异形有障碍物路径规划没完成

826220679@qq.com

7 小时以前 cbfd1df513c473dd5550d78740c92fc1677b6e9b

 src/denglu/Denglu.java

@@ -8,6 +8,8 @@
import set.Setsys;
import udpdell.UDPServer;
import user.Usrdell;
import Mqttmessage.Client;
import login.LoginVerifier;
import javax.swing.*;
import java.awt.*;
import java.awt.event.*;
@@ -437,11 +439,17 @@
        boolean isRemember = "1".equals(rememberPwd);
        rememberMe.setSelected(isRemember);

        // 如果记住我被选中，填充密码
        // 如果记住我被选中，填充密码并自动登录（延迟执行，确保窗口已显示）
        if (isRemember) {
             String savedPassword = UserChuShiHua.getProperty("password");
             if (savedPassword != null && !savedPassword.equals("-1")) {
             String savedEmail = UserChuShiHua.getProperty("email");
             if (savedPassword != null && !savedPassword.equals("-1") && 
                 savedEmail != null && !savedEmail.equals("-1")) {
                 passwordField.setText(savedPassword);
                 // 延迟执行自动登录，确保窗口已经显示
                 SwingUtilities.invokeLater(() -> {
                     performAutoLogin(savedEmail, savedPassword);
                 });
             }
        }
    }
@@ -458,11 +466,11 @@
    }

    private void performLogin() {
        String username = usernameField.getText().trim();
        String usernameOrEmail = usernameField.getText().trim();
        String password = new String(passwordField.getPassword()).trim();
        
        // 输入验证
        if (username.isEmpty()) {
        if (usernameOrEmail.isEmpty()) {
            JOptionPane.showMessageDialog(this, 
                "请输入用户名或邮箱", 
                "输入错误", 
@@ -480,43 +488,117 @@
            return;
        }
        
        // 验证用户名和密码
        if (validateLogin(username, password)) {
            // 更新最后登录时间
            UserChuShiHua.updateProperty("lastLoginTime", String.valueOf(System.currentTimeMillis()));
            
            // 保存记住我状态
            if (rememberMe.isSelected()) {
                UserChuShiHua.updateProperty("rememberPassword", "1");
                UserChuShiHua.updateProperty("userName", username);
            } else {
                UserChuShiHua.updateProperty("rememberPassword", "0");
        // 获取邮箱地址（如果输入的是用户名，从配置文件中获取对应的邮箱）
        String email = getEmailFromInput(usernameOrEmail);
        
        // 禁用登录按钮，防止重复点击
        loginButton.setEnabled(false);
        
        // 在新线程中调用API，避免阻塞UI
        new Thread(() -> {
            try {
                // 调用登录验证API
                LoginVerifier.LoginVerifyResponse response = LoginVerifier.verifyLogin(email, password);
                
                // 在EDT线程中更新UI
                SwingUtilities.invokeLater(() -> {
                    loginButton.setEnabled(true);
                    
                    if (response.isSuccess()) {
                        // 登录成功
                        // 更新最后登录时间
                        UserChuShiHua.updateProperty("lastLoginTime", String.valueOf(System.currentTimeMillis()));
                        
                        // 保存记住我状态
                        if (rememberMe.isSelected()) {
                            UserChuShiHua.updateProperty("rememberPassword", "1");
                            UserChuShiHua.updateProperty("userName", usernameOrEmail);
                            UserChuShiHua.updateProperty("email", email);
                            UserChuShiHua.updateProperty("password", password);
                        } else {
                            UserChuShiHua.updateProperty("rememberPassword", "0");
                        }
                        
                        // 关闭登录窗口并打开首页
                        openMainApplication();
                    } else {
                        // 登录失败，显示错误信息
                        String errorMessage = response.getMessage() != null ? 
                            response.getMessage() : "用户名或密码错误！";
                        JOptionPane.showMessageDialog(this, 
                            errorMessage, 
                            "登录失败", 
                            JOptionPane.ERROR_MESSAGE);
                        passwordField.setText("");
                        passwordField.requestFocus();
                    }
                });
            } catch (Exception e) {
                // 异常处理，恢复按钮并显示错误
                SwingUtilities.invokeLater(() -> {
                    loginButton.setEnabled(true);
                    JOptionPane.showMessageDialog(this, 
                        "登录时发生错误: " + e.getMessage(), 
                        "错误", 
                        JOptionPane.ERROR_MESSAGE);
                    passwordField.setText("");
                    passwordField.requestFocus();
                });
            }
            
            // 关闭登录窗口并打开首页
            openMainApplication();
            
        } else {
            JOptionPane.showMessageDialog(this, 
                "用户名或密码错误！", 
                "登录失败", 
                JOptionPane.ERROR_MESSAGE);
            passwordField.setText("");
            passwordField.requestFocus();
        }
        }).start();
    }

    private boolean validateLogin(String username, String password) {
        // 从UserChuShiHua获取存储的用户数据进行比较
        String storedUsername = UserChuShiHua.getProperty("userName");
        String storedPassword = UserChuShiHua.getProperty("password");
        String storedEmail = UserChuShiHua.getProperty("email");
        
        // 检查用户名/邮箱和密码是否匹配
        boolean usernameMatch = username.equals(storedUsername) || username.equals(storedEmail);
        boolean passwordMatch = password.equals(storedPassword);
        
        return usernameMatch && passwordMatch;
    // 邮箱验证方法
    private boolean isValidEmail(String email) {
        // 简单的邮箱格式验证
        String emailRegex = "^[a-zA-Z0-9_+&*-]+(?:\\.[a-zA-Z0-9_+&*-]+)*@(?:[a-zA-Z0-9-]+\\.)+[a-zA-Z]{2,7}$";
        return email != null && email.matches(emailRegex);
    }
    
    // 获取邮箱地址（如果输入的是用户名，则从配置文件中获取邮箱）
    private String getEmailFromInput(String usernameOrEmail) {
        // 如果输入的是邮箱格式，直接返回
        if (isValidEmail(usernameOrEmail)) {
            return usernameOrEmail;
        }
        // 否则，从配置文件中获取保存的邮箱
        String savedEmail = UserChuShiHua.getProperty("email");
        if (savedEmail != null && !savedEmail.equals("-1")) {
            // 检查输入的用户名是否匹配保存的用户名
            String savedUsername = UserChuShiHua.getProperty("userName");
            if (usernameOrEmail.equals(savedUsername)) {
                return savedEmail;
            }
        }
        // 如果找不到邮箱，返回输入的字符串（可能是邮箱格式但验证失败，或者用户名不存在）
        return usernameOrEmail;
    }
    
    // 自动登录（从配置文件读取邮箱和密码）
    private void performAutoLogin(String email, String password) {
        // 在新线程中调用API，避免阻塞UI
        new Thread(() -> {
            try {
                LoginVerifier.LoginVerifyResponse response = LoginVerifier.verifyLogin(email, password);
                
                SwingUtilities.invokeLater(() -> {
                    if (response.isSuccess()) {
                        // 登录成功，跳转到主页
                        openMainApplication();
                    } else {
                        // 登录失败，清空密码字段，让用户重新输入
                        passwordField.setText("");
                        usernameField.requestFocus();
                    }
                });
            } catch (Exception e) {
                // 异常处理，清空密码字段
                SwingUtilities.invokeLater(() -> {
                    passwordField.setText("");
                    usernameField.requestFocus();
                });
            }
        }).start();
    }

    private void openMainApplication() {
@@ -527,21 +609,33 @@
    public static void launchMainApp() {
        System.out.println("准备打开主应用程序...");

        SwingUtilities.invokeLater(() -> {
            JFrame mainFrame = new JFrame("智能割草系统");
            mainFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);
        SwingUtilities.invokeLater(new Runnable() {
            @Override
            public void run() {
                JFrame mainFrame = new JFrame("智能割草系统");
                mainFrame.setDefaultCloseOperation(WindowConstants.EXIT_ON_CLOSE);

            Shouye homePanel = new Shouye();
            mainFrame.setContentPane(homePanel);
                Shouye homePanel = new Shouye();
                mainFrame.setContentPane(homePanel);

            // 设置与登录页面相同的尺寸
            mainFrame.setSize(UIConfig.DIALOG_WIDTH, UIConfig.DIALOG_HEIGHT);
            mainFrame.setMinimumSize(new Dimension(UIConfig.DIALOG_WIDTH, UIConfig.DIALOG_HEIGHT));
            mainFrame.setResizable(false);
            mainFrame.setLocationRelativeTo(null);
            mainFrame.setVisible(true);
                // 设置与登录页面相同的尺寸
                mainFrame.setSize(UIConfig.DIALOG_WIDTH, UIConfig.DIALOG_HEIGHT);
                mainFrame.setMinimumSize(new Dimension(UIConfig.DIALOG_WIDTH, UIConfig.DIALOG_HEIGHT));
                mainFrame.setResizable(true);
                mainFrame.setLocationRelativeTo(null);
                mainFrame.setVisible(true);

            System.out.println("主应用程序已启动");
                System.out.println("主应用程序已启动");
                
                // 启动后连接MQTT
                new Thread(new Runnable() {
                    @Override
                    public void run() {
                        System.out.println("正在连接MQTT服务器...");
                        Client.lianjiemqqt();
                    }
                }).start();
            }
        });
    }
    
@@ -588,17 +682,7 @@
            System.out.println("初始用户名: " + UserChuShiHua.getProperty("userName"));
            System.out.println("初始密码: " + UserChuShiHua.getProperty("password"));
            
            // 检查是否记住密码，如果是则直接进入主页
            String rememberPwd = UserChuShiHua.getProperty("rememberPassword");
            if ("1".equals(rememberPwd)) {
                String storedUser = UserChuShiHua.getProperty("userName");
                if (storedUser != null && !storedUser.equals("-1")) {
                    launchMainApp();
                    return;
                }
            }
            
            // 启动登录界面
            // 启动登录界面（自动登录逻辑在 loadUserPreferences 中处理）
            EventQueue.invokeLater(() -> {
                try {
                    new Denglu().setVisible(true);