GeCaoAPP.git - Gitblit

			@@ -1,744 +1,3746 @@
			package zhuye;

			import javax.swing.*;
			import javax.swing.Timer;

			import baseStation.BaseStation;
			import set.Setsys;
			import baseStation.BaseStationDialog;

			import java.awt.*;
			import java.awt.event.*;

			import chuankou.dellmessage;
			import chuankou.sendmessage;
			import chuankou.SerialPortService;
			import dikuai.Dikuai;
			import dikuai.Dikuaiguanli;
			import dikuai.addzhangaiwu;
			import gecaoji.Device;
			import gecaoji.Gecaoji;
			import gecaoji.MowerBoundaryChecker;
			import set.Sets;
			import set.debug;
			import udpdell.UDPServer;
			import zhangaiwu.AddDikuai;
			import yaokong.Control04;
			import yaokong.RemoteControlDialog;

			import java.util.ArrayList;
			import java.util.Collections;
			import java.util.List;
			import java.util.Map;
			import java.util.Locale;
			import java.util.Objects;
			import java.util.concurrent.atomic.AtomicBoolean;
			import java.util.function.Consumer;
			import java.awt.geom.Point2D;

			/**
			* 首页界面 - 适配6.5寸竖屏，使用独立的MapRenderer进行绘制
			*/
			public class Shouye extends JPanel {
			private static final long serialVersionUID = 1L;
			private static Shouye instance;
			private static final long serialVersionUID = 1L;
			private static Shouye instance;

			// 主题颜色
			private final Color THEME_COLOR = new Color(46, 139, 87);
			private final Color THEME_HOVER_COLOR = new Color(30, 107, 69);
			private final Color BACKGROUND_COLOR = new Color(250, 250, 250);
			private final Color PANEL_BACKGROUND = new Color(255, 255, 255);
			private final Color STATUS_PAUSE_COLOR = new Color(255, 165, 0);

			// 组件
			private JPanel headerPanel;
			private JPanel mainContentPanel;
			private JPanel controlPanel;
			private JPanel navigationPanel;
			private JPanel visualizationPanel;

			// 按钮
			private JButton startBtn;
			private JButton stopBtn;
			private JButton legendBtn;
			private JButton remoteBtn;
			private JButton areaSelectBtn;
			private JButton baseStationBtn;
			private JButton bluetoothBtn;
			private JLabel dataPacketCountLabel;
			private JLabel mowerSpeedValueLabel;
			private JLabel mowerSpeedUnitLabel;
			private JLabel mowingProgressLabel;
			private gpszhuangtai fixQualityIndicator;

			// 导航按钮
			private JButton homeNavBtn;
			private JButton areasNavBtn;
			private JButton settingsNavBtn;

			// 状态显示
			private JLabel statusLabel;
			private JLabel speedLabel; // 速度显示标签
			private JLabel areaNameLabel;

			// 边界警告相关
			private Timer boundaryWarningTimer; // 边界警告检查定时器
			private Timer warningBlinkTimer; // 警告图标闪烁定时器
			private boolean isMowerOutsideBoundary = false; // 割草机是否在边界外
			private boolean warningIconVisible = true; // 警告图标显示状态（用于闪烁）

			// 以割草机为中心视图模式
			private boolean centerOnMowerMode = false; // 是否处于以割草机为中心的模式

			// 当前选中的导航按钮
			private JButton currentNavButton;

			// 对话框引用
			private LegendDialog legendDialog;
			// 使用完全限定名以避免与同包的 RemoteControlDialog 冲突，确保使用 yaokong 包下的实现
			private yaokong.RemoteControlDialog remoteDialog;
			private AreaSelectionDialog areaDialog;
			private BaseStationDialog baseStationDialog;
			private Sets settingsDialog;
			private BaseStation baseStation;

			// 地图渲染器
			private MapRenderer mapRenderer;

			private final Consumer<String> serialLineListener = line -> {
			SwingUtilities.invokeLater(() -> {
			updateDataPacketCountLabel();
			// 如果收到$GNGGA数据，立即更新拖尾
			if (line != null && line.trim().startsWith("$GNGGA")) {
			if (mapRenderer != null) {
			mapRenderer.forceUpdateIdleMowerTrail();
			}
			}
			});
			};
			private static final int FLOAT_ICON_SIZE = 32;
			private JButton endDrawingButton;
			private JButton drawingPauseButton;
			private JPanel floatingButtonPanel;
			private JPanel floatingButtonColumn;
			private Runnable endDrawingCallback;
			private JButton pathPreviewReturnButton;
			private boolean pathPreviewActive;
			private Runnable pathPreviewReturnAction;
			private String previewRestoreLandNumber;
			private String previewRestoreLandName;
			private boolean drawingPaused;
			private ImageIcon pauseIcon;
			private ImageIcon pauseActiveIcon;
			private ImageIcon endIcon;
			private ImageIcon bluetoothIcon;
			private ImageIcon bluetoothLinkedIcon;
			private JPanel circleGuidancePanel;
			private JLabel circleGuidanceLabel;
			private JButton circleGuidancePrimaryButton;
			private JButton circleGuidanceSecondaryButton;
			private int circleGuidanceStep;
			private JDialog circleGuidanceDialog;
			private boolean circleDialogMode;
			private ComponentAdapter circleDialogOwnerAdapter;
			private static final double METERS_PER_DEGREE_LAT = 111320.0d;
			private static final double HANDHELD_DUPLICATE_THRESHOLD_METERS = 0.01d;
			private final List<double[]> circleCapturedPoints = new ArrayList<>();
			private double[] circleBaseLatLon;
			private Timer circleDataMonitor;
			private Coordinate lastCapturedCoordinate;
			private boolean handheldCaptureActive;
			private int handheldCapturedPoints;
			private final List<Point2D.Double> handheldTemporaryPoints = new ArrayList<>();
			private final List<Point2D.Double> mowerTemporaryPoints = new ArrayList<>();
			private enum BoundaryCaptureMode { NONE, HANDHELD, MOWER }
			private BoundaryCaptureMode activeBoundaryMode = BoundaryCaptureMode.NONE;
			private boolean mowerBoundaryCaptureActive;
			private Timer mowerBoundaryMonitor;
			private Coordinate lastMowerCoordinate;
			private double[] mowerBaseLatLon;
			private boolean startButtonShowingPause = true;
			private boolean stopButtonActive = false;
			private boolean bluetoothConnected = false;
			private Timer mowerSpeedRefreshTimer;
			private boolean drawingControlModeActive;
			private boolean storedStartButtonShowingPause;
			private boolean storedStopButtonActive;
			private String storedStatusBeforeDrawing;
			private boolean handheldCaptureInlineUiActive;
			private Timer handheldCaptureStatusTimer;
			private String handheldCaptureStoredStatusText;
			private Color handheldStartButtonOriginalBackground;
			private Color handheldStartButtonOriginalForeground;
			private Color handheldStopButtonOriginalBackground;
			private Color handheldStopButtonOriginalForeground;

			public Shouye() {
			instance = this;
			baseStation = new BaseStation();
			baseStation.load();
			dellmessage.registerLineListener(serialLineListener);
			initializeUI();
			setupEventHandlers();
			scheduleIdentifierCheck();
			}

			public static Shouye getInstance() {
			return instance;
			}

			private void initializeUI() {
			setLayout(new BorderLayout());
			setBackground(BACKGROUND_COLOR);

			// 创建各个面板
			createHeaderPanel();
			createMainContentPanel();
			createControlPanel();
			createNavigationPanel();

			// 添加到主面板
			add(headerPanel, BorderLayout.NORTH);
			add(mainContentPanel, BorderLayout.CENTER);
			add(controlPanel, BorderLayout.SOUTH);

			// 初始化地图渲染器
			mapRenderer = new MapRenderer(visualizationPanel);
			applyIdleTrailDurationFromSettings();

			// 初始化对话框引用为null，延迟创建
			legendDialog = null;
			remoteDialog = null;
			areaDialog = null;
			baseStationDialog = null;
			settingsDialog = null;

			// 设置默认状态
			setNavigationActive(homeNavBtn);

			initializeDefaultAreaSelection();
			refreshMapForSelectedArea();

			// 启动边界警告检查定时器
			startBoundaryWarningTimer();
			}

			private void scheduleIdentifierCheck() {
			HierarchyListener listener = new HierarchyListener() {
			@Override
			public void hierarchyChanged(HierarchyEvent e) {
			if ((e.getChangeFlags() & HierarchyEvent.SHOWING_CHANGED) != 0 && Shouye.this.isShowing()) {
			Shouye.this.removeHierarchyListener(this);
			SwingUtilities.invokeLater(() -> {
			Shouye.this.checkIdentifiersAndPromptIfNeeded();
			Shouye.this.showInitialMowerSelfCheckDialogIfNeeded();
			// 设置窗口关闭监听器，在关闭时保存缩放比例
			setupWindowCloseListener();
			});
			}
			}
			};
			addHierarchyListener(listener);
			}

			/**
			* 设置窗口关闭监听器，在窗口关闭时保存当前缩放比例
			*/
			private void setupWindowCloseListener() {
			Window window = SwingUtilities.getWindowAncestor(this);
			if (window != null && window instanceof JFrame) {
			JFrame frame = (JFrame) window;
			frame.addWindowListener(new WindowAdapter() {
			@Override
			public void windowClosing(WindowEvent e) {
			// 保存当前缩放比例
			saveCurrentScale();
			// 停止边界警告定时器
			if (boundaryWarningTimer != null && boundaryWarningTimer.isRunning()) {
			boundaryWarningTimer.stop();
			}
			// 停止闪烁定时器
			if (warningBlinkTimer != null && warningBlinkTimer.isRunning()) {
			warningBlinkTimer.stop();
			}
			}
			});
			}
			}

			/**
			* 保存当前地图缩放比例和视图中心坐标到配置文件
			*/
			public void saveCurrentScale() {
			if (mapRenderer != null) {
			double currentScale = mapRenderer.getScale();
			double translateX = mapRenderer.getTranslateX();
			double translateY = mapRenderer.getTranslateY();
			Setsys setsys = new Setsys();
			// 保留2位小数
			setsys.updateProperty("mapScale", String.format("%.2f", currentScale));
			setsys.updateProperty("viewCenterX", String.format("%.2f", translateX));
			setsys.updateProperty("viewCenterY", String.format("%.2f", translateY));
			}
			}

			/**
			* 启动边界警告检查定时器
			*/
			private void startBoundaryWarningTimer() {
			// 边界检查定时器：每500ms检查一次割草机是否在边界内
			boundaryWarningTimer = new Timer(500, e -> {
			checkMowerBoundaryStatus();
			// 同时更新蓝牙图标状态
			updateBluetoothButtonIcon();
			});
			boundaryWarningTimer.setInitialDelay(0);
			boundaryWarningTimer.start();

			// 闪烁定时器：每1秒切换一次警告图标显示状态
			warningBlinkTimer = new Timer(1000, e -> {
			if (isMowerOutsideBoundary) {
			warningIconVisible = !warningIconVisible;
			if (visualizationPanel != null) {
			visualizationPanel.repaint();
			}
			}
			});
			warningBlinkTimer.setInitialDelay(0);
			warningBlinkTimer.start();
			}

			/**
			* 切换以割草机为中心的模式
			*/
			private void toggleCenterOnMowerMode() {
			centerOnMowerMode = !centerOnMowerMode;

			if (centerOnMowerMode) {
			// 开启模式：立即将视图中心移动到割草机位置
			updateViewToCenterOnMower();
			}
			// 关闭模式时不需要做任何操作，用户已经可以自由移动地图

			// 更新图标显示（重绘以切换图标）
			if (visualizationPanel != null) {
			visualizationPanel.repaint();
			}
			}

			/**
			* 更新视图中心到割草机位置
			*/
			private void updateViewToCenterOnMower() {
			if (mapRenderer == null) {
			return;
			}

			Gecaoji mower = mapRenderer.getMower();
			if (mower != null && mower.hasValidPosition()) {
			Point2D.Double mowerPosition = mower.getPosition();
			if (mowerPosition != null) {
			// 获取当前缩放比例
			double currentScale = mapRenderer.getScale();
			// 设置视图变换，使割草机位置对应到屏幕中心
			// translateX = -mowerX, translateY = -mowerY 可以让割草机在屏幕中心
			mapRenderer.setViewTransform(currentScale, -mowerPosition.x, -mowerPosition.y);
			}
			}
			}

			/**
			* 检查割草机边界状态
			*/
			private void checkMowerBoundaryStatus() {
			// 如果处于以割草机为中心的模式，实时更新视图中心
			if (centerOnMowerMode) {
			updateViewToCenterOnMower();
			}

			// 检查是否在作业中
			if (statusLabel == null \|\| !"作业中".equals(statusLabel.getText())) {
			// 不在作业中，重置状态
			if (isMowerOutsideBoundary) {
			isMowerOutsideBoundary = false;
			warningIconVisible = true;
			if (visualizationPanel != null) {
			visualizationPanel.repaint();
			}
			}
			return;
			}

			// 在作业中，检查是否在边界内
			if (mapRenderer == null) {
			return;
			}

			// 获取当前边界
			List<Point2D.Double> boundary = mapRenderer.getCurrentBoundary();
			if (boundary == null \|\| boundary.size() < 3) {
			// 没有边界，重置状态
			if (isMowerOutsideBoundary) {
			isMowerOutsideBoundary = false;
			warningIconVisible = true;
			if (visualizationPanel != null) {
			visualizationPanel.repaint();
			}
			}
			return;
			}

			// 获取割草机位置
			Gecaoji mower = mapRenderer.getMower();
			if (mower == null \|\| !mower.hasValidPosition()) {
			// 无法获取位置，重置状态
			if (isMowerOutsideBoundary) {
			isMowerOutsideBoundary = false;
			warningIconVisible = true;
			if (visualizationPanel != null) {
			visualizationPanel.repaint();
			}
			}
			return;
			}

			Point2D.Double mowerPosition = mower.getPosition();
			if (mowerPosition == null) {
			return;
			}

			// 使用 MowerBoundaryChecker 检查是否在边界内
			boolean isInside = MowerBoundaryChecker.isInsideBoundaryPoints(
			boundary,
			mowerPosition.x,
			mowerPosition.y
			);

			// 更新状态
			boolean wasOutside = isMowerOutsideBoundary;
			isMowerOutsideBoundary = !isInside;

			// 如果状态改变，立即重绘
			if (wasOutside != isMowerOutsideBoundary) {
			warningIconVisible = true;
			if (visualizationPanel != null) {
			visualizationPanel.repaint();
			}
			}
			}

			private void showInitialMowerSelfCheckDialogIfNeeded() {
			// 已移除进入主页时的自检提示（按用户要求删除）
			// 以前这里会调用 zijian.showInitialPromptIfNeeded(...) 展示自检对话框，现已禁用。
			}

			private void applyIdleTrailDurationFromSettings() {
			if (mapRenderer == null) {
			return;
			}
			int durationSeconds = MapRenderer.DEFAULT_IDLE_TRAIL_DURATION_SECONDS;
			String configuredValue = Setsys.getPropertyValue("idleTrailDurationSeconds");
			if (configuredValue != null) {
			String trimmed = configuredValue.trim();
			if (!trimmed.isEmpty()) {
			try {
			int parsed = Integer.parseInt(trimmed);
			if (parsed >= 5 && parsed <= 600) {
			durationSeconds = parsed;
			}
			} catch (NumberFormatException ignored) {
			durationSeconds = MapRenderer.DEFAULT_IDLE_TRAIL_DURATION_SECONDS;
			}
			}
			}
			mapRenderer.setIdleTrailDurationSeconds(durationSeconds);

			// 应用边界距离显示设置和测量模式设置
			Setsys setsys = new Setsys();
			setsys.initializeFromProperties();
			mapRenderer.setBoundaryLengthVisible(setsys.isBoundaryLengthVisible());
			// 初始化测量模式
			boolean measurementEnabled = setsys.isMeasurementModeEnabled();
			mapRenderer.setMeasurementMode(measurementEnabled);
			if (measurementEnabled) {
			celiangmoshi.start();
			} else {
			celiangmoshi.stop();
			}
			}

			private void createHeaderPanel() {
			headerPanel = new JPanel(new BorderLayout());
			headerPanel.setBackground(PANEL_BACKGROUND);
			headerPanel.setBorder(BorderFactory.createEmptyBorder(15, 20, 15, 20));
			headerPanel.setPreferredSize(new Dimension(0, 80));

			// 左侧信息区域（垂直排列：地块名称在上，状态行在下）
			JPanel leftInfoPanel = new JPanel();
			leftInfoPanel.setBackground(PANEL_BACKGROUND);
			leftInfoPanel.setLayout(new BoxLayout(leftInfoPanel, BoxLayout.Y_AXIS));
			// 保证子组件左对齐
			leftInfoPanel.setAlignmentX(Component.LEFT_ALIGNMENT);
			areaNameLabel = new JLabel("未选择地块");
			areaNameLabel.setFont(new Font("微软雅黑", Font.BOLD, 18));
			areaNameLabel.setForeground(Color.BLACK);
			areaNameLabel.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			areaNameLabel.addMouseListener(new MouseAdapter() {
			@Override
			public void mouseClicked(MouseEvent e) {
			Dikuaiguanli.showDikuaiManagement(Shouye.this, null);
			}

			@Override
			public void mouseEntered(MouseEvent e) {
			areaNameLabel.setForeground(THEME_COLOR);
			}

			@Override
			public void mouseExited(MouseEvent e) {
			areaNameLabel.setForeground(Color.BLACK);
			}
			});

			statusLabel = new JLabel("待机");
			statusLabel.setFont(new Font("微软雅黑", Font.PLAIN, 14));
			statusLabel.setForeground(Color.GRAY);
			statusLabel.addPropertyChangeListener("text", evt -> {
			Object newValue = evt.getNewValue();
			applyStatusLabelColor(newValue instanceof String ? (String) newValue : null);
			});
			applyStatusLabelColor(statusLabel.getText());

			// 添加速度显示标签
			speedLabel = new JLabel("");
			speedLabel.setFont(new Font("微软雅黑", Font.PLAIN, 12));
			speedLabel.setForeground(Color.GRAY);
			speedLabel.setVisible(false); // 默认隐藏

			// 将状态与速度放在同一行，显示在地块名称下面一行
			JPanel statusRow = new JPanel(new FlowLayout(FlowLayout.LEFT, 8, 0));
			statusRow.setOpaque(false);
			statusRow.add(statusLabel);
			statusRow.add(speedLabel);

			// 左对齐标签与状态行，确保它们在 BoxLayout 中靠左显示
			areaNameLabel.setAlignmentX(Component.LEFT_ALIGNMENT);
			statusRow.setAlignmentX(Component.LEFT_ALIGNMENT);

			leftInfoPanel.add(areaNameLabel);
			leftInfoPanel.add(statusRow);

			// 右侧操作区域
			JPanel rightActionPanel = new JPanel(new FlowLayout(FlowLayout.RIGHT));
			rightActionPanel.setBackground(PANEL_BACKGROUND);

			bluetoothBtn = createBluetoothButton();

			// 修改设置按钮：使用图片替代Unicode图标
			JButton settingsBtn = new JButton();
			try {
			ImageIcon settingsIcon = new ImageIcon("image/sets.png");
			// 调整图片大小以适应按钮
			Image scaledImage = settingsIcon.getImage().getScaledInstance(30, 30, Image.SCALE_SMOOTH);
			settingsBtn.setIcon(new ImageIcon(scaledImage));
			} catch (Exception e) {
			// 如果图片加载失败，使用默认文本
			settingsBtn.setText("设置");
			System.err.println("无法加载设置图标: " + e.getMessage());
			}
			settingsBtn.setPreferredSize(new Dimension(40, 40));
			settingsBtn.setBackground(PANEL_BACKGROUND);
			settingsBtn.setBorder(BorderFactory.createEmptyBorder(5, 5, 5, 5));
			settingsBtn.setFocusPainted(false);

			// 添加悬停效果
			settingsBtn.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			settingsBtn.setBackground(new Color(240, 240, 240));
			}
			public void mouseExited(MouseEvent e) {
			settingsBtn.setBackground(PANEL_BACKGROUND);
			}
			});

			// 添加设置按钮事件
			settingsBtn.addActionListener(e -> showSettingsDialog());

			rightActionPanel.add(bluetoothBtn);
			rightActionPanel.add(settingsBtn);

			headerPanel.add(leftInfoPanel, BorderLayout.WEST);
			headerPanel.add(rightActionPanel, BorderLayout.EAST);
			}

			private void createMainContentPanel() {
			mainContentPanel = new JPanel(new BorderLayout());
			mainContentPanel.setBackground(BACKGROUND_COLOR);

			// 可视化区域 - 使用MapRenderer进行绘制
			visualizationPanel = new JPanel() {
			private ImageIcon gecaojiIcon1 = null; // 默认图标
			private ImageIcon gecaojiIcon2 = null; // 以割草机为中心模式图标
			private static final int GECAOJI_ICON_X = 37;
			private static final int GECAOJI_ICON_Y = 10;
			private static final int GECAOJI_ICON_SIZE = 20;

			{
			// 加载割草机图标，大小20x20像素
			gecaojiIcon1 = loadScaledIcon("image/gecaojishijiao1.png", GECAOJI_ICON_SIZE, GECAOJI_ICON_SIZE);
			gecaojiIcon2 = loadScaledIcon("image/gecaojishijiao2.png", GECAOJI_ICON_SIZE, GECAOJI_ICON_SIZE);
			}

			/**
			* 检查鼠标位置是否在割草机图标区域内
			*/
			private boolean isMouseOnGecaojiIcon(Point mousePoint) {
			return mousePoint.x >= GECAOJI_ICON_X &&
			mousePoint.x <= GECAOJI_ICON_X + GECAOJI_ICON_SIZE &&
			mousePoint.y >= GECAOJI_ICON_Y &&
			mousePoint.y <= GECAOJI_ICON_Y + GECAOJI_ICON_SIZE;
			}

			@Override
			public String getToolTipText(MouseEvent event) {
			// 如果鼠标在割草机图标区域内，显示提示文字
			if (isMouseOnGecaojiIcon(event.getPoint())) {
			// 根据当前模式显示不同的提示文字
			return centerOnMowerMode ? "取消以割草机为中心" : "以割草机为中心";
			}
			// 不在图标上时返回null，不显示工具提示框
			return null;
			}

			@Override
			protected void paintComponent(Graphics g) {
			super.paintComponent(g);
			// 委托给MapRenderer进行绘制
			if (mapRenderer != null) {
			mapRenderer.renderMap(g);
			}

			// 检查是否需要显示警告图标
			if (isMowerOutsideBoundary && warningIconVisible) {
			// 绘制红色三角形警告图标（带叹号）
			drawWarningIcon(g, GECAOJI_ICON_X, GECAOJI_ICON_Y, GECAOJI_ICON_SIZE);
			} else {
			// 根据模式选择不同的图标
			ImageIcon iconToDraw = centerOnMowerMode ? gecaojiIcon2 : gecaojiIcon1;
			if (iconToDraw != null) {
			// 绘制割草机图标
			// 水平方向与速度指示器对齐（x=37）
			// 垂直方向与卫星状态图标对齐（y=10，速度指示器面板顶部边距10像素，使图标中心对齐）
			g.drawImage(iconToDraw.getImage(), GECAOJI_ICON_X, GECAOJI_ICON_Y, null);
			}
			}
			}

			/**
			* 绘制红色三角形警告图标（带叹号）
			*/
			private void drawWarningIcon(Graphics g, int x, int y, int size) {
			Graphics2D g2d = (Graphics2D) g.create();
			g2d.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);

			// 绘制红色三角形
			int[] xPoints = {x + size / 2, x, x + size};
			int[] yPoints = {y, y + size, y + size};
			g2d.setColor(Color.RED);
			g2d.fillPolygon(xPoints, yPoints, 3);

			// 绘制白色边框
			g2d.setColor(Color.WHITE);
			g2d.setStroke(new BasicStroke(1.5f));
			g2d.drawPolygon(xPoints, yPoints, 3);

			// 绘制白色叹号
			g2d.setColor(Color.WHITE);
			g2d.setFont(new Font("Arial", Font.BOLD, size * 3 / 4));
			FontMetrics fm = g2d.getFontMetrics();
			String exclamation = "!";
			int textWidth = fm.stringWidth(exclamation);
			int textHeight = fm.getAscent();
			g2d.drawString(exclamation, x + (size - textWidth) / 2, y + (size + textHeight) / 2 - 2);

			g2d.dispose();
			}
			};
			visualizationPanel.setLayout(new BorderLayout());

			// 添加鼠标点击监听器，检测是否点击了割草机图标
			visualizationPanel.addMouseListener(new MouseAdapter() {
			@Override
			public void mouseClicked(MouseEvent e) {
			if (SwingUtilities.isLeftMouseButton(e)) {
			Point clickPoint = e.getPoint();
			// 检查是否点击了割草机图标区域（37, 10, 20, 20）
			if (clickPoint.x >= 37 && clickPoint.x <= 57 &&
			clickPoint.y >= 10 && clickPoint.y <= 30) {
			// 切换以割草机为中心的模式
			toggleCenterOnMowerMode();
			}
			}
			}
			});

			JPanel speedIndicatorPanel = createSpeedIndicatorPanel();
			visualizationPanel.add(speedIndicatorPanel, BorderLayout.NORTH);

			// 创建功能按钮面板
			JPanel functionButtonsPanel = new JPanel();
			functionButtonsPanel.setLayout(new BoxLayout(functionButtonsPanel, BoxLayout.Y_AXIS));
			functionButtonsPanel.setOpaque(false);
			functionButtonsPanel.setBorder(BorderFactory.createEmptyBorder(20, 5, 0, 0)); // 左边距改为5像素

			legendBtn = createFunctionButton("图例", "📖");
			baseStationBtn = createFunctionButton("基准站", "📡"); // 调整到第二位
			areaSelectBtn = createFunctionButton("地块", "🌿"); // 调整到第三位
			remoteBtn = createFunctionButton("遥控", "🎮"); // 调整到最后

			functionButtonsPanel.add(legendBtn);
			functionButtonsPanel.add(Box.createRigidArea(new Dimension(0, 10)));
			functionButtonsPanel.add(baseStationBtn);
			functionButtonsPanel.add(Box.createRigidArea(new Dimension(0, 10)));
			functionButtonsPanel.add(areaSelectBtn);
			functionButtonsPanel.add(Box.createRigidArea(new Dimension(0, 10)));
			functionButtonsPanel.add(remoteBtn);

			visualizationPanel.add(functionButtonsPanel, BorderLayout.WEST);

			JPanel zoomControlPanel = createZoomControlPanel();
			visualizationPanel.add(zoomControlPanel, BorderLayout.EAST);

			mainContentPanel.add(visualizationPanel, BorderLayout.CENTER);

			startMowerSpeedUpdates();
			}

			private JPanel createZoomControlPanel() {
			JPanel container = new JPanel(new BorderLayout());
			container.setOpaque(false);
			container.setBorder(BorderFactory.createEmptyBorder(0, 0, 20, 20));

			JPanel alignmentPanel = new JPanel();
			alignmentPanel.setOpaque(false);
			alignmentPanel.setLayout(new BoxLayout(alignmentPanel, BoxLayout.Y_AXIS));
			alignmentPanel.add(Box.createVerticalGlue());

			JPanel buttonStack = new JPanel();
			buttonStack.setOpaque(false);
			buttonStack.setLayout(new BoxLayout(buttonStack, BoxLayout.Y_AXIS));

			JButton zoomInButton = createZoomButton("+");
			JButton zoomOutButton = createZoomButton("-");

			AtomicBoolean skipZoomInClick = new AtomicBoolean(false);
			AtomicBoolean skipZoomOutClick = new AtomicBoolean(false);

			Timer zoomInHoldTimer = new Timer(120, event -> {
			if (mapRenderer == null \|\| !zoomInButton.getModel().isPressed()) {
			((Timer) event.getSource()).stop();
			return;
			}
			if (!mapRenderer.canZoomIn()) {
			((Timer) event.getSource()).stop();
			return;
			}
			skipZoomInClick.set(true);
			mapRenderer.zoomInFromCenter();
			if (!mapRenderer.canZoomIn()) {
			((Timer) event.getSource()).stop();
			}
			});
			zoomInHoldTimer.setInitialDelay(180);
			zoomInHoldTimer.setDelay(120);

			Timer zoomOutHoldTimer = new Timer(120, event -> {
			if (mapRenderer == null \|\| !zoomOutButton.getModel().isPressed()) {
			((Timer) event.getSource()).stop();
			return;
			}
			if (!mapRenderer.canZoomOut()) {
			((Timer) event.getSource()).stop();
			return;
			}
			skipZoomOutClick.set(true);
			mapRenderer.zoomOutFromCenter();
			if (!mapRenderer.canZoomOut()) {
			((Timer) event.getSource()).stop();
			}
			});
			zoomOutHoldTimer.setInitialDelay(180);
			zoomOutHoldTimer.setDelay(120);

			zoomInButton.addMouseListener(new MouseAdapter() {
			@Override
			public void mousePressed(MouseEvent e) {
			if (!SwingUtilities.isLeftMouseButton(e) \|\| mapRenderer == null \|\| !zoomInButton.isEnabled()) {
			return;
			}
			if (mapRenderer.canZoomIn()) {
			skipZoomInClick.set(true);
			mapRenderer.zoomInFromCenter();
			if (mapRenderer.canZoomIn()) {
			zoomInHoldTimer.restart();
			} else {
			zoomInHoldTimer.stop();
			}
			} else {
			skipZoomInClick.set(false);
			zoomInHoldTimer.stop();
			}
			}

			@Override
			public void mouseReleased(MouseEvent e) {
			zoomInHoldTimer.stop();
			if (!zoomInButton.contains(e.getPoint())) {
			skipZoomInClick.set(false);
			}
			}

			@Override
			public void mouseExited(MouseEvent e) {
			if (!zoomInButton.getModel().isPressed()) {
			zoomInHoldTimer.stop();
			}
			}
			});

			zoomOutButton.addMouseListener(new MouseAdapter() {
			@Override
			public void mousePressed(MouseEvent e) {
			if (!SwingUtilities.isLeftMouseButton(e) \|\| mapRenderer == null \|\| !zoomOutButton.isEnabled()) {
			return;
			}
			if (mapRenderer.canZoomOut()) {
			skipZoomOutClick.set(true);
			mapRenderer.zoomOutFromCenter();
			if (mapRenderer.canZoomOut()) {
			zoomOutHoldTimer.restart();
			} else {
			zoomOutHoldTimer.stop();
			}
			} else {
			skipZoomOutClick.set(false);
			zoomOutHoldTimer.stop();
			}
			}

			@Override
			public void mouseReleased(MouseEvent e) {
			zoomOutHoldTimer.stop();
			if (!zoomOutButton.contains(e.getPoint())) {
			skipZoomOutClick.set(false);
			}
			}

			@Override
			public void mouseExited(MouseEvent e) {
			if (!zoomOutButton.getModel().isPressed()) {
			zoomOutHoldTimer.stop();
			}
			}
			});

			zoomInButton.addActionListener(e -> {
			if (skipZoomInClick.getAndSet(false)) {
			return;
			}
			if (mapRenderer != null) {
			mapRenderer.zoomInFromCenter();
			}
			});

			zoomOutButton.addActionListener(e -> {
			if (skipZoomOutClick.getAndSet(false)) {
			return;
			}
			if (mapRenderer != null) {
			mapRenderer.zoomOutFromCenter();
			}
			});

			buttonStack.add(zoomInButton);
			buttonStack.add(Box.createRigidArea(new Dimension(0, 8)));
			buttonStack.add(zoomOutButton);

			buttonStack.setAlignmentX(Component.CENTER_ALIGNMENT);
			alignmentPanel.add(buttonStack);

			container.add(alignmentPanel, BorderLayout.CENTER);
			return container;
			}

			private JButton createZoomButton(String symbol) {
			JButton button = new JButton(symbol);
			Dimension size = new Dimension(44, 44);
			button.setPreferredSize(size);
			button.setMinimumSize(size);
			button.setMaximumSize(size);
			button.setFont(new Font("微软雅黑", Font.BOLD, 22));
			button.setMargin(new Insets(0, 0, 0, 0));
			button.setFocusPainted(false);
			button.setBackground(Color.WHITE);
			button.setForeground(Color.DARK_GRAY);
			button.setBorder(BorderFactory.createLineBorder(new Color(210, 210, 210), 1, true));
			button.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			button.setOpaque(true);

			button.addMouseListener(new MouseAdapter() {
			@Override
			public void mouseEntered(MouseEvent e) {
			button.setBackground(new Color(245, 245, 245));
			}

			@Override
			public void mouseExited(MouseEvent e) {
			button.setBackground(Color.WHITE);
			}
			});

			return button;
			}

			private void createControlPanel() {
			controlPanel = new JPanel(new BorderLayout());
			controlPanel.setBackground(PANEL_BACKGROUND);
			controlPanel.setBorder(BorderFactory.createEmptyBorder(15, 20, 15, 20));
			controlPanel.setPreferredSize(new Dimension(0, 100));

			JPanel buttonPanel = new JPanel(new GridLayout(1, 2, 20, 0));
			buttonPanel.setBackground(PANEL_BACKGROUND);

			startBtn = createControlButton("暂停", THEME_COLOR);
			updateStartButtonAppearance();

			stopBtn = createControlButton("结束", Color.ORANGE);
			updateStopButtonIcon();

			buttonPanel.add(startBtn);
			buttonPanel.add(stopBtn);

			controlPanel.add(buttonPanel, BorderLayout.CENTER);
			}

			private void createNavigationPanel() {
			navigationPanel = new JPanel(new GridLayout(1, 3));
			navigationPanel.setBackground(PANEL_BACKGROUND);
			navigationPanel.setBorder(BorderFactory.createEmptyBorder(0, 0, 0, 0));
			navigationPanel.setPreferredSize(new Dimension(0, 70));

			homeNavBtn = createNavButton("首页", "🏠");
			areasNavBtn = createNavButton("地块", "🌿");
			settingsNavBtn = createNavButton("设置", "⚙️");

			navigationPanel.add(homeNavBtn);
			navigationPanel.add(areasNavBtn);
			navigationPanel.add(settingsNavBtn);

			// 添加到主界面底部
			add(navigationPanel, BorderLayout.SOUTH);
			}

			private JButton createIconButton(String icon, int size) {
			JButton button = new JButton(icon);
			button.setFont(new Font("Segoe UI Emoji", Font.PLAIN, 20));
			button.setPreferredSize(new Dimension(size, size));
			button.setBackground(PANEL_BACKGROUND);
			button.setBorder(BorderFactory.createEmptyBorder(5, 5, 5, 5));
			button.setFocusPainted(false);

			// 悬停效果
			button.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			button.setBackground(new Color(240, 240, 240));
			}
			public void mouseExited(MouseEvent e) {
			button.setBackground(PANEL_BACKGROUND);
			}
			});

			return button;
			}

			private JButton createBluetoothButton() {
			JButton button = new JButton();
			button.setPreferredSize(new Dimension(40, 40));
			button.setBackground(PANEL_BACKGROUND);
			button.setBorder(BorderFactory.createEmptyBorder(5, 5, 5, 5));
			button.setFocusPainted(false);
			button.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			button.addMouseListener(new MouseAdapter() {
			@Override
			public void mouseEntered(MouseEvent e) {
			button.setBackground(new Color(240, 240, 240));
			}

			@Override
			public void mouseExited(MouseEvent e) {
			button.setBackground(PANEL_BACKGROUND);
			}
			});
			ensureBluetoothIconsLoaded();
			// 根据串口连接状态显示图标
			SerialPortService service = sendmessage.getActiveService();
			boolean serialConnected = (service != null && service.isOpen());
			ImageIcon initialIcon = serialConnected ? bluetoothLinkedIcon : bluetoothIcon;
			if (initialIcon != null) {
			button.setIcon(initialIcon);
			} else {
			button.setText(serialConnected ? "已连" : "蓝牙");
			}
			return button;
			}

			private JButton createFunctionButton(String text, String icon) {
			JButton button = new JButton("<html><center>" + icon + "<br>" + text + "</center></html>");
			button.setFont(new Font("微软雅黑", Font.PLAIN, 12));
			button.setPreferredSize(new Dimension(80, 70));
			button.setBackground(new Color(0, 0, 0, 0)); // 完全透明背景
			button.setBorder(BorderFactory.createEmptyBorder(5, 5, 5, 5)); // 只保留内边距
			button.setFocusPainted(false);
			button.setOpaque(false); // 设置为不透明，确保背景透明

			// 去掉悬停效果
			button.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			// 悬停时不改变任何样式
			}
			public void mouseExited(MouseEvent e) {
			// 悬停时不改变任何样式
			}
			});

			return button;
			}

			private JButton createControlButton(String text, Color color) {
			JButton button = new JButton(text);
			button.setFont(new Font("微软雅黑", Font.BOLD, 16));
			button.setBackground(color);
			button.setForeground(Color.WHITE);
			button.setBorder(BorderFactory.createEmptyBorder(15, 0, 15, 0));
			button.setFocusPainted(false);

			// 悬停效果
			button.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			if (button.isEnabled()) {
			if (color == THEME_COLOR) {
			button.setBackground(THEME_HOVER_COLOR);
			} else {
			button.setBackground(new Color(255, 165, 0));
			}
			}
			}
			public void mouseExited(MouseEvent e) {
			if (button.isEnabled()) {
			button.setBackground(color);
			}
			}
			});

			return button;
			}

			private void applyButtonIcon(JButton button, String imagePath) {
			try {
			ImageIcon icon = new ImageIcon(imagePath);
			Image scaledImage = icon.getImage().getScaledInstance(28, 28, Image.SCALE_SMOOTH);
			button.setIcon(new ImageIcon(scaledImage));
			button.setHorizontalAlignment(SwingConstants.CENTER);
			button.setIconTextGap(10);
			button.setHorizontalTextPosition(SwingConstants.RIGHT);
			button.setVerticalTextPosition(SwingConstants.CENTER);
			} catch (Exception e) {
			System.err.println("无法加载按钮图标: " + imagePath + " -> " + e.getMessage());
			}
			}

			private JButton createNavButton(String text, String icon) {
			JButton button = new JButton("<html><center>" + icon + "<br>" + text + "</center></html>");
			button.setFont(new Font("微软雅黑", Font.PLAIN, 12));
			button.setBackground(PANEL_BACKGROUND);
			button.setBorder(BorderFactory.createEmptyBorder(10, 5, 10, 5));
			button.setFocusPainted(false);

			// 悬停效果
			button.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			if (button != currentNavButton) {
			button.setBackground(new Color(240, 240, 240));
			}
			}
			public void mouseExited(MouseEvent e) {
			if (button != currentNavButton) {
			button.setBackground(PANEL_BACKGROUND);
			}
			}
			});

			return button;
			}

			private void setNavigationActive(JButton navButton) {
			// 重置所有导航按钮样式
			for (Component comp : navigationPanel.getComponents()) {
			if (comp instanceof JButton) {
			JButton btn = (JButton) comp;
			btn.setBackground(PANEL_BACKGROUND);
			btn.setForeground(Color.BLACK);
			}
			}

			// 设置当前选中按钮样式
			navButton.setBackground(THEME_COLOR);
			navButton.setForeground(Color.WHITE);
			currentNavButton = navButton;
			}

			private void setupEventHandlers() {
			// 导航按钮事件
			homeNavBtn.addActionListener(e -> setNavigationActive(homeNavBtn));
			areasNavBtn.addActionListener(e -> setNavigationActive(areasNavBtn));
			settingsNavBtn.addActionListener(e -> setNavigationActive(settingsNavBtn));

			// 功能按钮事件
			legendBtn.addActionListener(e -> showLegendDialog());
			if (bluetoothBtn != null) {
			bluetoothBtn.addActionListener(e -> toggleBluetoothConnection());
			}
			remoteBtn.addActionListener(e -> showRemoteControlDialog());
			areaSelectBtn.addActionListener(e -> {
			// 点击“地块”直接打开地块管理对话框（若需要可传入特定地块编号）
			Dikuaiguanli.showDikuaiManagement(this, null);
			});
			baseStationBtn.addActionListener(e -> showBaseStationDialog());

			// 控制按钮事件
			startBtn.addActionListener(e -> toggleStartPause());
			stopBtn.addActionListener(e -> handleStopAction());
			}

			private void showSettingsDialog() {
			if (settingsDialog == null) {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			if (parentWindow instanceof JFrame) {
			settingsDialog = new Sets((JFrame) parentWindow, THEME_COLOR);
			} else if (parentWindow instanceof JDialog) {
			settingsDialog = new Sets((JDialog) parentWindow, THEME_COLOR);
			} else {
			// Fallback to a frameless dialog when no parent is available
			settingsDialog = new Sets((JFrame) null, THEME_COLOR);
			}
			}
			settingsDialog.setVisible(true);
			}

			private void showLegendDialog() {
			if (legendDialog == null) {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			if (parentWindow != null) {
			legendDialog = new LegendDialog(this, THEME_COLOR);
			} else {
			// 如果没有父窗口，创建无父窗口的对话框
			legendDialog = new LegendDialog((JFrame) null, THEME_COLOR);
			}
			}
			legendDialog.setVisible(true);
			}

			private void showRemoteControlDialog() {
			if (remoteDialog == null) {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			if (parentWindow != null) {
			// 使用 yaokong 包中的 RemoteControlDialog 实现
			remoteDialog = new yaokong.RemoteControlDialog(this, THEME_COLOR, speedLabel);
			} else {
			remoteDialog = new yaokong.RemoteControlDialog((JFrame) null, THEME_COLOR, speedLabel);
			}
			}
			if (remoteDialog != null) {
			positionRemoteDialogBottomCenter(remoteDialog);
			zijian.markSelfCheckCompleted();
			remoteDialog.setVisible(true);
			}
			}

			private void positionRemoteDialogBottomCenter(RemoteControlDialog dialog) {
			if (dialog == null) {
			return;
			}
			// 将对话框底部与整个首页（Shouye 面板）的下边框对齐，
			// 而不是与 visualizationPanel 对齐，以满足设计要求。
			Dimension dialogSize = dialog.getSize();

			// 获取当前 Shouye 面板在屏幕上的位置和尺寸
			Point parentOnScreen = null;
			try {
			parentOnScreen = this.getLocationOnScreen();
			} catch (IllegalComponentStateException ex) {
			// 如果组件尚未显示或无法获取屏幕位置，回退到窗口层级位置获取
			Window owner = SwingUtilities.getWindowAncestor(this);
			if (owner != null) {
			parentOnScreen = owner.getLocationOnScreen();
			}
			}

			int x = 0, y = 0;
			if (parentOnScreen != null) {
			int parentWidth = this.getWidth();
			int parentHeight = this.getHeight();
			x = parentOnScreen.x + (parentWidth - dialogSize.width) / 2;
			y = parentOnScreen.y + parentHeight - dialogSize.height;
			} else {
			// 作为最后的回退，使用屏幕中心对齐底部
			Dimension screen = Toolkit.getDefaultToolkit().getScreenSize();
			x = (screen.width - dialogSize.width) / 2;
			y = screen.height - dialogSize.height;
			}

			dialog.setLocation(Math.max(x, 0), Math.max(y, 0));
			}

			private Rectangle computeVisualizationBoundsOnScreen() {
			if (visualizationPanel == null \|\| !visualizationPanel.isShowing()) {
			return null;
			}
			Point location = visualizationPanel.getLocationOnScreen();
			Dimension size = visualizationPanel.getSize();
			return new Rectangle(location.x, location.y, size.width, size.height);
			}

			private void showAreaSelectionDialog() {
			if (areaDialog == null) {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			if (parentWindow != null) {
			areaDialog = new AreaSelectionDialog(this, THEME_COLOR, areaNameLabel, statusLabel);
			} else {
			areaDialog = new AreaSelectionDialog((JFrame) null, THEME_COLOR, areaNameLabel, statusLabel);
			}
			}
			areaDialog.setVisible(true);
			}

			private void showBaseStationDialog() {
			if (baseStation == null) {
			baseStation = new BaseStation();
			}
			baseStation.load();

			Component dialogParent = this;

			if (!hasValidBaseStationId()) {
			boolean recorded = promptForBaseStationId(dialogParent);
			if (!recorded) {
			return;
			}
			}

			Device device = Device.getGecaoji();
			if (device == null) {
			device = new Device();
			device.initFromProperties();
			Device.setGecaoji(device);
			}

			if (baseStationDialog == null) {
			baseStationDialog = new BaseStationDialog(dialogParent, THEME_COLOR, device, baseStation);
			} else {
			baseStationDialog.refreshData();
			}
			baseStationDialog.setVisible(true);
			}

			private void checkIdentifiersAndPromptIfNeeded() {
			if (baseStation == null) {
			baseStation = new BaseStation();
			}
			baseStation.load();

			String currentMowerId = Setsys.getPropertyValue("mowerId");
			String currentBaseStationId = baseStation.getDeviceId();

			if (!isIdentifierMissing(currentMowerId) && !isIdentifierMissing(currentBaseStationId)) {
			return;
			}

			Window owner = SwingUtilities.getWindowAncestor(this);
			promptForMissingIdentifiers(owner, currentMowerId, currentBaseStationId);
			}

			private void promptForMissingIdentifiers(Window owner, String currentMowerId, String currentBaseStationId) {
			while (true) {
			JTextField mowerField = new JTextField(10);
			JTextField baseField = new JTextField(10);

			if (!isIdentifierMissing(currentMowerId)) {
			mowerField.setText(currentMowerId.trim());
			}
			if (!isIdentifierMissing(currentBaseStationId)) {
			baseField.setText(currentBaseStationId.trim());
			}

			JPanel panel = new JPanel();
			panel.setLayout(new BoxLayout(panel, BoxLayout.Y_AXIS));
			panel.setBorder(BorderFactory.createEmptyBorder(6, 6, 6, 6));

			JLabel mowerLabel = new JLabel("割草机编号");
			JLabel baseLabel = new JLabel("差分基准站编号");

			mowerField.setMaximumSize(new Dimension(Integer.MAX_VALUE, mowerField.getPreferredSize().height));
			baseField.setMaximumSize(new Dimension(Integer.MAX_VALUE, baseField.getPreferredSize().height));

			panel.add(mowerLabel);
			panel.add(Box.createVerticalStrut(4));
			panel.add(mowerField);
			panel.add(Box.createVerticalStrut(10));
			panel.add(baseLabel);
			panel.add(Box.createVerticalStrut(4));
			panel.add(baseField);

			Object[] options = {"保存", "取消"};
			int result = JOptionPane.showOptionDialog(owner, panel, "完善设备信息",
			JOptionPane.DEFAULT_OPTION, JOptionPane.PLAIN_MESSAGE, null, options, options[0]);

			if (result != 0) {
			break;
			}

			String mowerInput = mowerField.getText().trim();
			String baseInput = baseField.getText().trim();

			if (mowerInput.isEmpty()) {
			JOptionPane.showMessageDialog(owner, "割草机编号不能为空。", "提示", JOptionPane.WARNING_MESSAGE);
			continue;
			}

			if (baseInput.isEmpty()) {
			JOptionPane.showMessageDialog(owner, "差分基准站编号不能为空。", "提示", JOptionPane.WARNING_MESSAGE);
			continue;
			}

			boolean mowerSaved = persistMowerIdentifier(mowerInput);
			boolean baseSaved = persistBaseStationIdentifier(baseInput);

			if (mowerSaved && baseSaved) {
			JOptionPane.showMessageDialog(owner, "编号已保存。", "成功", JOptionPane.INFORMATION_MESSAGE);
			break;
			}

			StringBuilder errorBuilder = new StringBuilder();
			if (!mowerSaved) {
			errorBuilder.append("割草机编号保存失败。");
			}
			if (!baseSaved) {
			if (errorBuilder.length() > 0) {
			errorBuilder.append('\n');
			}
			errorBuilder.append("差分基准站编号保存失败。");
			}

			JOptionPane.showMessageDialog(owner, errorBuilder.toString(), "保存失败", JOptionPane.ERROR_MESSAGE);

			currentMowerId = Setsys.getPropertyValue("mowerId");
			baseStation.load();
			currentBaseStationId = baseStation.getDeviceId();
			}
			}

			private boolean isIdentifierMissing(String value) {
			if (value == null) {
			return true;
			}
			String trimmed = value.trim();
			return trimmed.isEmpty() \|\| "-1".equals(trimmed);
			}

			private boolean persistMowerIdentifier(String mowerId) {
			try {
			Setsys setsys = new Setsys();
			setsys.initializeFromProperties();
			boolean updated = setsys.updateProperty("mowerId", mowerId);
			if (updated) {
			Device.initializeActiveDevice(mowerId);
			}
			return updated;
			} catch (Exception ex) {
			ex.printStackTrace();
			return false;
			}
			}

			private boolean persistBaseStationIdentifier(String baseStationId) {
			if (baseStation == null) {
			baseStation = new BaseStation();
			}
			try {
			baseStation.updateByDeviceId(baseStationId,
			baseStation.getInstallationCoordinates(),
			baseStation.getIotSimCardNumber(),
			baseStation.getDeviceActivationTime(),
			baseStation.getDataUpdateTime());
			baseStation.load();
			return true;
			} catch (Exception ex) {
			ex.printStackTrace();
			return false;
			}
			}

			private boolean hasValidBaseStationId() {
			if (baseStation == null) {
			return false;
			}
			String deviceId = baseStation.getDeviceId();
			if (deviceId == null) {
			return false;
			}
			String trimmed = deviceId.trim();
			return !trimmed.isEmpty() && !"-1".equals(trimmed);
			}

			private boolean promptForBaseStationId(Component parentComponent) {
			if (baseStation == null) {
			baseStation = new BaseStation();
			}

			while (true) {
			String input = JOptionPane.showInputDialog(parentComponent,
			"请输入基准站编号", "录入基准站编号", JOptionPane.PLAIN_MESSAGE);

			if (input == null) {
			return false;
			}

			String trimmed = input.trim();
			if (trimmed.isEmpty()) {
			JOptionPane.showMessageDialog(parentComponent,
			"基准站编号不能为空，请重新输入。", "提示", JOptionPane.WARNING_MESSAGE);
			continue;
			}

			try {
			baseStation.updateByDeviceId(trimmed,
			baseStation.getInstallationCoordinates(),
			baseStation.getIotSimCardNumber(),
			baseStation.getDeviceActivationTime(),
			baseStation.getDataUpdateTime());
			baseStation.load();
			JOptionPane.showMessageDialog(parentComponent,
			"基准站编号已保存。", "操作成功", JOptionPane.INFORMATION_MESSAGE);
			return true;
			} catch (IllegalArgumentException ex) {
			JOptionPane.showMessageDialog(parentComponent,
			ex.getMessage(), "输入错误", JOptionPane.ERROR_MESSAGE);
			}
			}
			}

			private void toggleStartPause() {
			if (handheldCaptureInlineUiActive) {
			handleHandheldConfirmAction();
			return;
			}
			if (drawingControlModeActive) {
			toggleDrawingPause();
			return;
			}
			if (startBtn == null) {
			return;
			}
			if (startButtonShowingPause) {
			// 点击开始按钮时不再弹出自检提示（按用户要求删除）
			// 旧逻辑：调用 zijian.ensureBeforeMowing(...) 并在未确认自检时阻止开始
			// 新逻辑：直接允许开始作业
			}
			startButtonShowingPause = !startButtonShowingPause;
			if (!startButtonShowingPause) {
			// 检查割草机是否在作业地块边界范围内
			if (!checkMowerInBoundary()) {
			startButtonShowingPause = true;
			statusLabel.setText("待机");
			updateStartButtonAppearance();
			return;
			}

			statusLabel.setText("作业中");
			if (stopButtonActive) {
			stopButtonActive = false;
			updateStopButtonIcon();
			}
			if (!beginMowingSession()) {
			startButtonShowingPause = true;
			statusLabel.setText("待机");
			updateStartButtonAppearance();
			return;
			}
			} else {
			statusLabel.setText("暂停中");
			pauseMowingSession();
			}
			updateStartButtonAppearance();
			}

			/**
			* 检查割草机是否在当前选中的作业地块边界范围内
			* @return 如果割草机在边界内返回true，否则返回false并显示提示
			*/
			private boolean checkMowerInBoundary() {
			if (mapRenderer == null) {
			return true; // 如果没有地图渲染器，跳过检查
			}

			// 获取当前边界
			List<Point2D.Double> boundary = mapRenderer.getCurrentBoundary();
			if (boundary == null \|\| boundary.size() < 3) {
			return true; // 如果没有边界或边界点不足，跳过检查
			}

			// 获取割草机位置
			Gecaoji mower = mapRenderer.getMower();
			if (mower == null \|\| !mower.hasValidPosition()) {
			showCustomMessageDialog("无法获取割草机位置，请检查设备连接", "提示");
			return false;
			}

			Point2D.Double mowerPosition = mower.getPosition();
			if (mowerPosition == null) {
			showCustomMessageDialog("无法获取割草机位置，请检查设备连接", "提示");
			return false;
			}

			// 使用 MowerBoundaryChecker 检查是否在边界内
			boolean isInside = MowerBoundaryChecker.isInsideBoundaryPoints(
			boundary,
			mowerPosition.x,
			mowerPosition.y
			);

			if (!isInside) {
			showCustomMessageDialog("请将割草机开到作业地块内然后点击开始作业", "提示");
			return false;
			}

			return true;
			}

			/**
			* 显示自定义消息对话框，使用 buttonset 创建确定按钮
			* @param message 消息内容
			* @param title 对话框标题
			*/
			private void showCustomMessageDialog(String message, String title) {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			JDialog dialog = new JDialog(parentWindow, title, Dialog.ModalityType.APPLICATION_MODAL);
			dialog.setLayout(new BorderLayout(20, 20));
			dialog.setResizable(false);

			// 内容面板
			JPanel contentPanel = new JPanel(new BorderLayout(0, 15));
			contentPanel.setBorder(BorderFactory.createEmptyBorder(20, 20, 10, 20));
			contentPanel.setBackground(Color.WHITE);

			// 消息标签
			JLabel messageLabel = new JLabel("<html><div style='text-align: center;'>" + message + "</div></html>");
			messageLabel.setFont(new Font("微软雅黑", Font.PLAIN, 14));
			messageLabel.setHorizontalAlignment(SwingConstants.CENTER);
			contentPanel.add(messageLabel, BorderLayout.CENTER);

			// 按钮面板
			JPanel buttonPanel = new JPanel(new FlowLayout(FlowLayout.CENTER, 10, 0));
			buttonPanel.setBorder(BorderFactory.createEmptyBorder(10, 0, 0, 0));
			buttonPanel.setOpaque(false);

			// 使用 buttonset 创建确定按钮
			JButton okButton = buttonset.createStyledButton("确定", THEME_COLOR);
			okButton.addActionListener(e -> dialog.dispose());
			buttonPanel.add(okButton);

			contentPanel.add(buttonPanel, BorderLayout.SOUTH);
			dialog.add(contentPanel, BorderLayout.CENTER);

			dialog.pack();
			dialog.setLocationRelativeTo(this);
			dialog.setVisible(true);
			}

			private void handleStopAction() {
			if (handheldCaptureInlineUiActive) {
			handleHandheldFinishAction();
			return;
			}
			if (drawingControlModeActive) {
			handleDrawingStopFromControlPanel();
			return;
			}
			stopButtonActive = !stopButtonActive;
			updateStopButtonIcon();
			if (stopButtonActive) {
			statusLabel.setText("已结束");
			startButtonShowingPause = false;
			stopMowingSession();
			} else {
			statusLabel.setText("待机");
			startButtonShowingPause = true;
			pauseMowingSession();
			}
			updateStartButtonAppearance();
			}

			private void handleDrawingStopFromControlPanel() {
			if (endDrawingCallback != null) {
			endDrawingCallback.run();
			} else {
			addzhangaiwu.finishDrawingSession();
			}
			}

			private void handleHandheldConfirmAction() {
			if (!handheldCaptureInlineUiActive) {
			return;
			}
			if (!canConfirmHandheldPoint()) {
			refreshHandheldCaptureUiState();
			return;
			}
			int count = captureHandheldBoundaryPoint();
			if (count <= 0) {
			refreshHandheldCaptureUiState();
			return;
			}
			refreshHandheldCaptureUiState();
			}

			private void handleHandheldFinishAction() {
			if (!handheldCaptureInlineUiActive) {
			return;
			}
			if (stopBtn != null && !stopBtn.isEnabled()) {
			refreshHandheldCaptureUiState();
			return;
			}
			if (!finishHandheldBoundaryCapture()) {
			refreshHandheldCaptureUiState();
			}
			}

			private void enterHandheldCaptureInlineUi() {
			if (handheldCaptureInlineUiActive) {
			refreshHandheldCaptureUiState();
			return;
			}
			handheldCaptureInlineUiActive = true;
			handheldCaptureStoredStatusText = statusLabel != null ? statusLabel.getText() : null;
			if (statusLabel != null) {
			statusLabel.setText("手持采集中");
			}
			if (startBtn != null) {
			handheldStartButtonOriginalBackground = startBtn.getBackground();
			handheldStartButtonOriginalForeground = startBtn.getForeground();
			startBtn.setIcon(null);
			startBtn.setIconTextGap(0);
			startBtn.setHorizontalAlignment(SwingConstants.CENTER);
			startBtn.setHorizontalTextPosition(SwingConstants.CENTER);
			startBtn.setVerticalTextPosition(SwingConstants.CENTER);
			}
			if (stopBtn != null) {
			handheldStopButtonOriginalBackground = stopBtn.getBackground();
			handheldStopButtonOriginalForeground = stopBtn.getForeground();
			stopBtn.setIcon(null);
			stopBtn.setIconTextGap(0);
			stopBtn.setHorizontalAlignment(SwingConstants.CENTER);
			stopBtn.setHorizontalTextPosition(SwingConstants.CENTER);
			stopBtn.setVerticalTextPosition(SwingConstants.CENTER);
			stopBtn.setText("结束");
			}
			startHandheldCaptureStatusTimer();
			refreshHandheldCaptureUiState();
			}

			private void exitHandheldCaptureInlineUi() {
			if (!handheldCaptureInlineUiActive) {
			return;
			}
			handheldCaptureInlineUiActive = false;
			stopHandheldCaptureStatusTimer();
			if (statusLabel != null) {
			statusLabel.setText(handheldCaptureStoredStatusText != null ? handheldCaptureStoredStatusText : "待机");
			}
			if (startBtn != null) {
			startBtn.setToolTipText(null);
			if (handheldStartButtonOriginalBackground != null) {
			startBtn.setBackground(handheldStartButtonOriginalBackground);
			}
			if (handheldStartButtonOriginalForeground != null) {
			startBtn.setForeground(handheldStartButtonOriginalForeground);
			}
			startBtn.setEnabled(true);
			updateStartButtonAppearance();
			}
			if (stopBtn != null) {
			stopBtn.setToolTipText(null);
			if (handheldStopButtonOriginalBackground != null) {
			stopBtn.setBackground(handheldStopButtonOriginalBackground);
			}
			if (handheldStopButtonOriginalForeground != null) {
			stopBtn.setForeground(handheldStopButtonOriginalForeground);
			}
			stopBtn.setEnabled(true);
			stopBtn.setText("结束");
			updateStopButtonIcon();
			}
			handheldCaptureStoredStatusText = null;
			handheldStartButtonOriginalBackground = null;
			handheldStartButtonOriginalForeground = null;
			handheldStopButtonOriginalBackground = null;
			handheldStopButtonOriginalForeground = null;
			}

			private void startHandheldCaptureStatusTimer() {
			if (handheldCaptureStatusTimer == null) {
			handheldCaptureStatusTimer = new Timer(400, e -> refreshHandheldCaptureUiState());
			handheldCaptureStatusTimer.setRepeats(true);
			}
			if (!handheldCaptureStatusTimer.isRunning()) {
			handheldCaptureStatusTimer.start();
			}
			}

			private void stopHandheldCaptureStatusTimer() {
			if (handheldCaptureStatusTimer != null && handheldCaptureStatusTimer.isRunning()) {
			handheldCaptureStatusTimer.stop();
			}
			}

			// Update inline handheld capture buttons based on the current device reading.
			private void refreshHandheldCaptureUiState() {
			if (!handheldCaptureInlineUiActive) {
			return;
			}
			int nextIndex = handheldCapturedPoints + 1;
			boolean hasFix = hasHighPrecisionFix();
			boolean hasValid = hasValidRealtimeHandheldPosition();
			boolean duplicate = hasValid && isCurrentHandheldPointDuplicate();
			boolean canConfirm = handheldCaptureActive && hasFix && hasValid && !duplicate;

			if (startBtn != null) {
			String prompt = "<html><center>采集点" + nextIndex + "<br>确定</center></html>";
			startBtn.setText(prompt);
			startBtn.setEnabled(canConfirm);
			if (canConfirm) {
			if (handheldStartButtonOriginalBackground != null) {
			startBtn.setBackground(handheldStartButtonOriginalBackground);
			}
			if (handheldStartButtonOriginalForeground != null) {
			startBtn.setForeground(handheldStartButtonOriginalForeground);
			}
			startBtn.setToolTipText(null);
			} else {
			startBtn.setBackground(new Color(200, 200, 200));
			startBtn.setForeground(new Color(130, 130, 130));
			startBtn.setToolTipText(resolveHandheldConfirmTooltip(hasFix, hasValid, duplicate));
			}
			}

			if (stopBtn != null) {
			boolean canFinish = handheldCapturedPoints >= 3;
			stopBtn.setText("结束");
			stopBtn.setEnabled(canFinish);
			if (canFinish) {
			if (handheldStopButtonOriginalBackground != null) {
			stopBtn.setBackground(handheldStopButtonOriginalBackground);
			}
			if (handheldStopButtonOriginalForeground != null) {
			stopBtn.setForeground(handheldStopButtonOriginalForeground);
			}
			stopBtn.setToolTipText("结束采集并返回新增地块");
			} else {
			stopBtn.setBackground(new Color(220, 220, 220));
			stopBtn.setForeground(new Color(130, 130, 130));
			stopBtn.setToolTipText("至少采集三个点才能结束");
			}
			}
			}

			private String resolveHandheldConfirmTooltip(boolean hasFix, boolean hasValidPosition, boolean duplicate) {
			if (!hasFix) {
			return "当前定位质量不足，无法采集";
			}
			if (!hasValidPosition) {
			return "当前定位数据无效，请稍后再试";
			}
			if (duplicate) {
			return "当前坐标已采集，请移动到新的位置";
			}
			return null;
			}

			private boolean hasHighPrecisionFix() {
			Device device = Device.getGecaoji();
			if (device == null) {
			return false;
			}
			String status = device.getPositioningStatus();
			return status != null && "4".equals(status.trim());
			}

			private boolean canConfirmHandheldPoint() {
			return handheldCaptureActive
			&& hasHighPrecisionFix()
			&& hasValidRealtimeHandheldPosition()
			&& !isCurrentHandheldPointDuplicate();
			}

			private void enterDrawingControlMode() {
			if (drawingControlModeActive) {
			return;
			}
			storedStartButtonShowingPause = startButtonShowingPause;
			storedStopButtonActive = stopButtonActive;
			storedStatusBeforeDrawing = statusLabel != null ? statusLabel.getText() : null;
			drawingControlModeActive = true;
			applyDrawingPauseState(false, false);
			updateDrawingControlButtonLabels();
			}

			private void exitDrawingControlMode() {
			if (!drawingControlModeActive) {
			return;
			}
			drawingControlModeActive = false;
			applyDrawingPauseState(false, false);
			drawingPaused = false;
			stopButtonActive = storedStopButtonActive;
			startButtonShowingPause = storedStartButtonShowingPause;
			if (startBtn != null) {
			updateStartButtonAppearance();
			}
			if (stopBtn != null) {
			stopBtn.setText("结束");
			updateStopButtonIcon();
			}
			if (statusLabel != null) {
			statusLabel.setText(storedStatusBeforeDrawing != null ? storedStatusBeforeDrawing : "待机");
			}
			storedStatusBeforeDrawing = null;
			}

			private void updateDrawingControlButtonLabels() {
			if (!drawingControlModeActive) {
			return;
			}
			configureButtonForDrawingMode(startBtn);
			configureButtonForDrawingMode(stopBtn);
			if (startBtn != null) {
			startBtn.setText(drawingPaused ? "开始绘制" : "暂停绘制");
			}
			if (stopBtn != null) {
			stopBtn.setText("结束绘制");
			}
			}

			private void configureButtonForDrawingMode(JButton button) {
			if (button == null) {
			return;
			}
			button.setIcon(null);
			button.setIconTextGap(0);
			button.setHorizontalAlignment(SwingConstants.CENTER);
			button.setHorizontalTextPosition(SwingConstants.CENTER);
			}

			private void updateStartButtonAppearance() {
			if (startBtn == null) {
			return;
			}
			String iconPath = startButtonShowingPause ? "image/start0.png" : "image/start1.png";
			startBtn.setText(startButtonShowingPause ? "暂停" : "开始");
			applyButtonIcon(startBtn, iconPath);
			}

			private void updateStopButtonIcon() {
			if (stopBtn == null) {
			return;
			}
			String iconPath = stopButtonActive ? "image/stop1.png" : "image/stop0.png";
			applyButtonIcon(stopBtn, iconPath);
			}

			private void toggleBluetoothConnection() {
			if (bluetoothBtn == null) {
			return;
			}
			// 弹出系统调试页面
			showDebugDialog();
			}

			private void showDebugDialog() {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			debug debugDialog = new debug(parentWindow, THEME_COLOR);
			debugDialog.setLocationRelativeTo(this); // 居中显示在首页
			debugDialog.setVisible(true);
			}

			private void updateBluetoothButtonIcon() {
			if (bluetoothBtn == null) {
			return;
			}
			ensureBluetoothIconsLoaded();
			// 根据串口连接状态显示图标
			SerialPortService service = sendmessage.getActiveService();
			boolean serialConnected = (service != null && service.isOpen());
			ImageIcon icon = serialConnected ? bluetoothLinkedIcon : bluetoothIcon;
			if (icon != null) {
			bluetoothBtn.setIcon(icon);
			bluetoothBtn.setText(null);
			} else {
			bluetoothBtn.setText(serialConnected ? "已连" : "蓝牙");
			}
			}

			private JPanel createSpeedIndicatorPanel() {
			JPanel panel = new JPanel(new BorderLayout());
			panel.setOpaque(false);
			panel.setBorder(BorderFactory.createEmptyBorder(10, 20, 5, 20));

			JPanel rightPanel = new JPanel(new FlowLayout(FlowLayout.RIGHT, 10, 0));
			rightPanel.setOpaque(false);

			fixQualityIndicator = new gpszhuangtai(THEME_COLOR);
			fixQualityIndicator.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			fixQualityIndicator.addMouseListener(new MouseAdapter() {
			@Override
			public void mouseClicked(MouseEvent e) {
			if (SwingUtilities.isLeftMouseButton(e) && mapRenderer != null) {
			mapRenderer.showMowerInfo();
			}
			}
			});
			mowingProgressLabel = new JLabel("--%");
			mowingProgressLabel.setFont(new Font("微软雅黑", Font.BOLD, 12));
			mowingProgressLabel.setForeground(THEME_COLOR);

			mowerSpeedValueLabel = new JLabel("--");
			mowerSpeedValueLabel.setFont(new Font("微软雅黑", Font.BOLD, 14));
			mowerSpeedValueLabel.setForeground(THEME_COLOR);

			mowerSpeedUnitLabel = new JLabel("km/h");
			mowerSpeedUnitLabel.setFont(new Font("微软雅黑", Font.BOLD, 9));
			mowerSpeedUnitLabel.setForeground(THEME_COLOR);

			dataPacketCountLabel = new JLabel("--");
			dataPacketCountLabel.setFont(new Font("微软雅黑", Font.BOLD, 12));
			dataPacketCountLabel.setForeground(THEME_COLOR);

			rightPanel.add(fixQualityIndicator);

			JSeparator areaSeparator = new JSeparator(SwingConstants.VERTICAL);
			areaSeparator.setPreferredSize(new Dimension(1, 16));
			rightPanel.add(areaSeparator);

			rightPanel.add(mowingProgressLabel);
			JSeparator speedSeparator = new JSeparator(SwingConstants.VERTICAL);
			speedSeparator.setPreferredSize(new Dimension(1, 16));
			rightPanel.add(speedSeparator);
			rightPanel.add(mowerSpeedValueLabel);
			rightPanel.add(mowerSpeedUnitLabel);

			JSeparator separator = new JSeparator(SwingConstants.VERTICAL);
			separator.setPreferredSize(new Dimension(1, 16));
			rightPanel.add(separator);

			rightPanel.add(dataPacketCountLabel);

			panel.add(rightPanel, BorderLayout.EAST);
			updateFixQualityIndicator();
			updateDataPacketCountLabel();
			return panel;
			}

			private void startMowerSpeedUpdates() {
			if (mowerSpeedRefreshTimer == null) {
			mowerSpeedRefreshTimer = new Timer(1000, e -> refreshMowerSpeedLabel());
			mowerSpeedRefreshTimer.setRepeats(true);
			}
			if (!mowerSpeedRefreshTimer.isRunning()) {
			mowerSpeedRefreshTimer.start();
			}
			refreshMowerSpeedLabel();
			}

			private void refreshMowerSpeedLabel() {
			if (mowerSpeedValueLabel == null) {
			return;
			}
			String display = "--";
			Device device = Device.getGecaoji();
			if (device != null) {
			String sanitized = sanitizeSpeedValue(device.getRealtimeSpeed());
			if (sanitized != null) {
			display = sanitized;
			}
			}
			mowerSpeedValueLabel.setText(display);
			if (mowerSpeedUnitLabel != null) {
			mowerSpeedUnitLabel.setText("km/h");
			}
			updateMowingProgressLabel();
			updateFixQualityIndicator();
			updateDataPacketCountLabel();
			}

			private void updateDataPacketCountLabel() {
			if (dataPacketCountLabel == null) {
			return;
			}
			int udpCount = UDPServer.getReceivedPacketCount();
			int serialCount = dellmessage.getProcessedLineCount();
			int displayCount = Math.max(udpCount, serialCount);

			if (displayCount <= 0) {
			dataPacketCountLabel.setText("--");
			dataPacketCountLabel.setToolTipText(null);
			} else {
			dataPacketCountLabel.setText(String.valueOf(displayCount));
			dataPacketCountLabel.setToolTipText(String.format("串口: %d UDP: %d", serialCount, udpCount));
			}
			}

			private void updateFixQualityIndicator() {
			if (fixQualityIndicator == null) {
			return;
			}
			Device device = Device.getGecaoji();
			String code = null;
			if (device != null) {
			code = sanitizeDeviceValue(device.getPositioningStatus());
			}
			fixQualityIndicator.setQuality(code);
			}

			private Color resolveFixQualityColor(String code) {
			if (code == null) {
			return new Color(160, 160, 160);
			}
			switch (code) {
			case "0":
			return new Color(160, 160, 160);
			case "1":
			return new Color(52, 152, 219);
			case "2":
			return new Color(26, 188, 156);
			case "3":
			return new Color(155, 89, 182);
			case "4":
			return THEME_COLOR;
			case "5":
			return new Color(241, 196, 15);
			case "6":
			return new Color(231, 76, 60);
			case "7":
			return new Color(230, 126, 34);
			default:
			return new Color(95, 95, 95);
			}
			}

			private String resolveFixQualityDescription(String code) {
			if (code == null) {
			return "未知";
			}
			switch (code) {
			case "0":
			return "未定位";
			case "1":
			return "单点定位";
			case "2":
			return "码差分";
			case "3":
			return "无效PPS";
			case "4":
			return "固定解";
			case "5":
			return "浮点解";
			case "6":
			return "正在估算";
			case "7":
			return "人工输入固定值";
			default:
			return "其他";
			}
			}

			private String sanitizeSpeedValue(String raw) {
			if (raw == null) {
			return null;
			}
			String trimmed = raw.trim();
			if (trimmed.isEmpty() \|\| "-1".equals(trimmed)) {
			return null;
			}
			if (trimmed.toLowerCase().endsWith("km/h")) {
			trimmed = trimmed.substring(0, trimmed.length() - 4).trim();
			}
			return trimmed;
			}

			private String sanitizeDeviceValue(String raw) {
			if (raw == null) {
			return null;
			}
			String trimmed = raw.trim();
			if (trimmed.isEmpty() \|\| "-1".equals(trimmed) \|\| "null".equalsIgnoreCase(trimmed)) {
			return null;
			}
			return trimmed;
			}

			private void updateMowingProgressLabel() {
			if (mowingProgressLabel == null) {
			return;
			}
			if (mapRenderer == null) {
			mowingProgressLabel.setText("--%");
			mowingProgressLabel.setToolTipText(null);
			return;
			}

			double totalArea = mapRenderer.getTotalLandAreaSqMeters();
			double completedArea = mapRenderer.getCompletedMowingAreaSqMeters();
			double ratio = mapRenderer.getMowingCompletionRatio();

			if (totalArea <= 0) {
			mowingProgressLabel.setText("--%");
			mowingProgressLabel.setToolTipText("暂无地块面积数据");
			return;
			}

			double percent = Math.max(0.0, Math.min(1.0, ratio)) * 100.0;
			mowingProgressLabel.setText(String.format(Locale.US, "%.1f%%", percent));
			mowingProgressLabel.setToolTipText(String.format(Locale.US, "%.1f㎡ / %.1f㎡", completedArea, totalArea));
			}

			public void refreshMowingIndicators() {
			refreshMowerSpeedLabel();
			}

			public void setHandheldMowerIconActive(boolean active) {
			if (mapRenderer == null) {
			return;
			}
			mapRenderer.setHandheldMowerIconActive(active);
			}

			public boolean startMowerBoundaryCapture() {
			if (mapRenderer == null) {
			return false;
			}
			double[] baseLatLonCandidate = resolveCircleBaseLatLon();
			if (baseLatLonCandidate == null) {
			return false;
			}

			mapRenderer.clearIdleTrail();

			activeBoundaryMode = BoundaryCaptureMode.MOWER;
			mowerBoundaryCaptureActive = true;
			mowerBaseLatLon = baseLatLonCandidate;
			lastMowerCoordinate = null;

			synchronized (Coordinate.coordinates) {
			Coordinate.coordinates.clear();
			}
			synchronized (mowerTemporaryPoints) {
			mowerTemporaryPoints.clear();
			}

			AddDikuai.recordTemporaryBoundaryPoints(Collections.emptyList());
			Coordinate.setStartSaveGngga(true);

			if (mapRenderer != null) {
			mapRenderer.setBoundaryPreviewMarkerScale(2.0d);
			mapRenderer.beginHandheldBoundaryPreview();
			}

			setHandheldMowerIconActive(false);

			startMowerBoundaryMonitor();
			return true;
			}

			public boolean startHandheldBoundaryCapture() {
			if (mapRenderer == null) {
			return false;
			}
			if (activeBoundaryMode == BoundaryCaptureMode.MOWER) {
			stopMowerBoundaryCapture();
			}

			mapRenderer.clearIdleTrail();

			activeBoundaryMode = BoundaryCaptureMode.HANDHELD;
			handheldCaptureActive = true;
			handheldCapturedPoints = 0;
			Coordinate.setStartSaveGngga(false);
			synchronized (Coordinate.coordinates) {
			Coordinate.coordinates.clear();
			}
			synchronized (handheldTemporaryPoints) {
			handheldTemporaryPoints.clear();
			}
			AddDikuai.recordTemporaryBoundaryPoints(Collections.emptyList());
			mapRenderer.setBoundaryPreviewMarkerScale(1.0d);
			mapRenderer.beginHandheldBoundaryPreview();
			setHandheldMowerIconActive(true);
			enterHandheldCaptureInlineUi();
			return true;
			}

			private void startMowerBoundaryMonitor() {
			if (mowerBoundaryMonitor == null) {
			mowerBoundaryMonitor = new Timer(600, e -> pollMowerBoundaryCoordinate());
			mowerBoundaryMonitor.setRepeats(true);
			}
			if (!mowerBoundaryMonitor.isRunning()) {
			mowerBoundaryMonitor.start();
			}
			pollMowerBoundaryCoordinate();
			}

			private void stopMowerBoundaryMonitor() {
			if (mowerBoundaryMonitor != null && mowerBoundaryMonitor.isRunning()) {
			mowerBoundaryMonitor.stop();
			}
			}

			private void pollMowerBoundaryCoordinate() {
			if (!mowerBoundaryCaptureActive) {
			return;
			}

			Coordinate latest = getLatestCoordinate();
			if (latest == null \|\| latest == lastMowerCoordinate) {
			return;
			}

			double[] base = mowerBaseLatLon;
			if (base == null \|\| base.length < 2) {
			discardLatestCoordinate(latest);
			lastMowerCoordinate = latest;
			return;
			}

			double lat = parseDMToDecimal(latest.getLatitude(), latest.getLatDirection());
			double lon = parseDMToDecimal(latest.getLongitude(), latest.getLonDirection());
			if (!Double.isFinite(lat) \|\| !Double.isFinite(lon)) {
			discardLatestCoordinate(latest);
			lastMowerCoordinate = latest;
			return;
			}

			double[] local = convertLatLonToLocal(lat, lon, base[0], base[1]);
			Point2D.Double candidate = new Point2D.Double(local[0], local[1]);
			if (!Double.isFinite(candidate.x) \|\| !Double.isFinite(candidate.y)) {
			discardLatestCoordinate(latest);
			lastMowerCoordinate = latest;
			return;
			}

			List<Point2D.Double> snapshot;
			synchronized (mowerTemporaryPoints) {
			for (Point2D.Double existing : mowerTemporaryPoints) {
			if (existing != null && arePointsClose(existing, candidate)) {
			discardLatestCoordinate(latest);
			lastMowerCoordinate = latest;
			return;
			}
			}
			mowerTemporaryPoints.add(candidate);
			snapshot = new ArrayList<>(mowerTemporaryPoints.size() + 1);
			for (Point2D.Double point : mowerTemporaryPoints) {
			if (point != null) {
			snapshot.add(new Point2D.Double(point.x, point.y));
			}
			}
			}

			ensureClosed(snapshot);
			AddDikuai.recordTemporaryBoundaryPoints(snapshot);
			if (mapRenderer != null) {
			mapRenderer.addHandheldBoundaryPoint(candidate.x, candidate.y);
			}
			lastMowerCoordinate = latest;
			}

			private void stopMowerBoundaryCapture() {
			stopMowerBoundaryMonitor();
			mowerBoundaryCaptureActive = false;
			lastMowerCoordinate = null;
			mowerBaseLatLon = null;
			if (mapRenderer != null) {
			mapRenderer.clearHandheldBoundaryPreview();
			}
			Coordinate.setStartSaveGngga(false);
			if (activeBoundaryMode == BoundaryCaptureMode.MOWER) {
			activeBoundaryMode = BoundaryCaptureMode.NONE;
			}
			setHandheldMowerIconActive(false);
			}

			private void discardLatestCoordinate(Coordinate coordinate) {
			if (coordinate == null) {
			return;
			}
			synchronized (Coordinate.coordinates) {
			int size = Coordinate.coordinates.size();
			if (size == 0) {
			return;
			}
			int lastIndex = size - 1;
			if (Coordinate.coordinates.get(lastIndex) == coordinate) {
			Coordinate.coordinates.remove(lastIndex);
			} else {
			Coordinate.coordinates.remove(coordinate);
			}
			}
			}

			private void ensureClosed(List<Point2D.Double> points) {
			if (points == null \|\| points.size() < 3) {
			return;
			}
			Point2D.Double first = points.get(0);
			Point2D.Double last = points.get(points.size() - 1);
			if (first == null \|\| last == null) {
			return;
			}
			if (!arePointsClose(first, last)) {
			points.add(new Point2D.Double(first.x, first.y));
			}
			}

			int captureHandheldBoundaryPoint() {
			if (!handheldCaptureActive) {
			return -1;
			}
			Device device = Device.getGecaoji();
			if (device == null) {
			JOptionPane.showMessageDialog(this, "未检测到采集设备，请检查连接。", "提示", JOptionPane.WARNING_MESSAGE);
			return -1;
			}

			String[] latParts = splitCoordinateComponents(device.getRealtimeLatitude(), true);
			String[] lonParts = splitCoordinateComponents(device.getRealtimeLongitude(), false);
			if (latParts == null \|\| lonParts == null) {
			JOptionPane.showMessageDialog(this, "当前定位无效，请在定位稳定后再试。", "提示", JOptionPane.WARNING_MESSAGE);
			return -1;
			}

			double x = parseMetersValue(device.getRealtimeX());
			double y = parseMetersValue(device.getRealtimeY());
			if (!Double.isFinite(x) \|\| !Double.isFinite(y)) {
			JOptionPane.showMessageDialog(this, "当前定位数据无效，请稍后再试。", "提示", JOptionPane.WARNING_MESSAGE);
			return -1;
			}
			if (isDuplicateHandheldPoint(x, y)) {
			JOptionPane.showMessageDialog(this, "当前坐标已采集，请移动到新的位置后再试。", "提示", JOptionPane.WARNING_MESSAGE);
			return -1;
			}

			double altitude = parseAltitudeValue(device.getRealtimeAltitude());
			Coordinate coordinate = new Coordinate(latParts[0], latParts[1], lonParts[0], lonParts[1], altitude);
			synchronized (Coordinate.coordinates) {
			Coordinate.coordinates.add(coordinate);
			}

			if (mapRenderer != null) {
			mapRenderer.addHandheldBoundaryPoint(x, y);
			}

			List<Point2D.Double> snapshot;
			synchronized (handheldTemporaryPoints) {
			handheldTemporaryPoints.add(new Point2D.Double(x, y));
			snapshot = new ArrayList<>(handheldTemporaryPoints);
			}
			AddDikuai.recordTemporaryBoundaryPoints(snapshot);

			handheldCapturedPoints++;
			return handheldCapturedPoints;
			}

			boolean finishHandheldBoundaryCapture() {
			if (!handheldCaptureActive) {
			return false;
			}
			if (handheldCapturedPoints < 3) {
			JOptionPane.showMessageDialog(this, "至少采集三个点才能生成边界。", "提示", JOptionPane.WARNING_MESSAGE);
			return false;
			}

			List<Point2D.Double> closedSnapshot = createClosedHandheldPointSnapshot();
			handheldCaptureActive = false;
			activeBoundaryMode = BoundaryCaptureMode.NONE;
			Coordinate.setStartSaveGngga(false);
			if (mapRenderer != null) {
			mapRenderer.clearHandheldBoundaryPreview();
			}

			AddDikuai.recordTemporaryBoundaryPoints(closedSnapshot);

			exitHandheldCaptureInlineUi();

			SwingUtilities.invokeLater(AddDikuai::finishDrawingSession);
			return true;
			}

			int getHandheldCapturedPointCount() {
			return handheldCapturedPoints;
			}

			public List<Point2D.Double> getHandheldTemporaryPointsSnapshot() {
			if (activeBoundaryMode == BoundaryCaptureMode.MOWER) {
			return createClosedMowerPointSnapshot();
			}
			if (!handheldCaptureActive) {
			return createClosedHandheldPointSnapshot();
			}
			synchronized (handheldTemporaryPoints) {
			return new ArrayList<>(handheldTemporaryPoints);
			}
			}

			public boolean isCurrentHandheldPointDuplicate() {
			Device device = Device.getGecaoji();
			if (device == null) {
			return false;
			}
			double x = parseMetersValue(device.getRealtimeX());
			double y = parseMetersValue(device.getRealtimeY());
			if (!Double.isFinite(x) \|\| !Double.isFinite(y)) {
			return false;
			}
			return isDuplicateHandheldPoint(x, y);
			}

			public boolean hasValidRealtimeHandheldPosition() {
			Device device = Device.getGecaoji();
			if (device == null) {
			return false;
			}
			double x = parseMetersValue(device.getRealtimeX());
			double y = parseMetersValue(device.getRealtimeY());
			return Double.isFinite(x) && Double.isFinite(y);
			}

			private boolean isDuplicateHandheldPoint(double x, double y) {
			Point2D.Double candidate = new Point2D.Double(x, y);
			synchronized (handheldTemporaryPoints) {
			for (Point2D.Double existing : handheldTemporaryPoints) {
			if (existing == null) {
			continue;
			}
			if (arePointsClose(existing, candidate)) {
			return true;
			}
			}
			}
			return false;
			}

			private boolean arePointsClose(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) < HANDHELD_DUPLICATE_THRESHOLD_METERS;
			}

			private List<Point2D.Double> createClosedHandheldPointSnapshot() {
			List<Point2D.Double> copy = new ArrayList<>();
			synchronized (handheldTemporaryPoints) {
			for (Point2D.Double point : handheldTemporaryPoints) {
			if (point != null) {
			copy.add(new Point2D.Double(point.x, point.y));
			}
			}
			}
			ensureClosed(copy);
			return copy;
			}

			private List<Point2D.Double> createClosedMowerPointSnapshot() {
			List<Point2D.Double> copy = new ArrayList<>();
			synchronized (mowerTemporaryPoints) {
			for (Point2D.Double point : mowerTemporaryPoints) {
			if (point != null) {
			copy.add(new Point2D.Double(point.x, point.y));
			}
			}
			}
			ensureClosed(copy);
			return copy;
			}

			private String[] splitCoordinateComponents(String combined, boolean latitude) {
			if (combined == null) {
			return null;
			}
			String trimmed = combined.trim();
			if (trimmed.isEmpty() \|\| "-1".equals(trimmed)) {
			return null;
			}

			String valuePart;
			String directionPart = null;
			String[] parts = trimmed.split(",");
			if (parts.length >= 2) {
			valuePart = parts[0].trim();
			directionPart = parts[1].trim();
			} else {
			valuePart = trimmed;
			}

			if (valuePart.isEmpty()) {
			return null;
			}

			if (directionPart == null \|\| directionPart.isEmpty()) {
			char lastChar = valuePart.charAt(valuePart.length() - 1);
			if (Character.isLetter(lastChar)) {
			directionPart = String.valueOf(lastChar);
			valuePart = valuePart.substring(0, valuePart.length() - 1).trim();
			}
			}

			if (valuePart.isEmpty()) {
			return null;
			}

			directionPart = normalizeHemisphere(directionPart, latitude);
			return new String[]{valuePart, directionPart};
			}

			private String normalizeHemisphere(String direction, boolean latitude) {
			if (direction == null \|\| direction.trim().isEmpty()) {
			return latitude ? "N" : "E";
			}
			String normalized = direction.trim().toUpperCase(Locale.ROOT);
			if (latitude) {
			if (!"N".equals(normalized) && !"S".equals(normalized)) {
			return "N";
			}
			} else {
			if (!"E".equals(normalized) && !"W".equals(normalized)) {
			return "E";
			}
			}
			return normalized;
			}

			private double parseMetersValue(String raw) {
			if (raw == null) {
			return Double.NaN;
			}
			String trimmed = raw.trim();
			if (trimmed.isEmpty() \|\| "-1".equals(trimmed)) {
			return Double.NaN;
			}
			try {
			return Double.parseDouble(trimmed);
			} catch (NumberFormatException ex) {
			return Double.NaN;
			}
			}

			private double parseAltitudeValue(String raw) {
			if (raw == null) {
			return 0.0;
			}
			String trimmed = raw.trim();
			if (trimmed.isEmpty() \|\| "-1".equals(trimmed)) {
			return 0.0;
			}
			try {
			return Double.parseDouble(trimmed);
			} catch (NumberFormatException ex) {
			return 0.0;
			}
			}

			private boolean beginMowingSession() {
			if (mapRenderer == null) {
			return false;
			}
			String landNumber = Dikuaiguanli.getCurrentWorkLandNumber();
			if (!isMeaningfulValue(landNumber)) {
			JOptionPane.showMessageDialog(this, "请先选择地块后再开始作业", "提示", JOptionPane.WARNING_MESSAGE);
			return false;
			}

			double widthMeters = resolveMowerWidthMeters(landNumber);
			if (widthMeters <= 0) {
			JOptionPane.showMessageDialog(this, "未配置割草宽度，将无法计算作业面积", "提示", JOptionPane.WARNING_MESSAGE);
			}

			mapRenderer.startRealtimeTrackRecording(landNumber, widthMeters);
			refreshMowerSpeedLabel();
			return true;
			}

			private void pauseMowingSession() {
			if (mapRenderer == null) {
			return;
			}
			mapRenderer.pauseRealtimeTrackRecording();
			refreshMowerSpeedLabel();
			}

			private void stopMowingSession() {
			if (mapRenderer == null) {
			return;
			}
			mapRenderer.stopRealtimeTrackRecording();
			refreshMowerSpeedLabel();
			}

			private double resolveMowerWidthMeters(String landNumber) {
			double width = 0.0;
			if (isMeaningfulValue(landNumber)) {
			Dikuai current = Dikuai.getDikuai(landNumber);
			if (current != null) {
			width = parseMowerWidthMeters(current.getMowingWidth());
			}
			}
			if (width > 0) {
			return width;
			}
			return parseMowerWidthFromDevice();
			}

			private double parseMowerWidthFromDevice() {
			Device device = Device.getGecaoji();
			if (device == null) {
			return 0.0;
			}
			return parseMowerWidthMeters(device.getMowingWidth());
			}

			private double parseMowerWidthMeters(String raw) {
			if (raw == null) {
			return 0.0;
			}
			String sanitized = raw.trim().toLowerCase(Locale.ROOT);
			if (sanitized.isEmpty() \|\| "-1".equals(sanitized)) {
			return 0.0;
			}
			sanitized = sanitized.replace("厘米", "cm");
			sanitized = sanitized.replace("公分", "cm");
			sanitized = sanitized.replace("米", "m");
			sanitized = sanitized.replace("cm", "");
			sanitized = sanitized.replace("m", "");
			sanitized = sanitized.trim();
			if (sanitized.isEmpty()) {
			return 0.0;
			}
			try {
			double value = Double.parseDouble(sanitized);
			if (value <= 0) {
			return 0.0;
			}
			if (value > 10) {
			return value / 100.0;
			}
			return value;
			} catch (NumberFormatException ex) {
			return 0.0;
			}
			}

			private void applyStatusLabelColor(String statusText) {
			if (statusLabel == null) {
			return;
			}
			if ("作业中".equals(statusText) \|\| "绘制中".equals(statusText)) {
			statusLabel.setForeground(THEME_COLOR);
			} else if ("暂停中".equals(statusText) \|\| "绘制暂停".equals(statusText)) {
			statusLabel.setForeground(STATUS_PAUSE_COLOR);
			} else {
			statusLabel.setForeground(Color.GRAY);
			}
			}

			private void ensureBluetoothIconsLoaded() {
			if (bluetoothIcon == null) {
			bluetoothIcon = loadScaledIcon("image/blue.png", 28, 28);
			}
			if (bluetoothLinkedIcon == null) {
			bluetoothLinkedIcon = loadScaledIcon("image/bluelink.png", 28, 28);
			}
			}

			private JButton createFloatingIconButton() {
			JButton button = new JButton();
			button.setContentAreaFilled(false);
			button.setBorder(BorderFactory.createEmptyBorder());
			button.setFocusPainted(false);
			button.setOpaque(false);
			button.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			int size = FLOAT_ICON_SIZE + 8;
			button.setPreferredSize(new Dimension(size, size));
			return button;
			}

			private JButton createFloatingTextButton(String text) {
			JButton button = new JButton(text);
			button.setFont(new Font("微软雅黑", Font.BOLD, 15));
			button.setForeground(Color.WHITE);
			button.setBackground(THEME_COLOR);
			button.setBorder(BorderFactory.createEmptyBorder(10, 18, 10, 18));
			button.setFocusPainted(false);
			button.setOpaque(true);
			button.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			button.addMouseListener(new MouseAdapter() {
			@Override
			public void mouseEntered(MouseEvent e) {
			button.setBackground(THEME_HOVER_COLOR);
			}

			@Override
			public void mouseExited(MouseEvent e) {
			button.setBackground(THEME_COLOR);
			}
			});
			return button;
			}

			private ImageIcon loadScaledIcon(String path, int width, int height) {
			try {
			ImageIcon icon = new ImageIcon(path);
			if (icon.getIconWidth() <= 0 \|\| icon.getIconHeight() <= 0) {
			return null;
			}
			Image scaled = icon.getImage().getScaledInstance(width, height, Image.SCALE_SMOOTH);
			return new ImageIcon(scaled);
			} catch (Exception ex) {
			System.err.println("加载图标失败: " + path + " - " + ex.getMessage());
			return null;
			}
			}

			private void ensureFloatingIconsLoaded() {
			if (pauseIcon == null) {
			pauseIcon = loadScaledIcon("image/zanting.png", FLOAT_ICON_SIZE, FLOAT_ICON_SIZE);
			}
			if (pauseActiveIcon == null) {
			pauseActiveIcon = loadScaledIcon("image/zantingzhong.png", FLOAT_ICON_SIZE, FLOAT_ICON_SIZE);
			}
			if (endIcon == null) {
			endIcon = loadScaledIcon("image/end.png", FLOAT_ICON_SIZE, FLOAT_ICON_SIZE);
			}
			}

			private void updatePauseButtonVisual() {
			if (drawingPauseButton == null) {
			return;
			}
			if (drawingPaused) {
			if (pauseActiveIcon != null) {
			drawingPauseButton.setIcon(pauseActiveIcon);
			drawingPauseButton.setText(null);
			} else {
			drawingPauseButton.setText("暂停中");
			drawingPauseButton.setIcon(null);
			}
			drawingPauseButton.setToolTipText("点击恢复绘制");
			} else {
			if (pauseIcon != null) {
			drawingPauseButton.setIcon(pauseIcon);
			drawingPauseButton.setText(null);
			} else {
			drawingPauseButton.setText("暂停");
			drawingPauseButton.setIcon(null);
			}
			drawingPauseButton.setToolTipText("点击暂停绘制");
			}
			}

			private void applyDrawingPauseState(boolean paused, boolean notifyCoordinate) {
			drawingPaused = paused;
			updatePauseButtonVisual();
			if (notifyCoordinate) {
			Coordinate.setStartSaveGngga(!paused);
			}
			if (drawingControlModeActive) {
			updateDrawingControlButtonLabels();
			if (statusLabel != null) {
			statusLabel.setText(paused ? "绘制暂停" : "绘制中");
			}
			}
			}

			private void toggleDrawingPause() {
			applyDrawingPauseState(!drawingPaused, true);
			}

			public void showEndDrawingButton(Runnable callback) {
			showEndDrawingButton(callback, null);
			}

			public void showEndDrawingButton(Runnable callback, String drawingShape) {
			endDrawingCallback = callback;
			circleDialogMode = false;
			hideCircleGuidancePanel();
			enterDrawingControlMode();

			boolean enableCircleGuidance = drawingShape != null
			&& "circle".equalsIgnoreCase(drawingShape.trim());
			if (enableCircleGuidance) {
			ensureFloatingIconsLoaded();
			ensureFloatingButtonInfrastructure();
			if (drawingPauseButton != null) {
			drawingPauseButton.setVisible(false);
			}
			if (endDrawingButton != null) {
			endDrawingButton.setVisible(false);
			}
			prepareCircleGuidanceState();
			showCircleGuidanceStep(1);
			floatingButtonPanel.setVisible(true);
			if (floatingButtonPanel.getParent() != visualizationPanel) {
			visualizationPanel.add(floatingButtonPanel, BorderLayout.SOUTH);
			}
			rebuildFloatingButtonColumn();
			} else {
			clearCircleGuidanceArtifacts();
			hideFloatingDrawingControls();
			}

			visualizationPanel.revalidate();
			visualizationPanel.repaint();
			}

			private void ensureFloatingButtonInfrastructure() {
			if (endDrawingButton == null) {
			endDrawingButton = createFloatingIconButton();
			endDrawingButton.addActionListener(e -> {
			if (endDrawingCallback != null) {
			endDrawingCallback.run();
			}
			});
			}
			if (endIcon != null) {
			endDrawingButton.setIcon(endIcon);
			endDrawingButton.setText(null);
			} else {
			endDrawingButton.setText("结束绘制");
			}
			endDrawingButton.setToolTipText("结束绘制");

			if (drawingPauseButton == null) {
			drawingPauseButton = createFloatingIconButton();
			drawingPauseButton.addActionListener(e -> toggleDrawingPause());
			}
			updatePauseButtonVisual();

			if (floatingButtonPanel == null) {
			floatingButtonPanel = new JPanel(new BorderLayout());
			floatingButtonPanel.setOpaque(false);
			floatingButtonPanel.setBorder(BorderFactory.createEmptyBorder(0, 0, 20, 20));

			floatingButtonColumn = new JPanel();
			floatingButtonColumn.setOpaque(false);
			floatingButtonColumn.setLayout(new BoxLayout(floatingButtonColumn, BoxLayout.Y_AXIS));
			floatingButtonPanel.add(floatingButtonColumn, BorderLayout.EAST);
			}
			}

			private void hideFloatingDrawingControls() {
			if (drawingPauseButton != null) {
			drawingPauseButton.setVisible(false);
			}
			if (endDrawingButton != null) {
			endDrawingButton.setVisible(false);
			}
			if (floatingButtonPanel != null) {
			floatingButtonPanel.setVisible(false);
			}
			if (!circleDialogMode) {
			rebuildFloatingButtonColumn();
			}
			}

			private void rebuildFloatingButtonColumn() {
			if (floatingButtonColumn == null) {
			return;
			}
			floatingButtonColumn.removeAll();
			boolean added = false;
			if (!circleDialogMode && circleGuidancePanel != null && circleGuidancePanel.isVisible()) {
			floatingButtonColumn.add(circleGuidancePanel);
			added = true;
			}
			if (!circleDialogMode && drawingPauseButton != null && drawingPauseButton.isVisible()) {
			if (added) {
			floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
			}
			floatingButtonColumn.add(drawingPauseButton);
			added = true;
			}
			if (!circleDialogMode && endDrawingButton != null && endDrawingButton.isVisible()) {
			if (added) {
			floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
			}
			floatingButtonColumn.add(endDrawingButton);
			added = true;
			}
			if (pathPreviewReturnButton != null && pathPreviewReturnButton.isVisible()) {
			if (added) {
			floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
			}
			floatingButtonColumn.add(pathPreviewReturnButton);
			added = true;
			}
			floatingButtonColumn.revalidate();
			floatingButtonColumn.repaint();
			}

			private void showCircleGuidanceStep(int step) {
			ensureCircleGuidancePanel();
			if (circleGuidancePanel == null) {
			return;
			}
			circleGuidanceStep = step;

			if (step == 1) {
			circleGuidanceLabel.setText("采集第1个点");
			circleGuidancePrimaryButton.setText("确认第1点");
			circleGuidanceSecondaryButton.setText("返回");
			circleGuidanceSecondaryButton.setVisible(true);
			} else if (step == 2) {
			circleGuidanceLabel.setText("采集第2个点");
			circleGuidancePrimaryButton.setText("确认第2点");
			circleGuidanceSecondaryButton.setText("返回");
			circleGuidanceSecondaryButton.setVisible(true);
			} else if (step == 3) {
			circleGuidanceLabel.setText("采集第3个点");
			circleGuidancePrimaryButton.setText("确认第3点");
			circleGuidanceSecondaryButton.setText("返回");
			circleGuidanceSecondaryButton.setVisible(true);
			} else if (step == 4) {
			circleGuidanceLabel.setText("已采集三个点");
			circleGuidancePrimaryButton.setText("结束绘制");
			circleGuidanceSecondaryButton.setText("重新采集");
			circleGuidanceSecondaryButton.setVisible(true);
			} else {
			hideCircleGuidancePanel();
			return;
			}
			circleGuidancePanel.setVisible(true);

			refreshCircleGuidanceButtonAvailability();

			if (circleDialogMode) {
			ensureCircleGuidanceDialog();
			if (circleGuidanceDialog != null) {
			circleGuidanceDialog.pack();
			positionCircleGuidanceDialog();
			circleGuidanceDialog.setVisible(true);
			circleGuidanceDialog.toFront();
			}
			} else {
			rebuildFloatingButtonColumn();
			}
			}

			private void ensureCircleGuidancePanel() {
			if (circleGuidancePanel != null) {
			return;
			}
			circleGuidancePanel = new JPanel();
			circleGuidancePanel.setLayout(new BoxLayout(circleGuidancePanel, BoxLayout.Y_AXIS));
			circleGuidancePanel.setOpaque(true);
			circleGuidancePanel.setBackground(new Color(255, 255, 255, 235));
			circleGuidancePanel.setBorder(BorderFactory.createCompoundBorder(
			BorderFactory.createLineBorder(THEME_COLOR, 1),
			BorderFactory.createEmptyBorder(10, 12, 10, 12)));
			circleGuidancePanel.setAlignmentX(Component.LEFT_ALIGNMENT);

			circleGuidanceLabel = new JLabel();
			circleGuidanceLabel.setFont(new Font("微软雅黑", Font.BOLD, 13));
			circleGuidanceLabel.setForeground(new Color(33, 37, 41));
			circleGuidanceLabel.setAlignmentX(Component.LEFT_ALIGNMENT);

			JPanel buttonRow = new JPanel();
			buttonRow.setLayout(new BoxLayout(buttonRow, BoxLayout.X_AXIS));
			buttonRow.setOpaque(false);
			buttonRow.setAlignmentX(Component.LEFT_ALIGNMENT);

			circleGuidancePrimaryButton = createGuidanceButton("是", THEME_COLOR, Color.WHITE, true);
			circleGuidancePrimaryButton.addActionListener(e -> onCircleGuidancePrimary());

			circleGuidanceSecondaryButton = createGuidanceButton("否", Color.WHITE, THEME_COLOR, false);
			circleGuidanceSecondaryButton.addActionListener(e -> onCircleGuidanceSecondary());

			buttonRow.add(circleGuidancePrimaryButton);
			buttonRow.add(Box.createRigidArea(new Dimension(8, 0)));
			buttonRow.add(circleGuidanceSecondaryButton);

			circleGuidancePanel.add(circleGuidanceLabel);
			circleGuidancePanel.add(Box.createRigidArea(new Dimension(0, 8)));
			circleGuidancePanel.add(buttonRow);
			circleGuidancePanel.setVisible(false);
			}

			private void ensureCircleGuidanceDialog() {
			if (circleGuidancePanel == null) {
			return;
			}
			if (circleGuidanceDialog != null) {
			if (circleGuidancePanel.getParent() != circleGuidanceDialog.getContentPane()) {
			detachCircleGuidancePanel();
			circleGuidanceDialog.getContentPane().removeAll();
			circleGuidanceDialog.getContentPane().add(circleGuidancePanel, BorderLayout.CENTER);
			circleGuidanceDialog.pack();
			}
			return;
			}

			Window owner = SwingUtilities.getWindowAncestor(this);
			circleGuidanceDialog = new JDialog(owner, "绘制提示", Dialog.ModalityType.MODELESS);
			circleGuidanceDialog.setDefaultCloseOperation(WindowConstants.HIDE_ON_CLOSE);
			circleGuidanceDialog.setResizable(false);
			circleGuidanceDialog.setAlwaysOnTop(true);

			if (owner != null && circleDialogOwnerAdapter == null) {
			circleDialogOwnerAdapter = new ComponentAdapter() {
			@Override
			public void componentMoved(ComponentEvent e) {
			positionCircleGuidanceDialog();
			}

			@Override
			public void componentResized(ComponentEvent e) {
			positionCircleGuidanceDialog();
			}
			};
			owner.addComponentListener(circleDialogOwnerAdapter);
			}

			detachCircleGuidancePanel();
			circleGuidanceDialog.getContentPane().setLayout(new BorderLayout());
			circleGuidanceDialog.getContentPane().add(circleGuidancePanel, BorderLayout.CENTER);
			circleGuidanceDialog.pack();
			}

			private void detachCircleGuidancePanel() {
			if (circleGuidancePanel == null) {
			return;
			}
			Container parent = circleGuidancePanel.getParent();
			if (parent != null) {
			parent.remove(circleGuidancePanel);
			parent.revalidate();
			parent.repaint();
			}
			}

			private void positionCircleGuidanceDialog() {
			if (circleGuidanceDialog == null) {
			return;
			}
			Window owner = SwingUtilities.getWindowAncestor(this);
			if (owner == null \|\| !owner.isShowing()) {
			return;
			}
			try {
			Point ownerLocation = owner.getLocationOnScreen();
			int x = ownerLocation.x + owner.getWidth() - circleGuidanceDialog.getWidth() - 30;
			int y = ownerLocation.y + owner.getHeight() - circleGuidanceDialog.getHeight() - 40;
			x = Math.max(ownerLocation.x, x);
			y = Math.max(ownerLocation.y, y);
			circleGuidanceDialog.setLocation(x, y);
			} catch (IllegalComponentStateException ex) {
			// Owner not yet displayable; skip positioning
			}
			}

			private JButton createGuidanceButton(String text, Color bg, Color fg, boolean filled) {
			JButton button = new JButton(text);
			button.setFont(new Font("微软雅黑", Font.BOLD, 12));
			button.setForeground(fg);
			button.setBackground(bg);
			button.setOpaque(true);
			button.setFocusPainted(false);
			button.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			button.setAlignmentX(Component.LEFT_ALIGNMENT);
			if (filled) {
			button.setBorder(BorderFactory.createEmptyBorder(6, 14, 6, 14));
			} else {
			button.setBackground(Color.WHITE);
			button.setOpaque(true);
			button.setBorder(BorderFactory.createCompoundBorder(
			BorderFactory.createLineBorder(THEME_COLOR, 1),
			BorderFactory.createEmptyBorder(5, 12, 5, 12)));
			}
			button.addMouseListener(new MouseAdapter() {
			@Override
			public void mouseEntered(MouseEvent e) {
			if (!button.isEnabled()) {
			return;
			}
			if (filled) {
			button.setBackground(THEME_HOVER_COLOR);
			} else {
			button.setBackground(new Color(245, 245, 245));
			}
			}

			@Override
			public void mouseExited(MouseEvent e) {
			if (!button.isEnabled()) {
			return;
			}
			if (filled) {
			button.setBackground(bg);
			} else {
			button.setBackground(Color.WHITE);
			}
			}
			});
			return button;
			}

			private void onCircleGuidancePrimary() {
			if (circleGuidanceStep >= 1 && circleGuidanceStep <= 3) {
			if (!recordCircleSamplePoint()) {
			return;
			}
			if (circleGuidanceStep == 3) {
			showCircleGuidanceStep(4);
			} else {
			showCircleGuidanceStep(circleGuidanceStep + 1);
			}
			} else if (circleGuidanceStep == 4) {
			handleCircleCompletion();
			}
			}

			private void onCircleGuidanceSecondary() {
			if (circleGuidanceStep == 1 \|\| circleGuidanceStep == 2 \|\| circleGuidanceStep == 3) {
			handleCircleAbort(null);
			} else if (circleGuidanceStep == 4) {
			restartCircleCapture();
			}
			}

			private void hideCircleGuidancePanel() {
			circleGuidanceStep = 0;
			if (circleGuidancePanel != null) {
			circleGuidancePanel.setVisible(false);
			}
			if (circleGuidanceDialog != null) {
			circleGuidanceDialog.setVisible(false);
			}
			if (!circleDialogMode) {
			rebuildFloatingButtonColumn();
			}
			}

			private void handleCircleAbort(String message) {
			// Return the wizard to step 2 without committing any captured points
			hideEndDrawingButton();
			addzhangaiwu.abortCircleDrawingAndReturn(message);
			}

			private void handleCircleCompletion() {
			hideCircleGuidancePanel();
			clearCircleGuidanceArtifacts();
			if (endDrawingCallback != null) {
			endDrawingCallback.run();
			} else {
			addzhangaiwu.finishDrawingSession();
			}
			}

			private void prepareCircleGuidanceState() {
			clearCircleGuidanceArtifacts();
			circleBaseLatLon = resolveCircleBaseLatLon();
			startCircleDataMonitor();
			}

			private void clearCircleGuidanceArtifacts() {
			stopCircleDataMonitor();
			circleCapturedPoints.clear();
			circleBaseLatLon = null;
			lastCapturedCoordinate = null;
			if (mapRenderer != null) {
			mapRenderer.clearCircleCaptureOverlay();
			mapRenderer.clearCircleSampleMarkers();
			}
			}

			private void restartCircleCapture() {
			clearCircleGuidanceArtifacts();
			synchronized (Coordinate.coordinates) {
			Coordinate.coordinates.clear();
			}
			Coordinate.setStartSaveGngga(true);
			circleBaseLatLon = resolveCircleBaseLatLon();
			showCircleGuidanceStep(1);
			startCircleDataMonitor();
			}

			private boolean recordCircleSamplePoint() {
			Coordinate latest = getLatestCoordinate();
			if (latest == null) {
			JOptionPane.showMessageDialog(this, "未获取到当前位置坐标，请稍后重试。", "提示", JOptionPane.WARNING_MESSAGE);
			return false;
			}

			double[] base = ensureCircleBaseLatLon();
			if (base == null) {
			JOptionPane.showMessageDialog(this, "基准站坐标无效，请先在基准站管理中完成设置。", "提示", JOptionPane.WARNING_MESSAGE);
			return false;
			}

			double lat = parseDMToDecimal(latest.getLatitude(), latest.getLatDirection());
			double lon = parseDMToDecimal(latest.getLongitude(), latest.getLonDirection());
			if (!Double.isFinite(lat) \|\| !Double.isFinite(lon)) {
			JOptionPane.showMessageDialog(this, "采集点坐标无效，请重新采集。", "提示", JOptionPane.WARNING_MESSAGE);
			return false;
			}

			double[] local = convertLatLonToLocal(lat, lon, base[0], base[1]);
			circleCapturedPoints.add(local);
			if (mapRenderer != null) {
			mapRenderer.updateCircleSampleMarkers(circleCapturedPoints);
			}
			lastCapturedCoordinate = latest;
			refreshCircleGuidanceButtonAvailability();

			if (circleCapturedPoints.size() >= 3) {
			CircleSolution solution = fitCircleFromPoints(circleCapturedPoints);
			if (solution == null) {
			circleCapturedPoints.remove(circleCapturedPoints.size() - 1);
			JOptionPane.showMessageDialog(this, "无法根据当前三个点生成圆，请重新采集点。", "提示", JOptionPane.WARNING_MESSAGE);
			restartCircleCapture();
			return false;
			}
			if (mapRenderer != null) {
			mapRenderer.showCircleCaptureOverlay(solution.centerX, solution.centerY, solution.radius, circleCapturedPoints);
			}
			}

			return true;
			}

			private void startCircleDataMonitor() {
			if (circleDataMonitor == null) {
			circleDataMonitor = new Timer(600, e -> refreshCircleGuidanceButtonAvailability());
			circleDataMonitor.setRepeats(true);
			}
			if (!circleDataMonitor.isRunning()) {
			circleDataMonitor.start();
			}
			refreshCircleGuidanceButtonAvailability();
			}

			private void stopCircleDataMonitor() {
			if (circleDataMonitor != null) {
			circleDataMonitor.stop();
			}
			}

			private void refreshCircleGuidanceButtonAvailability() {
			if (circleGuidancePrimaryButton == null) {
			return;
			}
			boolean shouldEnable = circleGuidanceStep >= 1 && circleGuidanceStep <= 3
			? isCircleDataAvailable()
			: true;
			applyCirclePrimaryButtonState(shouldEnable);
			}

			private boolean isCircleDataAvailable() {
			Coordinate latest = getLatestCoordinate();
			if (latest == null) {
			return false;
			}

			// 检查是否有新的坐标（与上次采集的不同）
			if (lastCapturedCoordinate != null && latest == lastCapturedCoordinate) {
			return false;
			}

			// 检查定位状态是否为4（固定解）
			// 当选择割草机绘制圆形障碍物时，需要检查设备编号和定位状态
			Device device = Device.getGecaoji();
			if (device == null) {
			return false;
			}

			String positioningStatus = device.getPositioningStatus();
			if (positioningStatus == null \|\| !"4".equals(positioningStatus.trim())) {
			return false;
			}

			// 检查设备编号是否匹配割草机编号
			String mowerId = Setsys.getPropertyValue("mowerId");
			String deviceId = device.getMowerNumber();
			if (mowerId != null && !mowerId.trim().isEmpty()) {
			if (deviceId == null \|\| !mowerId.trim().equals(deviceId.trim())) {
			return false;
			}
			}

			return true;
			}

			private void applyCirclePrimaryButtonState(boolean enabled) {
			if (circleGuidancePrimaryButton == null) {
			return;
			}
			if (circleGuidanceStep >= 4) {
			enabled = true;
			}
			circleGuidancePrimaryButton.setEnabled(enabled);
			if (enabled) {
			circleGuidancePrimaryButton.setBackground(THEME_COLOR);
			circleGuidancePrimaryButton.setForeground(Color.WHITE);
			circleGuidancePrimaryButton.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			} else {
			circleGuidancePrimaryButton.setBackground(new Color(200, 200, 200));
			circleGuidancePrimaryButton.setForeground(new Color(120, 120, 120));
			circleGuidancePrimaryButton.setCursor(Cursor.getPredefinedCursor(Cursor.DEFAULT_CURSOR));
			}
			}

			private Coordinate getLatestCoordinate() {
			synchronized (Coordinate.coordinates) {
			int size = Coordinate.coordinates.size();
			if (size == 0) {
			return null;
			}
			return Coordinate.coordinates.get(size - 1);
			}
			}

			private double[] ensureCircleBaseLatLon() {
			if (circleBaseLatLon == null) {
			circleBaseLatLon = resolveCircleBaseLatLon();
			}
			return circleBaseLatLon;
			}

			private double[] resolveCircleBaseLatLon() {
			String coords = null;

			if (baseStation == null) {
			baseStation = new BaseStation();
			}
			baseStation.load();
			coords = baseStation.getInstallationCoordinates();

			if (!isMeaningfulValue(coords)) {
			String landNumber = Dikuaiguanli.getCurrentWorkLandNumber();
			if (isMeaningfulValue(landNumber)) {
			Dikuai current = Dikuai.getDikuai(landNumber);
			if (current != null) {
			coords = current.getBaseStationCoordinates();
			}
			}
			if (!isMeaningfulValue(coords)) {
			coords = addzhangaiwu.getActiveSessionBaseStation();
			}
			if (!isMeaningfulValue(coords)) {
			return null;
			}
			}
			String[] parts = coords.split(",");
			if (parts.length < 4) {
			return null;
			}
			double baseLat = parseDMToDecimal(parts[0], parts[1]);
			double baseLon = parseDMToDecimal(parts[2], parts[3]);
			if (!Double.isFinite(baseLat) \|\| !Double.isFinite(baseLon)) {
			return null;
			}
			return new double[]{baseLat, baseLon};
			}

			private double parseDMToDecimal(String dmm, String direction) {
			if (dmm == null \|\| dmm.trim().isEmpty()) {
			return Double.NaN;
			}
			try {
			String trimmed = dmm.trim();
			int dotIndex = trimmed.indexOf('.');
			if (dotIndex < 2) {
			return Double.NaN;
			}
			int degrees = Integer.parseInt(trimmed.substring(0, dotIndex - 2));
			double minutes = Double.parseDouble(trimmed.substring(dotIndex - 2));
			double decimal = degrees + minutes / 60.0;
			if ("S".equalsIgnoreCase(direction) \|\| "W".equalsIgnoreCase(direction)) {
			decimal = -decimal;
			}
			return decimal;
			} catch (NumberFormatException ex) {
			return Double.NaN;
			}
			}

			private double[] convertLatLonToLocal(double lat, double lon, double baseLat, double baseLon) {
			double deltaLat = lat - baseLat;
			double deltaLon = lon - baseLon;
			double meanLatRad = Math.toRadians((baseLat + lat) / 2.0);
			double eastMeters = deltaLon * METERS_PER_DEGREE_LAT * Math.cos(meanLatRad);
			double northMeters = deltaLat * METERS_PER_DEGREE_LAT;
			return new double[]{eastMeters, northMeters};
			}

			private CircleSolution fitCircleFromPoints(List<double[]> points) {
			if (points == null \|\| points.size() < 3) {
			return null;
			}
			CircleSolution best = null;
			double bestScore = 0.0;
			int n = points.size();
			for (int i = 0; i < n - 2; i++) {
			double[] p1 = points.get(i);
			for (int j = i + 1; j < n - 1; j++) {
			double[] p2 = points.get(j);
			for (int k = j + 1; k < n; k++) {
			double[] p3 = points.get(k);
			CircleSolution candidate = circleFromThreePoints(p1, p2, p3);
			if (candidate == null \|\| candidate.radius <= 0) {
			continue;
			}
			double minEdge = Math.min(distance(p1, p2), Math.min(distance(p2, p3), distance(p1, p3)));
			if (minEdge > bestScore) {
			bestScore = minEdge;
			best = candidate;
			}
			}
			}
			}
			return best;
			}

			private CircleSolution circleFromThreePoints(double[] p1, double[] p2, double[] p3) {
			if (p1 == null \|\| p2 == null \|\| p3 == null) {
			return null;
			}
			double x1 = p1[0];
			double y1 = p1[1];
			double x2 = p2[0];
			double y2 = p2[1];
			double x3 = p3[0];
			double y3 = p3[1];

			double a = x1 * (y2 - y3) - y1 * (x2 - x3) + x2 * y3 - x3 * y2;
			double d = 2.0 * a;
			if (Math.abs(d) < 1e-6) {
			return null;
			}

			double x1Sq = x1 * x1 + y1 * y1;
			double x2Sq = x2 * x2 + y2 * y2;
			double x3Sq = x3 * x3 + y3 * y3;

			double centerX = (x1Sq * (y2 - y3) + x2Sq * (y3 - y1) + x3Sq * (y1 - y2)) / d;
			double centerY = (x1Sq * (x3 - x2) + x2Sq * (x1 - x3) + x3Sq * (x2 - x1)) / d;
			double radius = Math.hypot(centerX - x1, centerY - y1);
			if (!Double.isFinite(centerX) \|\| !Double.isFinite(centerY) \|\| !Double.isFinite(radius)) {
			return null;
			}
			if (radius < 0.05) {
			return null;
			}
			return new CircleSolution(centerX, centerY, radius);
			}

			private double distance(double[] a, double[] b) {
			if (a == null \|\| b == null) {
			return 0.0;
			}
			double dx = a[0] - b[0];
			double dy = a[1] - b[1];
			return Math.hypot(dx, dy);
			}

			private static final class CircleSolution {
			final double centerX;
			final double centerY;
			final double radius;

			CircleSolution(double centerX, double centerY, double radius) {
			this.centerX = centerX;
			this.centerY = centerY;
			this.radius = radius;
			}
			}

			public void hideEndDrawingButton() {
			hideCircleGuidancePanel();
			clearCircleGuidanceArtifacts();
			hideFloatingDrawingControls();
			circleDialogMode = false;
			exitHandheldCaptureInlineUi();
			handheldCaptureActive = false;
			exitDrawingControlMode();
			if (activeBoundaryMode == BoundaryCaptureMode.MOWER) {
			stopMowerBoundaryCapture();
			} else if (activeBoundaryMode == BoundaryCaptureMode.HANDHELD && !handheldCaptureActive) {
			activeBoundaryMode = BoundaryCaptureMode.NONE;
			}
			endDrawingCallback = null;
			visualizationPanel.revalidate();
			visualizationPanel.repaint();
			setHandheldMowerIconActive(false);
			}

			private void showPathPreviewReturnControls() {
			ensureFloatingButtonInfrastructure();
			if (drawingPauseButton != null) {
			drawingPauseButton.setVisible(false);
			}
			if (endDrawingButton != null) {
			endDrawingButton.setVisible(false);
			}
			if (pathPreviewReturnButton == null) {
			pathPreviewReturnButton = createFloatingTextButton("返回");
			pathPreviewReturnButton.setToolTipText("返回新增地块步骤");
			pathPreviewReturnButton.addActionListener(e -> handlePathPreviewReturn());
			}
			pathPreviewReturnButton.setVisible(true);
			if (floatingButtonPanel != null) {
			floatingButtonPanel.setVisible(true);
			if (floatingButtonPanel.getParent() != visualizationPanel) {
			visualizationPanel.add(floatingButtonPanel, BorderLayout.SOUTH);
			}
			}
			rebuildFloatingButtonColumn();
			}

			private void hidePathPreviewReturnControls() {
			if (pathPreviewReturnButton != null) {
			pathPreviewReturnButton.setVisible(false);
			}
			rebuildFloatingButtonColumn();
			if (floatingButtonPanel != null && floatingButtonColumn != null
			&& floatingButtonColumn.getComponentCount() == 0) {
			floatingButtonPanel.setVisible(false);
			}
			}

			private void handlePathPreviewReturn() {
			Runnable callback = pathPreviewReturnAction;
			exitMowingPathPreview();
			if (callback != null) {
			callback.run();
			}
			}

			public boolean startMowingPathPreview(String landNumber,
			String landName,
			String boundary,
			String obstacles,
			String plannedPath,
			Runnable returnAction) {
			if (mapRenderer == null) {
			return false;
			}
			// 允许没有路径的预览（例如障碍物预览），只要有返回回调即可
			if (!isMeaningfulValue(plannedPath) && returnAction == null) {
			return false;
			}

			if (pathPreviewActive) {
			exitMowingPathPreview();
			}

			exitDrawingControlMode();
			hideCircleGuidancePanel();
			clearCircleGuidanceArtifacts();

			pathPreviewReturnAction = returnAction;
			pathPreviewActive = true;
			mapRenderer.setPathPreviewSizingEnabled(true);

			previewRestoreLandNumber = Dikuaiguanli.getCurrentWorkLandNumber();
			previewRestoreLandName = null;
			if (isMeaningfulValue(previewRestoreLandNumber)) {
			Dikuai existing = Dikuai.getDikuai(previewRestoreLandNumber);
			if (existing != null) {
			previewRestoreLandName = existing.getLandName();
			}
			}

			mapRenderer.setCurrentBoundary(boundary, landNumber, landName);
			mapRenderer.setCurrentObstacles(obstacles, landNumber);
			// 只有在有路径时才设置路径
			if (isMeaningfulValue(plannedPath)) {
			mapRenderer.setCurrentPlannedPath(plannedPath);
			} else {
			mapRenderer.setCurrentPlannedPath(null);
			}
			mapRenderer.clearHandheldBoundaryPreview();
			mapRenderer.setBoundaryPointSizeScale(1.0d);
			mapRenderer.setBoundaryPointsVisible(isMeaningfulValue(boundary));
			// 启用障碍物边界点显示
			mapRenderer.setObstaclePointsVisible(isMeaningfulValue(obstacles));

			String displayName = isMeaningfulValue(landName) ? landName : landNumber;
			updateCurrentAreaName(displayName);

			showPathPreviewReturnControls();
			visualizationPanel.revalidate();
			visualizationPanel.repaint();
			return true;
			}

			public void exitMowingPathPreview() {
			if (!pathPreviewActive) {
			return;
			}
			pathPreviewActive = false;
			if (mapRenderer != null) {
			mapRenderer.setPathPreviewSizingEnabled(false);
			}
			hidePathPreviewReturnControls();

			String restoreNumber = previewRestoreLandNumber;
			String restoreName = previewRestoreLandName;
			previewRestoreLandNumber = null;
			previewRestoreLandName = null;
			pathPreviewReturnAction = null;

			if (restoreNumber != null) {
			Dikuaiguanli.setCurrentWorkLand(restoreNumber, restoreName);
			} else if (mapRenderer != null) {
			mapRenderer.setCurrentBoundary(null, null, null);
			mapRenderer.setCurrentObstacles((String) null, null);
			mapRenderer.setCurrentPlannedPath(null);
			mapRenderer.setBoundaryPointsVisible(false);
			mapRenderer.setBoundaryPointSizeScale(1.0d);
			mapRenderer.clearHandheldBoundaryPreview();
			mapRenderer.resetView();
			updateCurrentAreaName(null);
			}

			visualizationPanel.revalidate();
			visualizationPanel.repaint();
			}

			/**
			* 获取地图渲染器实例
			*/
			public MapRenderer getMapRenderer() {
			return mapRenderer;
			}

			public void updateCurrentAreaName(String areaName) {
			if (areaNameLabel == null) {
			return;
			}
			if (areaName == null \|\| areaName.trim().isEmpty()) {
			areaNameLabel.setText("未选择地块");
			} else {
			areaNameLabel.setText(areaName);
			}
			}

			/**
			* 重置地图视图
			*/
			public void resetMapView() {
			if (mapRenderer != null) {
			mapRenderer.resetView();
			}
			}

			private void initializeDefaultAreaSelection() {
			Dikuai.initFromProperties();
			String persistedLandNumber = Dikuaiguanli.getPersistedWorkLandNumber();
			if (persistedLandNumber != null) {
			Dikuai stored = Dikuai.getDikuai(persistedLandNumber);
			if (stored != null) {
			Dikuaiguanli.setCurrentWorkLand(persistedLandNumber, stored.getLandName());
			return;
			}
			Dikuaiguanli.setCurrentWorkLand(null, null);
			}

			Map<String, Dikuai> all = Dikuai.getAllDikuai();
			if (all.isEmpty()) {
			Dikuaiguanli.setCurrentWorkLand(null, null);
			} else if (all.size() == 1) {
			Dikuai only = all.values().iterator().next();
			if (only != null) {
			Dikuaiguanli.setCurrentWorkLand(only.getLandNumber(), only.getLandName());
			}
			}
			}

			private void refreshMapForSelectedArea() {
			if (mapRenderer == null) {
			return;
			}

			String currentLandNumber = Dikuaiguanli.getCurrentWorkLandNumber();
			if (isMeaningfulValue(currentLandNumber)) {
			Dikuai current = Dikuai.getDikuai(currentLandNumber);
			String landName = current != null ? current.getLandName() : null;
			Dikuaiguanli.setCurrentWorkLand(currentLandNumber, landName);
			return;
			}

			String labelName = areaNameLabel != null ? areaNameLabel.getText() : null;
			if (!isMeaningfulAreaName(labelName)) {
			Dikuaiguanli.setCurrentWorkLand(null, null);
			return;
			}

			Map<String, Dikuai> all = Dikuai.getAllDikuai();
			for (Dikuai dikuai : all.values()) {
			if (dikuai == null) {
			continue;
			}
			String candidateName = dikuai.getLandName();
			if (candidateName != null && candidateName.trim().equals(labelName.trim())) {
			Dikuaiguanli.setCurrentWorkLand(dikuai.getLandNumber(), candidateName);
			return;
			}
			}

			Dikuaiguanli.setCurrentWorkLand(null, null);
			}

			private boolean isMeaningfulValue(String value) {
			if (value == null) {
			return false;
			}
			String trimmed = value.trim();
			return !trimmed.isEmpty() && !"-1".equals(trimmed);
			}

			private boolean isMeaningfulAreaName(String value) {
			if (value == null) {
			return false;
			}
			String trimmed = value.trim();
			if (trimmed.isEmpty()) {
			return false;
			}
			return !"未选择地块".equals(trimmed);
			}


			// 主题颜色
			private final Color THEME_COLOR = new Color(46, 139, 87);
			private final Color THEME_HOVER_COLOR = new Color(30, 107, 69);
			private final Color BACKGROUND_COLOR = new Color(250, 250, 250);
			private final Color PANEL_BACKGROUND = new Color(255, 255, 255);

			// 组件
			private JPanel headerPanel;
			private JPanel mainContentPanel;
			private JPanel controlPanel;
			private JPanel navigationPanel;
			private JPanel visualizationPanel;

			// 按钮
			private JButton startBtn;
			private JButton pauseBtn;
			private JButton legendBtn;
			private JButton remoteBtn;
			private JButton areaSelectBtn;
			private JButton baseStationBtn;

			// 导航按钮
			private JButton homeNavBtn;
			private JButton areasNavBtn;
			private JButton settingsNavBtn;

			// 状态显示
			private JLabel statusLabel;
			private JLabel areaNameLabel;

			// 当前选中的导航按钮
			private JButton currentNavButton;

			// 对话框引用
			private LegendDialog legendDialog;
			private RemoteControlDialog remoteDialog;
			private AreaSelectionDialog areaDialog;
			private BaseStationDialog baseStationDialog;
			private Sets settingsDialog;
			private BaseStation baseStation;

			// 地图渲染器
			private MapRenderer mapRenderer;
			private static final int FLOAT_ICON_SIZE = 32;
			private JButton endDrawingButton;
			private JButton drawingPauseButton;
			private JPanel floatingButtonPanel;
			private JPanel floatingButtonColumn;
			private Runnable endDrawingCallback;
			private boolean drawingPaused;
			private ImageIcon pauseIcon;
			private ImageIcon pauseActiveIcon;
			private ImageIcon endIcon;

			public Shouye() {
			instance = this;
			baseStation = new BaseStation();
			baseStation.load();
			initializeUI();
			setupEventHandlers();
			}

			public static Shouye getInstance() {
			return instance;
			}

			private void initializeUI() {
			setLayout(new BorderLayout());
			setBackground(BACKGROUND_COLOR);

			// 创建各个面板
			createHeaderPanel();
			createMainContentPanel();
			createControlPanel();
			createNavigationPanel();

			// 添加到主面板
			add(headerPanel, BorderLayout.NORTH);
			add(mainContentPanel, BorderLayout.CENTER);
			add(controlPanel, BorderLayout.SOUTH);

			// 初始化地图渲染器
			mapRenderer = new MapRenderer(visualizationPanel);

			// 初始化对话框引用为null，延迟创建
			legendDialog = null;
			remoteDialog = null;
			areaDialog = null;
			baseStationDialog = null;
			settingsDialog = null;

			// 设置默认状态
			setNavigationActive(homeNavBtn);

			initializeDefaultAreaSelection();
			}

			private void createHeaderPanel() {
			headerPanel = new JPanel(new BorderLayout());
			headerPanel.setBackground(PANEL_BACKGROUND);
			headerPanel.setBorder(BorderFactory.createEmptyBorder(15, 20, 15, 20));
			headerPanel.setPreferredSize(new Dimension(0, 80));

			// 左侧信息区域
			JPanel leftInfoPanel = new JPanel(new GridLayout(2, 1));
			leftInfoPanel.setBackground(PANEL_BACKGROUND);

			areaNameLabel = new JLabel("未选择地块");
			areaNameLabel.setFont(new Font("微软雅黑", Font.BOLD, 18));
			areaNameLabel.setForeground(Color.BLACK);
			areaNameLabel.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			areaNameLabel.addMouseListener(new MouseAdapter() {
			@Override
			public void mouseClicked(MouseEvent e) {
			Dikuaiguanli.showDikuaiManagement(Shouye.this, null);
			}

			@Override
			public void mouseEntered(MouseEvent e) {
			areaNameLabel.setForeground(THEME_COLOR);
			}

			@Override
			public void mouseExited(MouseEvent e) {
			areaNameLabel.setForeground(Color.BLACK);
			}
			});

			statusLabel = new JLabel("待机");
			statusLabel.setFont(new Font("微软雅黑", Font.PLAIN, 14));
			statusLabel.setForeground(Color.GRAY);

			leftInfoPanel.add(areaNameLabel);
			leftInfoPanel.add(statusLabel);

			// 右侧操作区域
			JPanel rightActionPanel = new JPanel(new FlowLayout(FlowLayout.RIGHT));
			rightActionPanel.setBackground(PANEL_BACKGROUND);

			JButton notificationBtn = createIconButton("🔔", 40);

			// 修改设置按钮：使用图片替代Unicode图标
			JButton settingsBtn = new JButton();
			try {
			ImageIcon settingsIcon = new ImageIcon("image/sets.png");
			// 调整图片大小以适应按钮
			Image scaledImage = settingsIcon.getImage().getScaledInstance(30, 30, Image.SCALE_SMOOTH);
			settingsBtn.setIcon(new ImageIcon(scaledImage));
			} catch (Exception e) {
			// 如果图片加载失败，使用默认文本
			settingsBtn.setText("设置");
			System.err.println("无法加载设置图标: " + e.getMessage());
			}
			settingsBtn.setPreferredSize(new Dimension(40, 40));
			settingsBtn.setBackground(PANEL_BACKGROUND);
			settingsBtn.setBorder(BorderFactory.createEmptyBorder(5, 5, 5, 5));
			settingsBtn.setFocusPainted(false);

			// 添加悬停效果
			settingsBtn.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			settingsBtn.setBackground(new Color(240, 240, 240));
			}
			public void mouseExited(MouseEvent e) {
			settingsBtn.setBackground(PANEL_BACKGROUND);
			}
			});

			// 添加设置按钮事件
			settingsBtn.addActionListener(e -> showSettingsDialog());

			rightActionPanel.add(notificationBtn);
			rightActionPanel.add(settingsBtn);

			headerPanel.add(leftInfoPanel, BorderLayout.WEST);
			headerPanel.add(rightActionPanel, BorderLayout.EAST);
			}

			private void createMainContentPanel() {
			mainContentPanel = new JPanel(new BorderLayout());
			mainContentPanel.setBackground(BACKGROUND_COLOR);

			// 可视化区域 - 使用MapRenderer进行绘制
			visualizationPanel = new JPanel() {
			@Override
			protected void paintComponent(Graphics g) {
			super.paintComponent(g);
			// 委托给MapRenderer进行绘制
			if (mapRenderer != null) {
			mapRenderer.renderMap(g);
			}
			}
			};
			visualizationPanel.setLayout(new BorderLayout());

			// 创建功能按钮面板（放在左上角）
			JPanel functionButtonsPanel = new JPanel();
			functionButtonsPanel.setLayout(new BoxLayout(functionButtonsPanel, BoxLayout.Y_AXIS));
			functionButtonsPanel.setOpaque(false);
			functionButtonsPanel.setBorder(BorderFactory.createEmptyBorder(20, 5, 0, 0)); // 左边距改为5像素

			legendBtn = createFunctionButton("图例", "📖");
			baseStationBtn = createFunctionButton("基准站", "📡"); // 调整到第二位
			areaSelectBtn = createFunctionButton("地块", "🌿"); // 调整到第三位
			remoteBtn = createFunctionButton("遥控", "🎮"); // 调整到最后

			functionButtonsPanel.add(legendBtn);
			functionButtonsPanel.add(Box.createRigidArea(new Dimension(0, 10)));
			functionButtonsPanel.add(baseStationBtn);
			functionButtonsPanel.add(Box.createRigidArea(new Dimension(0, 10)));
			functionButtonsPanel.add(areaSelectBtn);
			functionButtonsPanel.add(Box.createRigidArea(new Dimension(0, 10)));
			functionButtonsPanel.add(remoteBtn);

			visualizationPanel.add(functionButtonsPanel, BorderLayout.WEST);

			mainContentPanel.add(visualizationPanel, BorderLayout.CENTER);
			}

			private void createControlPanel() {
			controlPanel = new JPanel(new BorderLayout());
			controlPanel.setBackground(PANEL_BACKGROUND);
			controlPanel.setBorder(BorderFactory.createEmptyBorder(15, 20, 15, 20));
			controlPanel.setPreferredSize(new Dimension(0, 100));

			JPanel buttonPanel = new JPanel(new GridLayout(1, 2, 20, 0));
			buttonPanel.setBackground(PANEL_BACKGROUND);

			startBtn = createControlButton("开始", THEME_COLOR);
			pauseBtn = createControlButton("暂停", Color.ORANGE);
			pauseBtn.setEnabled(false);

			buttonPanel.add(startBtn);
			buttonPanel.add(pauseBtn);

			controlPanel.add(buttonPanel, BorderLayout.CENTER);
			}

			private void createNavigationPanel() {
			navigationPanel = new JPanel(new GridLayout(1, 3));
			navigationPanel.setBackground(PANEL_BACKGROUND);
			navigationPanel.setBorder(BorderFactory.createEmptyBorder(0, 0, 0, 0));
			navigationPanel.setPreferredSize(new Dimension(0, 70));

			homeNavBtn = createNavButton("首页", "🏠");
			areasNavBtn = createNavButton("地块", "🌿");
			settingsNavBtn = createNavButton("设置", "⚙️");

			navigationPanel.add(homeNavBtn);
			navigationPanel.add(areasNavBtn);
			navigationPanel.add(settingsNavBtn);

			// 添加到主界面底部
			add(navigationPanel, BorderLayout.SOUTH);
			}

			private JButton createIconButton(String icon, int size) {
			JButton button = new JButton(icon);
			button.setFont(new Font("Segoe UI Emoji", Font.PLAIN, 20));
			button.setPreferredSize(new Dimension(size, size));
			button.setBackground(PANEL_BACKGROUND);
			button.setBorder(BorderFactory.createEmptyBorder(5, 5, 5, 5));
			button.setFocusPainted(false);

			// 悬停效果
			button.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			button.setBackground(new Color(240, 240, 240));
			}
			public void mouseExited(MouseEvent e) {
			button.setBackground(PANEL_BACKGROUND);
			}
			});

			return button;
			}

			private JButton createFunctionButton(String text, String icon) {
			JButton button = new JButton("<html><center>" + icon + "<br>" + text + "</center></html>");
			button.setFont(new Font("微软雅黑", Font.PLAIN, 12));
			button.setPreferredSize(new Dimension(80, 70));
			button.setBackground(new Color(0, 0, 0, 0)); // 完全透明背景
			button.setBorder(BorderFactory.createEmptyBorder(5, 5, 5, 5)); // 只保留内边距
			button.setFocusPainted(false);
			button.setOpaque(false); // 设置为不透明，确保背景透明

			// 去掉悬停效果
			button.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			// 悬停时不改变任何样式
			}
			public void mouseExited(MouseEvent e) {
			// 悬停时不改变任何样式
			}
			});

			return button;
			}

			private JButton createControlButton(String text, Color color) {
			JButton button = new JButton(text);
			button.setFont(new Font("微软雅黑", Font.BOLD, 16));
			button.setBackground(color);
			button.setForeground(Color.WHITE);
			button.setBorder(BorderFactory.createEmptyBorder(15, 0, 15, 0));
			button.setFocusPainted(false);

			// 悬停效果
			button.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			if (button.isEnabled()) {
			if (color == THEME_COLOR) {
			button.setBackground(THEME_HOVER_COLOR);
			} else {
			button.setBackground(new Color(255, 165, 0));
			}
			}
			}
			public void mouseExited(MouseEvent e) {
			if (button.isEnabled()) {
			button.setBackground(color);
			}
			}
			});

			return button;
			}

			private JButton createNavButton(String text, String icon) {
			JButton button = new JButton("<html><center>" + icon + "<br>" + text + "</center></html>");
			button.setFont(new Font("微软雅黑", Font.PLAIN, 12));
			button.setBackground(PANEL_BACKGROUND);
			button.setBorder(BorderFactory.createEmptyBorder(10, 5, 10, 5));
			button.setFocusPainted(false);

			// 悬停效果
			button.addMouseListener(new MouseAdapter() {
			public void mouseEntered(MouseEvent e) {
			if (button != currentNavButton) {
			button.setBackground(new Color(240, 240, 240));
			}
			}
			public void mouseExited(MouseEvent e) {
			if (button != currentNavButton) {
			button.setBackground(PANEL_BACKGROUND);
			}
			}
			});

			return button;
			}

			private void setNavigationActive(JButton navButton) {
			// 重置所有导航按钮样式
			for (Component comp : navigationPanel.getComponents()) {
			if (comp instanceof JButton) {
			JButton btn = (JButton) comp;
			btn.setBackground(PANEL_BACKGROUND);
			btn.setForeground(Color.BLACK);
			}
			}

			// 设置当前选中按钮样式
			navButton.setBackground(THEME_COLOR);
			navButton.setForeground(Color.WHITE);
			currentNavButton = navButton;
			}

			private void setupEventHandlers() {
			// 导航按钮事件
			homeNavBtn.addActionListener(e -> setNavigationActive(homeNavBtn));
			areasNavBtn.addActionListener(e -> setNavigationActive(areasNavBtn));
			settingsNavBtn.addActionListener(e -> setNavigationActive(settingsNavBtn));

			// 功能按钮事件
			legendBtn.addActionListener(e -> showLegendDialog());
			remoteBtn.addActionListener(e -> showRemoteControlDialog());
			areaSelectBtn.addActionListener(e -> {
			// 点击“地块”直接打开地块管理对话框（若需要可传入特定地块编号）
			Dikuaiguanli.showDikuaiManagement(this, null);
			});
			baseStationBtn.addActionListener(e -> showBaseStationDialog());

			// 控制按钮事件
			startBtn.addActionListener(e -> startMowing());
			pauseBtn.addActionListener(e -> pauseMowing());
			}

			private void showSettingsDialog() {
			if (settingsDialog == null) {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			if (parentWindow instanceof JFrame) {
			settingsDialog = new Sets((JFrame) parentWindow, THEME_COLOR);
			} else if (parentWindow instanceof JDialog) {
			settingsDialog = new Sets((JDialog) parentWindow, THEME_COLOR);
			} else {
			// Fallback to a frameless dialog when no parent is available
			settingsDialog = new Sets((JFrame) null, THEME_COLOR);
			}
			}
			settingsDialog.setVisible(true);
			}

			private void showLegendDialog() {
			if (legendDialog == null) {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			if (parentWindow != null) {
			legendDialog = new LegendDialog(this, THEME_COLOR);
			} else {
			// 如果没有父窗口，创建无父窗口的对话框
			legendDialog = new LegendDialog((JFrame) null, THEME_COLOR);
			}
			}
			legendDialog.setVisible(true);
			}

			private void showRemoteControlDialog() {
			if (remoteDialog == null) {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			if (parentWindow != null) {
			remoteDialog = new RemoteControlDialog(this, THEME_COLOR);
			} else {
			remoteDialog = new RemoteControlDialog((JFrame) null, THEME_COLOR);
			}
			}
			remoteDialog.setVisible(true);
			}

			private void showAreaSelectionDialog() {
			if (areaDialog == null) {
			Window parentWindow = SwingUtilities.getWindowAncestor(this);
			if (parentWindow != null) {
			areaDialog = new AreaSelectionDialog(this, THEME_COLOR, areaNameLabel, statusLabel);
			} else {
			areaDialog = new AreaSelectionDialog((JFrame) null, THEME_COLOR, areaNameLabel, statusLabel);
			}
			}
			areaDialog.setVisible(true);
			}

			private void showBaseStationDialog() {
			if (baseStation == null) {
			baseStation = new BaseStation();
			}
			baseStation.load();

			Component dialogParent = this;

			if (!hasValidBaseStationId()) {
			boolean recorded = promptForBaseStationId(dialogParent);
			if (!recorded) {
			return;
			}
			}

			Device device = new Device();
			device.initFromProperties();

			if (baseStationDialog == null) {
			baseStationDialog = new BaseStationDialog(dialogParent, THEME_COLOR, device, baseStation);
			} else {
			baseStationDialog.refreshData();
			}
			baseStationDialog.setVisible(true);
			}

			private boolean hasValidBaseStationId() {
			if (baseStation == null) {
			return false;
			}
			String deviceId = baseStation.getDeviceId();
			if (deviceId == null) {
			return false;
			}
			String trimmed = deviceId.trim();
			return !trimmed.isEmpty() && !"-1".equals(trimmed);
			}

			private boolean promptForBaseStationId(Component parentComponent) {
			if (baseStation == null) {
			baseStation = new BaseStation();
			}

			while (true) {
			String input = JOptionPane.showInputDialog(parentComponent,
			"请输入基准站编号", "录入基准站编号", JOptionPane.PLAIN_MESSAGE);

			if (input == null) {
			return false;
			}

			String trimmed = input.trim();
			if (trimmed.isEmpty()) {
			JOptionPane.showMessageDialog(parentComponent,
			"基准站编号不能为空，请重新输入。", "提示", JOptionPane.WARNING_MESSAGE);
			continue;
			}

			try {
			baseStation.updateByDeviceId(trimmed,
			baseStation.getInstallationCoordinates(),
			baseStation.getIotSimCardNumber(),
			baseStation.getDeviceActivationTime(),
			baseStation.getDataUpdateTime());
			baseStation.load();
			JOptionPane.showMessageDialog(parentComponent,
			"基准站编号已保存。", "操作成功", JOptionPane.INFORMATION_MESSAGE);
			return true;
			} catch (IllegalArgumentException ex) {
			JOptionPane.showMessageDialog(parentComponent,
			ex.getMessage(), "输入错误", JOptionPane.ERROR_MESSAGE);
			}
			}
			}

			private void startMowing() {
			statusLabel.setText("作业中");
			startBtn.setEnabled(false);
			pauseBtn.setEnabled(true);
			}

			private void pauseMowing() {
			statusLabel.setText("暂停中");
			startBtn.setEnabled(true);
			pauseBtn.setEnabled(false);
			}

			private JButton createFloatingIconButton() {
			JButton button = new JButton();
			button.setContentAreaFilled(false);
			button.setBorder(BorderFactory.createEmptyBorder());
			button.setFocusPainted(false);
			button.setOpaque(false);
			button.setCursor(Cursor.getPredefinedCursor(Cursor.HAND_CURSOR));
			int size = FLOAT_ICON_SIZE + 8;
			button.setPreferredSize(new Dimension(size, size));
			return button;
			}

			private ImageIcon loadScaledIcon(String path, int width, int height) {
			try {
			ImageIcon icon = new ImageIcon(path);
			if (icon.getIconWidth() <= 0 \|\| icon.getIconHeight() <= 0) {
			return null;
			}
			Image scaled = icon.getImage().getScaledInstance(width, height, Image.SCALE_SMOOTH);
			return new ImageIcon(scaled);
			} catch (Exception ex) {
			System.err.println("加载图标失败: " + path + " - " + ex.getMessage());
			return null;
			}
			}

			private void ensureFloatingIconsLoaded() {
			if (pauseIcon == null) {
			pauseIcon = loadScaledIcon("image/zanting.png", FLOAT_ICON_SIZE, FLOAT_ICON_SIZE);
			}
			if (pauseActiveIcon == null) {
			pauseActiveIcon = loadScaledIcon("image/zantingzhong.png", FLOAT_ICON_SIZE, FLOAT_ICON_SIZE);
			}
			if (endIcon == null) {
			endIcon = loadScaledIcon("image/end.png", FLOAT_ICON_SIZE, FLOAT_ICON_SIZE);
			}
			}

			private void updatePauseButtonVisual() {
			if (drawingPauseButton == null) {
			return;
			}
			if (drawingPaused) {
			if (pauseActiveIcon != null) {
			drawingPauseButton.setIcon(pauseActiveIcon);
			drawingPauseButton.setText(null);
			} else {
			drawingPauseButton.setText("暂停中");
			drawingPauseButton.setIcon(null);
			}
			drawingPauseButton.setToolTipText("点击恢复绘制");
			} else {
			if (pauseIcon != null) {
			drawingPauseButton.setIcon(pauseIcon);
			drawingPauseButton.setText(null);
			} else {
			drawingPauseButton.setText("暂停");
			drawingPauseButton.setIcon(null);
			}
			drawingPauseButton.setToolTipText("点击暂停绘制");
			}
			}

			private void applyDrawingPauseState(boolean paused, boolean notifyCoordinate) {
			drawingPaused = paused;
			updatePauseButtonVisual();
			if (notifyCoordinate) {
			Coordinate.setStartSaveGngga(!paused);
			}
			}

			private void toggleDrawingPause() {
			applyDrawingPauseState(!drawingPaused, true);
			}

			public void showEndDrawingButton(Runnable callback) {
			ensureFloatingIconsLoaded();

			if (endDrawingButton == null) {
			endDrawingButton = createFloatingIconButton();
			endDrawingButton.addActionListener(e -> {
			if (endDrawingCallback != null) {
			endDrawingCallback.run();
			}
			});
			}
			if (endIcon != null) {
			endDrawingButton.setIcon(endIcon);
			endDrawingButton.setText(null);
			} else {
			endDrawingButton.setText("结束绘制");
			}
			endDrawingButton.setToolTipText("结束绘制");

			if (drawingPauseButton == null) {
			drawingPauseButton = createFloatingIconButton();
			drawingPauseButton.addActionListener(e -> toggleDrawingPause());
			}
			updatePauseButtonVisual();

			if (floatingButtonPanel == null) {
			floatingButtonPanel = new JPanel(new BorderLayout());
			floatingButtonPanel.setOpaque(false);
			floatingButtonPanel.setBorder(BorderFactory.createEmptyBorder(0, 0, 20, 20));

			floatingButtonColumn = new JPanel();
			floatingButtonColumn.setOpaque(false);
			floatingButtonColumn.setLayout(new BoxLayout(floatingButtonColumn, BoxLayout.Y_AXIS));
			floatingButtonColumn.add(drawingPauseButton);
			floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
			floatingButtonColumn.add(endDrawingButton);
			floatingButtonPanel.add(floatingButtonColumn, BorderLayout.EAST);
			} else if (floatingButtonColumn != null) {
			floatingButtonColumn.removeAll();
			floatingButtonColumn.add(drawingPauseButton);
			floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
			floatingButtonColumn.add(endDrawingButton);
			}

			endDrawingCallback = callback;
			endDrawingButton.setVisible(true);
			if (drawingPauseButton != null) {
			drawingPauseButton.setVisible(true);
			}
			applyDrawingPauseState(false, false);
			floatingButtonPanel.setVisible(true);
			if (floatingButtonPanel.getParent() != visualizationPanel) {
			visualizationPanel.add(floatingButtonPanel, BorderLayout.SOUTH);
			}
			visualizationPanel.revalidate();
			visualizationPanel.repaint();
			}

			public void hideEndDrawingButton() {
			if (endDrawingButton != null) {
			endDrawingButton.setVisible(false);
			}
			if (drawingPauseButton != null) {
			drawingPauseButton.setVisible(false);
			}
			if (floatingButtonPanel != null) {
			floatingButtonPanel.setVisible(false);
			}
			applyDrawingPauseState(false, false);
			endDrawingCallback = null;
			visualizationPanel.revalidate();
			visualizationPanel.repaint();
			}

			/**
			* 获取地图渲染器实例
			*/
			public MapRenderer getMapRenderer() {
			return mapRenderer;
			}

			public void updateCurrentAreaName(String areaName) {
			if (areaNameLabel == null) {
			return;
			}
			if (areaName == null \|\| areaName.trim().isEmpty()) {
			areaNameLabel.setText("未选择地块");
			} else {
			areaNameLabel.setText(areaName);
			}
			}

			/**
			* 重置地图视图
			*/
			public void resetMapView() {
			if (mapRenderer != null) {
			mapRenderer.resetView();
			}
			}

			private void initializeDefaultAreaSelection() {
			Dikuai.initFromProperties();
			Map<String, Dikuai> all = Dikuai.getAllDikuai();
			if (all.isEmpty()) {
			Dikuaiguanli.setCurrentWorkLand(null, null);
			} else if (all.size() == 1) {
			Dikuai only = all.values().iterator().next();
			if (only != null) {
			Dikuaiguanli.setCurrentWorkLand(only.getLandNumber(), only.getLandName());
			}
			}
			}

			// 测试方法
			// 测试方法
			public static void main(String[] args) {
			JFrame frame = new JFrame("AutoMow - 首页");
			frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);