优化了异形有障碍物算法

张世豪

2 天以前 913a3b7409e08fd239a65ff7afabefe95b51865a

 src/lujing/MowingPathGenerationPage.java

@@ -140,8 +140,21 @@
        contentPanel.add(createTextAreaSection(obstacleTitle, obstacleArea));
        
        // 割草宽度
        widthField = createInfoTextField(widthValue != null ? widthValue : "", true);
        contentPanel.add(createTextFieldSection("割草宽度 (cm)", widthField));
        String displayWidth = "";
        if (widthValue != null && !widthValue.trim().isEmpty() && !"-1".equals(widthValue.trim())) {
            try {
                double val = Double.parseDouble(widthValue.trim());
                // 简单的启发式转换：如果值大于5，假设是厘米，转换为米
                if (val > 5) {
                    val = val / 100.0;
                }
                displayWidth = String.format(Locale.US, "%.2f", val);
            } catch (NumberFormatException e) {
                displayWidth = widthValue;
            }
        }
        widthField = createInfoTextField(displayWidth, true);
        contentPanel.add(createTextFieldSection("割草宽度 (m)", widthField));
        
        // 割草安全距离（只读显示）
        // 优先从Dikuai对象获取，如果Dikuai中没有，再从Device获取
@@ -223,9 +236,9 @@
        String sanitizedWidth = sanitizeWidthString(widthField.getText());
        if (sanitizedWidth != null) {
            try {
                double widthCm = Double.parseDouble(sanitizedWidth);
                widthField.setText(formatWidthForStorage(widthCm));
                sanitizedWidth = formatWidthForStorage(widthCm);
                double widthMeters = Double.parseDouble(sanitizedWidth);
                widthField.setText(formatWidthForStorage(widthMeters));
                sanitizedWidth = formatWidthForStorage(widthMeters);
            } catch (NumberFormatException ex) {
                widthField.setText(sanitizedWidth);
            }
@@ -407,25 +420,25 @@
        String rawWidthInput = widthField.getText() != null ? widthField.getText().trim() : "";
        String widthSanitized = sanitizeWidthString(widthField.getText());
        if (widthSanitized == null) {
                String message = rawWidthInput.isEmpty() ? "请先设置割草宽度(cm)" : "割草宽度格式不正确";
                String message = rawWidthInput.isEmpty() ? "请先设置割草宽度(m)" : "割草宽度格式不正确";
            JOptionPane.showMessageDialog(this, message, "提示", JOptionPane.WARNING_MESSAGE);
            return;
        }
        
        double widthCm;
        double widthMeters;
        try {
            widthCm = Double.parseDouble(widthSanitized);
            widthMeters = Double.parseDouble(widthSanitized);
        } catch (NumberFormatException ex) {
            JOptionPane.showMessageDialog(this, "割草宽度格式不正确", "提示", JOptionPane.WARNING_MESSAGE);
            return;
        }
        
        if (widthCm <= 0) {
        if (widthMeters <= 0) {
            JOptionPane.showMessageDialog(this, "割草宽度必须大于0", "提示", JOptionPane.WARNING_MESSAGE);
            return;
        }
        
        String widthNormalized = formatWidthForStorage(widthCm);
        String widthNormalized = formatWidthForStorage(widthMeters);
        widthField.setText(widthNormalized);
        
        String pathNormalized = normalizeCoordinateInput(pathArea.getText());
@@ -518,15 +531,15 @@
        String widthStr = sanitizeWidthString(widthCmInput);
        if (widthStr == null) {
            if (showMessages) {
                String message = rawWidth.isEmpty() ? "请先设置割草宽度(cm)" : "割草宽度格式不正确";
                String message = rawWidth.isEmpty() ? "请先设置割草宽度(m)" : "割草宽度格式不正确";
                JOptionPane.showMessageDialog(parentComponent, message, "提示", JOptionPane.WARNING_MESSAGE);
            }
            return null;
        }
        
        double widthCm;
        double widthVal;
        try {
            widthCm = Double.parseDouble(widthStr);
            widthVal = Double.parseDouble(widthStr);
        } catch (NumberFormatException ex) {
            if (showMessages) {
                JOptionPane.showMessageDialog(parentComponent, "割草宽度格式不正确", 
@@ -535,7 +548,7 @@
            return null;
        }
        
        if (widthCm <= 0) {
        if (widthVal <= 0) {
            if (showMessages) {
                JOptionPane.showMessageDialog(parentComponent, "割草宽度必须大于0", 
                    "提示", JOptionPane.WARNING_MESSAGE);
@@ -543,7 +556,7 @@
            return null;
        }
        
        double widthMeters = widthCm / 100.0d;
        double widthMeters = widthVal;
        String plannerWidth = BigDecimal.valueOf(widthMeters)
            .setScale(3, RoundingMode.HALF_UP)
            .stripTrailingZeros()
@@ -627,8 +640,9 @@
                } 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)
                    // 注意：YixinglujingHaveObstacel.planPath 返回 String
                    generated = YixinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    List<YixinglujingHaveObstacel.PathSegment> segments = 
                        YixinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
                    generated = formatYixingHaveObstaclePathSegments(segments);
                } else {
                    // 无法判断地块类型，默认按凸形处理或提示
                    if (showMessages) {
@@ -781,6 +795,40 @@
    }

    /**
     * 格式化 YixinglujingHaveObstacel.PathSegment 列表为坐标字符串
     */
    private String formatYixingHaveObstaclePathSegments(List<YixinglujingHaveObstacel.PathSegment> segments) {
        if (segments == null || segments.isEmpty()) {
            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);
            }
            // 添加终点
            appendYixingHaveObstaclePoint(sb, segment.end);
            last = segment.end;
        }
        return sb.toString();
    }

    private boolean equalsYixingHaveObstaclePoint(YixinglujingHaveObstacel.Point p1, YixinglujingHaveObstacel.Point p2) {
        if (p1 == null || p2 == null) return false;
        double tolerance = 1e-6;
        return Math.abs(p1.x - p2.x) < tolerance && Math.abs(p1.y - p2.y) < tolerance;
    }

    private void appendYixingHaveObstaclePoint(StringBuilder sb, YixinglujingHaveObstacel.Point point) {
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
    }

    /**
     * 比较两个点是否相同（使用小的容差）
     */
    private boolean equals2D(AoxinglujingNoObstacle.Point p1, AoxinglujingNoObstacle.Point p2) {
@@ -1046,11 +1094,8 @@
        return cleaned.isEmpty() ? null : cleaned;
    }
    
    private String formatWidthForStorage(double widthCm) {
        return BigDecimal.valueOf(widthCm)
            .setScale(2, RoundingMode.HALF_UP)
            .stripTrailingZeros()
            .toPlainString();
    private String formatWidthForStorage(double widthVal) {
        return String.format(Locale.US, "%.2f", widthVal);
    }
    
    private String formatMowingPatternForDialog(String patternValue) {