新增20251204

张世豪

2025-12-04 3ad76f98fa8b4a9d3d95207cfb4ae4706087c964

 src/zhuye/MapRenderer.java

@@ -3,18 +3,28 @@
import javax.swing.*;
import java.awt.*;
import java.awt.event.*;
import java.awt.FontMetrics;
import java.awt.geom.AffineTransform;
import java.awt.geom.Ellipse2D;
import java.awt.geom.Path2D;
import java.awt.geom.Point2D;
import java.awt.geom.Rectangle2D;
import java.math.BigDecimal;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Date;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Locale;
import java.util.Set;
import gecaoji.Device;
import gecaoji.Gecaoji;
import dikuai.Dikuaiguanli;
import dikuai.Dikuai;
import zhangaiwu.Obstacledraw;
import zhangaiwu.Obstacledge;
import zhangaiwu.yulanzhangaiwu;

/**
 * 地图渲染器 - 负责坐标系绘制、视图变换等功能
@@ -34,15 +44,27 @@
    private static final Color GRASS_BORDER_COLOR = new Color(60, 179, 113);
    private static final Color BOUNDARY_POINT_COLOR = new Color(128, 0, 128);
    private static final Color BOUNDARY_LABEL_COLOR = Color.BLACK;
    private static final Color CIRCLE_SAMPLE_COLOR = new Color(220, 20, 60, 230);
    private static final double CIRCLE_SAMPLE_SIZE = 0.54d;
    private static final double BOUNDARY_POINT_MERGE_THRESHOLD = 0.05;
    private static final SimpleDateFormat TIMESTAMP_FORMAT = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
    private static final Color HANDHELD_BOUNDARY_FILL = new Color(51, 153, 255, 60);
    private static final Color HANDHELD_BOUNDARY_BORDER = new Color(51, 102, 204, 220);
    private static final Color HANDHELD_BOUNDARY_POINT = new Color(51, 102, 204);
    private static final Color HANDHELD_BOUNDARY_LABEL = new Color(22, 62, 138);
    private static final double BOUNDARY_CONTAINS_TOLERANCE = 0.05;
    
    // 组件引用
    private JPanel visualizationPanel;
    private List<Point2D.Double> currentBoundary;
    private Rectangle2D.Double boundaryBounds;
    private Path2D.Double currentBoundaryPath;
    private List<Point2D.Double> currentPlannedPath;
    private Rectangle2D.Double plannedPathBounds;
    private List<Obstacledge.Obstacle> currentObstacles;
    private Rectangle2D.Double obstacleBounds;
    private String selectedObstacleName;
    private String currentObstacleLandNumber;
    private String boundaryName;
    private boolean boundaryPointsVisible;
    private String currentBoundaryLandNumber;
@@ -59,6 +81,25 @@
    private JLabel realtimeSpeedValueLabel;
    private JLabel headingValueLabel;
    private JLabel updateTimeValueLabel;
    private CircleCaptureOverlay circleCaptureOverlay;
    private final List<double[]> circleSampleMarkers = new ArrayList<>();
    private final List<Point2D.Double> realtimeMowingTrack = new ArrayList<>();
    private final List<Point2D.Double> handheldBoundaryPreview = new ArrayList<>();
    private boolean realtimeTrackRecording;
    private String realtimeTrackLandNumber;
    private double mowerEffectiveWidthMeters;
    private double defaultMowerWidthMeters;
    private double totalLandAreaSqMeters;
    private double trackLengthMeters;
    private double completedMowingAreaSqMeters;
    private double mowingCompletionRatio;
    private long lastTrackPersistTimeMillis;
    private boolean trackDirty;
    private boolean handheldBoundaryPreviewActive;
    private boolean pendingTrackBreak = true;

    private static final double TRACK_SAMPLE_MIN_DISTANCE_METERS = 0.1d;
    private static final long TRACK_PERSIST_INTERVAL_MS = 5_000L;
    
    public MapRenderer(JPanel visualizationPanel) {
        this.visualizationPanel = visualizationPanel;
@@ -138,6 +179,9 @@
    private Timer createMowerTimer() {
        Timer timer = new Timer(300, e -> {
            mower.refreshFromDevice();
            if (realtimeTrackRecording) {
                captureRealtimeTrackPoint();
            }
            if (visualizationPanel != null) {
                visualizationPanel.repaint();
            }
@@ -202,11 +246,30 @@

        boolean hasBoundary = currentBoundary != null && currentBoundary.size() >= 2;
        boolean hasPlannedPath = currentPlannedPath != null && currentPlannedPath.size() >= 2;
        boolean hasObstacles = currentObstacles != null && !currentObstacles.isEmpty();

        if (hasBoundary) {
            drawCurrentBoundary(g2d);
        }

        if (hasObstacles) {
            Obstacledraw.drawObstacles(g2d, currentObstacles, scale, selectedObstacleName);
        }

        yulanzhangaiwu.renderPreview(g2d, scale);

        if (!circleSampleMarkers.isEmpty()) {
            drawCircleSampleMarkers(g2d, circleSampleMarkers, scale);
        }

        if (circleCaptureOverlay != null) {
            drawCircleCaptureOverlay(g2d, circleCaptureOverlay, scale);
        }

        if (handheldBoundaryPreviewActive) {
            drawHandheldBoundaryPreview(g2d);
        }

        if (hasPlannedPath) {
            drawCurrentPlannedPath(g2d);
        }
@@ -222,6 +285,10 @@
            );
        }

        if (!realtimeMowingTrack.isEmpty()) {
            drawRealtimeMowingCoverage(g2d);
        }

        drawMower(g2d);
        
        // 恢复原始变换
@@ -249,6 +316,474 @@
        mower.draw(g2d, scale);
    }

    private void drawRealtimeMowingCoverage(Graphics2D g2d) {
        if (realtimeMowingTrack.size() < 2) {
            return;
        }

        Path2D.Double path = new Path2D.Double();
        boolean started = false;
        for (Point2D.Double point : realtimeMowingTrack) {
            if (point == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
                continue;
            }
            if (!started) {
                path.moveTo(point.x, point.y);
                started = true;
            } else {
                path.lineTo(point.x, point.y);
            }
        }

        if (!started) {
            return;
        }

        Stroke originalStroke = g2d.getStroke();
        Color originalColor = g2d.getColor();

        double effectiveWidth = getEffectiveMowerWidthMeters();
        if (effectiveWidth > 0) {
            float coverageWidth = (float) Math.max(effectiveWidth, 0.1d);
            g2d.setStroke(new BasicStroke(coverageWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
            g2d.setColor(new Color(46, 139, 87, 80));
            g2d.draw(path);
        }

        float spineWidth = (float) (effectiveWidth > 0 ? Math.max(effectiveWidth / 4.0, 0.18d) : 0.3d);
        g2d.setStroke(new BasicStroke(spineWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
        g2d.setColor(new Color(34, 139, 34, 200));
        g2d.draw(path);

        g2d.setStroke(originalStroke);
        g2d.setColor(originalColor);
    }

    private void drawHandheldBoundaryPreview(Graphics2D g2d) {
        if (!handheldBoundaryPreviewActive || handheldBoundaryPreview.isEmpty()) {
            return;
        }

        Path2D.Double path = new Path2D.Double();
        boolean started = false;
        for (Point2D.Double point : handheldBoundaryPreview) {
            if (point == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
                continue;
            }
            if (!started) {
                path.moveTo(point.x, point.y);
                started = true;
            } else {
                path.lineTo(point.x, point.y);
            }
        }

        if (!started) {
            return;
        }

        Stroke originalStroke = g2d.getStroke();
        Color originalColor = g2d.getColor();

        if (handheldBoundaryPreview.size() >= 3) {
            path.closePath();
            g2d.setColor(HANDHELD_BOUNDARY_FILL);
            g2d.fill(path);
        }

        float outlineWidth = (float) Math.max(1.5f / scale, 0.2f);
        g2d.setStroke(new BasicStroke(outlineWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
        g2d.setColor(HANDHELD_BOUNDARY_BORDER);
        g2d.draw(path);

        double markerSize = Math.max(0.5d, 3.0d / scale);
        double markerRadius = markerSize / 2.0d;
        Font originalFont = g2d.getFont();
        float labelFontSize = (float) Math.max(6.0f, 16.0f / Math.max(scale, 0.2));
        Font labelFont = originalFont.deriveFont(Font.BOLD, labelFontSize);
        FontMetrics metrics = g2d.getFontMetrics(labelFont);

        for (Point2D.Double point : handheldBoundaryPreview) {
            if (point == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
                continue;
            }
            Shape marker = new Ellipse2D.Double(point.x - markerRadius, point.y - markerRadius, markerSize, markerSize);
            g2d.setColor(HANDHELD_BOUNDARY_POINT);
            g2d.fill(marker);
        }

        g2d.setFont(labelFont);
        g2d.setColor(HANDHELD_BOUNDARY_LABEL);
        int index = 1;
        for (Point2D.Double point : handheldBoundaryPreview) {
            if (point == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
                index++;
                continue;
            }
            String label = String.valueOf(index++);
            int textWidth = metrics.stringWidth(label);
            int ascent = metrics.getAscent();
            int descent = metrics.getDescent();
            float textX = (float) (point.x - textWidth / 2.0);
            float textY = (float) (point.y + (ascent - descent) / 2.0);
            g2d.drawString(label, textX, textY);
        }

        g2d.setStroke(originalStroke);
        g2d.setFont(originalFont);
        g2d.setColor(originalColor);
    }

    private void captureRealtimeTrackPoint() {
        if (!realtimeTrackRecording) {
            return;
        }
        if (realtimeTrackLandNumber == null || visualizationPanel == null) {
            pendingTrackBreak = true;
            return;
        }
        Device device = Device.getGecaoji();
        if (device == null) {
            pendingTrackBreak = true;
            return;
        }

        String fixQuality = device.getPositioningStatus();
        if (!isHighPrecisionFix(fixQuality)) {
            pendingTrackBreak = true;
            return;
        }
        Point2D.Double position = mower.getPosition();
        if (position == null || !Double.isFinite(position.x) || !Double.isFinite(position.y)) {
            pendingTrackBreak = true;
            return;
        }

        if (!isPointInsideActiveBoundary(position)) {
            pendingTrackBreak = true;
            return;
        }

        Point2D.Double lastPoint = realtimeMowingTrack.isEmpty() ? null : realtimeMowingTrack.get(realtimeMowingTrack.size() - 1);
        if (pendingTrackBreak) {
            lastPoint = null;
        }
        double distance = 0.0;
        if (lastPoint != null) {
            double dx = position.x - lastPoint.x;
            double dy = position.y - lastPoint.y;
            distance = Math.hypot(dx, dy);
            if (distance < TRACK_SAMPLE_MIN_DISTANCE_METERS) {
                return;
            }
        }

        realtimeMowingTrack.add(new Point2D.Double(position.x, position.y));
        if (distance > 0.0) {
            trackLengthMeters += distance;
        }

        updateCompletionMetrics();
        trackDirty = true;
        maybePersistRealtimeTrack(false);
        pendingTrackBreak = false;
    }

    private void updateCompletionMetrics() {
        double widthMeters = getEffectiveMowerWidthMeters();
        if (widthMeters > 0 && trackLengthMeters > 0) {
            completedMowingAreaSqMeters = trackLengthMeters * widthMeters;
        } else {
            completedMowingAreaSqMeters = 0.0;
        }

        if (totalLandAreaSqMeters > 0 && completedMowingAreaSqMeters >= 0) {
            mowingCompletionRatio = Math.max(0.0, Math.min(1.0, completedMowingAreaSqMeters / totalLandAreaSqMeters));
        } else {
            mowingCompletionRatio = 0.0;
        }
    }

    private void maybePersistRealtimeTrack(boolean force) {
        if (!trackDirty) {
            return;
        }
        long now = System.currentTimeMillis();
        if (!force && (now - lastTrackPersistTimeMillis) < TRACK_PERSIST_INTERVAL_MS) {
            return;
        }
        persistRealtimeTrack();
    }

    private void persistRealtimeTrack() {
        if (realtimeTrackLandNumber == null) {
            trackDirty = false;
            return;
        }
        String serialized = serializeRealtimeTrack();
        String storedValue = (serialized == null || serialized.isEmpty()) ? "-1" : serialized;
        boolean updated = Dikuai.updateField(realtimeTrackLandNumber, "mowingTrack", storedValue);
        if (updated) {
            Dikuai dikuai = Dikuai.getDikuai(realtimeTrackLandNumber);
            if (dikuai != null) {
                dikuai.setMowingTrack(storedValue);
            }
            Dikuai.saveToProperties();
            trackDirty = false;
            lastTrackPersistTimeMillis = System.currentTimeMillis();
        }
    }

    private String serializeRealtimeTrack() {
        if (realtimeMowingTrack.isEmpty()) {
            return "";
        }
        StringBuilder builder = new StringBuilder();
        for (Point2D.Double point : realtimeMowingTrack) {
            if (point == null) {
                continue;
            }
            if (builder.length() > 0) {
                builder.append(';');
            }
            builder.append(formatTrackCoordinate(point.x)).append(',').append(formatTrackCoordinate(point.y));
        }
        return builder.toString();
    }

    private String formatTrackCoordinate(double value) {
        if (!Double.isFinite(value)) {
            return "0";
        }
        return String.format(Locale.US, "%.3f", value);
    }

    private double getEffectiveMowerWidthMeters() {
        if (mowerEffectiveWidthMeters > 0) {
            return mowerEffectiveWidthMeters;
        }
        if (defaultMowerWidthMeters > 0) {
            return defaultMowerWidthMeters;
        }
        return 0.0;
    }

    public void applyLandMetadata(Dikuai dikuai) {
        String landNumber = normalizeValue(dikuai != null ? dikuai.getLandNumber() : null);
        totalLandAreaSqMeters = parseLandAreaSqMeters(dikuai != null ? dikuai.getLandArea() : null);
        defaultMowerWidthMeters = parseMowerWidthMeters(dikuai != null ? dikuai.getMowingWidth() : null);

        // 若当前未录制或切换地块，则更新有效割草宽度
        if (!realtimeTrackRecording || !equalsLand(landNumber, realtimeTrackLandNumber)) {
            mowerEffectiveWidthMeters = defaultMowerWidthMeters;
        }

        loadRealtimeTrack(landNumber, dikuai != null ? dikuai.getMowingTrack() : null);
        visualizationPanel.repaint();
    }

    public void startRealtimeTrackRecording(String landNumber, double widthMeters) {
        String normalizedLand = normalizeValue(landNumber);
        if (normalizedLand == null) {
            return;
        }

        if (!equalsLand(normalizedLand, realtimeTrackLandNumber)) {
            Dikuai dikuai = Dikuai.getDikuai(normalizedLand);
            totalLandAreaSqMeters = parseLandAreaSqMeters(dikuai != null ? dikuai.getLandArea() : null);
            defaultMowerWidthMeters = parseMowerWidthMeters(dikuai != null ? dikuai.getMowingWidth() : null);
            loadRealtimeTrack(normalizedLand, dikuai != null ? dikuai.getMowingTrack() : null);
        }

        if (widthMeters > 0) {
            mowerEffectiveWidthMeters = widthMeters;
        } else if (mowerEffectiveWidthMeters <= 0) {
            mowerEffectiveWidthMeters = defaultMowerWidthMeters;
        }

        realtimeTrackLandNumber = normalizedLand;
        realtimeTrackRecording = true;
        pendingTrackBreak = true;
        captureRealtimeTrackPoint();
    }

    public void pauseRealtimeTrackRecording() {
        realtimeTrackRecording = false;
        pendingTrackBreak = true;
        maybePersistRealtimeTrack(true);
    }

    public void stopRealtimeTrackRecording() {
        realtimeTrackRecording = false;
        pendingTrackBreak = true;
        maybePersistRealtimeTrack(true);
    }

    public void forceRealtimeTrackSnapshot() {
        if (!realtimeTrackRecording) {
            return;
        }
        captureRealtimeTrackPoint();
    }

    public void clearRealtimeTrack() {
        realtimeTrackRecording = false;
        realtimeMowingTrack.clear();
        trackLengthMeters = 0.0;
        completedMowingAreaSqMeters = 0.0;
        mowingCompletionRatio = 0.0;
        trackDirty = true;
        pendingTrackBreak = true;
        maybePersistRealtimeTrack(true);
        visualizationPanel.repaint();
    }

    public double getMowingCompletionRatio() {
        if (!isMowerInsideSelectedBoundary()) {
            return 0.0;
        }
        return mowingCompletionRatio;
    }

    public double getCompletedMowingAreaSqMeters() {
        if (!isMowerInsideSelectedBoundary()) {
            return 0.0;
        }
        return completedMowingAreaSqMeters;
    }

    public double getTotalLandAreaSqMeters() {
        return totalLandAreaSqMeters;
    }

    public double getTrackLengthMeters() {
        return trackLengthMeters;
    }

    private boolean isMowerInsideSelectedBoundary() {
        Point2D.Double position = mower.getPosition();
        if (position == null) {
            return false;
        }
        return isPointInsideActiveBoundary(position);
    }

    public void flushRealtimeTrack() {
        maybePersistRealtimeTrack(true);
    }

    private void loadRealtimeTrack(String landNumber, String trackData) {
        realtimeTrackRecording = false;
        realtimeTrackLandNumber = landNumber;
        realtimeMowingTrack.clear();
        trackLengthMeters = 0.0;
        completedMowingAreaSqMeters = 0.0;
        mowingCompletionRatio = 0.0;
        trackDirty = false;
        lastTrackPersistTimeMillis = 0L;
        pendingTrackBreak = true;

        String trimmed = normalizeValue(trackData);
        if (trimmed == null || trimmed.isEmpty()) {
            updateCompletionMetrics();
            return;
        }

        String[] segments = trimmed.split(";");
        Point2D.Double lastPoint = null;
        for (String segment : segments) {
            if (segment == null || segment.trim().isEmpty()) {
                continue;
            }
            String[] parts = segment.trim().split(",");
            if (parts.length < 2) {
                continue;
            }
            try {
                double x = Double.parseDouble(parts[0].trim());
                double y = Double.parseDouble(parts[1].trim());
                Point2D.Double current = new Point2D.Double(x, y);
                realtimeMowingTrack.add(current);
                if (lastPoint != null) {
                    trackLengthMeters += Math.hypot(current.x - lastPoint.x, current.y - lastPoint.y);
                }
                lastPoint = current;
            } catch (NumberFormatException ignored) {
                // 跳过异常条目
            }
        }

        updateCompletionMetrics();
    }

    private double parseLandAreaSqMeters(String raw) {
        if (raw == null) {
            return 0.0;
        }
        String trimmed = raw.trim();
        if (trimmed.isEmpty() || "-1".equals(trimmed)) {
            return 0.0;
        }
        try {
            double area = Double.parseDouble(trimmed);
            return area > 0 ? area : 0.0;
        } catch (NumberFormatException ex) {
            return 0.0;
        }
    }

    private double parseMowerWidthMeters(String raw) {
        if (raw == null) {
            return 0.0;
        }
        String sanitized = raw.trim().toLowerCase(Locale.ROOT);
        if (sanitized.isEmpty() || "-1".equals(sanitized)) {
            return 0.0;
        }
        sanitized = sanitized.replace("厘米", "cm");
        sanitized = sanitized.replace("公分", "cm");
        sanitized = sanitized.replace("米", "m");
        sanitized = sanitized.replace("cm", "");
        sanitized = sanitized.replace("m", "");
        sanitized = sanitized.trim();
        if (sanitized.isEmpty()) {
            return 0.0;
        }
        try {
            double value = Double.parseDouble(sanitized);
            if (value <= 0) {
                return 0.0;
            }
            if (value > 10) {
                return value / 100.0; // 视为厘米
            }
            return value;
        } catch (NumberFormatException ex) {
            return 0.0;
        }
    }

    private String normalizeValue(String value) {
        if (value == null) {
            return null;
        }
        String trimmed = value.trim();
        if (trimmed.isEmpty() || "-1".equals(trimmed)) {
            return null;
        }
        return trimmed;
    }

    private boolean equalsLand(String a, String b) {
        if (a == null && b == null) {
            return true;
        }
        if (a == null || b == null) {
            return false;
        }
        return a.equals(b);
    }

    private boolean handleMowerClick(Point screenPoint) {
        if (!mower.hasValidPosition()) {
            return false;
@@ -285,6 +820,137 @@
        lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale);
    }

    private void drawCircleSampleMarkers(Graphics2D g2d, List<double[]> markers, double scale) {
        if (markers == null || markers.isEmpty()) {
            return;
        }
        Shape markerShape;
        double half = CIRCLE_SAMPLE_SIZE / 2.0;
        g2d.setColor(CIRCLE_SAMPLE_COLOR);
        g2d.setStroke(new BasicStroke((float) (1.2f / scale), BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
        Font originalFont = g2d.getFont();
        float baseSize = (float) Math.max(12f / scale, 9f);
        float reducedSize = Math.max(baseSize / 3f, 3f);
        Font labelFont = originalFont.deriveFont(reducedSize);
        g2d.setFont(labelFont);
        FontMetrics metrics = g2d.getFontMetrics();
        for (double[] pt : markers) {
            if (pt == null || pt.length < 2 || !Double.isFinite(pt[0]) || !Double.isFinite(pt[1])) {
                continue;
            }
            double x = pt[0];
            double y = pt[1];
            markerShape = new Ellipse2D.Double(x - half, y - half, CIRCLE_SAMPLE_SIZE, CIRCLE_SAMPLE_SIZE);
            g2d.fill(markerShape);
            String label = String.format(Locale.US, "%.2f,%.2f", x, y);
            int textWidth = metrics.stringWidth(label);
            float textX = (float) (x - textWidth / 2.0);
            float textY = (float) (y - half - 0.2d) - metrics.getDescent();
            g2d.setColor(new Color(33, 37, 41, 220));
            g2d.drawString(label, textX, textY);
            g2d.setColor(CIRCLE_SAMPLE_COLOR);
        }
        g2d.setFont(originalFont);
    }

    private void drawCircleCaptureOverlay(Graphics2D g2d, CircleCaptureOverlay overlay, double scale) {
        double diameter = overlay.radius * 2.0;
        Ellipse2D outline = new Ellipse2D.Double(
                overlay.centerX - overlay.radius,
                overlay.centerY - overlay.radius,
                diameter,
                diameter);

        Color fillColor = new Color(255, 152, 0, 80);
        Color borderColor = new Color(255, 87, 34, 230);
        Color centerColor = new Color(46, 139, 87, 230);

        g2d.setColor(fillColor);
        g2d.fill(outline);

        g2d.setColor(borderColor);
        g2d.setStroke(new BasicStroke((float) (1.8f / scale), BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
        g2d.draw(outline);

        double markerSize = 0.18d;
        double centerMarkerSize = 0.22d;

        Ellipse2D centerMarker = new Ellipse2D.Double(
                overlay.centerX - centerMarkerSize / 2.0,
                overlay.centerY - centerMarkerSize / 2.0,
                centerMarkerSize,
                centerMarkerSize);
        g2d.setColor(centerColor);
        g2d.fill(centerMarker);
    }

    public void showCircleCaptureOverlay(double centerX, double centerY, double radius, List<double[]> samplePoints) {
        List<double[]> copies = new ArrayList<>();
        if (samplePoints != null) {
            for (double[] pt : samplePoints) {
                if (pt == null || pt.length < 2) {
                    continue;
                }
                copies.add(new double[]{pt[0], pt[1]});
            }
        }
        circleCaptureOverlay = new CircleCaptureOverlay(centerX, centerY, radius, copies);
        updateCircleSampleMarkers(samplePoints);
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }

    public void clearCircleCaptureOverlay() {
        circleCaptureOverlay = null;
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }

    public void updateCircleSampleMarkers(List<double[]> samplePoints) {
        circleSampleMarkers.clear();
        if (samplePoints != null) {
            for (double[] pt : samplePoints) {
                if (pt == null || pt.length < 2) {
                    continue;
                }
                double x = pt[0];
                double y = pt[1];
                if (!Double.isFinite(x) || !Double.isFinite(y)) {
                    continue;
                }
                circleSampleMarkers.add(new double[]{x, y});
            }
        }
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }

    public void clearCircleSampleMarkers() {
        if (!circleSampleMarkers.isEmpty()) {
            circleSampleMarkers.clear();
            if (visualizationPanel != null) {
                visualizationPanel.repaint();
            }
        }
    }

    private static final class CircleCaptureOverlay {
        final double centerX;
        final double centerY;
        final double radius;
        final List<double[]> samplePoints;

        CircleCaptureOverlay(double centerX, double centerY, double radius, List<double[]> samplePoints) {
            this.centerX = centerX;
            this.centerY = centerY;
            this.radius = radius;
            this.samplePoints = samplePoints;
        }
    }

    private void showMowerInfo() {
        Device device = Device.getGecaoji();
        if (device == null) {
@@ -452,7 +1118,7 @@
        mowerNumberValueLabel.setText(formatDeviceValue(device.getMowerNumber()));
        realtimeXValueLabel.setText(formatDeviceValue(device.getRealtimeX()));
        realtimeYValueLabel.setText(formatDeviceValue(device.getRealtimeY()));
        positioningStatusValueLabel.setText(formatDeviceValue(device.getPositioningStatus()));
    positioningStatusValueLabel.setText(formatFixQualityValue(device.getPositioningStatus()));
        satelliteCountValueLabel.setText(formatDeviceValue(device.getSatelliteCount()));
        realtimeSpeedValueLabel.setText(formatDeviceValue(device.getRealtimeSpeed()));
        headingValueLabel.setText(formatDeviceValue(device.getHeading()));
@@ -463,7 +1129,7 @@
        if (mowerNumberValueLabel != null) mowerNumberValueLabel.setText(value);
        if (realtimeXValueLabel != null) realtimeXValueLabel.setText(value);
        if (realtimeYValueLabel != null) realtimeYValueLabel.setText(value);
        if (positioningStatusValueLabel != null) positioningStatusValueLabel.setText(value);
    if (positioningStatusValueLabel != null) positioningStatusValueLabel.setText(value);
        if (satelliteCountValueLabel != null) satelliteCountValueLabel.setText(value);
        if (realtimeSpeedValueLabel != null) realtimeSpeedValueLabel.setText(value);
        if (headingValueLabel != null) headingValueLabel.setText(value);
@@ -486,6 +1152,37 @@
        return sanitized == null ? "--" : sanitized;
    }

    private String formatFixQualityValue(String value) {
        String sanitized = sanitizeDeviceValue(value);
        if (sanitized == null) {
            return "--";
        }
        switch (sanitized) {
            case "0":
                return "未定位";
            case "1":
                return "单点定位";
            case "2":
                return "码差分";
            case "3":
                return "无效PPS";
            case "4":
                return "固定解";
            case "5":
                return "浮点解";
            case "6":
                return "正在估算";
            case "7":
                return "人工输入固定值";
            case "8":
                return "模拟模式";
            case "9":
                return "WAAS差分";
            default:
                return sanitized;
        }
    }

    private String formatTimestamp(String value) {
        String sanitized = sanitizeDeviceValue(value);
        if (sanitized == null) {
@@ -588,6 +1285,7 @@

        if (updated.size() < 2) {
            currentBoundary = null;
            currentBoundaryPath = null;
            boundaryBounds = null;
            boundaryPointsVisible = false;
            Dikuaiguanli.updateBoundaryPointVisibility(currentBoundaryLandNumber, false);
@@ -595,10 +1293,12 @@
            adjustViewAfterBoundaryReset();
        } else {
            currentBoundary = updated;
            rebuildBoundaryPath();
            boundaryBounds = computeBounds(updated);
            Dikuaiguanli.updateBoundaryPointVisibility(currentBoundaryLandNumber, boundaryPointsVisible);
            visualizationPanel.repaint();
        }
        pendingTrackBreak = true;
    }

    private boolean persistBoundaryChanges(List<Point2D.Double> updatedBoundary) {
@@ -660,6 +1360,79 @@
        return Math.hypot(dx, dy) <= BOUNDARY_POINT_MERGE_THRESHOLD;
    }

    private boolean isHighPrecisionFix(String fixQuality) {
        if (fixQuality == null) {
            return false;
        }
        String trimmed = fixQuality.trim();
        if (trimmed.isEmpty()) {
            return false;
        }
        if ("4".equals(trimmed)) {
            return true;
        }
        try {
            double value = Double.parseDouble(trimmed);
            return Math.abs(value - 4.0d) < 1e-6;
        } catch (NumberFormatException ex) {
            return false;
        }
    }

    private boolean isPointInsideActiveBoundary(Point2D.Double point) {
        if (point == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
            return false;
        }
        if (realtimeTrackLandNumber == null) {
            return false;
        }
        if (currentBoundaryLandNumber != null && !currentBoundaryLandNumber.equals(realtimeTrackLandNumber)) {
            return false;
        }

        Path2D.Double path = currentBoundaryPath;
        if (path == null) {
            path = buildBoundaryPath(currentBoundary);
            currentBoundaryPath = path;
        }
        if (path == null) {
            return false;
        }
        if (path.contains(point.x, point.y)) {
            return true;
        }
        double size = BOUNDARY_CONTAINS_TOLERANCE * 2.0;
        return path.intersects(point.x - BOUNDARY_CONTAINS_TOLERANCE, point.y - BOUNDARY_CONTAINS_TOLERANCE, size, size);
    }

    private void rebuildBoundaryPath() {
        currentBoundaryPath = buildBoundaryPath(currentBoundary);
    }

    private Path2D.Double buildBoundaryPath(List<Point2D.Double> boundary) {
        if (boundary == null || boundary.size() < 3) {
            return null;
        }
        Path2D.Double path = new Path2D.Double();
        boolean started = false;
        for (Point2D.Double point : boundary) {
            if (point == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
                continue;
            }
            if (!started) {
                path.moveTo(point.x, point.y);
                started = true;
            } else {
                path.lineTo(point.x, point.y);
            }
        }
        if (!started) {
            return null;
        }
        path.closePath();
        return path;
    }

    
    /**
     * 绘制视图信息
@@ -741,8 +1514,10 @@
            return;
        }

        currentBoundary = parsed;
        boundaryBounds = computeBounds(parsed);
    currentBoundary = parsed;
    rebuildBoundaryPath();
    pendingTrackBreak = true;
    boundaryBounds = computeBounds(parsed);

        Rectangle2D.Double bounds = boundaryBounds;
        SwingUtilities.invokeLater(() -> {
@@ -753,10 +1528,427 @@

    private void clearBoundaryData() {
        currentBoundary = null;
        currentBoundaryPath = null;
        boundaryBounds = null;
        boundaryName = null;
        boundaryPointsVisible = false;
        currentBoundaryLandNumber = null;
        pendingTrackBreak = true;
    }

    public void setCurrentObstacles(String obstaclesData, String landNumber) {
        List<Obstacledge.Obstacle> parsed = parseObstacles(obstaclesData, landNumber);
        applyObstaclesToRenderer(parsed, landNumber);
    }

    public void setCurrentObstacles(List<Obstacledge.Obstacle> obstacles, String landNumber) {
        List<Obstacledge.Obstacle> cloned = cloneObstacles(obstacles, landNumber);
        applyObstaclesToRenderer(cloned, landNumber);
    }

    private void applyObstaclesToRenderer(List<Obstacledge.Obstacle> obstacles, String landNumber) {
        List<Obstacledge.Obstacle> safeList = obstacles != null ? obstacles : Collections.emptyList();
        String normalizedLand = (landNumber != null) ? landNumber.trim() : null;

        if (normalizedLand != null && !normalizedLand.isEmpty()) {
            safeList = filterObstaclesForLand(safeList, normalizedLand);
        }

        if (normalizedLand == null || normalizedLand.isEmpty()) {
            clearObstacleData();
            if (!hasRenderableBoundary() && !hasRenderablePlannedPath()) {
                resetView();
            } else {
                visualizationPanel.repaint();
            }
            return;
        }

        if (safeList.isEmpty()) {
            clearObstacleData();
            if (!hasRenderableBoundary() && !hasRenderablePlannedPath()) {
                resetView();
            } else {
                visualizationPanel.repaint();
            }
            return;
        }

        currentObstacles = Collections.unmodifiableList(new ArrayList<>(safeList));
        currentObstacleLandNumber = normalizedLand;
        obstacleBounds = convertObstacleBounds(Obstacledraw.getAllObstaclesBounds(currentObstacles));
        selectedObstacleName = null;

        if (!hasRenderableBoundary() && !hasRenderablePlannedPath() && obstacleBounds != null) {
            Rectangle2D.Double bounds = obstacleBounds;
            SwingUtilities.invokeLater(() -> {
                fitBoundsToView(bounds);
                visualizationPanel.repaint();
            });
        } else {
            visualizationPanel.repaint();
        }
    }

    private List<Obstacledge.Obstacle> cloneObstacles(List<Obstacledge.Obstacle> obstacles, String landNumber) {
        List<Obstacledge.Obstacle> result = new ArrayList<>();
        if (obstacles == null || obstacles.isEmpty()) {
            return result;
        }

        String normalizedLandNumber = landNumber != null ? landNumber.trim() : null;
        Set<String> usedNames = new LinkedHashSet<>();
        int fallbackIndex = 1;

        for (Obstacledge.Obstacle source : obstacles) {
            if (source == null) {
                continue;
            }

            if (normalizedLandNumber != null && !normalizedLandNumber.isEmpty()) {
                String sourcePlotId = source.getPlotId();
                if (sourcePlotId != null && !sourcePlotId.trim().isEmpty()
                        && !normalizedLandNumber.equalsIgnoreCase(sourcePlotId.trim())) {
                    continue;
                }
            }

            Obstacledge.ObstacleShape shape = source.getShape();
            List<Obstacledge.XYCoordinate> xySource = source.getXyCoordinates();
            if (shape == null || xySource == null) {
                continue;
            }

            List<Obstacledge.XYCoordinate> xyCopy = copyXYCoordinates(xySource);
            if (shape == Obstacledge.ObstacleShape.CIRCLE && xyCopy.size() < 2) {
                continue;
            }
            if (shape == Obstacledge.ObstacleShape.POLYGON && xyCopy.size() < 3) {
                continue;
            }

            String desiredName = source.getObstacleName();
            if (desiredName == null || desiredName.trim().isEmpty()) {
                desiredName = "障碍物" + fallbackIndex++;
            }
            String uniqueName = ensureUniqueName(usedNames, desiredName.trim());

            Obstacledge.Obstacle copy = new Obstacledge.Obstacle(
                normalizedLandNumber != null ? normalizedLandNumber : source.getPlotId(),
                uniqueName,
                shape
            );

            copy.setXyCoordinates(xyCopy);

            List<Obstacledge.DMCoordinate> dmCopy = copyDMCoordinates(source.getOriginalCoordinates());
            if (dmCopy.isEmpty()) {
                populateDummyOriginalCoordinates(copy, xyCopy.size());
            } else {
                copy.setOriginalCoordinates(dmCopy);
            }

            result.add(copy);
        }

        return result;
    }

    private List<Obstacledge.Obstacle> filterObstaclesForLand(List<Obstacledge.Obstacle> obstacles, String landNumber) {
        if (obstacles == null || obstacles.isEmpty()) {
            return Collections.emptyList();
        }
        if (landNumber == null || landNumber.trim().isEmpty()) {
            return Collections.emptyList();
        }
        String normalized = landNumber.trim();
        List<Obstacledge.Obstacle> filtered = new ArrayList<>();
        for (Obstacledge.Obstacle obstacle : obstacles) {
            if (obstacle == null) {
                continue;
            }
            String plotId = obstacle.getPlotId();
            if (plotId == null || plotId.trim().isEmpty()) {
                filtered.add(obstacle);
                continue;
            }
            if (normalized.equalsIgnoreCase(plotId.trim())) {
                filtered.add(obstacle);
            }
        }
        return filtered;
    }

    private String ensureUniqueName(Set<String> usedNames, String preferredName) {
        String base = (preferredName == null || preferredName.trim().isEmpty()) ? "障碍物" : preferredName.trim();
        String normalized = base.toLowerCase(Locale.ROOT);
        if (usedNames.add(normalized)) {
            return base;
        }
        int suffix = 2;
        while (true) {
            String attempt = base + suffix;
            String attemptKey = attempt.toLowerCase(Locale.ROOT);
            if (usedNames.add(attemptKey)) {
                return attempt;
            }
            suffix++;
        }
    }

    private List<Obstacledge.XYCoordinate> copyXYCoordinates(List<Obstacledge.XYCoordinate> source) {
        List<Obstacledge.XYCoordinate> copy = new ArrayList<>();
        if (source == null) {
            return copy;
        }
        for (Obstacledge.XYCoordinate coord : source) {
            if (coord == null) {
                continue;
            }
            double x = coord.getX();
            double y = coord.getY();
            if (!Double.isFinite(x) || !Double.isFinite(y)) {
                continue;
            }
            copy.add(new Obstacledge.XYCoordinate(x, y));
        }
        return copy;
    }

    private List<Obstacledge.DMCoordinate> copyDMCoordinates(List<Obstacledge.DMCoordinate> source) {
        List<Obstacledge.DMCoordinate> copy = new ArrayList<>();
        if (source == null) {
            return copy;
        }
        for (Obstacledge.DMCoordinate coord : source) {
            if (coord == null) {
                continue;
            }
            copy.add(new Obstacledge.DMCoordinate(coord.getDegreeMinute(), coord.getDirection()));
        }
        return copy;
    }

    private void clearObstacleData() {
        currentObstacles = null;
        obstacleBounds = null;
        selectedObstacleName = null;
        currentObstacleLandNumber = null;
    }

    private List<Obstacledge.Obstacle> parseObstacles(String obstaclesData, String landNumber) {
        List<Obstacledge.Obstacle> obstacles = new ArrayList<>();
        if (obstaclesData == null) {
            return obstacles;
        }

        String normalized = stripInlineComment(obstaclesData.trim());
        if (normalized.isEmpty() || "-1".equals(normalized)) {
            return obstacles;
        }

        List<String> entries = splitObstacleEntries(normalized);
        int defaultIndex = 1;

        for (String entry : entries) {
            String trimmedEntry = stripInlineComment(entry);
            if (trimmedEntry.isEmpty()) {
                continue;
            }

            String nameToken = null;
            String shapeToken = null;
            String coordsSection = trimmedEntry;

            if (trimmedEntry.contains("::")) {
                String[] parts = trimmedEntry.split("::", 3);
                if (parts.length == 3) {
                    nameToken = parts[0].trim();
                    shapeToken = parts[1].trim();
                    coordsSection = parts[2].trim();
                }
            } else if (trimmedEntry.contains("@")) {
                String[] parts = trimmedEntry.split("@", 3);
                if (parts.length == 3) {
                    nameToken = parts[0].trim();
                    shapeToken = parts[1].trim();
                    coordsSection = parts[2].trim();
                } else if (parts.length == 2) {
                    shapeToken = parts[0].trim();
                    coordsSection = parts[1].trim();
                }
            } else if (trimmedEntry.contains(":")) {
                String[] parts = trimmedEntry.split(":", 3);
                if (parts.length == 3) {
                    nameToken = parts[0].trim();
                    shapeToken = parts[1].trim();
                    coordsSection = parts[2].trim();
                } else if (parts.length == 2) {
                    if (looksLikeShapeToken(parts[0])) {
                        shapeToken = parts[0].trim();
                        coordsSection = parts[1].trim();
                    } else {
                        nameToken = parts[0].trim();
                        coordsSection = parts[1].trim();
                    }
                }
            }

            List<Obstacledge.XYCoordinate> xyCoordinates = parseObstacleCoordinates(coordsSection);
            if (xyCoordinates.size() < 2) {
                continue;
            }

            Obstacledge.ObstacleShape shape = resolveObstacleShape(shapeToken, xyCoordinates.size());
            if (shape == null) {
                continue;
            }

            String obstacleName = (nameToken != null && !nameToken.isEmpty())
                    ? nameToken
                    : "障碍物" + defaultIndex++;

            Obstacledge.Obstacle obstacle = new Obstacledge.Obstacle(landNumber, obstacleName, shape);
            obstacle.setXyCoordinates(new ArrayList<>(xyCoordinates));
            populateDummyOriginalCoordinates(obstacle, xyCoordinates.size());

            if (obstacle.isValid()) {
                obstacles.add(obstacle);
            }
        }

        return obstacles;
    }

    private boolean looksLikeShapeToken(String token) {
        if (token == null) {
            return false;
        }
        String normalized = token.trim().toLowerCase(Locale.ROOT);
        return "circle".equals(normalized)
                || "polygon".equals(normalized)
                || "圆形".equals(normalized)
                || "多边形".equals(normalized)
                || "0".equals(normalized)
                || "1".equals(normalized);
    }

    private List<Obstacledge.XYCoordinate> parseObstacleCoordinates(String coordsSection) {
        List<Obstacledge.XYCoordinate> coords = new ArrayList<>();
        if (coordsSection == null) {
            return coords;
        }

        String sanitized = stripInlineComment(coordsSection.trim());
        if (sanitized.isEmpty() || "-1".equals(sanitized)) {
            return coords;
        }

        String[] pairs = sanitized.split(";");
        for (String pair : pairs) {
            if (pair == null) {
                continue;
            }
            String trimmed = stripInlineComment(pair.trim());
            if (trimmed.isEmpty()) {
                continue;
            }
            String[] parts = trimmed.split(",");
            if (parts.length < 2) {
                continue;
            }
            try {
                double x = Double.parseDouble(parts[0].trim());
                double y = Double.parseDouble(parts[1].trim());
                coords.add(new Obstacledge.XYCoordinate(x, y));
            } catch (NumberFormatException ignored) {
                // Skip malformed coordinate pair
            }
        }

        return coords;
    }

    private Obstacledge.ObstacleShape resolveObstacleShape(String shapeToken, int coordinateCount) {
        if (shapeToken != null && !shapeToken.trim().isEmpty()) {
            String normalized = shapeToken.trim().toLowerCase(Locale.ROOT);
            if ("circle".equals(normalized) || "圆形".equals(normalized) || "0".equals(normalized)) {
                return Obstacledge.ObstacleShape.CIRCLE;
            }
            if ("polygon".equals(normalized) || "多边形".equals(normalized) || "1".equals(normalized)) {
                return Obstacledge.ObstacleShape.POLYGON;
            }
        }

        if (coordinateCount == 2) {
            return Obstacledge.ObstacleShape.CIRCLE;
        }
        if (coordinateCount >= 3) {
            return Obstacledge.ObstacleShape.POLYGON;
        }
        return null;
    }

    private void populateDummyOriginalCoordinates(Obstacledge.Obstacle obstacle, int xyCount) {
        List<Obstacledge.DMCoordinate> dmCoordinates = new ArrayList<>();
        int points = Math.max(1, xyCount);
        for (int i = 0; i < points; i++) {
            dmCoordinates.add(new Obstacledge.DMCoordinate(0.0, 'N'));
            dmCoordinates.add(new Obstacledge.DMCoordinate(0.0, 'E'));
        }
        obstacle.setOriginalCoordinates(dmCoordinates);
    }

    private List<String> splitObstacleEntries(String data) {
        List<String> entries = new ArrayList<>();
        if (data.indexOf('|') >= 0) {
            String[] parts = data.split("\\|");
            for (String part : parts) {
                if (part != null && !part.trim().isEmpty()) {
                    entries.add(part.trim());
                }
            }
        } else if (data.contains("\n")) {
            String[] lines = data.split("\r?\n");
            for (String line : lines) {
                if (line != null && !line.trim().isEmpty()) {
                    entries.add(line.trim());
                }
            }
        } else {
            entries.add(data);
        }
        return entries;
    }

    private String stripInlineComment(String text) {
        if (text == null) {
            return "";
        }
        int hashIndex = text.indexOf('#');
        if (hashIndex >= 0) {
            return text.substring(0, hashIndex).trim();
        }
        return text.trim();
    }

    private Rectangle2D.Double convertObstacleBounds(double[] bounds) {
        if (bounds == null || bounds.length < 4) {
            return null;
        }
        double minX = bounds[0];
        double minY = bounds[1];
        double maxX = bounds[2];
        double maxY = bounds[3];
        return new Rectangle2D.Double(minX, minY, maxX - minX, maxY - minY);
    }

    private boolean hasRenderableBoundary() {
        return currentBoundary != null && currentBoundary.size() >= 2;
    }

    private boolean hasRenderablePlannedPath() {
        return currentPlannedPath != null && currentPlannedPath.size() >= 2;
    }

    private void adjustViewAfterBoundaryReset() {
@@ -766,16 +1958,26 @@
                fitBoundsToView(bounds);
                visualizationPanel.repaint();
            });
        } else {
            resetView();
            return;
        }

        if (obstacleBounds != null) {
            Rectangle2D.Double bounds = obstacleBounds;
            SwingUtilities.invokeLater(() -> {
                fitBoundsToView(bounds);
                visualizationPanel.repaint();
            });
            return;
        }

        resetView();
    }

    public void setCurrentPlannedPath(String plannedPath) {
        if (plannedPath == null) {
            currentPlannedPath = null;
            plannedPathBounds = null;
            if (currentBoundary == null || currentBoundary.size() < 2) {
            if (!hasRenderableBoundary()) {
                resetView();
            } else {
                visualizationPanel.repaint();
@@ -787,7 +1989,7 @@
        if (parsed.size() < 2) {
            currentPlannedPath = null;
            plannedPathBounds = null;
            if (currentBoundary == null || currentBoundary.size() < 2) {
            if (!hasRenderableBoundary()) {
                resetView();
            } else {
                visualizationPanel.repaint();
@@ -800,7 +2002,7 @@

        Rectangle2D.Double bounds = plannedPathBounds;
        SwingUtilities.invokeLater(() -> {
            if (currentBoundary == null || currentBoundary.size() < 2) {
            if (!hasRenderableBoundary()) {
                fitBoundsToView(bounds);
            }
            visualizationPanel.repaint();
@@ -812,6 +2014,42 @@
        visualizationPanel.repaint();
    }

    public void beginHandheldBoundaryPreview() {
        handheldBoundaryPreviewActive = true;
        handheldBoundaryPreview.clear();
        visualizationPanel.repaint();
    }

    public void addHandheldBoundaryPoint(double x, double y) {
        if (!Double.isFinite(x) || !Double.isFinite(y)) {
            return;
        }
        if (!handheldBoundaryPreviewActive) {
            beginHandheldBoundaryPreview();
        }
        Point2D.Double last = handheldBoundaryPreview.isEmpty() ? null : handheldBoundaryPreview.get(handheldBoundaryPreview.size() - 1);
        if (last != null) {
            double dx = x - last.x;
            double dy = y - last.y;
            if (Math.hypot(dx, dy) < 1e-6) {
                visualizationPanel.repaint();
                return;
            }
        }
        handheldBoundaryPreview.add(new Point2D.Double(x, y));
        visualizationPanel.repaint();
    }

    public void clearHandheldBoundaryPreview() {
        handheldBoundaryPreviewActive = false;
        handheldBoundaryPreview.clear();
        visualizationPanel.repaint();
    }

    public List<Point2D.Double> getHandheldBoundaryPreviewPoints() {
        return new ArrayList<>(handheldBoundaryPreview);
    }

    private List<Point2D.Double> parseBoundary(String boundaryCoordinates) {
        List<Point2D.Double> points = new ArrayList<>();
        String[] entries = boundaryCoordinates.split(";");