20251209

张世豪

2025-12-09 32524195d474b74e48916867b2a6c2f022a40d98

 src/lujing/Lunjingguihua.java

@@ -266,8 +266,8 @@
        }

        List<PathSegment> generate() {
            if (!"spiral".equals(mode)) {
                return generateParallelPath();
            if ("spiral".equals(mode)) {
                return generateSpiralPath();
            }
            return generateParallelPath();
        }
@@ -361,6 +361,39 @@
            return path;
        }

        private List<PathSegment> generateSpiralPath() {
            Geometry safeArea = buildSafeArea();
            if (safeArea == null || safeArea.isEmpty()) {
                System.err.println("安全区域为空，无法生成螺旋路径");
                return new ArrayList<>();
            }

            List<PathSegment> spiral = luoxuan.generateSpiralPath(safeArea, width);
            if (spiral.isEmpty()) {
                return spiral;
            }

            postProcess(spiral);
            PathSegment firstMowing = null;
            PathSegment endCandidate = null;
            for (int i = 0; i < spiral.size(); i++) {
                PathSegment seg = spiral.get(i);
                if (seg != null && seg.isMowing) {
                    if (firstMowing == null) {
                        firstMowing = seg;
                    }
                    endCandidate = seg;
                }
            }
            if (firstMowing != null) {
                firstMowing.setAsStartPoint();
            }
            if (endCandidate != null && endCandidate != firstMowing) {
                endCandidate.setAsEndPoint();
            }
            return spiral;
        }

        private Geometry buildSafeArea() {
            try {
                Coordinate[] coords = polygon.toArray(new Coordinate[0]);