优化了异形有障碍物算法

张世豪

2 天以前 913a3b7409e08fd239a65ff7afabefe95b51865a

 src/denglu/Denglu.java

@@ -2,6 +2,14 @@

import homein.WenJianSuo;
import ui.UIConfig;
import zhuye.Shouye;
import gecaoji.Device;
import chuankou.SerialPortNativeLoader;
import set.Setsys;
import udpdell.UDPServer;
import user.Usrdell;
import Mqttmessage.Client;
import login.LoginVerifier;
import javax.swing.*;
import java.awt.*;
import java.awt.event.*;
@@ -338,10 +346,7 @@
        // 忘记密码点击事件
        forgotPassword.addMouseListener(new MouseAdapter() {
            public void mouseClicked(MouseEvent e) {
                JOptionPane.showMessageDialog(Denglu.this, 
                    "请联系管理员重置密码", 
                    "忘记密码", 
                    JOptionPane.INFORMATION_MESSAGE);
                new user.ZhaohuiMima(Denglu.this).setVisible(true);
            }
        });
        
@@ -429,10 +434,23 @@
            usernameField.setText("");
        }
        
        // 如果密码为-1，清空密码框
        String savedPassword = UserChuShiHua.getProperty("password");
        if (savedPassword != null && savedPassword.equals("-1")) {
            passwordField.setText("");
        // 加载记住我状态
        String rememberPwd = UserChuShiHua.getProperty("rememberPassword");
        boolean isRemember = "1".equals(rememberPwd);
        rememberMe.setSelected(isRemember);

        // 如果记住我被选中，填充密码并自动登录（延迟执行，确保窗口已显示）
        if (isRemember) {
             String savedPassword = UserChuShiHua.getProperty("password");
             String savedEmail = UserChuShiHua.getProperty("email");
             if (savedPassword != null && !savedPassword.equals("-1") && 
                 savedEmail != null && !savedEmail.equals("-1")) {
                 passwordField.setText(savedPassword);
                 // 延迟执行自动登录，确保窗口已经显示
                 SwingUtilities.invokeLater(() -> {
                     performAutoLogin(savedEmail, savedPassword);
                 });
             }
        }
    }

@@ -448,11 +466,11 @@
    }

    private void performLogin() {
        String username = usernameField.getText().trim();
        String usernameOrEmail = usernameField.getText().trim();
        String password = new String(passwordField.getPassword()).trim();
        
        // 输入验证
        if (username.isEmpty()) {
        if (usernameOrEmail.isEmpty()) {
            JOptionPane.showMessageDialog(this, 
                "请输入用户名或邮箱", 
                "输入错误", 
@@ -470,58 +488,149 @@
            return;
        }
        
        // 验证用户名和密码
        if (validateLogin(username, password)) {
            JOptionPane.showMessageDialog(this, 
                "登录成功！", 
                "成功", 
                JOptionPane.INFORMATION_MESSAGE);
            
            // 更新最后登录时间
            UserChuShiHua.updateProperty("lastLoginTime", String.valueOf(System.currentTimeMillis()));
            
            // 如果记住我被选中，保存用户名
            if (rememberMe.isSelected()) {
                UserChuShiHua.updateProperty("userName", username);
        // 获取邮箱地址（如果输入的是用户名，从配置文件中获取对应的邮箱）
        String email = getEmailFromInput(usernameOrEmail);
        
        // 禁用登录按钮，防止重复点击
        loginButton.setEnabled(false);
        
        // 在新线程中调用API，避免阻塞UI
        new Thread(() -> {
            try {
                // 调用登录验证API
                LoginVerifier.LoginVerifyResponse response = LoginVerifier.verifyLogin(email, password);
                
                // 在EDT线程中更新UI
                SwingUtilities.invokeLater(() -> {
                    loginButton.setEnabled(true);
                    
                    if (response.isSuccess()) {
                        // 登录成功
                        // 更新最后登录时间
                        UserChuShiHua.updateProperty("lastLoginTime", String.valueOf(System.currentTimeMillis()));
                        
                        // 保存记住我状态
                        if (rememberMe.isSelected()) {
                            UserChuShiHua.updateProperty("rememberPassword", "1");
                            UserChuShiHua.updateProperty("userName", usernameOrEmail);
                            UserChuShiHua.updateProperty("email", email);
                            UserChuShiHua.updateProperty("password", password);
                        } else {
                            UserChuShiHua.updateProperty("rememberPassword", "0");
                        }
                        
                        // 关闭登录窗口并打开首页
                        openMainApplication();
                    } else {
                        // 登录失败，显示错误信息
                        String errorMessage = response.getMessage() != null ? 
                            response.getMessage() : "用户名或密码错误！";
                        JOptionPane.showMessageDialog(this, 
                            errorMessage, 
                            "登录失败", 
                            JOptionPane.ERROR_MESSAGE);
                        passwordField.setText("");
                        passwordField.requestFocus();
                    }
                });
            } catch (Exception e) {
                // 异常处理，恢复按钮并显示错误
                SwingUtilities.invokeLater(() -> {
                    loginButton.setEnabled(true);
                    JOptionPane.showMessageDialog(this, 
                        "登录时发生错误: " + e.getMessage(), 
                        "错误", 
                        JOptionPane.ERROR_MESSAGE);
                    passwordField.setText("");
                    passwordField.requestFocus();
                });
            }
            
            // 这里可以添加跳转到主界面的代码
            openMainApplication();
            
        } else {
            JOptionPane.showMessageDialog(this, 
                "用户名或密码错误！", 
                "登录失败", 
                JOptionPane.ERROR_MESSAGE);
            passwordField.setText("");
            passwordField.requestFocus();
        }
        }).start();
    }

    private boolean validateLogin(String username, String password) {
        // 从UserChuShiHua获取存储的用户数据进行比较
        String storedUsername = UserChuShiHua.getProperty("userName");
        String storedPassword = UserChuShiHua.getProperty("password");
        String storedEmail = UserChuShiHua.getProperty("email");
        
        // 检查用户名/邮箱和密码是否匹配
        boolean usernameMatch = username.equals(storedUsername) || username.equals(storedEmail);
        boolean passwordMatch = password.equals(storedPassword);
        
        return usernameMatch && passwordMatch;
    // 邮箱验证方法
    private boolean isValidEmail(String email) {
        // 简单的邮箱格式验证
        String emailRegex = "^[a-zA-Z0-9_+&*-]+(?:\\.[a-zA-Z0-9_+&*-]+)*@(?:[a-zA-Z0-9-]+\\.)+[a-zA-Z]{2,7}$";
        return email != null && email.matches(emailRegex);
    }
    
    // 获取邮箱地址（如果输入的是用户名，则从配置文件中获取邮箱）
    private String getEmailFromInput(String usernameOrEmail) {
        // 如果输入的是邮箱格式，直接返回
        if (isValidEmail(usernameOrEmail)) {
            return usernameOrEmail;
        }
        // 否则，从配置文件中获取保存的邮箱
        String savedEmail = UserChuShiHua.getProperty("email");
        if (savedEmail != null && !savedEmail.equals("-1")) {
            // 检查输入的用户名是否匹配保存的用户名
            String savedUsername = UserChuShiHua.getProperty("userName");
            if (usernameOrEmail.equals(savedUsername)) {
                return savedEmail;
            }
        }
        // 如果找不到邮箱，返回输入的字符串（可能是邮箱格式但验证失败，或者用户名不存在）
        return usernameOrEmail;
    }
    
    // 自动登录（从配置文件读取邮箱和密码）
    private void performAutoLogin(String email, String password) {
        // 在新线程中调用API，避免阻塞UI
        new Thread(() -> {
            try {
                LoginVerifier.LoginVerifyResponse response = LoginVerifier.verifyLogin(email, password);
                
                SwingUtilities.invokeLater(() -> {
                    if (response.isSuccess()) {
                        // 登录成功，跳转到主页
                        openMainApplication();
                    } else {
                        // 登录失败，清空密码字段，让用户重新输入
                        passwordField.setText("");
                        usernameField.requestFocus();
                    }
                });
            } catch (Exception e) {
                // 异常处理，清空密码字段
                SwingUtilities.invokeLater(() -> {
                    passwordField.setText("");
                    usernameField.requestFocus();
                });
            }
        }).start();
    }

    private void openMainApplication() {
        // 这里可以打开主应用程序窗口
        System.out.println("登录成功，准备打开主应用程序...");
        
        // 演示：3秒后关闭登录窗口
        Timer timer = new Timer(1000, e -> {
            dispose();
            System.out.println("登录窗口已关闭，主应用程序已启动");
        launchMainApp();
        dispose();
    }

    public static void launchMainApp() {
        System.out.println("准备打开主应用程序...");

        SwingUtilities.invokeLater(() -> {
            JFrame mainFrame = new JFrame("智能割草系统");
            mainFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);

            Shouye homePanel = new Shouye();
            mainFrame.setContentPane(homePanel);

            // 设置与登录页面相同的尺寸
            mainFrame.setSize(UIConfig.DIALOG_WIDTH, UIConfig.DIALOG_HEIGHT);
            mainFrame.setMinimumSize(new Dimension(UIConfig.DIALOG_WIDTH, UIConfig.DIALOG_HEIGHT));
            mainFrame.setResizable(true);
            mainFrame.setLocationRelativeTo(null);
            mainFrame.setVisible(true);

            System.out.println("主应用程序已启动");
            
            // 启动后连接MQTT
            new Thread(() -> {
                System.out.println("正在连接MQTT服务器...");
                Client.lianjiemqqt();
            }).start();
        });
        timer.setRepeats(false);
        timer.start();
    }
    
    // 注册窗口方法
@@ -530,5 +639,63 @@
        RegistrationFrame registerFrame = new RegistrationFrame(this, currentLanguageCode);
        registerFrame.setVisible(true);
    }
    
    /**
     * 程序入口点
     * 集成Homein类的初始化逻辑
     */
    public static void main(String[] args) {
        // 检查程序是否已经运行
        if (WenJianSuo.isAlreadyRunning()) {
            JOptionPane.showMessageDialog(null, 
                "程序已经在运行中！\n不能同时打开多个实例。", 
                "警告", 
                JOptionPane.WARNING_MESSAGE);
            System.exit(0);
            return;
        }
        
        // 添加关闭钩子，确保程序退出时释放锁
        Runtime.getRuntime().addShutdownHook(new Thread(() -> {
            WenJianSuo.releaseLock();
        }));

        try {
            SerialPortNativeLoader.ensureLibraryPresent();
            // 初始化数据
            UserChuShiHua.initialize();
            Usrdell.initialize(); // 初始化用户属性

            Setsys setsys = new Setsys();
            setsys.initializeFromProperties();
            Device.initializeActiveDevice(setsys.getMowerId());

            UDPServer.startAsync();//启动数据接收线程
            
            // 显示初始数据
            System.out.println("初始用户名: " + UserChuShiHua.getProperty("userName"));
            System.out.println("初始密码: " + UserChuShiHua.getProperty("password"));
            
            // 启动登录界面（自动登录逻辑在 loadUserPreferences 中处理）
            EventQueue.invokeLater(() -> {
                try {
                    new Denglu().setVisible(true);
                } catch (Exception e) {
                    e.printStackTrace();
                    JOptionPane.showMessageDialog(null, 
                        "登录界面启动失败: " + e.getMessage(), 
                        "错误", 
                        JOptionPane.ERROR_MESSAGE);
                }
            });
            
        } catch (Exception e) {
            e.printStackTrace();
            JOptionPane.showMessageDialog(null, 
                "程序启动失败: " + e.getMessage(), 
                "错误", 
                JOptionPane.ERROR_MESSAGE);
        }
    }
   
}