1211

826220679@qq.com

6 小时以前 7881cef5c3dcea8e6037101db2c3eeb2fd3ba5da

 src/lujing/MowingPathGenerationPage.java

@@ -609,12 +609,14 @@
                // 无障碍物的情况
                if (grassType == 1) {
                    // 凸形地块，无障碍物 -> 调用 AoxinglujingNoObstacle
                    System.out.println("调用算法: 凸形无障碍物, 类名: AoxinglujingNoObstacle");
                    List<AoxinglujingNoObstacle.PathSegment> segments = 
                        AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
                    generated = formatAoxingPathSegments(segments);
                } else if (grassType == 2) {
                    // 异形地块，无障碍物 -> 调用 YixinglujingNoObstacle
                    // 调用 YixinglujingNoObstacle.planPath 获取路径段列表
                    System.out.println("调用算法: 异形无障碍物, 类名: YixinglujingNoObstacle");
                    List<YixinglujingNoObstacle.PathSegment> segments = 
                        YixinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
                    // 格式化路径段列表为字符串
@@ -625,6 +627,7 @@
                        JOptionPane.showMessageDialog(parentComponent, "无法判断地块类型，尝试按凸形地块处理", 
                            "提示", JOptionPane.WARNING_MESSAGE);
                    }
                    System.out.println("调用算法: 无法判断类型(默认凸形无障碍物), 类名: AoxinglujingNoObstacle");
                    List<AoxinglujingNoObstacle.PathSegment> segments = 
                        AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
                    generated = formatAoxingPathSegments(segments);
@@ -634,12 +637,14 @@
                if (grassType == 1) {
                    // 凸形地块，有障碍物 -> 调用 AoxinglujingHaveObstacel
                    // 传入参数：boundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
                    System.out.println("调用算法: 凸形有障碍物, 类名: AoxinglujingHaveObstacel");
                    List<AoxinglujingHaveObstacel.PathSegment> segments = 
                        AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    generated = formatAoxingHaveObstaclePathSegments(segments);
                } else if (grassType == 2) {
                    // 异形地块，有障碍物 -> 调用 YixinglujingHaveObstacel
                    // 传入参数：boundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
                    System.out.println("调用算法: 异形有障碍物, 类名: YixinglujingHaveObstacel");
                    List<YixinglujingHaveObstacel.PathSegment> segments = 
                        YixinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    generated = formatYixingHaveObstaclePathSegments(segments);
@@ -649,6 +654,7 @@
                        JOptionPane.showMessageDialog(parentComponent, "无法判断地块类型，尝试按凸形地块处理", 
                            "提示", JOptionPane.WARNING_MESSAGE);
                    }
                    System.out.println("调用算法: 无法判断类型(默认凸形有障碍物), 类名: AoxinglujingHaveObstacel");
                    List<AoxinglujingHaveObstacel.PathSegment> segments = 
                        AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    generated = formatAoxingHaveObstaclePathSegments(segments);
@@ -730,18 +736,20 @@
            return "";
        }
        StringBuilder sb = new StringBuilder();
        AoxinglujingNoObstacle.Point last = null;
        for (AoxinglujingNoObstacle.PathSegment segment : segments) {
            // 只添加割草工作段，跳过过渡段
            if (segment.isMowing) {
                // 如果起点与上一个终点不同，添加起点
                if (last == null || !equals2D(last, segment.start)) {
                    appendPoint(sb, segment.start);
                }
                // 添加终点
                appendPoint(sb, segment.end);
                last = segment.end;
        AoxinglujingNoObstacle.Point lastEnd = null;
        boolean firstWritten = false;
        for (AoxinglujingNoObstacle.PathSegment s : segments) {
            if (!firstWritten) {
                appendPoint(sb, s.start);
                firstWritten = true;
                lastEnd = s.start;
            } else if (lastEnd == null || !equals2D(lastEnd, s.start)) {
                // 非连续段，开始新的子路径
                appendPoint(sb, s.start);
                lastEnd = s.start;
            }
            appendPointWithType(sb, s.end, s.isMowing);
            lastEnd = s.end;
        }
        return sb.toString();
    }
@@ -754,18 +762,20 @@
            return "";
        }
        StringBuilder sb = new StringBuilder();
        YixinglujingNoObstacle.Point last = null;
        for (YixinglujingNoObstacle.PathSegment segment : segments) {
            // 只添加割草工作段，跳过过渡段
            if (segment.isMowing) {
                // 如果起点与上一个终点不同，添加起点
                if (last == null || !equalsYixingPoint(last, segment.start)) {
                    appendYixingPoint(sb, segment.start);
                }
                // 添加终点
                appendYixingPoint(sb, segment.end);
                last = segment.end;
        YixinglujingNoObstacle.Point lastEnd = null;
        boolean firstWritten = false;
        for (YixinglujingNoObstacle.PathSegment s : segments) {
            if (!firstWritten) {
                appendYixingPoint(sb, s.start);
                firstWritten = true;
                lastEnd = s.start;
            } else if (lastEnd == null || !equalsYixingPoint(lastEnd, s.start)) {
                // 非连续段，开始新的子路径
                appendYixingPoint(sb, s.start);
                lastEnd = s.start;
            }
            appendYixingPointWithType(sb, s.end, s.isMowing);
            lastEnd = s.end;
        }
        return sb.toString();
    }
@@ -802,15 +812,19 @@
            return "";
        }
        StringBuilder sb = new StringBuilder();
        YixinglujingHaveObstacel.Point last = null;
        for (YixinglujingHaveObstacel.PathSegment segment : segments) {
            // 如果是第一段，或者当前段起点与上一段终点不连续，则添加起点
            if (last == null || !equalsYixingHaveObstaclePoint(last, segment.start)) {
                appendYixingHaveObstaclePoint(sb, segment.start);
        YixinglujingHaveObstacel.Point lastEnd = null;
        boolean firstWritten = false;
        for (YixinglujingHaveObstacel.PathSegment s : segments) {
            if (!firstWritten) {
                appendYixingHaveObstaclePoint(sb, s.start);
                firstWritten = true;
                lastEnd = s.start;
            } else if (lastEnd == null || !equalsYixingHaveObstaclePoint(lastEnd, s.start)) {
                appendYixingHaveObstaclePoint(sb, s.start);
                lastEnd = s.start;
            }
            // 添加终点
            appendYixingHaveObstaclePoint(sb, segment.end);
            last = segment.end;
            appendYixingHaveObstaclePointWithType(sb, s.end, s.isMowing);
            lastEnd = s.end;
        }
        return sb.toString();
    }
@@ -825,7 +839,14 @@
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
        sb.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
    }

    private void appendYixingHaveObstaclePointWithType(StringBuilder sb, YixinglujingHaveObstacel.Point point, boolean isMowing) {
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.2f,%.2f,%s", point.x, point.y, isMowing ? "M" : "T"));
    }

    /**
@@ -846,7 +867,14 @@
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
        sb.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
    }

    private void appendPointWithType(StringBuilder sb, AoxinglujingNoObstacle.Point point, boolean isMowing) {
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.2f,%.2f,%s", point.x, point.y, isMowing ? "M" : "T"));
    }
    
    /**
@@ -867,7 +895,14 @@
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
        sb.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
    }

    private void appendYixingPointWithType(StringBuilder sb, YixinglujingNoObstacle.Point point, boolean isMowing) {
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.2f,%.2f,%s", point.x, point.y, isMowing ? "M" : "T"));
    }

    /**
@@ -888,7 +923,7 @@
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
        sb.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
    }
    
    // ========== UI辅助方法 ==========