以割草机视图为中心显示功能

张世豪

7 天以前 68b1f4e85c29164d5de189262282454f9a0b1cc0

 src/zhuye/MapRenderer.java

@@ -3,29 +3,48 @@
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.ArrayDeque;
import java.util.ArrayList;
import java.util.Date;
import java.util.Collections;
import java.util.Deque;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Locale;
import java.util.Set;
import set.Setsys;
import gecaoji.Device;
import gecaoji.Gecaoji;
import gecaoji.GecaojiMeg;
import gecaoji.gecaolunjing;
import gecaoji.lujingdraw;
import dikuai.Dikuaiguanli;
import dikuai.Dikuai;
import zhangaiwu.Obstacledraw;
import zhangaiwu.Obstacledge;
import zhangaiwu.yulanzhangaiwu;
import yaokong.Control03;

/**
 * 地图渲染器 - 负责坐标系绘制、视图变换等功能
 */
public class MapRenderer {
    // 视图变换参数
    private double scale = 1.0;
    private static final double DEFAULT_SCALE = 20.0; // 默认缩放比例
    private double scale = DEFAULT_SCALE;
    private double translateX = 0.0;
    private double translateY = 0.0;
    private Point lastDragPoint;
    private Point mousePoint;
    private static final double MIN_SCALE = 0.05d;
    private static final double MAX_SCALE = 50.0d;
    private static final double SCALE_EPSILON = 1e-6d;
    private static final String MAP_SCALE_PROPERTY = "mapScale"; // 属性文件中的键名
    
    // 主题颜色
    private final Color THEME_COLOR = new Color(46, 139, 87);
@@ -33,38 +52,126 @@
    private static final Color GRASS_FILL_COLOR = new Color(144, 238, 144, 120);
    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 double BOUNDARY_CONTAINS_TOLERANCE = 0.05;
    private static final double PREVIEW_BOUNDARY_MARKER_SCALE = 0.25d;
    
    // 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 double boundaryPointSizeScale = 1.0d;
    private boolean previewSizingEnabled;
    private String currentBoundaryLandNumber;
    private boolean dragInProgress;
    private final Gecaoji mower;
    private final Timer mowerUpdateTimer;
    private JDialog mowerInfoDialog;
    private Timer mowerInfoRefreshTimer;
    private JLabel mowerNumberValueLabel;
    private JLabel realtimeXValueLabel;
    private JLabel realtimeYValueLabel;
    private JLabel positioningStatusValueLabel;
    private JLabel satelliteCountValueLabel;
    private JLabel realtimeSpeedValueLabel;
    private JLabel headingValueLabel;
    private JLabel updateTimeValueLabel;
    private final GecaojiMeg mowerInfoManager;
    private CircleCaptureOverlay circleCaptureOverlay;
    private final List<double[]> circleSampleMarkers = new ArrayList<>();
    private final List<Point2D.Double> realtimeMowingTrack = new ArrayList<>();
    private final Deque<tuowei.TrailSample> idleMowerTrail = new ArrayDeque<>();
    private final List<Point2D.Double> handheldBoundaryPreview = new ArrayList<>();
    private double boundaryPreviewMarkerScale = 1.0d;
    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 boolean idleTrailSuppressed;
    private Path2D.Double realtimeBoundaryPathCache;
    private String realtimeBoundaryPathLand;

    private static final double TRACK_SAMPLE_MIN_DISTANCE_METERS = 0.2d;
    private static final double TRACK_DUPLICATE_TOLERANCE_METERS = 1e-3d;
    private static final long TRACK_PERSIST_INTERVAL_MS = 5_000L;
    public static final int DEFAULT_IDLE_TRAIL_DURATION_SECONDS = 60;
    private static final double IDLE_TRAIL_SAMPLE_DISTANCE_METERS = 0.05d;
    private long idleTrailDurationMs = DEFAULT_IDLE_TRAIL_DURATION_SECONDS * 1_000L;
    private static final double ZOOM_STEP_FACTOR = 1.2d;
    
    public MapRenderer(JPanel visualizationPanel) {
        this.visualizationPanel = visualizationPanel;
        this.mower = new Gecaoji();
        this.mowerUpdateTimer = createMowerTimer();
        this.mowerInfoManager = new GecaojiMeg(visualizationPanel, mower);
        setupMouseListeners();
        // 从配置文件读取上次保存的缩放比例和视图中心坐标
        loadViewSettingsFromProperties();
    }
    
    /**
     * 从配置文件读取缩放比例和视图中心坐标
     */
    private void loadViewSettingsFromProperties() {
        // 加载缩放比例
        String scaleValue = Setsys.getPropertyValue(MAP_SCALE_PROPERTY);
        if (scaleValue != null && !scaleValue.trim().isEmpty()) {
            try {
                double savedScale = Double.parseDouble(scaleValue.trim());
                // 验证缩放比例是否在有效范围内
                if (savedScale >= MIN_SCALE && savedScale <= MAX_SCALE) {
                    scale = savedScale;
                } else {
                    scale = DEFAULT_SCALE;
                }
            } catch (NumberFormatException e) {
                // 如果解析失败，使用默认值
                scale = DEFAULT_SCALE;
            }
        } else {
            // 如果没有保存的值，使用默认值
            scale = DEFAULT_SCALE;
        }
        
        // 加载视图中心坐标
        String viewCenterXValue = Setsys.getPropertyValue("viewCenterX");
        String viewCenterYValue = Setsys.getPropertyValue("viewCenterY");
        if (viewCenterXValue != null && !viewCenterXValue.trim().isEmpty()) {
            try {
                translateX = Double.parseDouble(viewCenterXValue.trim());
            } catch (NumberFormatException e) {
                translateX = 0.0;
            }
        } else {
            translateX = 0.0;
        }
        if (viewCenterYValue != null && !viewCenterYValue.trim().isEmpty()) {
            try {
                translateY = Double.parseDouble(viewCenterYValue.trim());
            } catch (NumberFormatException e) {
                translateY = 0.0;
            }
        } else {
            translateY = 0.0;
        }
    }
    
    /**
     * 保存缩放比例到配置文件
     */
    private void saveScaleToProperties() {
        Setsys setsys = new Setsys();
        // 保留2位小数
        setsys.updateProperty(MAP_SCALE_PROPERTY, String.format("%.2f", scale));
    }
    
    /**
@@ -73,10 +180,10 @@
    private void setupMouseListeners() {
        // 鼠标滚轮缩放
        visualizationPanel.addMouseWheelListener(e -> {
            mousePoint = e.getPoint();
            Point referencePoint = e.getPoint();
            int notches = e.getWheelRotation();
            double zoomFactor = notches < 0 ? 1.2 : 1/1.2;
            zoomAtPoint(zoomFactor);
            double zoomFactor = notches < 0 ? ZOOM_STEP_FACTOR : 1 / ZOOM_STEP_FACTOR;
            zoomAtPoint(referencePoint, zoomFactor);
        });
        
        // 鼠标拖拽移动
@@ -126,18 +233,16 @@
                    visualizationPanel.repaint();
                }
            }
            
            public void mouseMoved(MouseEvent e) {
                // 更新鼠标位置用于显示坐标
                mousePoint = e.getPoint();
                visualizationPanel.repaint();
            }
        });
    }

    private Timer createMowerTimer() {
        Timer timer = new Timer(300, e -> {
            mower.refreshFromDevice();
            updateIdleMowerTrail();
            if (realtimeTrackRecording) {
                captureRealtimeTrackPoint();
            }
            if (visualizationPanel != null) {
                visualizationPanel.repaint();
            }
@@ -151,34 +256,71 @@
    /**
     * 基于鼠标位置的缩放
     */
    private void zoomAtPoint(double zoomFactor) {
        if (mousePoint == null) return;
        
        // 计算鼠标位置在世界坐标系中的坐标
        double worldX = (mousePoint.x - visualizationPanel.getWidth()/2) / scale - translateX;
        double worldY = (mousePoint.y - visualizationPanel.getHeight()/2) / scale - translateY;
    private void zoomAtPoint(Point referencePoint, double zoomFactor) {
        if (visualizationPanel == null) {
            return;
        }
        if (referencePoint == null) {
            referencePoint = new Point(visualizationPanel.getWidth() / 2, visualizationPanel.getHeight() / 2);
        }

        scale *= zoomFactor;
        scale = Math.max(0.05, Math.min(scale, 50.0)); // 限制缩放范围，允许最多缩小至原始的1/20
        
        // 计算缩放后同一鼠标位置在世界坐标系中的新坐标
        double newWorldX = (mousePoint.x - visualizationPanel.getWidth()/2) / scale - translateX;
        double newWorldY = (mousePoint.y - visualizationPanel.getHeight()/2) / scale - translateY;
        
        // 调整平移量，使鼠标指向的世界坐标保持不变
        double panelCenterX = visualizationPanel.getWidth() / 2.0;
        double panelCenterY = visualizationPanel.getHeight() / 2.0;

        double worldX = (referencePoint.x - panelCenterX) / scale - translateX;
        double worldY = (referencePoint.y - panelCenterY) / scale - translateY;

    scale *= zoomFactor;
    scale = Math.max(MIN_SCALE, Math.min(scale, MAX_SCALE)); // 限制缩放范围，允许最多缩小至原始的1/20

        double newWorldX = (referencePoint.x - panelCenterX) / scale - translateX;
        double newWorldY = (referencePoint.y - panelCenterY) / scale - translateY;

        translateX += (newWorldX - worldX);
        translateY += (newWorldY - worldY);
        

        // 保存缩放比例到配置文件
        saveScaleToProperties();
        visualizationPanel.repaint();
    }

    public void zoomInFromCenter() {
        zoomAtPoint(null, ZOOM_STEP_FACTOR);
    }

    public void zoomOutFromCenter() {
        zoomAtPoint(null, 1 / ZOOM_STEP_FACTOR);
    }
    
    public boolean canZoomIn() {
        return scale < MAX_SCALE - SCALE_EPSILON;
    }

    public boolean canZoomOut() {
        return scale > MIN_SCALE + SCALE_EPSILON;
    }

    public double getScale() {
        return scale;
    }

    public double getMaxScale() {
        return MAX_SCALE;
    }

    public double getMinScale() {
        return MIN_SCALE;
    }
    
    /**
     * 重置视图
     */
    public void resetView() {
        scale = 1.0;
        scale = DEFAULT_SCALE;
        translateX = 0.0;
        translateY = 0.0;
        // 保存缩放比例到配置文件
        saveScaleToProperties();
        visualizationPanel.repaint();
    }
    
@@ -202,26 +344,52 @@

        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);
        }

    adddikuaiyulan.drawPreview(g2d, handheldBoundaryPreview, scale, handheldBoundaryPreviewActive, boundaryPreviewMarkerScale);

        if (hasPlannedPath) {
            drawCurrentPlannedPath(g2d);
        }

        if (boundaryPointsVisible && hasBoundary) {
            double markerScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
            pointandnumber.drawBoundaryPoints(
                g2d,
                currentBoundary,
                scale,
                BOUNDARY_POINT_MERGE_THRESHOLD,
                BOUNDARY_POINT_COLOR,
                BOUNDARY_LABEL_COLOR
                markerScale
            );
        }

        if (shouldRenderIdleTrail()) {
            tuowei.draw(g2d, idleMowerTrail, scale);
        }

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

        drawMower(g2d);
        
        // 恢复原始变换
@@ -237,7 +405,7 @@
    private void drawCoordinateSystem(Graphics2D g2d) {
        // 绘制原点 - 红色实心小圆圈
        g2d.setColor(Color.RED);
        g2d.fillOval(-1, -1, 2, 2);      
        g2d.fill(new Ellipse2D.Double(-0.5d, -0.5d, 1d, 1d));
    }
    
    
@@ -249,6 +417,578 @@
        mower.draw(g2d, scale);
    }

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

        Path2D.Double boundaryPath = getRealtimeBoundaryPath();
        double effectiveWidth = getEffectiveMowerWidthMeters();
        gecaolunjing.draw(g2d, realtimeMowingTrack, effectiveWidth, boundaryPath);
    }

    private Path2D.Double getRealtimeBoundaryPath() {
        if (realtimeTrackLandNumber == null) {
            return null;
        }

        if (currentBoundaryLandNumber != null && realtimeTrackLandNumber.equals(currentBoundaryLandNumber)) {
            if (currentBoundaryPath == null) {
                currentBoundaryPath = buildBoundaryPath(currentBoundary);
            }
            return currentBoundaryPath;
        }

        if (realtimeBoundaryPathCache != null && realtimeTrackLandNumber.equals(realtimeBoundaryPathLand)) {
            return realtimeBoundaryPathCache;
        }

        Dikuai dikuai = Dikuai.getDikuai(realtimeTrackLandNumber);
        if (dikuai == null) {
            realtimeBoundaryPathCache = null;
            realtimeBoundaryPathLand = null;
            return null;
        }

        String normalized = normalizeValue(dikuai.getBoundaryCoordinates());
        if (normalized == null) {
            realtimeBoundaryPathCache = null;
            realtimeBoundaryPathLand = null;
            return null;
        }

        List<Point2D.Double> parsed = parseBoundary(normalized);
        if (parsed.size() < 3) {
            realtimeBoundaryPathCache = null;
            realtimeBoundaryPathLand = null;
            return null;
        }

        realtimeBoundaryPathCache = buildBoundaryPath(parsed);
        realtimeBoundaryPathLand = realtimeTrackLandNumber;
        return realtimeBoundaryPathCache;
    }

    private boolean shouldRenderIdleTrail() {
        return !idleTrailSuppressed
            && !realtimeTrackRecording
            && !handheldBoundaryPreviewActive
            && idleMowerTrail.size() >= 2;
    }

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

        realtimeMowingTrack.add(candidate);
        if (!pendingTrackBreak && lastPoint != null && Double.isFinite(distance)) {
            trackLengthMeters += distance;
        }

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

    private void updateIdleMowerTrail() {
        long now = System.currentTimeMillis();
        pruneIdleMowerTrail(now);

        if (idleTrailSuppressed || realtimeTrackRecording) {
            if (!idleMowerTrail.isEmpty()) {
                clearIdleMowerTrail();
            }
            return;
        }

        Device device = Device.getGecaoji();
        if (device == null) {
            return;
        }
        // 使用更宽松的定位状态判断，允许状态1和4显示拖尾
        if (!isValidFixForTrail(device.getPositioningStatus())) {
            return;
        }

        Point2D.Double position = mower.getPosition();
        if (position == null || !Double.isFinite(position.x) || !Double.isFinite(position.y)) {
            return;
        }

        tuowei.TrailSample lastSample = idleMowerTrail.peekLast();
        if (lastSample != null) {
            Point2D.Double lastPoint = lastSample.getPoint();
            double dx = position.x - lastPoint.x;
            double dy = position.y - lastPoint.y;
            if (Math.hypot(dx, dy) < IDLE_TRAIL_SAMPLE_DISTANCE_METERS) {
                return;
            }
        }

        idleMowerTrail.addLast(new tuowei.TrailSample(now, new Point2D.Double(position.x, position.y)));
        pruneIdleMowerTrail(now);
    }
    
    /**
     * 强制更新拖尾（用于收到$GNGGA数据时立即更新）
     * 这个方法会刷新mower位置并立即添加到拖尾
     */
    public void forceUpdateIdleMowerTrail() {
        long now = System.currentTimeMillis();
        pruneIdleMowerTrail(now);

        if (idleTrailSuppressed || realtimeTrackRecording) {
            if (!idleMowerTrail.isEmpty()) {
                clearIdleMowerTrail();
            }
            return;
        }

        Device device = Device.getGecaoji();
        if (device == null) {
            return;
        }
        // 使用更宽松的定位状态判断，允许状态1和4显示拖尾
        if (!isValidFixForTrail(device.getPositioningStatus())) {
            return;
        }

        // 刷新mower位置，使用最新的Device数据
        mower.refreshFromDevice();
        Point2D.Double position = mower.getPosition();
        if (position == null || !Double.isFinite(position.x) || !Double.isFinite(position.y)) {
            return;
        }

        tuowei.TrailSample lastSample = idleMowerTrail.peekLast();
        if (lastSample != null) {
            Point2D.Double lastPoint = lastSample.getPoint();
            double dx = position.x - lastPoint.x;
            double dy = position.y - lastPoint.y;
            if (Math.hypot(dx, dy) < IDLE_TRAIL_SAMPLE_DISTANCE_METERS) {
                return;
            }
        }

        idleMowerTrail.addLast(new tuowei.TrailSample(now, new Point2D.Double(position.x, position.y)));
        pruneIdleMowerTrail(now);
        
        // 立即重绘，确保拖尾及时显示
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }

    private void pruneIdleMowerTrail(long now) {
        if (idleMowerTrail.isEmpty()) {
            return;
        }
    long cutoff = now - idleTrailDurationMs;
        boolean modified = false;
        while (!idleMowerTrail.isEmpty() && idleMowerTrail.peekFirst().getTimestamp() < cutoff) {
            idleMowerTrail.removeFirst();
            modified = true;
        }
        if (modified && visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }

    private void clearIdleMowerTrail() {
        if (idleMowerTrail.isEmpty()) {
            return;
        }
        idleMowerTrail.clear();
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }

    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;
        }

        idleTrailSuppressed = true;
        clearIdleMowerTrail();

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

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

    public void stopRealtimeTrackRecording() {
        realtimeTrackRecording = false;
        pendingTrackBreak = true;
        idleTrailSuppressed = false;
        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;
        idleTrailSuppressed = false;
        maybePersistRealtimeTrack(true);
        visualizationPanel.repaint();
    }

    public void clearIdleTrail() {
        clearIdleMowerTrail();
    }

    public void setIdleTrailDurationSeconds(int seconds) {
        int sanitized = seconds;
        if (sanitized < 5 || sanitized > 600) {
            sanitized = DEFAULT_IDLE_TRAIL_DURATION_SECONDS;
        }
        idleTrailDurationMs = sanitized * 1_000L;
        pruneIdleMowerTrail(System.currentTimeMillis());
    }

    public int getIdleTrailDurationSeconds() {
        long seconds = idleTrailDurationMs / 1_000L;
        if (seconds <= 0L) {
            return DEFAULT_IDLE_TRAIL_DURATION_SECONDS;
        }
        if (seconds > Integer.MAX_VALUE) {
            return DEFAULT_IDLE_TRAIL_DURATION_SECONDS;
        }
        return (int) seconds;
    }

    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;
        realtimeBoundaryPathCache = null;
        realtimeBoundaryPathLand = null;

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

        String[] segments = trimmed.split(";");
        Path2D.Double boundaryPath = getRealtimeBoundaryPath();
        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());
                if (!Double.isFinite(x) || !Double.isFinite(y)) {
                    continue;
                }
                Point2D.Double current = new Point2D.Double(x, y);
                if (boundaryPath != null && !isPointInsideBoundary(current, boundaryPath)) {
                    continue;
                }
                if (lastPoint != null) {
                    double dx = current.x - lastPoint.x;
                    double dy = current.y - lastPoint.y;
                    double distance = Math.hypot(dx, dy);
                    if (distance <= TRACK_DUPLICATE_TOLERANCE_METERS) {
                        continue;
                    }
                    if (distance < TRACK_SAMPLE_MIN_DISTANCE_METERS) {
                        continue;
                    }
                    trackLengthMeters += distance;
                }
                realtimeMowingTrack.add(current);
                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;
@@ -282,220 +1022,144 @@
    }

    private void drawCurrentPlannedPath(Graphics2D g2d) {
        lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale);
        double arrowScale = previewSizingEnabled ? 0.5d : 1.0d;
        lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale, arrowScale);
    }

    private void showMowerInfo() {
        Device device = Device.getGecaoji();
        if (device == null) {
            JOptionPane.showMessageDialog(
                visualizationPanel,
                "无设备数据",
                "割草机信息",
                JOptionPane.INFORMATION_MESSAGE
            );
    private void drawCircleSampleMarkers(Graphics2D g2d, List<double[]> markers, double scale) {
        if (markers == null || markers.isEmpty()) {
            return;
        }

        ensureMowerInfoDialog();
        updateMowerInfoLabels();
        positionMowerDialog();
        if (!mowerInfoDialog.isVisible()) {
            mowerInfoDialog.setVisible(true);
        } else {
            mowerInfoDialog.toFront();
        }
        startMowerInfoTimer();
    }

    private void ensureMowerInfoDialog() {
        if (mowerInfoDialog != null) {
            return;
        }

        Window owner = SwingUtilities.getWindowAncestor(visualizationPanel);
        JDialog dialog = new JDialog(owner, "割草机信息", Dialog.ModalityType.MODELESS);
        dialog.setDefaultCloseOperation(WindowConstants.DISPOSE_ON_CLOSE);

        JPanel content = new JPanel(new BorderLayout(0, 12));
        content.setBorder(BorderFactory.createEmptyBorder(16, 20, 16, 20));

        JPanel grid = new JPanel(new GridLayout(0, 2, 12, 8));

    grid.add(new JLabel("设备编号："));
        mowerNumberValueLabel = createValueLabel();
        grid.add(mowerNumberValueLabel);

    grid.add(new JLabel("实时X坐标："));
        realtimeXValueLabel = createValueLabel();
        grid.add(realtimeXValueLabel);

    grid.add(new JLabel("实时Y坐标："));
        realtimeYValueLabel = createValueLabel();
        grid.add(realtimeYValueLabel);

    grid.add(new JLabel("定位质量："));
        positioningStatusValueLabel = createValueLabel();
        grid.add(positioningStatusValueLabel);

    grid.add(new JLabel("卫星颗数："));
        satelliteCountValueLabel = createValueLabel();
        grid.add(satelliteCountValueLabel);

    grid.add(new JLabel("行驶速度："));
        realtimeSpeedValueLabel = createValueLabel();
        grid.add(realtimeSpeedValueLabel);

    grid.add(new JLabel("运动航向："));
        headingValueLabel = createValueLabel();
        grid.add(headingValueLabel);

    grid.add(new JLabel("更新时间："));
        updateTimeValueLabel = createValueLabel();
        grid.add(updateTimeValueLabel);

        content.add(grid, BorderLayout.CENTER);

        JButton closeButton = new JButton("关闭");
        closeButton.addActionListener(e -> dialog.dispose());
        JPanel buttonPanel = new JPanel(new FlowLayout(FlowLayout.RIGHT));
        buttonPanel.add(closeButton);
        content.add(buttonPanel, BorderLayout.SOUTH);

    dialog.setContentPane(content);
    dialog.pack();
        dialog.setResizable(false);
        dialog.addWindowListener(new WindowAdapter() {
            @Override
            public void windowClosed(WindowEvent e) {
                stopMowerInfoTimer();
                resetMowerInfoLabels();
                mowerInfoDialog = null;
        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;
            }
        });

        mowerInfoDialog = dialog;
            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 positionMowerDialog() {
        if (mowerInfoDialog == null || visualizationPanel == null) {
            return;
        }
        int panelWidth = visualizationPanel.getWidth();
        int panelHeight = visualizationPanel.getHeight();
        int dialogHeight = mowerInfoDialog.getHeight();
        if (dialogHeight <= 0) {
            dialogHeight = mowerInfoDialog.getPreferredSize().height;
        }
        if (panelWidth > 0) {
            mowerInfoDialog.setSize(panelWidth, dialogHeight);
        }
    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);

        try {
            Point panelOnScreen = visualizationPanel.getLocationOnScreen();
            int dialogWidth = mowerInfoDialog.getWidth();
            int targetX = panelOnScreen.x + (panelWidth - dialogWidth) / 2;
            int targetY = panelOnScreen.y + panelHeight / 3 - dialogHeight / 2;
            mowerInfoDialog.setLocation(targetX, targetY);
        } catch (IllegalComponentStateException ex) {
            // component not yet showing; ignore positioning
        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();
        }
    }

    private JLabel createValueLabel() {
        JLabel label = new JLabel("--");
        label.setHorizontalAlignment(SwingConstants.LEFT);
        return label;
    }

    private void startMowerInfoTimer() {
        if (mowerInfoRefreshTimer == null) {
            mowerInfoRefreshTimer = new Timer(1000, e -> updateMowerInfoLabels());
            mowerInfoRefreshTimer.setRepeats(true);
        }
        if (!mowerInfoRefreshTimer.isRunning()) {
            mowerInfoRefreshTimer.start();
    public void clearCircleCaptureOverlay() {
        circleCaptureOverlay = null;
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }

    private void stopMowerInfoTimer() {
        if (mowerInfoRefreshTimer != null) {
            mowerInfoRefreshTimer.stop();
            mowerInfoRefreshTimer = null;
    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();
        }
    }

    private void resetMowerInfoLabels() {
        mowerNumberValueLabel = null;
        realtimeXValueLabel = null;
        realtimeYValueLabel = null;
        positioningStatusValueLabel = null;
        satelliteCountValueLabel = null;
        realtimeSpeedValueLabel = null;
        headingValueLabel = null;
        updateTimeValueLabel = null;
    public void clearCircleSampleMarkers() {
        if (!circleSampleMarkers.isEmpty()) {
            circleSampleMarkers.clear();
            if (visualizationPanel != null) {
                visualizationPanel.repaint();
            }
        }
    }

    private void updateMowerInfoLabels() {
        if (mowerNumberValueLabel == null) {
            return;
    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;
        }

        Device device = Device.getGecaoji();
        if (device == null) {
            setMowerInfoLabels("--");
            return;
        }

        mower.refreshFromDevice();

        mowerNumberValueLabel.setText(formatDeviceValue(device.getMowerNumber()));
        realtimeXValueLabel.setText(formatDeviceValue(device.getRealtimeX()));
        realtimeYValueLabel.setText(formatDeviceValue(device.getRealtimeY()));
        positioningStatusValueLabel.setText(formatDeviceValue(device.getPositioningStatus()));
        satelliteCountValueLabel.setText(formatDeviceValue(device.getSatelliteCount()));
        realtimeSpeedValueLabel.setText(formatDeviceValue(device.getRealtimeSpeed()));
        headingValueLabel.setText(formatDeviceValue(device.getHeading()));
        updateTimeValueLabel.setText(formatTimestamp(device.getGupdateTime()));
    }

    private void setMowerInfoLabels(String value) {
        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 (satelliteCountValueLabel != null) satelliteCountValueLabel.setText(value);
        if (realtimeSpeedValueLabel != null) realtimeSpeedValueLabel.setText(value);
        if (headingValueLabel != null) headingValueLabel.setText(value);
        if (updateTimeValueLabel != null) updateTimeValueLabel.setText(value);
    }

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

    private String formatDeviceValue(String value) {
        String sanitized = sanitizeDeviceValue(value);
        return sanitized == null ? "--" : sanitized;
    }

    private String formatTimestamp(String value) {
        String sanitized = sanitizeDeviceValue(value);
        if (sanitized == null) {
            return "--";
        }
        try {
            long millis = Long.parseLong(sanitized);
            return TIMESTAMP_FORMAT.format(new Date(millis));
        } catch (NumberFormatException ex) {
            return sanitized;
    public void showMowerInfo() {
        if (mowerInfoManager != null) {
            mowerInfoManager.showMowerInfo();
        }
    }

@@ -548,7 +1212,11 @@

    private double computeSelectionThresholdPixels() {
        double scaleFactor = Math.max(0.5, scale);
        double markerDiameterWorld = Math.max(1.0, (10.0 / scaleFactor) * 0.2);
        double diameterScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
        if (!Double.isFinite(diameterScale) || diameterScale <= 0.0d) {
            diameterScale = 1.0d;
        }
        double markerDiameterWorld = Math.max(1.0, (10.0 / scaleFactor) * 0.2 * diameterScale);
        double markerDiameterPixels = markerDiameterWorld * scale;
        return Math.max(8.0, markerDiameterPixels * 1.5);
    }
@@ -588,6 +1256,7 @@

        if (updated.size() < 2) {
            currentBoundary = null;
            currentBoundaryPath = null;
            boundaryBounds = null;
            boundaryPointsVisible = false;
            Dikuaiguanli.updateBoundaryPointVisibility(currentBoundaryLandNumber, false);
@@ -595,10 +1264,12 @@
            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 +1331,101 @@
        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;
        }
    }
    
    /**
     * 判断定位状态是否有效，可用于显示拖尾
     * 接受状态1（单点定位）、2（码差分）、3（无效PPS）、4（固定解）、5（浮点解）
     */
    private boolean isValidFixForTrail(String fixQuality) {
        if (fixQuality == null) {
            return false;
        }
        String trimmed = fixQuality.trim();
        if (trimmed.isEmpty()) {
            return false;
        }
        // 接受状态1,2,3,4,5（只要不是0或无效状态）
        if ("1".equals(trimmed) || "2".equals(trimmed) || "3".equals(trimmed) || 
            "4".equals(trimmed) || "5".equals(trimmed)) {
            return true;
        }
        try {
            double value = Double.parseDouble(trimmed);
            // 接受1.0, 2.0, 3.0, 4.0, 5.0（只要不是0）
            return value >= 1.0 && value <= 5.0;
        } 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;
        }
        Path2D.Double path = getRealtimeBoundaryPath();
        return isPointInsideBoundary(point, path);
    }

    private boolean isPointInsideBoundary(Point2D.Double point, Path2D.Double path) {
        if (point == null || path == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
            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
@@ -667,30 +1433,34 @@
    private void drawViewInfo(Graphics2D g2d) {
        g2d.setColor(new Color(80, 80, 80));
        g2d.setFont(new Font("微软雅黑", Font.PLAIN, 11));
        
        // 只显示缩放比例，去掉平移信息
        String info = String.format("缩放: %.2fx", scale);
        g2d.drawString(info, 15, visualizationPanel.getHeight() - 15);
        
        if (mousePoint != null) {
            // 计算鼠标位置在世界坐标系中的坐标
            double worldX = (mousePoint.x - visualizationPanel.getWidth()/2) / scale - translateX;
            double worldY = (mousePoint.y - visualizationPanel.getHeight()/2) / scale - translateY;
            
            String mouseCoord = String.format("坐标: (%.1f, %.1f)m", worldX, worldY);
            g2d.drawString(mouseCoord, visualizationPanel.getWidth() - 150, visualizationPanel.getHeight() - 15);

        // 在地图顶部左侧显示遥控摇杆对应速度（若非零）
        try {
            int forward = Control03.getCurrentForwardSpeed();
            int steer = Control03.getCurrentSteeringSpeed();
            if (forward != 0 || steer != 0) {
                String speedInfo = String.format("行进:%d 转向:%d", forward, steer);
                // 背景半透明矩形增强可读性
                FontMetrics fm = g2d.getFontMetrics();
                int padding = 6;
                int w = fm.stringWidth(speedInfo) + padding * 2;
                int h = fm.getHeight() + padding;
                int x = 12;
                int y = 12;
                Color bg = new Color(255, 255, 255, 180);
                g2d.setColor(bg);
                g2d.fillRoundRect(x, y, w, h, 8, 8);
                g2d.setColor(new Color(120, 120, 120));
                g2d.drawString(speedInfo, x + padding, y + fm.getAscent() + (padding/2));
            }
        } catch (Throwable t) {
            // 不应阻塞渲染，静默处理任何异常
        }
        
        // 去掉操作提示："滚轮缩放 | 拖拽移动 | 右键重置"
        // String tips = "滚轮缩放 | 拖拽移动 | 右键重置";
        // g2d.drawString(tips, visualizationPanel.getWidth() - 200, 30);
    }
    
    /**
     * 获取当前缩放比例
     */
    public double getScale() {
        return scale;

        // 保留底部的缩放比例信息
        String info = String.format("缩放: %.2fx", scale);
        g2d.setColor(new Color(80, 80, 80));
        g2d.drawString(info, 15, visualizationPanel.getHeight() - 15);
    }
    
    /**
@@ -711,7 +1481,15 @@
     * 设置视图变换参数（用于程序化控制）
     */
    public void setViewTransform(double scale, double translateX, double translateY) {
        this.scale = scale;
        // 限制缩放范围
        scale = Math.max(MIN_SCALE, Math.min(scale, MAX_SCALE));
        // 如果缩放比例改变了，保存到配置文件
        if (Math.abs(this.scale - scale) > SCALE_EPSILON) {
            this.scale = scale;
            saveScaleToProperties();
        } else {
            this.scale = scale;
        }
        this.translateX = translateX;
        this.translateY = translateY;
        visualizationPanel.repaint();
@@ -720,6 +1498,8 @@
    public void setCurrentBoundary(String boundaryCoordinates, String landNumber, String landName) {
        this.boundaryName = landName;
        this.currentBoundaryLandNumber = landNumber;
        this.realtimeBoundaryPathCache = null;
        this.realtimeBoundaryPathLand = null;

        if (boundaryCoordinates == null) {
            clearBoundaryData();
@@ -741,8 +1521,10 @@
            return;
        }

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

        Rectangle2D.Double bounds = boundaryBounds;
        SwingUtilities.invokeLater(() -> {
@@ -753,10 +1535,436 @@

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

        // Remove wrapper characters like parentheses that are used when persisting payloads
        sanitized = sanitized.replace("(", "").replace(")", "");

        String[] pairs = sanitized.split(";");
        for (String pair : pairs) {
            if (pair == null) {
                continue;
            }
            String trimmed = stripInlineComment(pair.trim());
            if (trimmed.isEmpty()) {
                continue;
            }
            trimmed = trimmed.replace("(", "").replace(")", "");
            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 +1974,26 @@
                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 +2005,7 @@
        if (parsed.size() < 2) {
            currentPlannedPath = null;
            plannedPathBounds = null;
            if (currentBoundary == null || currentBoundary.size() < 2) {
            if (!hasRenderableBoundary()) {
                resetView();
            } else {
                visualizationPanel.repaint();
@@ -800,7 +2018,7 @@

        Rectangle2D.Double bounds = plannedPathBounds;
        SwingUtilities.invokeLater(() -> {
            if (currentBoundary == null || currentBoundary.size() < 2) {
            if (!hasRenderableBoundary()) {
                fitBoundsToView(bounds);
            }
            visualizationPanel.repaint();
@@ -812,6 +2030,102 @@
        visualizationPanel.repaint();
    }

    public void setBoundaryPointSizeScale(double sizeScale) {
        double normalized = (Double.isFinite(sizeScale) && sizeScale > 0.0d) ? sizeScale : 1.0d;
        if (Math.abs(boundaryPointSizeScale - normalized) < 1e-6) {
            return;
        }
        boundaryPointSizeScale = normalized;
        if (visualizationPanel == null) {
            return;
        }
        if (SwingUtilities.isEventDispatchThread()) {
            visualizationPanel.repaint();
        } else {
            SwingUtilities.invokeLater(visualizationPanel::repaint);
        }
    }

    public void setPathPreviewSizingEnabled(boolean enabled) {
        previewSizingEnabled = enabled;
        if (visualizationPanel == null) {
            return;
        }
        if (SwingUtilities.isEventDispatchThread()) {
            visualizationPanel.repaint();
        } else {
            SwingUtilities.invokeLater(visualizationPanel::repaint);
        }
    }

    public void setBoundaryPreviewMarkerScale(double markerScale) {
        double normalized = Double.isFinite(markerScale) && markerScale > 0.0d ? markerScale : 1.0d;
        if (Math.abs(boundaryPreviewMarkerScale - normalized) < 1e-6) {
            return;
        }
        boundaryPreviewMarkerScale = normalized;
        if (visualizationPanel == null) {
            return;
        }
        if (SwingUtilities.isEventDispatchThread()) {
            visualizationPanel.repaint();
        } else {
            SwingUtilities.invokeLater(visualizationPanel::repaint);
        }
    }

    public boolean setHandheldMowerIconActive(boolean handheldActive) {
        if (mower == null) {
            return false;
        }
        boolean changed = mower.useHandheldIcon(handheldActive);
        if (changed && visualizationPanel != null) {
            if (SwingUtilities.isEventDispatchThread()) {
                visualizationPanel.repaint();
            } else {
                SwingUtilities.invokeLater(visualizationPanel::repaint);
            }
        }
        return changed;
    }

    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();
        boundaryPreviewMarkerScale = 1.0d;
        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(";");
@@ -860,8 +2174,10 @@
            return;
        }

        double width = Math.max(bounds.width, 1);
        double height = Math.max(bounds.height, 1);
        Rectangle2D.Double targetBounds = includeMowerInBounds(bounds);

        double width = Math.max(targetBounds.width, 1);
        double height = Math.max(targetBounds.height, 1);

        double targetWidth = width * 1.2;
        double targetHeight = height * 1.2;
@@ -873,18 +2189,62 @@
        newScale = Math.max(0.05, Math.min(newScale, 50.0));

        this.scale = newScale;
        this.translateX = -bounds.getCenterX();
        this.translateY = -bounds.getCenterY();
        this.translateX = -targetBounds.getCenterX();
        this.translateY = -targetBounds.getCenterY();
    }

    // Keep the mower marker inside the viewport whenever the camera refits to scene bounds.
    private Rectangle2D.Double includeMowerInBounds(Rectangle2D.Double bounds) {
        Rectangle2D.Double expanded = new Rectangle2D.Double(
            bounds.x,
            bounds.y,
            Math.max(0.0, bounds.width),
            Math.max(0.0, bounds.height)
        );

        if (mower == null || !mower.hasValidPosition()) {
            return expanded;
        }

        Point2D.Double mowerPosition = mower.getPosition();
        if (mowerPosition == null
            || !Double.isFinite(mowerPosition.x)
            || !Double.isFinite(mowerPosition.y)) {
            return expanded;
        }

        double minX = Math.min(expanded.x, mowerPosition.x);
        double minY = Math.min(expanded.y, mowerPosition.y);
        double maxX = Math.max(expanded.x + expanded.width, mowerPosition.x);
        double maxY = Math.max(expanded.y + expanded.height, mowerPosition.y);

        expanded.x = minX;
        expanded.y = minY;
        expanded.width = Math.max(0.0, maxX - minX);
        expanded.height = Math.max(0.0, maxY - minY);

        return expanded;
    }

    public void dispose() {
        mowerUpdateTimer.stop();
        stopMowerInfoTimer();
        if (mowerInfoDialog != null) {
            mowerInfoDialog.dispose();
            mowerInfoDialog = null;
        }
        resetMowerInfoLabels();
        mowerInfoManager.dispose();
    }

    /**
     * 获取当前边界点列表
     * @return 当前边界点列表，如果没有边界则返回null
     */
    public List<Point2D.Double> getCurrentBoundary() {
        return currentBoundary;
    }

    /**
     * 获取割草机实例
     * @return 割草机实例
     */
    public Gecaoji getMower() {
        return mower;
    }

}