| | |
|---|
| | | boolean hasPlannedPath = currentPlannedPath != null && currentPlannedPath.size() >= 2; |
|---|
| | | boolean hasObstacles = currentObstacles != null && !currentObstacles.isEmpty(); |
|---|
| | | |
|---|
| | | // 绘制地块边界（底层） |
|---|
| | | if (hasBoundary) { |
|---|
| | | drawCurrentBoundary(g2d); |
|---|
| | | } |
|---|
| | | |
|---|
| | | if (hasObstacles) { |
|---|
| | | Obstacledraw.drawObstacles(g2d, currentObstacles, scale, selectedObstacleName); |
|---|
| | | } |
|---|
| | | |
|---|
| | | yulanzhangaiwu.renderPreview(g2d, scale); |
|---|
| | | |
|---|
| | | if (!circleSampleMarkers.isEmpty()) { |
|---|
| | |
|---|
| | | |
|---|
| | | adddikuaiyulan.drawPreview(g2d, handheldBoundaryPreview, scale, handheldBoundaryPreviewActive, boundaryPreviewMarkerScale); |
|---|
| | | |
|---|
| | | // 绘制导航路径（中层） |
|---|
| | | if (hasPlannedPath) { |
|---|
| | | drawCurrentPlannedPath(g2d); |
|---|
| | | } |
|---|
| | | |
|---|
| | | // 绘制障碍物（顶层，显示在地块和导航路径上方） |
|---|
| | | if (hasObstacles) { |
|---|
| | | Obstacledraw.drawObstacles(g2d, currentObstacles, scale, selectedObstacleName); |
|---|
| | | } |
|---|
| | | |
|---|
| | | if (boundaryPointsVisible && hasBoundary) { |
|---|
| | | double markerScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d); |
|---|
| | | pointandnumber.drawBoundaryPoints( |
|---|
