Initial commit: Happa Mission Plan v0.1.0

Task planning and path generation software for automated data collection
equipment (hyperspectral cameras, DSLR, depth cameras).

- Generate mission plans (JSON) with subtasks per device
- Generate scan path binary files (.RecordLine3)
- Multi-rectangle area planning with reference map support
- Device-specific FOV defaults (Pika L 17.6°, Pika NIR 21.7°, etc.)
- Timeline scheduling with constraint validation
- Tauri 2.x + Vue 3 + Naive UI + Pinia

src/views/HomeView.vue

@@ -0,0 +1,81 @@
+<template>
+  <div class="home">
+    <n-space vertical size="large" class="home-content">
+      <h1>Happa Mission Plan</h1>
+      <p class="subtitle">设备自动采集任务规划系统</p>
+
+      <n-space size="large">
+        <n-button type="primary" size="large" @click="createNew">
+          <template #icon><n-icon><AddOutline /></n-icon></template>
+          新建任务计划
+        </n-button>
+        <n-button size="large" @click="openFile">
+          <template #icon><n-icon><FolderOpenOutline /></n-icon></template>
+          打开已有文件
+        </n-button>
+      </n-space>
+
+      <n-card v-if="lastFilePath" title="最近打开" size="small" style="margin-top: 16px">
+        <p>{{ lastFilePath }}</p>
+        <n-button size="small" @click="openLastFile">打开</n-button>
+      </n-card>
+    </n-space>
+  </div>
+</template>
+
+<script setup lang="ts">
+import { ref } from 'vue';
+import { useRouter } from 'vue-router';
+import { useMessage } from 'naive-ui';
+import { AddOutline, FolderOpenOutline } from '@vicons/ionicons5';
+import { useMissionStore } from '../stores/mission';
+
+const router = useRouter();
+const message = useMessage();
+const missionStore = useMissionStore();
+const lastFilePath = ref<string | null>(null);
+
+async function createNew() {
+  missionStore.createNew();
+  router.push('/editor');
+}
+
+async function openFile() {
+  try {
+    const { open } = await import('@tauri-apps/plugin-dialog');
+    const selected = await open({
+      filters: [{ name: 'Mission JSON', extensions: ['json'] }],
+      multiple: false,
+    });
+    if (selected) {
+      await missionStore.loadMission(selected);
+      lastFilePath.value = selected;
+      router.push('/editor');
+    }
+  } catch (e) {
+    message.error('打开文件失败: ' + e);
+  }
+}
+
+function openLastFile() {
+  if (lastFilePath.value) {
+    router.push('/editor');
+  }
+}
+</script>
+
+<style scoped>
+.home {
+  display: flex;
+  justify-content: center;
+  align-items: center;
+  height: 100vh;
+}
+.home-content {
+  text-align: center;
+}
+.subtitle {
+  color: #888;
+  font-size: 1.1em;
+}
+</style>

src/views/MissionEditorView.vue

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+<template>
+  <div class="mission-editor">
+    <div class="main-panel">
+      <n-space vertical :size="8" style="padding: 12px">
+        <!-- Toolbar -->
+        <n-space align="center" justify="space-between">
+          <n-button size="small" @click="goBack">
+            <template #icon><n-icon><ArrowBackOutline /></n-icon></template>
+            返回
+          </n-button>
+          <n-space>
+            <n-button size="small" @click="handleSave">
+              <template #icon><n-icon><SaveOutline /></n-icon></template>
+              保存
+            </n-button>
+            <n-button size="small" @click="handleCalculate">
+              <template #icon><n-icon><CalculatorOutline /></n-icon></template>
+              计算
+            </n-button>
+            <n-button size="small" @click="handleValidate">
+              <template #icon><n-icon><CheckmarkCircleOutline /></n-icon></template>
+              校验
+            </n-button>
+          </n-space>
+        </n-space>
+
+        <!-- Mission info -->
+        <n-card title="任务计划信息" size="small">
+          <n-descriptions label-placement="left" :column="2">
+            <n-descriptions-item label="任务数">
+              {{ missionStore.taskCount }}
+            </n-descriptions-item>
+            <n-descriptions-item label="文件">
+              {{ missionStore.currentFilePath || '未保存' }}
+            </n-descriptions-item>
+          </n-descriptions>
+          <n-button block dashed style="margin-top: 8px" @click="handleAddTask">
+            添加任务
+          </n-button>
+        </n-card>
+
+        <!-- Scan area + background (collapsible) -->
+        <n-collapse>
+          <n-collapse-item title="扫描区域配置" name="scanConfig">
+            <n-form size="small" label-placement="top">
+              <n-grid :cols="4" :x-gap="6">
+                <n-gi><n-form-item label="X min"><n-input-number v-model:value="missionStore.mission.scanConfig.xMin" :step="1" /></n-form-item></n-gi>
+                <n-gi><n-form-item label="X max"><n-input-number v-model:value="missionStore.mission.scanConfig.xMax" :step="1" /></n-form-item></n-gi>
+                <n-gi><n-form-item label="Y min"><n-input-number v-model:value="missionStore.mission.scanConfig.yMin" :step="1" /></n-form-item></n-gi>
+                <n-gi><n-form-item label="Y max"><n-input-number v-model:value="missionStore.mission.scanConfig.yMax" :step="1" /></n-form-item></n-gi>
+              </n-grid>
+              <n-form-item label="背景图">
+                <n-input v-model:value="missionStore.mission.backgroundImage" placeholder="背景图片路径" readonly size="small" />
+                <n-button size="tiny" style="margin-left: 4px" @click="browseBackground">浏览</n-button>
+                <n-button size="tiny" style="margin-left: 4px" @click="clearBackground" v-if="missionStore.mission.backgroundImage">清除</n-button>
+              </n-form-item>
+            </n-form>
+          </n-collapse-item>
+        </n-collapse>
+
+        <!-- Task tree -->
+        <n-collapse v-if="missionStore.mission.tasks.length > 0" accordion>
+          <n-collapse-item
+            v-for="task in missionStore.mission.tasks"
+            :key="task.id"
+            :title="taskTitle(task)"
+            :name="String(task.id)"
+          >
+            <template #header-extra>
+              <n-button text size="tiny" @click.stop="handleCopyTask(task.id)" style="margin-right: 4px">
+                复制
+              </n-button>
+              <n-button text type="error" size="tiny" @click.stop="handleRemoveTask(task.id)">
+                删除
+              </n-button>
+            </template>
+
+            <n-form size="small" label-placement="top">
+              <n-form-item label="数据保存路径">
+                <n-input v-model:value="task.savePath" placeholder="数据保存路径" readonly>
+                  <template #suffix>
+                    <n-button size="tiny" @click="browseSavePath(task)">浏览</n-button>
+                  </template>
+                </n-input>
+              </n-form-item>
+              <n-grid :cols="2" :x-gap="8">
+                <n-gi>
+                  <n-form-item label="计划时间">
+                    <n-date-picker
+                      v-model:formatted-value="task.scheduledTime"
+                      type="datetime"
+                      value-format="yyyy-MM-dd'T'HH:mm:ss"
+                      placeholder="选择计划时间"
+                      clearable
+                    />
+                  </n-form-item>
+                </n-gi>
+                <n-gi>
+                  <n-form-item label="卤素灯预热 (分钟)">
+                    <n-input-number
+                      v-model:value="task.HalogenLampPreheatingTime_Minute"
+                      :min="0"
+                      :step="0.1"
+                    />
+                  </n-form-item>
+                </n-gi>
+              </n-grid>
+            </n-form>
+
+            <!-- Subtask children -->
+            <n-collapse>
+              <n-collapse-item
+                v-for="sub in task.subTasks"
+                :key="sub.id"
+                :title="getSubTaskLabel(sub.type)"
+                :name="sub.id"
+              >
+                <template #header-extra>
+                  <n-button text type="error" size="tiny" @click.stop="handleRemoveSubTask(task.id, sub.id)">
+                    删除
+                  </n-button>
+                </template>
+
+                <n-form size="small" label-placement="top">
+                  <template v-if="isHyperspectral(sub.type)">
+                    <n-grid :cols="2" :x-gap="8">
+                      <n-gi>
+                        <n-form-item label="曝光时间 (ms)">
+                          <n-input-number v-model:value="sub.exposureTime" :min="0" />
+                        </n-form-item>
+                      </n-gi>
+                      <n-gi>
+                        <n-form-item label="帧率 (fps)">
+                          <n-input-number v-model:value="sub.frameRate" :min="0" />
+                        </n-form-item>
+                      </n-gi>
+                    </n-grid>
+                  </template>
+                  <template v-else>
+                    <n-form-item label="captureInterval (s)">
+                      <n-input-number v-model:value="sub.captureIntervalSeconds" :min="0" />
+                    </n-form-item>
+                  </template>
+                  <n-form-item label="航线文件">
+                    <n-input v-model:value="sub.pathLineFilePath" placeholder="航线文件路径" />
+                    <n-button size="tiny" style="margin-left: 4px" @click="browsePathLine(sub)">
+                      浏览
+                    </n-button>
+                    <n-button size="tiny" style="margin-left: 4px" @click="goToPlanner(task.id, sub)">
+                      生成航线
+                    </n-button>
+                  </n-form-item>
+                </n-form>
+
+                <n-descriptions size="small" label-placement="left" :column="2">
+                  <n-descriptions-item label="开始">{{ formatDateTime(sub.startTime) }}</n-descriptions-item>
+                  <n-descriptions-item label="结束">{{ formatDateTime(sub.endTime) }}</n-descriptions-item>
+                  <n-descriptions-item label="预计耗时">{{ formatDuration(sub.estimatedDurationMinutes) }}</n-descriptions-item>
+                </n-descriptions>
+              </n-collapse-item>
+            </n-collapse>
+
+            <n-button block dashed size="small" style="margin-top: 4px" @click="showAddSubTask(task.id)">
+              添加子任务
+            </n-button>
+          </n-collapse-item>
+        </n-collapse>
+
+        <n-empty v-if="missionStore.mission.tasks.length === 0" description="暂无任务，点击上方添加" />
+
+        <!-- Validation results (collapsible) -->
+        <n-collapse v-if="validationStore.issues.length > 0">
+          <n-collapse-item title="校验结果" name="validation">
+            <template #header-extra>
+              <n-space size="small">
+                <n-tag v-if="validationStore.errorCount > 0" type="error" size="small">
+                  {{ validationStore.errorCount }} 错误
+                </n-tag>
+                <n-tag v-if="validationStore.warningCount > 0" type="warning" size="small">
+                  {{ validationStore.warningCount }} 警告
+                </n-tag>
+              </n-space>
+            </template>
+            <n-alert
+              v-for="(issue, i) in validationStore.issues"
+              :key="i"
+              :type="issue.severity === 'Error' ? 'error' : 'warning'"
+              :title="issue.rule"
+              closable
+              style="margin-bottom: 4px"
+            >
+              {{ issue.message }}
+            </n-alert>
+          </n-collapse-item>
+        </n-collapse>
+      </n-space>
+    </div>
+
+    <!-- SubTask type selector modal -->
+    <n-modal
+      v-model:show="showTypeModal"
+      title="选择子任务类型"
+      :mask-closable="false"
+      preset="card"
+      style="width: 320px"
+    >
+      <n-space vertical>
+        <n-button
+          v-for="t in availableTypes"
+          :key="t.value"
+          :disabled="t.disabled"
+          block
+          @click="confirmAddSubTask(t.value)"
+        >
+          {{ t.label }}{{ t.disabled ? ' (已添加)' : '' }}
+        </n-button>
+      </n-space>
+      <template #footer>
+        <n-button block @click="showTypeModal = false">取消</n-button>
+      </template>
+    </n-modal>
+  </div>
+</template>
+
+<script setup lang="ts">
+import { ref, computed } from 'vue';
+import { useRouter } from 'vue-router';
+import { useMessage, useDialog } from 'naive-ui';
+import {
+  ArrowBackOutline, SaveOutline, CalculatorOutline, CheckmarkCircleOutline,
+} from '@vicons/ionicons5';
+import { useMissionStore } from '../stores/mission';
+import { useValidationStore } from '../stores/validation';
+import { SUBTASK_TYPE_LABELS } from '../utils/constants';
+import { formatDuration, formatDateTime } from '../utils/constants';
+import { isHyperspectral, SubTaskType } from '../types/task';
+import type { SubTask } from '../types/task';
+
+const router = useRouter();
+const message = useMessage();
+const dialog = useDialog();
+const missionStore = useMissionStore();
+const validationStore = useValidationStore();
+
+const showTypeModal = ref(false);
+const typeModalTaskId = ref<number | null>(null);
+
+const ALL_TASK_TYPES: { value: SubTaskType; label: string }[] = [
+  { value: SubTaskType.HyperSpectual400_1000nm, label: 'Pika L' },
+  { value: SubTaskType.HyperSpectual1000_1700nm, label: 'Pika NIR' },
+  { value: SubTaskType.SingleLensReflex, label: '单反相机' },
+  { value: SubTaskType.DepthCamera, label: '深度相机' },
+];
+
+const availableTypes = computed(() => {
+  const task = missionStore.mission.tasks.find(t => t.id === typeModalTaskId.value);
+  const existing: SubTaskType[] = task?.subTasks.map(s => s.type) || [];
+  return ALL_TASK_TYPES.map(t => ({
+    ...t,
+    disabled: existing.includes(t.value),
+  }));
+});
+
+function getSubTaskLabel(type: string): string {
+  return SUBTASK_TYPE_LABELS[type] || type;
+}
+
+const DEFAULT_TIME = '2000-01-01T00:00:00';
+function taskTitle(task: { id: number; scheduledTime: string }): string {
+  if (!task.scheduledTime || task.scheduledTime === DEFAULT_TIME) {
+    return 'Task #' + task.id;
+  }
+  const t = task.scheduledTime;
+  const dateTime = t.length >= 16 ? t.slice(0, 10) + ' ' + t.slice(11, 16) : t;
+  return 'Task #' + task.id + ' ' + dateTime;
+}
+
+function goBack() { router.push('/'); }
+
+async function browseSavePath(task: any) {
+  try {
+    const { open } = await import('@tauri-apps/plugin-dialog');
+    const selected = await open({ directory: true, multiple: false, title: '选择数据保存目录' });
+    if (selected) task.savePath = selected;
+  } catch { /* cancelled */ }
+}
+
+async function browseBackground() {
+  try {
+    const { open } = await import('@tauri-apps/plugin-dialog');
+    const selected = await open({
+      filters: [{ name: '图片', extensions: ['png', 'jpg', 'jpeg', 'bmp', 'gif'] }],
+      multiple: false,
+    });
+    if (selected) missionStore.setBackgroundImage(selected);
+  } catch { /* cancelled */ }
+}
+
+function clearBackground() { missionStore.setBackgroundImage(null); }
+
+async function handleSave() {
+  try {
+    if (missionStore.currentFilePath) {
+      await missionStore.saveMission();
+      message.success('保存成功');
+    } else {
+      const { save } = await import('@tauri-apps/plugin-dialog');
+      const path = await save({ filters: [{ name: 'Mission JSON', extensions: ['json'] }] });
+      if (path) { await missionStore.saveMission(path); message.success('保存成功'); }
+    }
+  } catch (e) { message.error('保存失败: ' + e); }
+}
+
+async function handleCalculate() {
+  try { await missionStore.calculateSchedule(); message.success('计算完成'); }
+  catch (e) { message.error('计算失败: ' + e); }
+}
+
+async function handleValidate() {
+  try {
+    const issues = await missionStore.runValidation();
+    validationStore.setIssues(issues);
+    const errCount = issues.filter(i => i.severity === 'Error').length;
+    if (errCount > 0) message.warning(`发现 ${errCount} 个错误`);
+    else message.success('校验通过');
+  } catch (e) { message.error('校验失败: ' + e); }
+}
+
+async function handleAddTask() {
+  try { await missionStore.addTask(); message.success('添加任务成功'); }
+  catch (e) { message.error('添加任务失败: ' + e); }
+}
+
+async function handleCopyTask(taskId: number) {
+  try { await missionStore.copyTask(taskId); message.success('复制成功'); }
+  catch (e) { message.error('复制失败: ' + e); }
+}
+
+function handleRemoveTask(taskId: number) {
+  dialog.warning({
+    title: '确认删除',
+    content: `确定删除 Task #${taskId}？此操作不可撤销`,
+    positiveText: '删除', negativeText: '取消',
+    onPositiveClick: async () => {
+      try { await missionStore.removeTask(taskId); message.success('删除成功'); }
+      catch (e) { message.error('删除失败: ' + e); }
+    },
+  });
+}
+
+function handleRemoveSubTask(taskId: number, subTaskId: string) {
+  dialog.warning({
+    title: '确认删除',
+    content: '确定删除该子任务？',
+    positiveText: '删除', negativeText: '取消',
+    onPositiveClick: async () => {
+      try { await missionStore.removeSubTask(taskId, subTaskId); message.success('删除成功'); }
+      catch (e) { message.error('删除失败: ' + e); }
+    },
+  });
+}
+
+function showAddSubTask(taskId: number) {
+  typeModalTaskId.value = taskId;
+  showTypeModal.value = true;
+}
+
+function confirmAddSubTask(typeValue: SubTaskType) {
+  if (typeModalTaskId.value === null) return;
+  addSubTask(typeModalTaskId.value, typeValue);
+  showTypeModal.value = false;
+}
+
+async function addSubTask(taskId: number, subTaskType: SubTaskType) {
+  try { await missionStore.addSubTask(taskId, subTaskType); message.success('添加子任务成功'); }
+  catch (e) { message.error('添加子任务失败: ' + e); }
+}
+
+async function browsePathLine(sub: SubTask) {
+  try {
+    const { open } = await import('@tauri-apps/plugin-dialog');
+    const selected = await open({
+      filters: [{ name: 'RecordLine3', extensions: ['RecordLine3'] }],
+      multiple: false,
+    });
+    if (selected) sub.pathLineFilePath = selected;
+  } catch { /* cancelled */ }
+}
+
+function goToPlanner(taskId: number, sub: SubTask) {
+  router.push({ path: '/planner', query: { taskId: String(taskId), subTaskId: sub.id } });
+}
+</script>
+
+<style scoped>
+.mission-editor { height: 100vh; overflow: hidden; display: flex; flex-direction: column; }
+.main-panel { flex: 1; overflow-y: auto; }
+</style>

src/views/PathLineViewer.vue

@@ -0,0 +1,82 @@
+<template>
+  <div class="pathline-viewer">
+    <n-space style="padding: 8px" align="center">
+      <n-button size="small" @click="goBack">
+        <template #icon><n-icon><ArrowBackOutline /></n-icon></template>
+        返回
+      </n-button>
+      <n-button size="small" @click="openFile">
+        <template #icon><n-icon><FolderOpenOutline /></n-icon></template>
+        打开航线文件
+      </n-button>
+    </n-space>
+
+    <n-empty v-if="!records.length" description="请打开一个 .RecordLine3 文件" style="margin-top: 60px" />
+
+    <div v-else style="padding: 8px">
+      <n-statistic label="记录条数" :value="records.length" />
+      <n-data-table
+        :columns="columns"
+        :data="records"
+        :bordered="true"
+        :single-line="false"
+        size="small"
+        :max-height="600"
+        virtual-scroll
+      />
+    </div>
+  </div>
+</template>
+
+<script setup lang="ts">
+import { ref } from 'vue';
+import { useRouter } from 'vue-router';
+import { useMessage } from 'naive-ui';
+import { ArrowBackOutline, FolderOpenOutline } from '@vicons/ionicons5';
+import { invoke } from '@tauri-apps/api/core';
+import type { DataTableColumn } from 'naive-ui';
+import type { PathLineRecord } from '../types/path-line';
+
+const router = useRouter();
+const message = useMessage();
+const records = ref<PathLineRecord[]>([]);
+
+const columns: DataTableColumn<PathLineRecord>[] = [
+  { title: 'Y 位置', key: 'targetYPosition', render: r => r.targetYPosition.toFixed(2) },
+  { title: 'Y 速度', key: 'speedTargetYPosition', render: r => r.speedTargetYPosition.toFixed(2) },
+  { title: 'X 起始', key: 'targetXMinPosition', render: r => r.targetXMinPosition.toFixed(2) },
+  { title: 'X 起始速度', key: 'speedTargetXMinPosition', render: r => r.speedTargetXMinPosition.toFixed(2) },
+  { title: 'X 结束', key: 'targetXMaxPosition', render: r => r.targetXMaxPosition.toFixed(2) },
+  { title: 'X 扫描速度', key: 'speedTargetXMaxPosition', render: r => r.speedTargetXMaxPosition.toFixed(2) },
+  { title: '#', key: 'index', render: (_, i) => i + 1, width: 50 },
+];
+
+async function openFile() {
+  try {
+    const { open } = await import('@tauri-apps/plugin-dialog');
+    const selected = await open({
+      filters: [{ name: 'RecordLine3', extensions: ['RecordLine3'] }],
+      multiple: false,
+    });
+    if (selected) {
+      const file = await invoke('load_path_line', { path: selected });
+      records.value = (file as any).records;
+      message.success(`加载成功: ${(file as any).records.length} 条记录`);
+    }
+  } catch (e) {
+    message.error('打开文件失败: ' + e);
+  }
+}
+
+function goBack() {
+  router.push('/editor');
+}
+</script>
+
+<style scoped>
+.pathline-viewer {
+  height: 100vh;
+  display: flex;
+  flex-direction: column;
+}
+</style>

src/views/PathPlannerView.vue

@@ -0,0 +1,215 @@
+<template>
+  <div class="path-planner">
+    <n-space style="padding: 8px" align="center">
+      <n-button size="small" @click="goBack">
+        <template #icon><n-icon><ArrowBackOutline /></n-icon></template>
+        返回
+      </n-button>
+      <n-button size="small" :type="drawingMode ? 'warning' : 'default'" @click="toggleDrawing">
+        <template #icon><n-icon><SquareOutline /></n-icon></template>
+        {{ drawingMode ? '完成画框' : '画框' }}
+      </n-button>
+      <n-button size="small" @click="clearRects" :disabled="regions.length === 0">
+        <template #icon><n-icon><TrashOutline /></n-icon></template>
+        清除
+      </n-button>
+      <n-button size="small" type="primary" @click="generatePath" :disabled="regions.length === 0">
+        <template #icon><n-icon><MapOutline /></n-icon></template>
+        生成航线
+      </n-button>
+      <n-button size="small" @click="savePath" :disabled="!generatedRecords.length">
+        <template #icon><n-icon><SaveOutline /></n-icon></template>
+        保存路径
+      </n-button>
+    </n-space>
+
+    <n-split direction="horizontal" :default-size="0.6">
+      <template #1>
+        <ScanCanvas
+          :regions="regions"
+          :records="previewRecords"
+          :mode="scanMode"
+          :background-image="missionStore.mission.backgroundImage || undefined"
+          :drawing-mode="drawingMode"
+          @add-region="onAddRegion"
+        />
+      </template>
+      <template #2>
+        <ScanParamPanel
+          :camera="camera"
+          :coverage-rate="coverageRate"
+          :speed-y="speedY"
+          :speed-x-scan="speedXScan"
+          :speed-x-start="speedXStart"
+          :mode="scanMode"
+          :line-count="generatedRecords.length"
+          :est-time="estimatedTime"
+          @update="onParamChange"
+        />
+      </template>
+    </n-split>
+  </div>
+</template>
+
+<script setup lang="ts">
+import { ref, computed } from 'vue';
+import { useRouter, useRoute } from 'vue-router';
+import { useMessage } from 'naive-ui';
+import { ArrowBackOutline, SquareOutline, TrashOutline, MapOutline, SaveOutline } from '@vicons/ionicons5';
+import { invoke } from '@tauri-apps/api/core';
+import ScanCanvas from '../components/planner/ScanCanvas.vue';
+import ScanParamPanel from '../components/planner/ScanParamPanel.vue';
+import { useMissionStore } from '../stores/mission';
+import type { PathLineRecord, PathLineFile } from '../types/path-line';
+import type { ScanRegion, CameraParams, ScanMode } from '../types/path-plan';
+import type { PlannerDefaults } from '../types/mission';
+import { DEVICE_FOV } from '../utils/constants';
+
+const router = useRouter();
+const route = useRoute();
+const message = useMessage();
+const missionStore = useMissionStore();
+
+const taskId = route.query.taskId ? Number(route.query.taskId) : null;
+const subTaskId = route.query.subTaskId ? String(route.query.subTaskId) : null;
+
+const drawingMode = ref(false);
+
+function getDeviceFov(): number {
+  if (taskId === null || subTaskId === null) return 30;
+  const task = missionStore.mission.tasks.find(t => t.id === taskId);
+  const sub = task?.subTasks.find(s => s.id === subTaskId);
+  return (sub && DEVICE_FOV[sub.type]) || 30;
+}
+
+const regions = ref<ScanRegion[]>([]);
+const camera = ref<CameraParams>({ fovDegrees: getDeviceFov(), heightCm: 50 });
+const coverageRate = ref(30);
+const speedY = ref(5);
+const speedXScan = ref(10);
+const speedXStart = ref(20);
+const scanMode = ref<ScanMode>('Zigzag');
+
+const generatedRecords = ref<PathLineRecord[]>([]);
+const previewRecords = computed(() => generatedRecords.value);
+const estimatedTime = ref(0);
+
+// Load saved planner defaults
+invoke<PlannerDefaults>('load_planner_defaults').then(p => {
+  coverageRate.value = p.coverageRate;
+  speedY.value = p.speedYCmS;
+  speedXScan.value = p.speedXScanCmS;
+  speedXStart.value = p.speedXStartCmS;
+  scanMode.value = p.mode as ScanMode;
+  camera.value = { fovDegrees: camera.value.fovDegrees, heightCm: p.heightCm };
+}).catch(() => {});
+
+function toggleDrawing() {
+  drawingMode.value = !drawingMode.value;
+}
+
+function onAddRegion(region: ScanRegion) {
+  regions.value.push(region);
+  message.success(`已添加框 #${regions.value.length}`);
+}
+
+function clearRects() {
+  regions.value = [];
+  generatedRecords.value = [];
+  estimatedTime.value = 0;
+  message.info('已清除所有框');
+}
+
+function savePlannerDefaults() {
+  const p: PlannerDefaults = {
+    fovDegrees: camera.value.fovDegrees,
+    heightCm: camera.value.heightCm,
+    coverageRate: coverageRate.value,
+    speedYCmS: speedY.value,
+    speedXStartCmS: speedXStart.value,
+    speedXScanCmS: speedXScan.value,
+    mode: scanMode.value,
+  };
+  invoke('save_planner_defaults', { config: p }).catch(() => {});
+}
+
+function onParamChange(params: any) {
+  if (params.camera) camera.value = params.camera;
+  if (params.coverageRate !== undefined) coverageRate.value = params.coverageRate;
+  if (params.speedY !== undefined) speedY.value = params.speedY;
+  if (params.speedXScan !== undefined) speedXScan.value = params.speedXScan;
+  if (params.speedXStart !== undefined) speedXStart.value = params.speedXStart;
+  if (params.mode) scanMode.value = params.mode;
+  savePlannerDefaults();
+}
+
+async function generatePath() {
+  if (!regions.value.length) return;
+  try {
+    const file = await invoke<PathLineFile>('generate_scan_paths_multi', {
+      regions: regions.value,
+      camera: camera.value,
+      coverageRate: coverageRate.value,
+      speedYCmS: speedY.value,
+      speedXStartCmS: speedXStart.value,
+      speedXScanCmS: speedXScan.value,
+      mode: scanMode.value,
+    });
+    generatedRecords.value = file.records;
+    const estTime = await invoke<number>('estimate_scan_time_multi_minutes', {
+      regions: regions.value,
+      camera: camera.value,
+      coverageRate: coverageRate.value,
+      speedYCmS: speedY.value,
+      speedXStartCmS: speedXStart.value,
+      speedXScanCmS: speedXScan.value,
+      mode: scanMode.value,
+    });
+    estimatedTime.value = estTime;
+    message.success(`航线生成完成: ${file.count} 条记录`);
+  } catch (e) {
+    message.error('航线生成失败: ' + e);
+  }
+}
+
+async function savePath() {
+  if (!generatedRecords.value.length) return;
+  try {
+    const { save } = await import('@tauri-apps/plugin-dialog');
+    const path = await save({
+      filters: [{ name: 'RecordLine3', extensions: ['RecordLine3'] }],
+    });
+    if (path) {
+      const finalPath = path.endsWith('.RecordLine3') ? path : path + '.RecordLine3';
+      const file: PathLineFile = {
+        count: generatedRecords.value.length,
+        records: generatedRecords.value,
+      };
+      await invoke('save_path_line', { path: finalPath, file });
+      message.success('航线保存成功');
+
+      if (taskId !== null && subTaskId !== null) {
+        const task = missionStore.mission.tasks.find(t => t.id === taskId);
+        if (task) {
+          const sub = task.subTasks.find(s => s.id === subTaskId);
+          if (sub) {
+            sub.pathLineFilePath = finalPath;
+            await missionStore.updateSubTask(taskId, { ...sub });
+            message.success('已自动填入子任务航线路径');
+          }
+        }
+      }
+    }
+  } catch (e) {
+    message.error('保存失败: ' + e);
+  }
+}
+
+function goBack() {
+  router.push('/editor');
+}
+</script>
+
+<style scoped>
+.path-planner { height: 100vh; display: flex; flex-direction: column; }
+</style>