新增了往返路径

826220679@qq.com

2 天以前 48ee74129bb09a817a0bbbabe860c4007b74c66b

 src/dikuai/Dikuai.java

@@ -21,12 +21,12 @@
    private String boundaryCoordinates;
    // 规划路径（存储路径坐标点集合）
    private String plannedPath;
    // 障碍物经纬度坐标
    private String obstacleOriginalCoordinates;
    // 障碍物坐标
    private String obstacleCoordinates;
    // 返回点坐标
    private String returnPointCoordinates;
    // 往返路径坐标（割草机完成割草作业返回的路径坐标，格式：X1,Y1;X2,Y2;...;XN,YN）
    private String returnPathCoordinates;
    // 往返路径原始坐标
    private String returnPathRawCoordinates;
    // 边界点间隔
    private String boundaryPointInterval;
    // 角度阈值
@@ -42,9 +42,17 @@
    // 最新更新时间
    private String updateTime;
    // 割草模式
    private String mowingTrack;
    // 割草实时轨迹
    private String mowingPattern;
    // 割草宽度
    private String mowingWidth;
    // 割草机割刀宽度（米），默认0.40米
    private String mowingBladeWidth;
    // 割草重叠距离（米），默认0.06米
    private String mowingOverlapDistance;
    // 割草安全距离（米）
    private String mowingSafetyDistance;

    // 存储多个地块的映射表，键为地块编号
    private static Map<String, Dikuai> dikuaiMap = new HashMap<>();
@@ -95,9 +103,9 @@
                dikuai.boundaryOriginalCoordinates = landProps.getProperty("boundaryOriginalCoordinates", "-1");
                dikuai.boundaryCoordinates = landProps.getProperty("boundaryCoordinates", "-1");
                dikuai.plannedPath = landProps.getProperty("plannedPath", "-1");
                dikuai.obstacleOriginalCoordinates = landProps.getProperty("obstacleOriginalCoordinates", "-1");
                dikuai.obstacleCoordinates = landProps.getProperty("obstacleCoordinates", "-1");
                dikuai.returnPointCoordinates = landProps.getProperty("returnPointCoordinates", "-1");
                dikuai.returnPathCoordinates = landProps.getProperty("returnPathCoordinates", "-1");
                dikuai.returnPathRawCoordinates = landProps.getProperty("returnPathRawCoordinates", "-1");
                dikuai.boundaryPointInterval = landProps.getProperty("boundaryPointInterval", "-1");
                dikuai.angleThreshold = landProps.getProperty("angleThreshold", "-1");
                dikuai.intelligentSceneAnalysis = landProps.getProperty("intelligentSceneAnalysis", "-1");
@@ -107,6 +115,10 @@
                dikuai.updateTime = landProps.getProperty("updateTime", "-1");
                dikuai.mowingPattern = landProps.getProperty("mowingPattern", "-1");
                dikuai.mowingWidth = landProps.getProperty("mowingWidth", "-1");
                dikuai.mowingTrack = landProps.getProperty("mowingTrack", "-1");
                dikuai.mowingBladeWidth = landProps.getProperty("mowingBladeWidth", "0.40");
                dikuai.mowingOverlapDistance = landProps.getProperty("mowingOverlapDistance", "0.06");
                dikuai.mowingSafetyDistance = landProps.getProperty("mowingSafetyDistance", "-1");
                
                dikuaiMap.put(landNum, dikuai);
            }
@@ -195,15 +207,15 @@
            case "plannedPath":
                this.plannedPath = value;
                return true;
            case "obstacleOriginalCoordinates":
                this.obstacleOriginalCoordinates = value;
                return true;
            case "obstacleCoordinates":
                this.obstacleCoordinates = value;
                return true;
            case "returnPointCoordinates":
                this.returnPointCoordinates = value;
                return true;
            case "returnPathCoordinates":
                this.returnPathCoordinates = value;
                return true;
            case "returnPathRawCoordinates":
                this.returnPathRawCoordinates = value;
                return true;
            case "boundaryPointInterval":
                this.boundaryPointInterval = value;
                return true;
@@ -231,6 +243,18 @@
            case "mowingWidth":
                this.mowingWidth = value;
                return true;
            case "mowingTrack":
                this.mowingTrack = value;
                return true;
            case "mowingBladeWidth":
                this.mowingBladeWidth = value;
                return true;
            case "mowingOverlapDistance":
                this.mowingOverlapDistance = value;
                return true;
            case "mowingSafetyDistance":
                this.mowingSafetyDistance = value;
                return true;
            default:
                System.err.println("未知字段: " + fieldName);
                return false;
@@ -254,9 +278,9 @@
            if (dikuai.boundaryOriginalCoordinates != null) properties.setProperty(landNumber + ".boundaryOriginalCoordinates", dikuai.boundaryOriginalCoordinates);
            if (dikuai.boundaryCoordinates != null) properties.setProperty(landNumber + ".boundaryCoordinates", dikuai.boundaryCoordinates);
            if (dikuai.plannedPath != null) properties.setProperty(landNumber + ".plannedPath", dikuai.plannedPath);
            if (dikuai.obstacleOriginalCoordinates != null) properties.setProperty(landNumber + ".obstacleOriginalCoordinates", dikuai.obstacleOriginalCoordinates);
            if (dikuai.obstacleCoordinates != null) properties.setProperty(landNumber + ".obstacleCoordinates", dikuai.obstacleCoordinates);
            if (dikuai.returnPointCoordinates != null) properties.setProperty(landNumber + ".returnPointCoordinates", dikuai.returnPointCoordinates);
            if (dikuai.returnPathCoordinates != null) properties.setProperty(landNumber + ".returnPathCoordinates", dikuai.returnPathCoordinates);
            if (dikuai.returnPathRawCoordinates != null) properties.setProperty(landNumber + ".returnPathRawCoordinates", dikuai.returnPathRawCoordinates);
            if (dikuai.boundaryPointInterval != null) properties.setProperty(landNumber + ".boundaryPointInterval", dikuai.boundaryPointInterval);
            if (dikuai.angleThreshold != null) properties.setProperty(landNumber + ".angleThreshold", dikuai.angleThreshold);
            if (dikuai.intelligentSceneAnalysis != null) properties.setProperty(landNumber + ".intelligentSceneAnalysis", dikuai.intelligentSceneAnalysis);
@@ -266,6 +290,10 @@
            if (dikuai.updateTime != null) properties.setProperty(landNumber + ".updateTime", dikuai.updateTime);
            if (dikuai.mowingPattern != null) properties.setProperty(landNumber + ".mowingPattern", dikuai.mowingPattern);
            if (dikuai.mowingWidth != null) properties.setProperty(landNumber + ".mowingWidth", dikuai.mowingWidth);
            if (dikuai.mowingTrack != null) properties.setProperty(landNumber + ".mowingTrack", dikuai.mowingTrack);
            if (dikuai.mowingBladeWidth != null) properties.setProperty(landNumber + ".mowingBladeWidth", dikuai.mowingBladeWidth);
            if (dikuai.mowingOverlapDistance != null) properties.setProperty(landNumber + ".mowingOverlapDistance", dikuai.mowingOverlapDistance);
            if (dikuai.mowingSafetyDistance != null) properties.setProperty(landNumber + ".mowingSafetyDistance", dikuai.mowingSafetyDistance);
        }
        
        try {
@@ -329,22 +357,6 @@
        this.plannedPath = plannedPath;
    }

    public String getObstacleOriginalCoordinates() {
        return obstacleOriginalCoordinates;
    }

    public void setObstacleOriginalCoordinates(String obstacleOriginalCoordinates) {
        this.obstacleOriginalCoordinates = obstacleOriginalCoordinates;
    }

    public String getObstacleCoordinates() {
        return obstacleCoordinates;
    }

    public void setObstacleCoordinates(String obstacleCoordinates) {
        this.obstacleCoordinates = obstacleCoordinates;
    }

    public String getReturnPointCoordinates() {
        return returnPointCoordinates;
    }
@@ -353,6 +365,22 @@
        this.returnPointCoordinates = returnPointCoordinates;
    }

    public String getReturnPathCoordinates() {
        return returnPathCoordinates;
    }

    public void setReturnPathCoordinates(String returnPathCoordinates) {
        this.returnPathCoordinates = returnPathCoordinates;
    }

    public String getReturnPathRawCoordinates() {
        return returnPathRawCoordinates;
    }

    public void setReturnPathRawCoordinates(String returnPathRawCoordinates) {
        this.returnPathRawCoordinates = returnPathRawCoordinates;
    }

    public String getBoundaryPointInterval() {
        return boundaryPointInterval;
    }
@@ -425,6 +453,38 @@
        this.mowingWidth = mowingWidth;
    }

    public String getMowingTrack() {
        return mowingTrack;
    }

    public void setMowingTrack(String mowingTrack) {
        this.mowingTrack = mowingTrack;
    }

    public String getMowingBladeWidth() {
        return mowingBladeWidth;
    }

    public void setMowingBladeWidth(String mowingBladeWidth) {
        this.mowingBladeWidth = mowingBladeWidth;
    }

    public String getMowingOverlapDistance() {
        return mowingOverlapDistance;
    }

    public void setMowingOverlapDistance(String mowingOverlapDistance) {
        this.mowingOverlapDistance = mowingOverlapDistance;
    }

    public String getMowingSafetyDistance() {
        return mowingSafetyDistance;
    }

    public void setMowingSafetyDistance(String mowingSafetyDistance) {
        this.mowingSafetyDistance = mowingSafetyDistance;
    }

    @Override
    public String toString() {
        return "Dikuai{" +
@@ -434,9 +494,9 @@
                ", boundaryOriginalCoordinates='" + boundaryOriginalCoordinates + '\'' +
                ", boundaryCoordinates='" + boundaryCoordinates + '\'' +
                ", plannedPath='" + plannedPath + '\'' +
                ", obstacleOriginalCoordinates='" + obstacleOriginalCoordinates + '\'' +
                ", obstacleCoordinates='" + obstacleCoordinates + '\'' +
                ", returnPointCoordinates='" + returnPointCoordinates + '\'' +
                ", returnPathCoordinates='" + returnPathCoordinates + '\'' +
                ", returnPathRawCoordinates='" + returnPathRawCoordinates + '\'' +
                ", boundaryPointInterval='" + boundaryPointInterval + '\'' +
                ", angleThreshold='" + angleThreshold + '\'' +
                ", intelligentSceneAnalysis='" + intelligentSceneAnalysis + '\'' +