优化了异形有障碍物算法

张世豪

2 天以前 913a3b7409e08fd239a65ff7afabefe95b51865a

 src/zhuye/MapRenderer.java

@@ -1403,7 +1403,8 @@
            
            // 将世界坐标转换为屏幕坐标（用于文字显示）
            Point2D.Double worldMid = new Point2D.Double(midX, midY);
            Point2D.Double screenMid = worldToScreen(worldMid);
            Point2D.Double screenMid = new Point2D.Double();
            originalTransform.transform(worldMid, screenMid);
            
            // 恢复原始变换以绘制文字（固定大小，不随缩放变化）
            g2d.setTransform(new AffineTransform());
@@ -1451,7 +1452,82 @@

    private void drawCurrentPlannedPath(Graphics2D g2d) {
        double arrowScale = previewSizingEnabled ? 0.5d : 1.0d;
        lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale, arrowScale);
        
        // 尝试获取地块信息以支持区分作业路径和移动路径，以及绘制内缩边界
        String boundaryCoords = null;
        String mowingWidth = null;
        String safetyDistance = null;
        String obstaclesCoords = null;
        String mowingPattern = null;
        
        // 从当前地块编号获取地块信息
        if (currentBoundaryLandNumber != null) {
            Dikuai landData = Dikuai.getDikuai(currentBoundaryLandNumber);
            if (landData != null) {
                boundaryCoords = landData.getBoundaryCoordinates();
                mowingWidth = landData.getMowingWidth();
                safetyDistance = landData.getMowingSafetyDistance();
                mowingPattern = landData.getMowingPattern();
                
                // 获取障碍物坐标
                try {
                    java.io.File configFile = new java.io.File("Obstacledge.properties");
                    if (configFile.exists()) {
                        Obstacledge.ConfigManager manager = new Obstacledge.ConfigManager();
                        if (manager.loadFromFile(configFile.getAbsolutePath())) {
                            Obstacledge.Plot plot = manager.getPlotById(currentBoundaryLandNumber.trim());
                            if (plot != null && plot.getObstacles() != null && !plot.getObstacles().isEmpty()) {
                                obstaclesCoords = Obstacledge.buildPlannerPayload(plot.getObstacles());
                            }
                        }
                    }
                } catch (Exception e) {
                    // 忽略障碍物加载错误
                }
            }
        }
        
        // 如果无法从地块获取边界，尝试使用当前显示的边界
        if (boundaryCoords == null || boundaryCoords.trim().isEmpty() || "-1".equals(boundaryCoords.trim())) {
            if (currentBoundary != null && !currentBoundary.isEmpty()) {
                StringBuilder sb = new StringBuilder();
                for (int i = 0; i < currentBoundary.size(); i++) {
                    Point2D.Double pt = currentBoundary.get(i);
                    if (i > 0) sb.append(";");
                    sb.append(String.format(java.util.Locale.US, "%.3f,%.3f", pt.x, pt.y));
                }
                boundaryCoords = sb.toString();
            }
        }
        
        // 转换割草宽度从厘米到米（如果存在）
        if (mowingWidth != null && !mowingWidth.trim().isEmpty() && !"-1".equals(mowingWidth.trim())) {
            try {
                double widthCm = Double.parseDouble(mowingWidth.trim());
                double widthMeters = widthCm / 100.0;
                mowingWidth = String.format(java.util.Locale.US, "%.3f", widthMeters);
            } catch (NumberFormatException e) {
                // 如果已经是米为单位，保持原值
            }
        }
        
        // 转换安全距离从厘米到米（如果存在）
        if (safetyDistance != null && !safetyDistance.trim().isEmpty() && !"-1".equals(safetyDistance.trim())) {
            try {
                double distCm = Double.parseDouble(safetyDistance.trim());
                // 如果值大于100，认为是厘米，需要转换为米
                if (distCm > 100) {
                    double distMeters = distCm / 100.0;
                    safetyDistance = String.format(java.util.Locale.US, "%.3f", distMeters);
                }
            } catch (NumberFormatException e) {
                // 如果已经是米为单位，保持原值
            }
        }
        
        // 调用带地块信息的绘制方法
        lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale, arrowScale, 
                                   boundaryCoords, mowingWidth, safetyDistance, obstaclesCoords, mowingPattern);
    }

    private void drawCircleSampleMarkers(Graphics2D g2d, List<double[]> markers, double scale) {
@@ -1883,6 +1959,7 @@
                   .append(',')
                   .append(formatCoordinate(point.y));
            if (i < boundary.size() - 1) {
               
                builder.append(';');
            }
        }
@@ -3441,4 +3518,17 @@
        this.boundaryPreviewUpdateCallback = callback;
    }

    /**
     * 将视图中心对准当前边界的几何中心
     */
    public void centerViewOnBoundary() {
        if (currentBoundary == null || currentBoundary.isEmpty()) {
            return;
        }
        
        Rectangle2D.Double bounds = computeBounds(currentBoundary);
        if (bounds != null) {
            fitBoundsToView(bounds);
        }
    }
}