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