优化了新增地块功能

张世豪

16 小时以前 b272034a1fdbfe32b355fc6c264a4c45df107190

 src/zhangaiwu/AddDikuai.java

@@ -1,7 +1,5 @@
package zhangaiwu;

import javax.swing.*;

import java.awt.*;
import java.awt.event.*;
import java.io.File;
@@ -9,10 +7,8 @@
import java.nio.charset.StandardCharsets;
import java.nio.file.Files;
import java.text.DecimalFormat;
import java.text.SimpleDateFormat;
import java.util.ArrayList;
import java.util.Collections;
import java.util.Date;
import java.util.HashMap;
import java.util.LinkedHashMap;
import java.util.List;
@@ -20,17 +16,20 @@
import java.util.Map;
import java.util.Comparator;
import java.awt.geom.Point2D;

import baseStation.BaseStation;
import bianjie.jisuanmianjie;
import dikuai.Dikuai;
import dikuai.Dikuaiguanli;
import bianjie.bianjieguihua2;
import dikuai.Gecaokuanjisuan;
import dikuai.Gecaoanquanjuli;
import bianjie.Bianjieyouhuatoxy;
import lujing.Lunjingguihua;
import set.Setsys;
import ui.UIConfig;
import zhuye.MowerLocationData;
import zhuye.Shouye;
import zhuye.Coordinate;
import publicway.buttonset;

/**
 * 新增地块对话框 - 多步骤表单设计
@@ -63,7 +62,9 @@
    private JTextField landNumberField;
    private JTextField areaNameField;
    private JComboBox<String> mowingPatternCombo;
    private JSpinner mowingWidthSpinner;
    private JTextField bladeWidthField;  // 割草机割刀宽度（m）
    private JTextField mowingWidthField;  // 割草宽度（m，可编辑）
    private JTextField safetyDistanceField;  // 割草安全距离（m，可编辑）
    private JPanel previewPanel;
    private Map<String, JPanel> drawingOptionPanels = new HashMap<>();
    
@@ -75,6 +76,8 @@
    private JButton previewButton;
    private Component previewButtonSpacer;
    private JLabel boundaryCountLabel;
    private JTextArea boundaryXYTextArea;  // 显示边界XY坐标的文本域
    private JScrollPane boundaryXYScrollPane;  // 边界XY坐标文本域的滚动面板
    private JPanel obstacleListContainer;
    private JTextArea pathGenerationMessageArea;
    private JPanel pathMessageWrapper;
@@ -655,6 +658,34 @@
        startEndDrawingBtn.addActionListener(e -> toggleDrawing());
        
        stepPanel.add(startEndDrawingBtn);
        
        // 边界XY坐标显示文本域（3行，带滚动条，在已完成按钮下方）
        boundaryXYTextArea = new JTextArea(3, 0);
        boundaryXYTextArea.setFont(new Font("微软雅黑", Font.PLAIN, 12));
        boundaryXYTextArea.setForeground(TEXT_COLOR);
        boundaryXYTextArea.setEditable(false);
        boundaryXYTextArea.setBackground(LIGHT_GRAY);
        boundaryXYTextArea.setLineWrap(true);
        boundaryXYTextArea.setWrapStyleWord(true);
        boundaryXYTextArea.setAlignmentX(Component.LEFT_ALIGNMENT);
        boundaryXYTextArea.setVisible(false);
        
        // 创建滚动面板，默认显示3行
        boundaryXYScrollPane = new JScrollPane(boundaryXYTextArea);
        boundaryXYScrollPane.setBorder(BorderFactory.createCompoundBorder(
            BorderFactory.createLineBorder(BORDER_COLOR, 1),
            BorderFactory.createEmptyBorder(0, 0, 0, 0)
        ));
        boundaryXYScrollPane.setHorizontalScrollBarPolicy(JScrollPane.HORIZONTAL_SCROLLBAR_NEVER);
        boundaryXYScrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_AS_NEEDED);
        boundaryXYScrollPane.getVerticalScrollBar().setUnitIncrement(16);
        boundaryXYScrollPane.setAlignmentX(Component.LEFT_ALIGNMENT);
        boundaryXYScrollPane.setVisible(false);
        boundaryXYScrollPane.setMaximumSize(new Dimension(Integer.MAX_VALUE, 80));
        
        stepPanel.add(Box.createRigidArea(new Dimension(0, 15)));
        stepPanel.add(boundaryXYScrollPane);
        
        boundaryCountLabel = new JLabel("已采集到边界点0个");
        boundaryCountLabel.setFont(new Font("微软雅黑", Font.PLAIN, 14));
        boundaryCountLabel.setForeground(LIGHT_TEXT);
@@ -741,8 +772,9 @@
                if (!optionPanel.isEnabled()) {
                    return;
                }
                selectDrawingOption(optionPanel, type);
                startEndDrawingBtn.setEnabled(true); // 选择后启用按钮
                if (selectDrawingOption(optionPanel, type, true)) {
                    startEndDrawingBtn.setEnabled(true); // 选择后启用按钮
                }
            }
            
            @Override
@@ -764,7 +796,15 @@
        return optionPanel;
    }
    
    private void selectDrawingOption(JPanel optionPanel, String type) {
    private boolean selectDrawingOption(JPanel optionPanel, String type, boolean userTriggered) {
        if (optionPanel == null) {
            return false;
        }
        if (userTriggered && "handheld".equalsIgnoreCase(type) && !hasConfiguredHandheldMarker()) {
            JOptionPane.showMessageDialog(this, "请先添加便携打点器编号", "提示", JOptionPane.WARNING_MESSAGE);
            return false;
        }

        // 重置之前选中的选项
        if (selectedOptionPanel != null) {
            selectedOptionPanel.setBorder(BorderFactory.createLineBorder(BORDER_COLOR, 2));
@@ -774,7 +814,7 @@
                ((JLabel) oldTitle).setForeground(TEXT_COLOR);
            }
        }
        

        // 设置新的选中状态
        optionPanel.setBorder(BorderFactory.createLineBorder(PRIMARY_COLOR, 3));
        optionPanel.setBackground(PRIMARY_LIGHT);
@@ -783,9 +823,15 @@
            ((JLabel) titleObj).setForeground(PRIMARY_COLOR);
        }
        selectedOptionPanel = optionPanel;
        

        // 保存选择
        dikuaiData.put("drawingMethod", type);
        return true;
    }

    private boolean hasConfiguredHandheldMarker() {
        String handheldId = Setsys.getPropertyValue("handheldMarkerId");
        return handheldId != null && !handheldId.trim().isEmpty();
    }
    
    private void toggleDrawing() {
@@ -808,12 +854,18 @@
            // 用户在对话框内主动结束（未触发外部流程）
            isDrawing = false;
            Coordinate.setStartSaveGngga(false);
            startEndDrawingBtn.setText("开始绘制");
            startEndDrawingBtn.setBackground(PRIMARY_COLOR);
            updateOtherOptionsState(false);
            startEndDrawingBtn.setText("已完成");
            startEndDrawingBtn.setBackground(MEDIUM_GRAY);
            startEndDrawingBtn.setEnabled(false);
            updateOtherOptionsState(true);
            
            // 优化边界
            optimizeBoundaryAndSave();
            
            dikuaiData.put("boundaryDrawn", "true");
            JOptionPane.showMessageDialog(this, "边界绘制已完成", "提示", JOptionPane.INFORMATION_MESSAGE);
            showBoundaryPointSummary();
            updateBoundaryXYDisplay();
        }
    }

@@ -864,6 +916,80 @@
        hideBoundaryPointSummary();
    }
    
    /**
     * 优化边界并保存优化后的数据
     */
    private void optimizeBoundaryAndSave() {
        try {
            // 获取基准站坐标
            BaseStation baseStation = new BaseStation();
            baseStation.load();
            String baseStationCoordinates = normalizeCoordinateValue(baseStation.getInstallationCoordinates());
            if (!isMeaningfulValue(baseStationCoordinates)) {
                System.err.println("未获取到有效的基准站坐标，无法优化边界");
                return;
            }
            
            // 获取原始坐标列表
            List<Coordinate> uniqueCoordinates;
            synchronized (Coordinate.coordinates) {
                uniqueCoordinates = sanitizeCoordinateList(Coordinate.coordinates);
            }
            
            if (uniqueCoordinates.size() < 3) {
                System.err.println("采集的边界点不足，无法优化边界");
                return;
            }
            
            // 构建边界字符串，格式为 "(lat1,lon1,alt1;lat2,lon2,alt2;...)"
            String boundaryStr = buildBoundaryStringForOptimization(uniqueCoordinates);
            
            // 调用优化方法
            String optimizedXYStr = Bianjieyouhuatoxy.optimizeBoundary(baseStationCoordinates, boundaryStr);
            
            // 保存优化后的XY坐标字符串
            if (optimizedXYStr != null && !optimizedXYStr.isEmpty() && !optimizedXYStr.startsWith("ERROR")) {
                dikuaiData.put("optimizedBoundaryXY", optimizedXYStr);
                if (activeSession != null) {
                    activeSession.data.put("optimizedBoundaryXY", optimizedXYStr);
                }
            } else {
                System.err.println("边界优化失败: " + optimizedXYStr);
            }
        } catch (Exception e) {
            e.printStackTrace();
            System.err.println("优化边界时发生错误: " + e.getMessage());
        }
    }
    
    /**
     * 构建用于优化的边界字符串，格式为 "(lat1,lon1,alt1;lat2,lon2,alt2;...)"
     * 其中lat和lon是度分格式（DMM格式），例如 "3949.89151752"
     */
    private static String buildBoundaryStringForOptimization(List<Coordinate> coordinates) {
        if (coordinates == null || coordinates.isEmpty()) {
            return "()";
        }
        StringBuilder sb = new StringBuilder("(");
        DecimalFormat elevationFormat = new DecimalFormat("0.00");
        for (int i = 0; i < coordinates.size(); i++) {
            Coordinate coord = coordinates.get(i);
            // Coordinate类中的getLatitude()和getLongitude()已经返回度分格式（DMM格式）
            String latDMM = coord.getLatitude();
            String lonDMM = coord.getLongitude();
            double elevation = coord.getElevation();
            
            if (i > 0) {
                sb.append(";");
            }
            sb.append(latDMM).append(",")
              .append(lonDMM).append(",")
              .append(elevationFormat.format(elevation));
        }
        sb.append(")");
        return sb.toString();
    }
    
    private JPanel createStep3Panel() {
        JPanel stepPanel = new JPanel();
        stepPanel.setLayout(new BoxLayout(stepPanel, BoxLayout.Y_AXIS));
@@ -885,7 +1011,7 @@
        settingsPanel.setAlignmentX(Component.LEFT_ALIGNMENT);
        
        // 割草模式选择
        JPanel patternPanel = createFormGroup("割草模式", "选择割草路径的生成模式");
        JPanel patternPanel = createFormGroup("割草模式", "");
        mowingPatternCombo = new JComboBox<>(new String[]{"平行线", "螺旋式"});
        mowingPatternCombo.setFont(new Font("微软雅黑", Font.PLAIN, 16));
        mowingPatternCombo.setMaximumSize(new Dimension(Integer.MAX_VALUE, 48));
@@ -919,27 +1045,23 @@
        settingsPanel.add(patternPanel);
        settingsPanel.add(Box.createRigidArea(new Dimension(0, 20)));
        
        // 割草宽度设置
        JPanel widthPanel = createFormGroup("割草宽度", "设置割草机单次割草的宽度");
        JPanel widthInputPanel = new JPanel(new BorderLayout());
        widthInputPanel.setBackground(WHITE);
        widthInputPanel.setMaximumSize(new Dimension(Integer.MAX_VALUE, 48));
        widthInputPanel.setAlignmentX(Component.LEFT_ALIGNMENT);
        // 割草机割刀宽度设置
        JPanel bladeWidthPanel = createFormGroup("割草机割刀宽度", "");
        JPanel bladeWidthInputPanel = new JPanel(new BorderLayout());
        bladeWidthInputPanel.setBackground(WHITE);
        bladeWidthInputPanel.setMaximumSize(new Dimension(Integer.MAX_VALUE, 48));
        bladeWidthInputPanel.setAlignmentX(Component.LEFT_ALIGNMENT);
        
        SpinnerNumberModel widthModel = new SpinnerNumberModel(40, 20, 60, 1);
        mowingWidthSpinner = new JSpinner(widthModel);
        mowingWidthSpinner.setFont(new Font("微软雅黑", Font.PLAIN, 16));
        JSpinner.DefaultEditor editor = (JSpinner.DefaultEditor) mowingWidthSpinner.getEditor();
        editor.getTextField().setBorder(BorderFactory.createCompoundBorder(
        bladeWidthField = new JTextField("0.50");
        bladeWidthField.setFont(new Font("微软雅黑", Font.PLAIN, 16));
        bladeWidthField.setBorder(BorderFactory.createCompoundBorder(
            BorderFactory.createLineBorder(BORDER_COLOR, 2),
            BorderFactory.createEmptyBorder(10, 12, 10, 12)
        ));
        
        // 添加微调器焦点效果
        mowingWidthSpinner.addFocusListener(new FocusAdapter() {
        bladeWidthField.addFocusListener(new FocusAdapter() {
            @Override
            public void focusGained(FocusEvent e) {
                editor.getTextField().setBorder(BorderFactory.createCompoundBorder(
                bladeWidthField.setBorder(BorderFactory.createCompoundBorder(
                    BorderFactory.createLineBorder(PRIMARY_COLOR, 2),
                    BorderFactory.createEmptyBorder(10, 12, 10, 12)
                ));
@@ -947,26 +1069,124 @@
            
            @Override
            public void focusLost(FocusEvent e) {
                editor.getTextField().setBorder(BorderFactory.createCompoundBorder(
                bladeWidthField.setBorder(BorderFactory.createCompoundBorder(
                    BorderFactory.createLineBorder(BORDER_COLOR, 2),
                    BorderFactory.createEmptyBorder(10, 12, 10, 12)
                ));
                updateMowingWidthAndSafetyDistance();
            }
        });
        
        JLabel bladeUnitLabel = new JLabel("m");
        bladeUnitLabel.setFont(new Font("微软雅黑", Font.PLAIN, 14));
        bladeUnitLabel.setForeground(LIGHT_TEXT);
        bladeUnitLabel.setBorder(BorderFactory.createEmptyBorder(0, 15, 0, 0));
        
        bladeWidthInputPanel.add(bladeWidthField, BorderLayout.CENTER);
        bladeWidthInputPanel.add(bladeUnitLabel, BorderLayout.EAST);
        
        bladeWidthPanel.add(bladeWidthInputPanel);
        settingsPanel.add(bladeWidthPanel);
        settingsPanel.add(Box.createRigidArea(new Dimension(0, 20)));
        
        // 割草宽度设置（可编辑）
        JPanel widthPanel = createFormGroup("割草宽度", "计算方法：割草宽度 = 割刀宽 ×85%");
        JPanel widthInputPanel = new JPanel(new BorderLayout());
        widthInputPanel.setBackground(WHITE);
        widthInputPanel.setMaximumSize(new Dimension(Integer.MAX_VALUE, 48));
        widthInputPanel.setAlignmentX(Component.LEFT_ALIGNMENT);
        
        mowingWidthField = new JTextField();
        mowingWidthField.setFont(new Font("微软雅黑", Font.PLAIN, 16));
        mowingWidthField.setBorder(BorderFactory.createCompoundBorder(
            BorderFactory.createLineBorder(BORDER_COLOR, 2),
            BorderFactory.createEmptyBorder(10, 12, 10, 12)
        ));
        mowingWidthField.addFocusListener(new FocusAdapter() {
            @Override
            public void focusGained(FocusEvent e) {
                mowingWidthField.setBorder(BorderFactory.createCompoundBorder(
                    BorderFactory.createLineBorder(PRIMARY_COLOR, 2),
                    BorderFactory.createEmptyBorder(10, 12, 10, 12)
                ));
            }
            
            @Override
            public void focusLost(FocusEvent e) {
                mowingWidthField.setBorder(BorderFactory.createCompoundBorder(
                    BorderFactory.createLineBorder(BORDER_COLOR, 2),
                    BorderFactory.createEmptyBorder(10, 12, 10, 12)
                ));
            }
        });
        
        JLabel unitLabel = new JLabel("厘米");
        JLabel unitLabel = new JLabel("m");
        unitLabel.setFont(new Font("微软雅黑", Font.PLAIN, 14));
        unitLabel.setForeground(LIGHT_TEXT);
        unitLabel.setBorder(BorderFactory.createEmptyBorder(0, 15, 0, 0));
        
        widthInputPanel.add(mowingWidthSpinner, BorderLayout.CENTER);
        widthInputPanel.add(mowingWidthField, BorderLayout.CENTER);
        widthInputPanel.add(unitLabel, BorderLayout.EAST);
        
        widthPanel.add(widthInputPanel);
        settingsPanel.add(widthPanel);
        settingsPanel.add(Box.createRigidArea(new Dimension(0, 20)));
        
        // 割草安全距离设置（可编辑）
        JPanel safetyDistancePanel = createFormGroup("割草安全距离", "根据割草机尺寸自动计算的安全距离");
        JPanel safetyDistanceInputPanel = new JPanel(new BorderLayout());
        safetyDistanceInputPanel.setBackground(WHITE);
        safetyDistanceInputPanel.setMaximumSize(new Dimension(Integer.MAX_VALUE, 48));
        safetyDistanceInputPanel.setAlignmentX(Component.LEFT_ALIGNMENT);
        
        safetyDistanceField = new JTextField();
        safetyDistanceField.setFont(new Font("微软雅黑", Font.PLAIN, 16));
        safetyDistanceField.setBorder(BorderFactory.createCompoundBorder(
            BorderFactory.createLineBorder(BORDER_COLOR, 2),
            BorderFactory.createEmptyBorder(10, 12, 10, 12)
        ));
        safetyDistanceField.addFocusListener(new FocusAdapter() {
            @Override
            public void focusGained(FocusEvent e) {
                safetyDistanceField.setBorder(BorderFactory.createCompoundBorder(
                    BorderFactory.createLineBorder(PRIMARY_COLOR, 2),
                    BorderFactory.createEmptyBorder(10, 12, 10, 12)
                ));
            }
            
            @Override
            public void focusLost(FocusEvent e) {
                safetyDistanceField.setBorder(BorderFactory.createCompoundBorder(
                    BorderFactory.createLineBorder(BORDER_COLOR, 2),
                    BorderFactory.createEmptyBorder(10, 12, 10, 12)
                ));
            }
        });
        
        JLabel safetyUnitLabel = new JLabel("m");
        safetyUnitLabel.setFont(new Font("微软雅黑", Font.PLAIN, 14));
        safetyUnitLabel.setForeground(LIGHT_TEXT);
        safetyUnitLabel.setBorder(BorderFactory.createEmptyBorder(0, 15, 0, 0));
        
        safetyDistanceInputPanel.add(safetyDistanceField, BorderLayout.CENTER);
        safetyDistanceInputPanel.add(safetyUnitLabel, BorderLayout.EAST);
        
        safetyDistancePanel.add(safetyDistanceInputPanel);
        settingsPanel.add(safetyDistancePanel);
        settingsPanel.add(Box.createRigidArea(new Dimension(0, 25)));
        
        stepPanel.add(settingsPanel);
        // 初始化计算值
        updateMowingWidthAndSafetyDistance();
        
        // 将设置面板放入滚动面板
        JScrollPane scrollPane = new JScrollPane(settingsPanel);
        scrollPane.setBorder(null);
        scrollPane.setHorizontalScrollBarPolicy(JScrollPane.HORIZONTAL_SCROLLBAR_NEVER);
        scrollPane.setVerticalScrollBarPolicy(JScrollPane.VERTICAL_SCROLLBAR_AS_NEEDED);
        scrollPane.getVerticalScrollBar().setUnitIncrement(16);
        scrollPane.setAlignmentX(Component.LEFT_ALIGNMENT);
        
        stepPanel.add(scrollPane);
        
        JButton generatePathButton = createPrimaryButton("生成割草路径", 16);
        generatePathButton.setAlignmentX(Component.LEFT_ALIGNMENT);
@@ -1041,19 +1261,67 @@
        nameLabel.setForeground(TEXT_COLOR);
        nameLabel.setAlignmentX(Component.LEFT_ALIGNMENT);
        
        JLabel hintLabel = new JLabel(hint);
        hintLabel.setFont(new Font("微软雅黑", Font.PLAIN, 13));
        hintLabel.setForeground(LIGHT_TEXT);
        hintLabel.setAlignmentX(Component.LEFT_ALIGNMENT);
        
        formGroup.add(nameLabel);
        formGroup.add(Box.createRigidArea(new Dimension(0, 6)));
        formGroup.add(hintLabel);
        formGroup.add(Box.createRigidArea(new Dimension(0, 8)));
        
        // 只有当提示文字不为空时才显示
        if (hint != null && !hint.trim().isEmpty()) {
            formGroup.add(Box.createRigidArea(new Dimension(0, 6)));
            JLabel hintLabel = new JLabel(hint);
            hintLabel.setFont(new Font("微软雅黑", Font.PLAIN, 13));
            hintLabel.setForeground(LIGHT_TEXT);
            hintLabel.setAlignmentX(Component.LEFT_ALIGNMENT);
            formGroup.add(hintLabel);
            formGroup.add(Box.createRigidArea(new Dimension(0, 8)));
        } else {
            formGroup.add(Box.createRigidArea(new Dimension(0, 8)));
        }
        
        return formGroup;
    }

    /**
     * 根据割刀宽度更新割草宽度和安全距离
     */
    private void updateMowingWidthAndSafetyDistance() {
        try {
            String bladeWidthStr = bladeWidthField.getText().trim();
            if (bladeWidthStr == null || bladeWidthStr.isEmpty()) {
                mowingWidthField.setText("");
                safetyDistanceField.setText("");
                return;
            }
            
            double bladeWidthMeters = Double.parseDouble(bladeWidthStr);
            if (bladeWidthMeters <= 0) {
                mowingWidthField.setText("");
                safetyDistanceField.setText("");
                return;
            }
            
            // 调用 Gecaokuanjisuan 类计算割草宽度（返回厘米，保留2位小数，需要转换为米）
            double mowingWidthCm = Gecaokuanjisuan.calculateMowingWidth(bladeWidthMeters);
            if (mowingWidthCm > 0) {
                // 将厘米转换为米，并保留2位小数
                double mowingWidthMeters = mowingWidthCm / 100.0;
                mowingWidthField.setText(String.format(Locale.US, "%.2f", mowingWidthMeters));
            } else {
                mowingWidthField.setText("");
            }
            
            // 调用 Gecaoanquanjuli 类计算安全距离
            String safetyDistanceStr = Gecaoanquanjuli.calculateSafetyDistanceFromString(bladeWidthStr);
            safetyDistanceField.setText(safetyDistanceStr);
            
        } catch (NumberFormatException e) {
            mowingWidthField.setText("");
            safetyDistanceField.setText("");
        } catch (Exception e) {
            e.printStackTrace();
            mowingWidthField.setText("");
            safetyDistanceField.setText("");
        }
    }
    
    private void generateMowingPath() {
        if (!dikuaiData.containsKey("boundaryDrawn")) {
            JOptionPane.showMessageDialog(this, "请先完成边界绘制后再生成路径", "提示", JOptionPane.WARNING_MESSAGE);
@@ -1091,35 +1359,64 @@
        String patternDisplay = (String) mowingPatternCombo.getSelectedItem();
        dikuaiData.put("mowingPattern", patternDisplay);

        Object widthObj = mowingWidthSpinner.getValue();
        if (!(widthObj instanceof Number)) {
            JOptionPane.showMessageDialog(this, "割草宽度输入无效", "提示", JOptionPane.WARNING_MESSAGE);
        // 获取割草宽度（从文本框，单位：米）
        String mowingWidthStr = mowingWidthField.getText().trim();
        if (mowingWidthStr == null || mowingWidthStr.isEmpty()) {
            JOptionPane.showMessageDialog(this, "请先输入割草宽度", "提示", JOptionPane.WARNING_MESSAGE);
            dikuaiData.remove("plannedPath");
            showPathGenerationMessage("割草宽度输入无效，请重新输入。", false);
            showPathGenerationMessage("请先输入割草宽度。", false);
            setPathAvailability(false);
            return;
        }
        double widthCm = ((Number) widthObj).doubleValue();
        if (widthCm <= 0) {
        
        double widthMeters;
        try {
            widthMeters = Double.parseDouble(mowingWidthStr);
        } catch (NumberFormatException e) {
            JOptionPane.showMessageDialog(this, "割草宽度格式不正确", "提示", JOptionPane.WARNING_MESSAGE);
            dikuaiData.remove("plannedPath");
            showPathGenerationMessage("割草宽度格式不正确，请重新输入。", false);
            setPathAvailability(false);
            return;
        }
        
        if (widthMeters <= 0) {
            JOptionPane.showMessageDialog(this, "割草宽度必须大于0", "提示", JOptionPane.WARNING_MESSAGE);
            dikuaiData.remove("plannedPath");
            showPathGenerationMessage("割草宽度必须大于0，请重新设置。", false);
            setPathAvailability(false);
            return;
        }
        dikuaiData.put("mowingWidth", widthObj.toString());
        
        // 保存割草宽度（转换为厘米保存，保持与原有数据格式一致）
        double widthCm = widthMeters * 100.0;
        dikuaiData.put("mowingWidth", String.format(Locale.US, "%.2f", widthCm));

        String widthMeters = String.format(Locale.US, "%.2f", widthCm / 100.0);
        // 获取安全距离
        String safetyDistanceStr = safetyDistanceField.getText().trim();
        double safetyDistanceMeters = Double.NaN;
        if (safetyDistanceStr != null && !safetyDistanceStr.isEmpty()) {
            try {
                safetyDistanceMeters = Double.parseDouble(safetyDistanceStr);
            } catch (NumberFormatException e) {
                // 使用NaN，让系统自动计算
            }
        }
        
        String widthMetersStr = String.format(Locale.US, "%.3f", widthMeters);
        String safetyDistanceMetersStr = Double.isNaN(safetyDistanceMeters) ? null : String.format(Locale.US, "%.3f", safetyDistanceMeters);
        String plannerMode = resolvePlannerMode(patternDisplay);

        try {
            List<Lunjingguihua.PathSegment> segments = Lunjingguihua.generatePathSegments(
            // 使用与路径规划页面相同的方法：Lunjingguihua.generatePathFromStrings
            String plannedPath = Lunjingguihua.generatePathFromStrings(
                boundaryCoords,
                obstacleCoords,
                widthMeters,
                obstacleCoords != null ? obstacleCoords : "",
                widthMetersStr,
                safetyDistanceMetersStr,
                plannerMode
            );
            String plannedPath = Lunjingguihua.formatPathSegments(segments);
            
            if (!isMeaningfulValue(plannedPath)) {
                JOptionPane.showMessageDialog(this, "生成割草路径失败: 生成结果为空", "错误", JOptionPane.ERROR_MESSAGE);
                dikuaiData.remove("plannedPath");
@@ -1127,6 +1424,7 @@
                setPathAvailability(false);
                return;
            }
            
            if (isMeaningfulValue(boundaryCoords)) {
                dikuaiData.put("boundaryCoordinates", boundaryCoords);
            }
@@ -1136,7 +1434,7 @@
            dikuaiData.put("plannedPath", plannedPath);
            setPathAvailability(true);
            showPathGenerationMessage(
                "已根据当前设置生成割草路径，共生成 " + segments.size() + " 段。\n点击“预览”按钮可在主页面查看效果。",
                "已根据当前设置生成割草路径。\n点击预览按钮可在主页面查看效果。",
                true);
        } catch (IllegalArgumentException ex) {
            JOptionPane.showMessageDialog(this, "生成割草路径失败: " + ex.getMessage(), "错误", JOptionPane.ERROR_MESSAGE);
@@ -1232,13 +1530,18 @@
            }
        }

        if (mowingWidthSpinner != null) {
            Object widthValue = mowingWidthSpinner.getValue();
            if (widthValue instanceof Number) {
                int widthInt = ((Number) widthValue).intValue();
                dikuaiData.put("mowingWidth", Integer.toString(widthInt));
            } else if (widthValue != null) {
                dikuaiData.put("mowingWidth", widthValue.toString());
        // 保存割草宽度（从文本框获取，单位：米，转换为厘米保存）
        if (mowingWidthField != null) {
            String widthStr = mowingWidthField.getText().trim();
            if (widthStr != null && !widthStr.isEmpty()) {
                try {
                    double widthMeters = Double.parseDouble(widthStr);
                    double widthCm = widthMeters * 100.0;
                    dikuaiData.put("mowingWidth", String.format(Locale.US, "%.2f", widthCm));
                } catch (NumberFormatException e) {
                    // 保持原值
                    dikuaiData.put("mowingWidth", widthStr);
                }
            }
        }
    }
@@ -1260,18 +1563,14 @@
    }
    
    private JButton createPrimaryButton(String text, int fontSize) {
        JButton button = new JButton(text);
        JButton button = buttonset.createStyledButton(text, PRIMARY_COLOR);
        button.setFont(new Font("微软雅黑", Font.BOLD, fontSize));
        button.setBackground(PRIMARY_COLOR);
        button.setForeground(WHITE);
        button.setBorder(BorderFactory.createCompoundBorder(
            BorderFactory.createLineBorder(PRIMARY_DARK, 2),
            BorderFactory.createEmptyBorder(12, 25, 12, 25)
        ));
        button.setFocusPainted(false);
        button.setCursor(new Cursor(Cursor.HAND_CURSOR));
        
        // 按钮悬停效果

        button.addMouseListener(new MouseAdapter() {
            @Override
            public void mouseEntered(MouseEvent e) {
@@ -1279,7 +1578,7 @@
                    button.setBackground(PRIMARY_DARK);
                }
            }
            

            @Override
            public void mouseExited(MouseEvent e) {
                if (button.isEnabled()) {
@@ -1287,7 +1586,7 @@
                }
            }
        });
        

        return button;
    }

@@ -1335,15 +1634,13 @@
        buttonPanel.setBackground(WHITE);
        buttonPanel.setBorder(BorderFactory.createEmptyBorder(20, 0, 0, 0));

        prevButton = new JButton("上一步");
        prevButton = buttonset.createStyledButton("上一步", MEDIUM_GRAY);
        prevButton.setFont(new Font("微软雅黑", Font.BOLD, 16));
        prevButton.setBackground(MEDIUM_GRAY);
        prevButton.setForeground(TEXT_COLOR);
        prevButton.setBorder(BorderFactory.createCompoundBorder(
            BorderFactory.createLineBorder(BORDER_COLOR, 2),
            BorderFactory.createEmptyBorder(10, 25, 10, 25)
        ));
        prevButton.setFocusPainted(false);
        prevButton.setCursor(new Cursor(Cursor.HAND_CURSOR));

        nextButton = createPrimaryButton("下一步", 16);
@@ -1373,10 +1670,20 @@
        if (boundaryCountLabel == null) {
            return;
        }
        int count = Coordinate.coordinates != null ? Coordinate.coordinates.size() : 0;
        double area = jisuanmianjie.calculatePolygonArea();
        DecimalFormat areaFormat = new DecimalFormat("0.00");
        boundaryCountLabel.setText("已采集到边界点" + count + "个，当前地块面积为" + areaFormat.format(area) + "㎡");
        
        // 使用优化后的边界数据计算点数和面积
        String optimizedXYStr = dikuaiData.get("optimizedBoundaryXY");
        if (optimizedXYStr != null && !optimizedXYStr.isEmpty() && !optimizedXYStr.startsWith("ERROR")) {
            int count = Bianjieyouhuatoxy.calculatePointCount(optimizedXYStr);
            String areaStr = Bianjieyouhuatoxy.calculateArea(optimizedXYStr);
            boundaryCountLabel.setText("已采集到边界点" + count + "个，当前地块面积为" + areaStr + "㎡");
        } else {
            // 如果没有优化后的数据，使用原始数据
            int count = Coordinate.coordinates != null ? Coordinate.coordinates.size() : 0;
            double area = jisuanmianjie.calculatePolygonArea();
            DecimalFormat areaFormat = new DecimalFormat("0.00");
            boundaryCountLabel.setText("已采集到边界点" + count + "个，当前地块面积为" + areaFormat.format(area) + "㎡");
        }
        boundaryCountLabel.setVisible(true);
    }

@@ -1508,6 +1815,53 @@
        if (boundaryCountLabel != null) {
            boundaryCountLabel.setVisible(false);
        }
        if (boundaryXYTextArea != null) {
            boundaryXYTextArea.setVisible(false);
            boundaryXYTextArea.setText("");
        }
        if (boundaryXYScrollPane != null) {
            boundaryXYScrollPane.setVisible(false);
        }
    }
    
    /**
     * 更新边界XY坐标显示
     */
    private void updateBoundaryXYDisplay() {
        if (boundaryXYTextArea == null || boundaryXYScrollPane == null) {
            return;
        }
        
        // 获取优化后的边界XY坐标
        String optimizedXYStr = dikuaiData.get("optimizedBoundaryXY");
        if (optimizedXYStr != null && !optimizedXYStr.isEmpty() && !optimizedXYStr.startsWith("ERROR")) {
            boundaryXYTextArea.setText(optimizedXYStr);
            boundaryXYTextArea.setVisible(true);
            boundaryXYScrollPane.setVisible(true);
        } else {
            // 如果没有优化后的数据，尝试从原始坐标优化并显示
            // 如果已经有原始坐标但还没有优化，则进行优化
            if (dikuaiData.containsKey("boundaryDrawn") && 
                (Coordinate.coordinates != null && !Coordinate.coordinates.isEmpty())) {
                // 尝试优化边界
                optimizeBoundaryAndSave();
                // 再次获取优化后的坐标
                optimizedXYStr = dikuaiData.get("optimizedBoundaryXY");
                if (optimizedXYStr != null && !optimizedXYStr.isEmpty() && !optimizedXYStr.startsWith("ERROR")) {
                    boundaryXYTextArea.setText(optimizedXYStr);
                    boundaryXYTextArea.setVisible(true);
                    boundaryXYScrollPane.setVisible(true);
                } else {
                    boundaryXYTextArea.setText("边界坐标数据未就绪");
                    boundaryXYTextArea.setVisible(true);
                    boundaryXYScrollPane.setVisible(true);
                }
            } else {
                boundaryXYTextArea.setText("边界坐标数据未就绪");
                boundaryXYTextArea.setVisible(true);
                boundaryXYScrollPane.setVisible(true);
            }
        }
    }

    private boolean hasGeneratedPath() {
@@ -1576,8 +1930,14 @@

        String optimizedBoundary;
        try {
            optimizedBoundary = bianjieguihua2.processCoordinateListAuto(baseStationCoordinates);
        } catch (RuntimeException ex) {
            // 构建边界字符串，格式为 "(lat1,lon1,alt1;lat2,lon2,alt2;...)"
            String boundaryStr = buildBoundaryStringForOptimization(uniqueCoordinates);
            // 调用 Bianjieyouhuatoxy.optimizeBoundary 方法
            optimizedBoundary = Bianjieyouhuatoxy.optimizeBoundary(baseStationCoordinates, boundaryStr);
            if (optimizedBoundary == null || optimizedBoundary.isEmpty() || optimizedBoundary.startsWith("ERROR")) {
                return BoundarySnapshotResult.failure("生成地块边界失败: 优化后的边界坐标无效", JOptionPane.ERROR_MESSAGE);
            }
        } catch (Exception ex) {
            ex.printStackTrace();
            return BoundarySnapshotResult.failure("生成地块边界失败: " + ex.getMessage(), JOptionPane.ERROR_MESSAGE);
        }
@@ -1721,7 +2081,20 @@

            case 3:
                dikuaiData.put("mowingPattern", (String) mowingPatternCombo.getSelectedItem());
                dikuaiData.put("mowingWidth", mowingWidthSpinner.getValue().toString());
                // 保存割草宽度（从文本框获取，单位：米，转换为厘米保存）
                if (mowingWidthField != null) {
                    String widthStr = mowingWidthField.getText().trim();
                    if (widthStr != null && !widthStr.isEmpty()) {
                        try {
                            double widthMeters = Double.parseDouble(widthStr);
                            double widthCm = widthMeters * 100.0;
                            dikuaiData.put("mowingWidth", String.format(Locale.US, "%.2f", widthCm));
                        } catch (NumberFormatException e) {
                            // 保持原值
                            dikuaiData.put("mowingWidth", widthStr);
                        }
                    }
                }
                if (!hasGeneratedPath()) {
                    JOptionPane.showMessageDialog(this, "请先生成割草路径", "提示", JOptionPane.WARNING_MESSAGE);
                    return false;
@@ -1951,7 +2324,7 @@
        if (method != null) {
            JPanel panel = drawingOptionPanels.get(method);
            if (panel != null) {
                selectDrawingOption(panel, method);
                selectDrawingOption(panel, method, false);
            }
        }

@@ -1966,6 +2339,7 @@
            isDrawing = false;
            showStep(2);
            showBoundaryPointSummary();
            updateBoundaryXYDisplay();
        } else {
            if (startEndDrawingBtn != null) {
                startEndDrawingBtn.setText("开始绘制");
@@ -2002,24 +2376,36 @@
            }
        }

        if (mowingWidthSpinner != null) {
            String width = data.get("mowingWidth");
            if (isMeaningfulValue(width)) {
                try {
                    double parsed = Double.parseDouble(width.trim());
                    SpinnerNumberModel model = (SpinnerNumberModel) mowingWidthSpinner.getModel();
                    int min = ((Number) model.getMinimum()).intValue();
                    int max = ((Number) model.getMaximum()).intValue();
                    int rounded = (int) Math.round(parsed);
                    if (rounded < min) {
                        rounded = min;
                    } else if (rounded > max) {
                        rounded = max;
                    }
                    mowingWidthSpinner.setValue(rounded);
                } catch (NumberFormatException ignored) {
                    // 保持当前值
        // 恢复割草宽度：从保存的割草宽度（厘米）转换为米并设置
        String width = data.get("mowingWidth");
        if (isMeaningfulValue(width) && mowingWidthField != null) {
            try {
                double mowingWidthCm = Double.parseDouble(width.trim());
                // 将厘米转换为米
                double mowingWidthMeters = mowingWidthCm / 100.0;
                mowingWidthField.setText(String.format(Locale.US, "%.3f", mowingWidthMeters));
            } catch (NumberFormatException ignored) {
                // 保持当前值
            }
        }
        
        // 恢复割刀宽度：从保存的割草宽度反推割刀宽度并设置
        // 由于割草宽度 = 割刀宽度 * 0.85，所以割刀宽度 = 割草宽度 / 0.85
        if (isMeaningfulValue(width) && bladeWidthField != null) {
            try {
                double mowingWidthCm = Double.parseDouble(width.trim());
                // 将厘米转换为米，然后反推割刀宽度
                double mowingWidthMeters = mowingWidthCm / 100.0;
                double bladeWidthMeters = mowingWidthMeters / 0.85;
                bladeWidthField.setText(String.format(Locale.US, "%.3f", bladeWidthMeters));
                // 触发自动计算安全距离
                if (safetyDistanceField != null) {
                    String safetyDistanceStr = Gecaoanquanjuli.calculateSafetyDistanceFromString(
                        String.format(Locale.US, "%.3f", bladeWidthMeters));
                    safetyDistanceField.setText(safetyDistanceStr);
                }
            } catch (NumberFormatException ignored) {
                // 保持当前值
            }
        }