增加了异形有障碍物路径算法

张世豪

昨天 0803b041d32a284ee8585914618219ecae82b21f

 src/lujing/MowingPathGenerationPage.java

@@ -627,8 +627,9 @@
                } else if (grassType == 2) {
                    // 异形地块，有障碍物 -> 调用 YixinglujingHaveObstacel
                    // 传入参数：boundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
                    // 注意：YixinglujingHaveObstacel.planPath 返回 String
                    generated = YixinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    List<YixinglujingHaveObstacel.PathSegment> segments = 
                        YixinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    generated = formatYixingHaveObstaclePathSegments(segments);
                } else {
                    // 无法判断地块类型，默认按凸形处理或提示
                    if (showMessages) {
@@ -781,6 +782,40 @@
    }

    /**
     * 格式化 YixinglujingHaveObstacel.PathSegment 列表为坐标字符串
     */
    private String formatYixingHaveObstaclePathSegments(List<YixinglujingHaveObstacel.PathSegment> segments) {
        if (segments == null || segments.isEmpty()) {
            return "";
        }
        StringBuilder sb = new StringBuilder();
        YixinglujingHaveObstacel.Point last = null;
        for (YixinglujingHaveObstacel.PathSegment segment : segments) {
            // 如果是第一段，或者当前段起点与上一段终点不连续，则添加起点
            if (last == null || !equalsYixingHaveObstaclePoint(last, segment.start)) {
                appendYixingHaveObstaclePoint(sb, segment.start);
            }
            // 添加终点
            appendYixingHaveObstaclePoint(sb, segment.end);
            last = segment.end;
        }
        return sb.toString();
    }

    private boolean equalsYixingHaveObstaclePoint(YixinglujingHaveObstacel.Point p1, YixinglujingHaveObstacel.Point p2) {
        if (p1 == null || p2 == null) return false;
        double tolerance = 1e-6;
        return Math.abs(p1.x - p2.x) < tolerance && Math.abs(p1.y - p2.y) < tolerance;
    }

    private void appendYixingHaveObstaclePoint(StringBuilder sb, YixinglujingHaveObstacel.Point point) {
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
    }

    /**
     * 比较两个点是否相同（使用小的容差）
     */
    private boolean equals2D(AoxinglujingNoObstacle.Point p1, AoxinglujingNoObstacle.Point p2) {