ((region.y_max - region.y_min) / step).ceil() as u64 + 1 };
+        let half_fp = footprint / 2.0;
+        let y_start = region.y_min + half_fp;
+        let y_end = region.y_max - half_fp;
+
+        let single_line = step <= 0.0 || y_end <= y_start;
+        let line_count = if single_line {
+            1
+        } else {
+            ((y_end - y_start) / step).ceil() as u64 + 1
+        };
 
         for li in 0..line_count {
-            let y = region.y_min + (li as f64) * step;
+            let y = if single_line {
-            if y > region.y_max { break; }
+                (region.y_min + region.y_max) / 2.0
+            } else {
+                y_start + (li as f64) * step
+            };
+            if !single_line && y > y_end { break; }
 
             let (x_start, x_end) = if is_circle {
                 let cx = (region.x_min + region.x_max) / 2.0;

src-tauri/tauri.conf.json

@@ -1,7 +1,7 @@
 {
   "$schema": "https://schema.tauri.app/config/2",
   "productName": "Spectral Insight Mission Plan",
-  "version": "0.0.9",
+  "version": "0.0.10",
   "identifier": "com.spectral-insight.mission-plan",
   "build": {
     "beforeDevCommand": "npm run dev",

src/components/planner/ScanParamPanel.vue

@@ -49,6 +49,8 @@
         <n-descriptions label-placement="left" :column="1">
           <n-descriptions-item label="扫描线数">{{ lineCount }}</n-descriptions-item>
           <n-descriptions-item label="预估耗时">{{ estTimeFormatted }}</n-descriptions-item>
+          <n-descriptions-item v-if="recommendedFrameRate && recommendedFrameRate > 0" label="推荐帧率">{{ recommendedFrameRate }} fps</n-descriptions-item>
+          <n-descriptions-item v-if="recommendedExposureTime && recommendedExposureTime > 0" label="推荐曝光时间">{{ recommendedExposureTime }} ms</n-descriptions-item>
         </n-descriptions>
       </n-card>
     </n-form>
@@ -61,7 +63,7 @@ import type { CameraParams, ScanMode } from '../../types/path-plan';
 import { formatDuration } from '../../utils/constants';
 import HelpIcon from '../common/HelpIcon.vue';
 
-const props = defineProps<{
+const props = withDefaults(defineProps<{
   camera: CameraParams;
   coverageRate: number;
   speedY: number;
@@ -70,7 +72,12 @@ const props = defineProps<{
   mode: ScanMode;
   lineCount: number;
   estTime: number;
-}>();
+  recommendedFrameRate?: number;
+  recommendedExposureTime?: number;
+}>(), {
+  recommendedFrameRate: undefined,
+  recommendedExposureTime: undefined,
+});
 
 const emit = defineEmits<{
   update: [params: any];

src/types/mission.ts

@@ -33,7 +33,7 @@ export function createDefaultPlannerParams(): PlannerDefaults {
   return {
     fovDegrees: 30, heightCm: 50,
     coverageRate: 30,
-    speedYCmS: 5, speedXStartCmS: 20, speedXScanCmS: 10,
+    speedYCmS: 10, speedXStartCmS: 10, speedXScanCmS: 3,
     mode: 'Zigzag',
   };
 }

src/views/PathPlannerView.vue

@@ -60,6 +60,8 @@
           :mode="scanMode"
           :line-count="generatedRecords.length"
           :est-time="estimatedTime"
+          :recommended-frame-rate="recommendedParams?.recommendedFrameRate ?? undefined"
+          :recommended-exposure-time="recommendedParams?.recommendedExposureTime ?? undefined"
           @update="onParamChange"
         />
       </template>
@@ -103,14 +105,15 @@ function getDeviceFov(): number {
 const regions = ref<ScanRegion[]>([]);
 const camera = ref<CameraParams>({ fovDegrees: getDeviceFov(), heightCm: 50 });
 const coverageRate = ref(30);
-const speedY = ref(5);
+const speedY = ref(10);
-const speedXScan = ref(10);
+const speedXScan = ref(3);
-const speedXStart = ref(20);
+const speedXStart = ref(10);
 const scanMode = ref<ScanMode>('OneWay');
 
 const generatedRecords = ref<PathLineRecord[]>([]);
 const previewRecords = computed(() => generatedRecords.value);
 const estimatedTime = ref(0);
+const recommendedParams = ref<{recommendedFrameRate: number, recommendedExposureTime: number} | null>(null);
 
 invoke<PlannerDefaults>('load_planner_defaults').then(p => {
   coverageRate.value = p.coverageRate;
@@ -175,6 +178,27 @@ async function generatePath() {
       speedYCmS: speedY.value, speedXStartCmS: speedXStart.value, speedXScanCmS: speedXScan.value, mode: scanMode.value,
     });
     estimatedTime.value = estTime;
+
+    // 获取推荐相机参数
+    if (props.taskId !== null && props.subTaskId !== null) {
+      const task = missionStore.mission.tasks.find(t => t.id === props.taskId);
+      const sub = task?.subTasks.find(s => s.id === props.subTaskId);
+      if (sub) {
+        recommendedParams.value = await invoke<{recommendedFrameRate: number, recommendedExposureTime: number}>('recommend_hyperspectral_params', {
+          deviceType: sub.type,
+          heightCm: camera.value.heightCm,
+          fovDegrees: camera.value.fovDegrees,
+          scanSpeedCmS: speedXScan.value,
+        });
+        // 将推荐参数立即写入子任务
+        if (recommendedParams.value && DEVICE_FOV[sub.type]) {
+          sub.frameRate = recommendedParams.value.recommendedFrameRate;
+          sub.exposureTime = recommendedParams.value.recommendedExposureTime;
+          await missionStore.updateSubTask(props.taskId, { ...sub });
+        }
+      }
+    }
+
     message.success(`航线生成完成: ${file.count} 条记录`);
   } catch (e) { message.error('航线生成失败: ' + e); }
 }
@@ -191,7 +215,15 @@ async function savePath() {
       if (props.taskId !== null && props.subTaskId !== null) {
         const task = missionStore.mission.tasks.find(t => t.id === props.taskId);
         const sub = task?.subTasks.find(s => s.id === props.subTaskId);
-        if (sub) { sub.pathLineFilePath = finalPath; await missionStore.updateSubTask(props.taskId, { ...sub }); message.success('已自动填入子任务航线路径'); }
+        if (sub) {
+          sub.pathLineFilePath = finalPath;
+          if (recommendedParams.value) {
+            sub.frameRate = recommendedParams.value.recommendedFrameRate;
+            sub.exposureTime = recommendedParams.value.recommendedExposureTime;
+          }
+          await missionStore.updateSubTask(props.taskId, { ...sub });
+          message.success('已自动填入子任务航线路径及推荐相机参数');
+        }
       }
     }
   } catch (e) { message.error('保存失败: ' + e); }

update.md

@@ -1,5 +1,13 @@
 # Spectral Insight Mission Plan - 更新日志
 
+## v0.0.10 (2026-06-25)
+
+- 第一条航线 Y 坐标偏移 1/2 幅宽，不再紧贴绘制区域边缘
+- 生成航线时自动计算推荐帧率和曝光时间（Pika L 900像元 / Pika NIR 320 像元，帧率×曝光时间=999）
+- 生成航线后自动填入子任务帧率和曝光时间
+- Pika L 最大帧率限制 250fps（唐超）
+- Y 轴定位速度默认值修改为 10cm/s，X 扫描速度 3cm/s，X 回起点速度 10cm/s
+
 ## v0.0.9 (2026-06-25)
 
 - 航线生成画布支持 scanConfig 坐标范围（修改 X/Y 范围后画布随之更新）