package gecaoji;
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import java.awt.Color;
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import java.awt.Graphics2D;
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import java.awt.Image;
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import java.awt.geom.AffineTransform;
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import java.awt.geom.Ellipse2D;
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import java.awt.geom.Point2D;
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import javax.swing.ImageIcon;
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/** Mower rendering helper. */
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public class Gecaoji {
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private static final double ICON_PIXEL_SIZE = 48.0;
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private static final double ICON_SCALE_FACTOR = 0.8;
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private static final double MIN_SCALE = 1e-6;
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private static final Color FALLBACK_FILL = new Color(0, 150, 0);
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private static final String DEFAULT_ICON_PATH = "image/gecaoji.png";
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private static final String HANDHELD_ICON_PATH = "image/URT.png";
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private final Image defaultIcon;
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private final Image handheldIcon;
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private Image activeIcon;
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private boolean handheldIconActive;
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private final Ellipse2D.Double fallbackShape = new Ellipse2D.Double();
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private Point2D.Double position = new Point2D.Double();
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private boolean positionValid;
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private double headingDegrees;
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public Gecaoji() {
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defaultIcon = loadIcon(DEFAULT_ICON_PATH);
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handheldIcon = loadIcon(HANDHELD_ICON_PATH);
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activeIcon = defaultIcon != null ? defaultIcon : handheldIcon;
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handheldIconActive = false;
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refreshFromDevice();
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}
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private Image loadIcon(String path) {
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try {
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ImageIcon icon = new ImageIcon(path);
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if (icon.getIconWidth() <= 0 || icon.getIconHeight() <= 0) {
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return null;
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}
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return icon.getImage();
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} catch (Exception ex) {
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System.err.println("Unable to load mower icon from " + path + ": " + ex.getMessage());
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return null;
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}
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}
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public void refreshFromDevice() {
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// 检查是否正在导航预览模式，如果是则不更新位置
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if (isNavigating()) {
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return;
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}
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Device device = Device.getGecaoji();
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if (device == null) {
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positionValid = false;
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return;
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}
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double x = parseCoordinate(device.getRealtimeX());
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double y = parseCoordinate(device.getRealtimeY());
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double heading = parseHeading(device.getHeading());
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if (Double.isNaN(x) || Double.isNaN(y)) {
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// Keep showing the last known mower position when temporary sensor glitches occur.
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return;
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}
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ensurePosition();
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position.x = x;
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position.y = y;
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positionValid = true;
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headingDegrees = heading;
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}
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/**
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* 检查是否正在导航预览模式
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* @return 如果正在导航预览返回true，否则返回false
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*/
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private boolean isNavigating() {
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try {
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dikuai.daohangyulan nav = dikuai.daohangyulan.getInstance();
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if (nav != null) {
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return nav.isNavigating();
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}
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} catch (Exception e) {
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// 如果获取导航实例失败，返回false（不影响主要功能）
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}
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return false;
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}
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private void ensurePosition() {
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if (position == null) {
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position = new Point2D.Double();
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}
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}
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private double parseCoordinate(String value) {
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if (value == null) {
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return Double.NaN;
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}
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String trimmed = value.trim();
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if (trimmed.isEmpty() || "-1".equals(trimmed)) {
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return Double.NaN;
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}
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try {
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return Double.parseDouble(trimmed);
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} catch (NumberFormatException ex) {
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return Double.NaN;
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}
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}
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private double parseHeading(String value) {
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if (value == null) {
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return 0.0;
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}
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String trimmed = value.trim();
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if (trimmed.isEmpty() || "-1".equals(trimmed)) {
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return 0.0;
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}
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try {
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double parsed = Double.parseDouble(trimmed);
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if (!Double.isFinite(parsed)) {
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return 0.0;
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}
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double normalized = parsed % 360.0;
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return normalized < 0 ? normalized + 360.0 : normalized;
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} catch (NumberFormatException ex) {
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return 0.0;
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}
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}
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public void draw(Graphics2D g2d, double scale) {
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if (!positionValid) {
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return;
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}
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double worldSize = (ICON_PIXEL_SIZE * ICON_SCALE_FACTOR) / Math.max(scale, MIN_SCALE);
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Image icon = activeIcon;
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if (icon != null && icon.getWidth(null) > 0 && icon.getHeight(null) > 0) {
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drawIcon(g2d, worldSize, icon);
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} else {
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drawFallback(g2d, worldSize);
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}
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}
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private void drawIcon(Graphics2D g2d, double worldSize, Image icon) {
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double iconWidth = icon.getWidth(null);
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double iconHeight = icon.getHeight(null);
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double maxSide = Math.max(iconWidth, iconHeight);
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double scaleFactor = worldSize / Math.max(maxSide, MIN_SCALE);
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double rotationRadians = Math.toRadians(-headingDegrees);
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AffineTransform original = g2d.getTransform();
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AffineTransform transformed = new AffineTransform(original);
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transformed.translate(position.x, position.y);
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if (rotationRadians != 0.0) {
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transformed.rotate(rotationRadians);
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}
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transformed.scale(scaleFactor, scaleFactor);
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transformed.translate(-iconWidth / 2.0, -iconHeight / 2.0);
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g2d.setTransform(transformed);
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g2d.drawImage(icon, 0, 0, null);
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g2d.setTransform(original);
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}
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private void drawFallback(Graphics2D g2d, double worldSize) {
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double radius = worldSize / 2.0;
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ensurePosition();
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fallbackShape.setFrame(position.x - radius, position.y - radius, worldSize, worldSize);
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Color original = g2d.getColor();
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g2d.setColor(FALLBACK_FILL);
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g2d.fill(fallbackShape);
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g2d.setColor(Color.WHITE);
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g2d.draw(fallbackShape);
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double rotationRadians = Math.toRadians(-headingDegrees);
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double lineLength = radius;
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double dx = lineLength * Math.sin(rotationRadians);
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double dy = lineLength * Math.cos(rotationRadians);
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g2d.drawLine(
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(int) Math.round(position.x),
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(int) Math.round(position.y),
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(int) Math.round(position.x + dx),
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(int) Math.round(position.y + dy));
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g2d.setColor(original);
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}
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public boolean hasValidPosition() {
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return positionValid;
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}
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public Point2D.Double getPosition() {
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if (!positionValid) {
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return null;
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}
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ensurePosition();
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return new Point2D.Double(position.x, position.y);
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}
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/**
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* 设置割草机位置（用于导航预览等场景）
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* @param x X坐标
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* @param y Y坐标
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*/
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public void setPosition(double x, double y) {
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ensurePosition();
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position.x = x;
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position.y = y;
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positionValid = true;
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}
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/**
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* 设置割草机方向（用于导航预览等场景）
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* @param headingDegrees 方向角度（度，0-360）
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*/
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public void setHeading(double headingDegrees) {
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double normalized = headingDegrees % 360.0;
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if (normalized < 0) {
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normalized += 360.0;
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}
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this.headingDegrees = normalized;
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}
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/**
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* 获取割草机方向
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* @return 方向角度（度，0-360）
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*/
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public double getHeading() {
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return headingDegrees;
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}
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public double getWorldRadius(double scale) {
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if (!positionValid) {
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return Double.NaN;
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}
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double worldSize = (ICON_PIXEL_SIZE * ICON_SCALE_FACTOR) / Math.max(scale, MIN_SCALE);
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return worldSize / 2.0;
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}
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public boolean useHandheldIcon(boolean handheldMode) {
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if (handheldIconActive == handheldMode) {
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return false;
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}
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handheldIconActive = handheldMode;
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Image next = handheldMode
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? (handheldIcon != null ? handheldIcon : defaultIcon)
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: defaultIcon;
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if (next == null) {
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next = handheldIcon;
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}
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activeIcon = next;
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return true;
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}
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}
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