2025122

张世豪

2025-12-02 6799351be12deb2f713f2c0a2b4c467a6d1098c3

 src/zhuye/MapRenderer.java

@@ -3,18 +3,27 @@
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.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
@@ -34,6 +43,8 @@
    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");
    
@@ -43,6 +54,10 @@
    private Rectangle2D.Double boundaryBounds;
    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 +74,8 @@
    private JLabel realtimeSpeedValueLabel;
    private JLabel headingValueLabel;
    private JLabel updateTimeValueLabel;
    private CircleCaptureOverlay circleCaptureOverlay;
    private final List<double[]> circleSampleMarkers = new ArrayList<>();
    
    public MapRenderer(JPanel visualizationPanel) {
        this.visualizationPanel = visualizationPanel;
@@ -202,11 +219,26 @@

        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 (hasPlannedPath) {
            drawCurrentPlannedPath(g2d);
        }
@@ -285,6 +317,137 @@
        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) {
@@ -759,6 +922,421 @@
        currentBoundaryLandNumber = null;
    }

    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() {
        if (plannedPathBounds != null) {
            Rectangle2D.Double bounds = plannedPathBounds;
@@ -766,16 +1344,26 @@
                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 +1375,7 @@
        if (parsed.size() < 2) {
            currentPlannedPath = null;
            plannedPathBounds = null;
            if (currentBoundary == null || currentBoundary.size() < 2) {
            if (!hasRenderableBoundary()) {
                resetView();
            } else {
                visualizationPanel.repaint();
@@ -800,7 +1388,7 @@

        Rectangle2D.Double bounds = plannedPathBounds;
        SwingUtilities.invokeLater(() -> {
            if (currentBoundary == null || currentBoundary.size() < 2) {
            if (!hasRenderableBoundary()) {
                fitBoundsToView(bounds);
            }
            visualizationPanel.repaint();