删除了几个类优化了路径生成的逻辑

张世豪

昨天 1175f5fbe8fd832943880bfc37c0e2a451a0688a

 src/dikuai/daohangyulan.java

@@ -82,12 +82,21 @@
            return;
        }
        
        // 解析路径坐标
        pathPoints = lujingdraw.parsePlannedPath(plannedPath);
        if (pathPoints == null || pathPoints.size() < 2) {
        // 1. 解析路径坐标（原始路径）
        List<Point2D.Double> rawPathPoints = lujingdraw.parsePlannedPath(plannedPath);
        if (rawPathPoints == null || rawPathPoints.size() < 2) {
            JOptionPane.showMessageDialog(null, "路径坐标解析失败，无法进行导航预览", "错误", JOptionPane.ERROR_MESSAGE);
            return;
        }

        // 3. 构建最终导航路径点列表
        // 直接使用解析出来的路径点
        pathPoints = rawPathPoints;
        
        if (pathPoints == null || pathPoints.size() < 2) {
             JOptionPane.showMessageDialog(null, "无法构建有效的导航路径", "错误", JOptionPane.ERROR_MESSAGE);
             return;
        }
        
        this.currentDikuai = dikuai;
        this.currentPathIndex = 0;
@@ -363,43 +372,67 @@
            return;
        }
        
        Point2D.Double targetPoint = pathPoints.get(currentPathIndex + 1);
        
        // 计算到目标点的距离
        double dx = targetPoint.x - currentPos.x;
        double dy = targetPoint.y - currentPos.y;
        double distance = Math.hypot(dx, dy);
        
        // 计算每帧移动的距离（米）
        double moveDistance = currentSpeed * (TIMER_INTERVAL_MS / 1000.0);
        
        if (distance <= moveDistance) {
            // 到达目标点，移动到下一个点
            mower.setPosition(targetPoint.x, targetPoint.y);
            navigationTrack.add(new Point2D.Double(targetPoint.x, targetPoint.y));
            mapRenderer.addNavigationPreviewTrackPoint(targetPoint);
        // 到达阈值：当距离小于这个值时，认为已到达目标点（0.05米）
        double arrivalThreshold = 0.05;
        
        // 循环处理，直到移动距离用完或到达路径终点
        double remainingDistance = moveDistance;
        
        while (remainingDistance > 0.001 && currentPathIndex < pathPoints.size() - 1) {
            Point2D.Double targetPoint = pathPoints.get(currentPathIndex + 1);
            
            currentPathIndex++;
            // 计算到目标点的距离
            double dx = targetPoint.x - currentPos.x;
            double dy = targetPoint.y - currentPos.y;
            double distance = Math.hypot(dx, dy);
            
            // 如果还有下一个点，计算方向
            if (currentPathIndex < pathPoints.size() - 1) {
                Point2D.Double nextPoint = pathPoints.get(currentPathIndex + 1);
                double heading = calculateHeading(targetPoint, nextPoint);
                setMowerHeading(heading);
            // 如果距离小于到达阈值，认为已到达目标点，移动到下一个点
            if (distance <= arrivalThreshold) {
                // 到达目标点，移动到精确位置
                mower.setPosition(targetPoint.x, targetPoint.y);
                navigationTrack.add(new Point2D.Double(targetPoint.x, targetPoint.y));
                mapRenderer.addNavigationPreviewTrackPoint(targetPoint);
                
                currentPos = new Point2D.Double(targetPoint.x, targetPoint.y);
                currentPathIndex++;
                
                // 如果还有下一个点，更新方向
                if (currentPathIndex < pathPoints.size() - 1) {
                    Point2D.Double nextPoint = pathPoints.get(currentPathIndex + 1);
                    double heading = calculateHeading(targetPoint, nextPoint);
                    setMowerHeading(heading);
                }
                
                // 继续处理剩余的移动距离
                continue;
            }
        } else {
            
            // 向目标点移动
            // 先更新方向，确保车头朝向目标点
            // 计算本次实际移动的距离（不超过剩余距离和到目标点的距离）
            double actualMoveDistance = Math.min(remainingDistance, distance);
            
            // 更新方向，确保车头朝向目标点
            double heading = calculateHeading(currentPos, targetPoint);
            setMowerHeading(heading);
            
            double ratio = moveDistance / distance;
            // 计算新位置
            double ratio = actualMoveDistance / distance;
            double newX = currentPos.x + dx * ratio;
            double newY = currentPos.y + dy * ratio;
            
            mower.setPosition(newX, newY);
            navigationTrack.add(new Point2D.Double(newX, newY));
            mapRenderer.addNavigationPreviewTrackPoint(new Point2D.Double(newX, newY));
            
            // 更新当前位置和剩余距离
            currentPos = new Point2D.Double(newX, newY);
            remainingDistance -= actualMoveDistance;
            
            // 如果已经到达目标点附近（距离小于阈值），在下次循环中会处理
            // 继续循环处理剩余的移动距离
        }
        
        // 更新速度显示到地图渲染器
@@ -548,3 +581,4 @@
}