障碍物预览增加了序号

张世豪

6 天以前 9d171a3c3a57ea54454d7e9d64dec213aa885a2c

 src/zhuye/MapRenderer.java

@@ -18,6 +18,8 @@
import java.util.List;
import java.util.Locale;
import java.util.Set;
import java.io.File;
import set.Setsys;
import gecaoji.Device;
import gecaoji.Gecaoji;
import gecaoji.GecaojiMeg;
@@ -28,17 +30,22 @@
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);
@@ -46,10 +53,12 @@
    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 OBSTACLE_POINT_COLOR = new Color(255, 140, 0); // 橙色，用于区分障碍物点
    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 double BOUNDARY_CONTAINS_TOLERANCE = 0.05;
    private static final double PREVIEW_BOUNDARY_MARKER_SCALE = 0.25d;
    
    // 组件引用
    private JPanel visualizationPanel;
@@ -64,6 +73,9 @@
    private String currentObstacleLandNumber;
    private String boundaryName;
    private boolean boundaryPointsVisible;
    private boolean obstaclePointsVisible;
    private double boundaryPointSizeScale = 1.0d;
    private boolean previewSizingEnabled;
    private String currentBoundaryLandNumber;
    private boolean dragInProgress;
    private final Gecaoji mower;
@@ -74,6 +86,7 @@
    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;
@@ -96,6 +109,7 @@
    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;
@@ -103,6 +117,64 @@
        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));
    }
    
    /**
@@ -111,10 +183,10 @@
    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
@@ -144,6 +216,11 @@
                if (handleMowerClick(e.getPoint())) {
                    return;
                }
                // 优先处理障碍物边界点点击（如果可见）
                if (obstaclePointsVisible && handleObstaclePointClick(e.getPoint())) {
                    return;
                }
                // 然后处理地块边界点点击
                if (boundaryPointsVisible) {
                    handleBoundaryPointClick(e.getPoint());
                }
@@ -164,12 +241,6 @@
                    visualizationPanel.repaint();
                }
            }
            
            public void mouseMoved(MouseEvent e) {
                // 更新鼠标位置用于显示坐标
                mousePoint = e.getPoint();
                visualizationPanel.repaint();
            }
        });
    }

@@ -193,34 +264,71 @@
    /**
     * 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();
    }
    
@@ -246,14 +354,11 @@
        boolean hasPlannedPath = currentPlannedPath != null && currentPlannedPath.size() >= 2;
        boolean hasObstacles = currentObstacles != null && !currentObstacles.isEmpty();

        // 绘制地块边界（底层）
        if (hasBoundary) {
            drawCurrentBoundary(g2d);
        }

        if (hasObstacles) {
            Obstacledraw.drawObstacles(g2d, currentObstacles, scale, selectedObstacleName);
        }

        yulanzhangaiwu.renderPreview(g2d, scale);

        if (!circleSampleMarkers.isEmpty()) {
@@ -264,20 +369,38 @@
            drawCircleCaptureOverlay(g2d, circleCaptureOverlay, scale);
        }

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

        // 绘制导航路径（中层）
        if (hasPlannedPath) {
            drawCurrentPlannedPath(g2d);
        }

        // 绘制障碍物（顶层，显示在地块和导航路径上方）
        if (hasObstacles) {
            Obstacledraw.drawObstacles(g2d, currentObstacles, scale, selectedObstacleName);
        }

        if (boundaryPointsVisible && hasBoundary) {
            pointandnumber.drawBoundaryPoints(
                g2d,
                currentBoundary,
                scale,
                BOUNDARY_POINT_MERGE_THRESHOLD,
                BOUNDARY_POINT_COLOR
            );
            // 预览模式下显示序号
            if (previewSizingEnabled) {
                drawBoundaryPointsWithNumbers(g2d, currentBoundary, scale);
            } else {
                double markerScale = boundaryPointSizeScale;
                pointandnumber.drawBoundaryPoints(
                    g2d,
                    currentBoundary,
                    scale,
                    BOUNDARY_POINT_MERGE_THRESHOLD,
                    BOUNDARY_POINT_COLOR,
                    markerScale
                );
            }
        }

        // 绘制障碍物坐标点（带序号）
        if (obstaclePointsVisible && hasObstacles) {
            drawObstaclePointsWithNumbers(g2d, currentObstacles, scale);
        }

        if (shouldRenderIdleTrail()) {
@@ -445,7 +568,8 @@
        if (device == null) {
            return;
        }
        if (!isHighPrecisionFix(device.getPositioningStatus())) {
        // 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;
        }

@@ -467,6 +591,56 @@
        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()) {
@@ -648,6 +822,10 @@
        visualizationPanel.repaint();
    }

    public void clearIdleTrail() {
        clearIdleMowerTrail();
    }

    public void setIdleTrailDurationSeconds(int seconds) {
        int sanitized = seconds;
        if (sanitized < 5 || sanitized > 600) {
@@ -865,7 +1043,8 @@
    }

    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 drawCircleSampleMarkers(Graphics2D g2d, List<double[]> markers, double scale) {
@@ -1005,6 +1184,139 @@
        }
    }

    /**
     * 处理障碍物边界点点击
     * @param screenPoint 屏幕坐标点
     * @return 如果处理了点击返回true，否则返回false
     */
    private boolean handleObstaclePointClick(Point screenPoint) {
        if (currentObstacles == null || currentObstacles.isEmpty() || currentObstacleLandNumber == null) {
            return false;
        }

        double threshold = computeSelectionThresholdPixels();
        
        // 遍历所有障碍物，找到被点击的点
        for (Obstacledge.Obstacle obstacle : currentObstacles) {
            if (obstacle == null) {
                continue;
            }
            
            List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
            if (xyCoords == null || xyCoords.isEmpty()) {
                continue;
            }
            
            // 检查每个点
            for (int i = 0; i < xyCoords.size(); i++) {
                Obstacledge.XYCoordinate coord = xyCoords.get(i);
                Point2D.Double worldPoint = new Point2D.Double(coord.getX(), coord.getY());
                Point2D.Double screenPosition = worldToScreen(worldPoint);
                
                double dx = screenPosition.x - screenPoint.x;
                double dy = screenPosition.y - screenPoint.y;
                if (Math.hypot(dx, dy) <= threshold) {
                    // 找到被点击的点
                    String obstacleName = obstacle.getObstacleName();
                    String pointLabel = (i + 1) + "";
                    String message = "确定要删除障碍物 \"" + obstacleName + "\" 的第" + pointLabel + "号边界点吗？";
                    
                    int choice = JOptionPane.showConfirmDialog(
                        visualizationPanel,
                        message,
                        "删除障碍物边界点",
                        JOptionPane.OK_CANCEL_OPTION,
                        JOptionPane.WARNING_MESSAGE
                    );
                    
                    if (choice == JOptionPane.OK_OPTION) {
                        removeObstaclePoint(obstacle, i);
                    }
                    return true;
                }
            }
        }
        
        return false;
    }

    /**
     * 删除障碍物的指定边界点
     */
    private void removeObstaclePoint(Obstacledge.Obstacle obstacle, int pointIndex) {
        if (obstacle == null || currentObstacleLandNumber == null) {
            return;
        }
        
        List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
        if (xyCoords == null || pointIndex < 0 || pointIndex >= xyCoords.size()) {
            return;
        }
        
        // 检查删除后是否还有足够的点
        Obstacledge.ObstacleShape shape = obstacle.getShape();
        int minPoints = (shape == Obstacledge.ObstacleShape.CIRCLE) ? 2 : 3;
        
        if (xyCoords.size() <= minPoints) {
            JOptionPane.showMessageDialog(
                visualizationPanel,
                "障碍物至少需要" + minPoints + "个点，无法删除",
                "提示",
                JOptionPane.INFORMATION_MESSAGE
            );
            return;
        }
        
        // 创建新的坐标列表（移除指定点）
        List<Obstacledge.XYCoordinate> updatedCoords = new ArrayList<>(xyCoords);
        updatedCoords.remove(pointIndex);
        
        // 更新障碍物坐标
        obstacle.setXyCoordinates(updatedCoords);
        
        // 保存到配置文件
        try {
            File configFile = new File("Obstacledge.properties");
            Obstacledge.ConfigManager manager = new Obstacledge.ConfigManager();
            if (configFile.exists()) {
                manager.loadFromFile(configFile.getAbsolutePath());
            }
            
            Obstacledge.Plot plot = manager.getPlotById(currentObstacleLandNumber.trim());
            if (plot != null) {
                // 移除旧障碍物并添加更新后的障碍物
                plot.removeObstacleByName(obstacle.getObstacleName());
                plot.addObstacle(obstacle);
                manager.saveToFile(configFile.getAbsolutePath());
                
                // 更新地块更新时间
                Dikuai.updateField(currentObstacleLandNumber.trim(), "updateTime", 
                    new java.text.SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new java.util.Date()));
                Dikuai.saveToProperties();
                
                // 重新加载障碍物数据以刷新显示
                List<Obstacledge.Obstacle> updatedObstacles = new ArrayList<>();
                for (Obstacledge.Obstacle obs : currentObstacles) {
                    if (obs.getObstacleName().equals(obstacle.getObstacleName())) {
                        updatedObstacles.add(obstacle); // 使用更新后的障碍物
                    } else {
                        updatedObstacles.add(obs); // 保持其他障碍物不变
                    }
                }
                applyObstaclesToRenderer(updatedObstacles, currentObstacleLandNumber);
                visualizationPanel.repaint();
            }
        } catch (Exception ex) {
            ex.printStackTrace();
            JOptionPane.showMessageDialog(
                visualizationPanel,
                "保存失败: " + ex.getMessage(),
                "错误",
                JOptionPane.ERROR_MESSAGE
            );
        }
    }

    private void handleBoundaryPointClick(Point screenPoint) {
        if (currentBoundary == null || currentBoundaryLandNumber == null) {
            return;
@@ -1054,7 +1366,11 @@

    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);
    }
@@ -1187,6 +1503,32 @@
            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)) {
@@ -1242,33 +1584,218 @@
    /**
     * 绘制视图信息
     */
    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);
    /**
     * 绘制障碍物坐标点（带序号）
     * 序号显示在点中心，字体大小与障碍物名称一致（11号），不随缩放变化
     */
    private void drawObstaclePointsWithNumbers(Graphics2D g2d, List<Obstacledge.Obstacle> obstacles, double scale) {
        if (obstacles == null || obstacles.isEmpty()) {
            return;
        }
        
        // 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);
        // 保存原始变换
        AffineTransform originalTransform = g2d.getTransform();
        
        // 设置点的大小（随缩放变化）
        double scaleFactor = Math.max(0.5, scale);
        double clampedScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
        if (!Double.isFinite(clampedScale) || clampedScale <= 0.0d) {
            clampedScale = 1.0d;
        }
        double minimumDiameter = clampedScale < 1.0 ? 0.5 : 1.0;
        double markerDiameter = Math.max(minimumDiameter, (10.0 / scaleFactor) * 0.2 * clampedScale);
        double markerRadius = markerDiameter / 2.0;
        
        // 设置字体（与障碍物名称一致，不随缩放变化）
        Font labelFont = new Font("微软雅黑", Font.PLAIN, 11);
        g2d.setFont(labelFont);
        FontMetrics fontMetrics = g2d.getFontMetrics(labelFont);
        
        // 遍历所有障碍物
        for (Obstacledge.Obstacle obstacle : obstacles) {
            if (obstacle == null || !obstacle.isValid()) {
                continue;
            }
            
            List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
            if (xyCoords == null || xyCoords.isEmpty()) {
                continue;
            }
            
            // 绘制每个点及其序号
            for (int i = 0; i < xyCoords.size(); i++) {
                Obstacledge.XYCoordinate coord = xyCoords.get(i);
                double x = coord.getX();
                double y = coord.getY();
                
                // 绘制点（在世界坐标系中，随缩放变化）
                g2d.setColor(OBSTACLE_POINT_COLOR);
                Ellipse2D.Double marker = new Ellipse2D.Double(
                    x - markerRadius, 
                    y - markerRadius, 
                    markerDiameter, 
                    markerDiameter
                );
                g2d.fill(marker);
                
                // 将世界坐标转换为屏幕坐标以绘制序号（不随缩放变化）
                Point2D.Double worldPoint = new Point2D.Double(x, y);
                Point2D.Double screenPoint = new Point2D.Double();
                originalTransform.transform(worldPoint, screenPoint);
                
                // 保存当前变换
                AffineTransform savedTransform = g2d.getTransform();
                
                // 重置变换为屏幕坐标系统
                g2d.setTransform(new AffineTransform());
                
                // 绘制序号（在屏幕坐标系中，不随缩放变化）
                String numberText = String.valueOf(i + 1);
                int textWidth = fontMetrics.stringWidth(numberText);
                int textHeight = fontMetrics.getHeight();
                
                // 在点中心绘制序号
                int textX = (int)(screenPoint.x - textWidth / 2.0);
                int textY = (int)(screenPoint.y + textHeight / 4.0);
                
                // 绘制序号文字（无背景）
                g2d.setColor(Color.BLACK);
                g2d.drawString(numberText, textX, textY);
                
                // 恢复变换
                g2d.setTransform(savedTransform);
            }
        }
        
        // 恢复原始变换
        g2d.setTransform(originalTransform);
    }
    
    /**
     * 获取当前缩放比例
     * 绘制边界点（带序号）
     * 序号显示在点中心，字体大小与障碍物序号一致（11号），不随缩放变化
     */
    public double getScale() {
        return scale;
    private void drawBoundaryPointsWithNumbers(Graphics2D g2d, List<Point2D.Double> boundary, double scale) {
        if (boundary == null || boundary.size() < 2) {
            return;
        }
        
        // 保存原始变换
        AffineTransform originalTransform = g2d.getTransform();
        
        int totalPoints = boundary.size();
        boolean closed = totalPoints > 2 && areBoundaryPointsClose(boundary.get(0), boundary.get(totalPoints - 1));
        int effectiveCount = closed ? totalPoints - 1 : totalPoints;
        if (effectiveCount <= 0) {
            return;
        }
        
        // 设置点的大小（随缩放变化）
        double scaleFactor = Math.max(0.5, scale);
        double clampedScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
        if (!Double.isFinite(clampedScale) || clampedScale <= 0.0d) {
            clampedScale = 1.0d;
        }
        double minimumDiameter = clampedScale < 1.0 ? 0.5 : 1.0;
        double markerDiameter = Math.max(minimumDiameter, (10.0 / scaleFactor) * 0.2 * clampedScale);
        double markerRadius = markerDiameter / 2.0;
        
        // 设置字体（与障碍物序号一致，不随缩放变化）
        Font labelFont = new Font("微软雅黑", Font.PLAIN, 11);
        g2d.setFont(labelFont);
        FontMetrics fontMetrics = g2d.getFontMetrics(labelFont);
        
        // 绘制每个点及其序号
        for (int i = 0; i < effectiveCount; i++) {
            Point2D.Double point = boundary.get(i);
            double x = point.x;
            double y = point.y;
            
            // 绘制点（在世界坐标系中，随缩放变化）
            g2d.setColor(BOUNDARY_POINT_COLOR);
            Ellipse2D.Double marker = new Ellipse2D.Double(
                x - markerRadius, 
                y - markerRadius, 
                markerDiameter, 
                markerDiameter
            );
            g2d.fill(marker);
            
            // 将世界坐标转换为屏幕坐标以绘制序号（不随缩放变化）
            Point2D.Double worldPoint = new Point2D.Double(x, y);
            Point2D.Double screenPoint = new Point2D.Double();
            originalTransform.transform(worldPoint, screenPoint);
            
            // 保存当前变换
            AffineTransform savedTransform = g2d.getTransform();
            
            // 重置变换为屏幕坐标系统
            g2d.setTransform(new AffineTransform());
            
            // 绘制序号（在屏幕坐标系中，不随缩放变化）
            String numberText = String.valueOf(i + 1);
            int textWidth = fontMetrics.stringWidth(numberText);
            int textHeight = fontMetrics.getHeight();
            
            // 在点中心绘制序号
            int textX = (int)(screenPoint.x - textWidth / 2.0);
            int textY = (int)(screenPoint.y + textHeight / 4.0);
            
            // 绘制序号文字（无背景）
            g2d.setColor(Color.BLACK);
            g2d.drawString(numberText, textX, textY);
            
            // 恢复变换
            g2d.setTransform(savedTransform);
        }
        
        // 恢复原始变换
        g2d.setTransform(originalTransform);
    }
    
    /**
     * 检查两个边界点是否接近（用于判断边界是否闭合）
     */
    private boolean areBoundaryPointsClose(Point2D.Double a, Point2D.Double b) {
        if (a == null || b == null) {
            return false;
        }
        double dx = a.x - b.x;
        double dy = a.y - b.y;
        return Math.hypot(dx, dy) <= BOUNDARY_POINT_MERGE_THRESHOLD;
    }
    
    private void drawViewInfo(Graphics2D g2d) {
        g2d.setColor(new Color(80, 80, 80));
        g2d.setFont(new Font("微软雅黑", Font.PLAIN, 11));

        // 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
        }

        // 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);
    }
    
    /**
@@ -1289,7 +1816,15 @@
     * 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();
@@ -1543,6 +2078,7 @@
        obstacleBounds = null;
        selectedObstacleName = null;
        currentObstacleLandNumber = null;
        obstaclePointsVisible = false;
    }

    private List<Obstacledge.Obstacle> parseObstacles(String obstaclesData, String landNumber) {
@@ -1830,6 +2366,70 @@
        visualizationPanel.repaint();
    }

    public void setObstaclePointsVisible(boolean visible) {
        this.obstaclePointsVisible = visible;
        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();
@@ -1859,6 +2459,7 @@
    public void clearHandheldBoundaryPreview() {
        handheldBoundaryPreviewActive = false;
        handheldBoundaryPreview.clear();
        boundaryPreviewMarkerScale = 1.0d;
        visualizationPanel.repaint();
    }

@@ -1914,8 +2515,10 @@
            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;
@@ -1927,8 +2530,41 @@
        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() {
@@ -1936,4 +2572,20 @@
        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;
    }

}