异形无障碍坐标规划优化

张世豪

3 天以前 dc0fb19555dc01bf873361c9cb6fc22fbfc9671d

 src/zhangaiwu/AddDikuai.java

@@ -24,6 +24,9 @@
import dikuai.Gecaoanquanjuli;
import bianjie.Bianjieyouhuatoxy;
import lujing.Lunjingguihua;
import lujing.Qufenxingzhuang;
import lujing.AoxinglujingNoObstacle;
import lujing.YixinglujingNoObstacle;
import set.Setsys;
import ui.UIConfig;
import zhuye.MowerLocationData;
@@ -73,7 +76,8 @@
    private JButton prevButton;
    private JButton nextButton;
    private JButton createButton;
    private JButton previewButton;
    private JButton previewButton;  // 步骤3的预览按钮（预览割草路径）
    private JButton boundaryPreviewButton;  // 步骤2的预览按钮（预览边界）
    private Component previewButtonSpacer;
    private JLabel boundaryCountLabel;
    private JTextArea boundaryXYTextArea;  // 显示边界XY坐标的文本域
@@ -260,7 +264,7 @@
        ));
        areaNameField.setAlignmentX(Component.LEFT_ALIGNMENT);
        
        // 添加输入框焦点效果
        // 添加输入框焦点效果和文本变化监听
        areaNameField.addFocusListener(new FocusAdapter() {
            @Override
            public void focusGained(FocusEvent e) {
@@ -276,6 +280,16 @@
                    BorderFactory.createLineBorder(BORDER_COLOR, 2),
                    BorderFactory.createEmptyBorder(12, 15, 12, 15)
                ));
                // 更新下一步按钮状态
                updateStep1ButtonState();
            }
        });
        
        // 添加文本变化监听，实时更新按钮状态
        areaNameField.addKeyListener(new KeyAdapter() {
            @Override
            public void keyReleased(KeyEvent e) {
                updateStep1ButtonState();
            }
        });
        
@@ -654,6 +668,7 @@
        startEndDrawingBtn.setAlignmentX(Component.LEFT_ALIGNMENT);
        startEndDrawingBtn.setMaximumSize(new Dimension(400, 55));
        startEndDrawingBtn.setEnabled(false); // 初始不可用
        startEndDrawingBtn.setBackground(MEDIUM_GRAY); // 初始灰色背景
        
        startEndDrawingBtn.addActionListener(e -> toggleDrawing());
        
@@ -773,7 +788,7 @@
                    return;
                }
                if (selectDrawingOption(optionPanel, type, true)) {
                    startEndDrawingBtn.setEnabled(true); // 选择后启用按钮
                    updateStartDrawingButtonState(); // 选择后更新按钮状态
                }
            }
            
@@ -866,6 +881,8 @@
            JOptionPane.showMessageDialog(this, "边界绘制已完成", "提示", JOptionPane.INFORMATION_MESSAGE);
            showBoundaryPointSummary();
            updateBoundaryXYDisplay();
            // 更新预览和下一步按钮状态（背景颜色变绿色，可点击）
            updateStep2ButtonsAfterDrawing();
        }
    }

@@ -1331,15 +1348,34 @@
            showStep(2);
            return;
        }
        Dikuai dikuai = getOrCreatePendingDikuai();
        // 从步骤2的边界坐标文本域获取边界坐标
        String boundaryCoords = null;
        if (dikuai != null) {
            boundaryCoords = normalizeCoordinateValue(dikuai.getBoundaryCoordinates());
        if (boundaryXYTextArea != null) {
            String boundaryText = boundaryXYTextArea.getText();
            if (boundaryText != null && !boundaryText.trim().isEmpty() && !boundaryText.startsWith("ERROR")) {
                boundaryCoords = boundaryText.trim();
            }
        }
        if (boundaryCoords == null) {
        
        // 如果文本域中没有，尝试从dikuaiData获取
        if (boundaryCoords == null || boundaryCoords.isEmpty()) {
            boundaryCoords = normalizeCoordinateValue(dikuaiData.get("optimizedBoundaryXY"));
        }
        
        // 如果还是没有，尝试从Dikuai对象获取
        if (boundaryCoords == null || boundaryCoords.isEmpty()) {
            Dikuai dikuai = getOrCreatePendingDikuai();
            if (dikuai != null) {
                boundaryCoords = normalizeCoordinateValue(dikuai.getBoundaryCoordinates());
            }
        }
        
        // 如果还是没有，从dikuaiData获取boundaryCoordinates
        if (boundaryCoords == null || boundaryCoords.isEmpty()) {
            boundaryCoords = normalizeCoordinateValue(dikuaiData.get("boundaryCoordinates"));
        }
        if (boundaryCoords == null) {
        
        if (boundaryCoords == null || boundaryCoords.isEmpty()) {
            JOptionPane.showMessageDialog(this, "未找到有效的地块边界坐标，无法生成路径", "提示", JOptionPane.WARNING_MESSAGE);
            dikuaiData.remove("plannedPath");
            showPathGenerationMessage("未找到有效的地块边界坐标，无法生成路径。", false);
@@ -1403,19 +1439,48 @@
            }
        }
        
        // 格式化割草宽度和安全距离（单位：米，保留3位小数）
        String widthMetersStr = String.format(Locale.US, "%.3f", widthMeters);
        String safetyDistanceMetersStr = Double.isNaN(safetyDistanceMeters) ? null : String.format(Locale.US, "%.3f", safetyDistanceMeters);
        String plannerMode = resolvePlannerMode(patternDisplay);
        
        // 如果没有安全距离，使用默认值
        if (safetyDistanceMetersStr == null) {
            double defaultSafetyDistance = widthMeters / 2.0 + 0.2;
            safetyDistanceMetersStr = String.format(Locale.US, "%.3f", defaultSafetyDistance);
        }

        try {
            // 使用与路径规划页面相同的方法：Lunjingguihua.generatePathFromStrings
            String plannedPath = Lunjingguihua.generatePathFromStrings(
                boundaryCoords,
                obstacleCoords != null ? obstacleCoords : "",
                widthMetersStr,
                safetyDistanceMetersStr,
                plannerMode
            );
            // 1. 调用Qufenxingzhuang中的judgeGrassType方法计算地块边界的形状
            Qufenxingzhuang shapeJudger = new Qufenxingzhuang();
            int grassType = shapeJudger.judgeGrassType(boundaryCoords);
            // grassType: 0=无法判断, 1=凸形, 2=异形
            
            String plannedPath = null;
            
            // 2. 根据计算后的结果决定调用哪个方法生成割草路径
            if (grassType == 1) {
                // 凸形地块 -> 调用AoxinglujingNoObstacle类中的方法
                List<AoxinglujingNoObstacle.PathSegment> segments = 
                    AoxinglujingNoObstacle.planPath(boundaryCoords, widthMetersStr, safetyDistanceMetersStr);
                plannedPath = formatAoxingPathSegments(segments);
            } else if (grassType == 2) {
                // 异形地块 -> 调用YixinglujingNoObstacle中的方法
                List<YixinglujingNoObstacle.PathSegment> segments = 
                    YixinglujingNoObstacle.planPath(boundaryCoords, widthMetersStr, safetyDistanceMetersStr);
                plannedPath = formatYixingPathSegments(segments);
            } else {
                // 无法判断地块类型，使用默认方法作为后备
                JOptionPane.showMessageDialog(this, "无法判断地块类型，使用默认路径生成方法", 
                    "提示", JOptionPane.WARNING_MESSAGE);
                String plannerMode = resolvePlannerMode(patternDisplay);
                plannedPath = Lunjingguihua.generatePathFromStrings(
                    boundaryCoords,
                    obstacleCoords != null ? obstacleCoords : "",
                    widthMetersStr,
                    safetyDistanceMetersStr,
                    plannerMode
                );
            }
            
            if (!isMeaningfulValue(plannedPath)) {
                JOptionPane.showMessageDialog(this, "生成割草路径失败: 生成结果为空", "错误", JOptionPane.ERROR_MESSAGE);
@@ -1450,6 +1515,96 @@
        }
    }

    /**
     * 格式化 AoxinglujingNoObstacle.PathSegment 列表为坐标字符串
     */
    private String formatAoxingPathSegments(List<AoxinglujingNoObstacle.PathSegment> segments) {
        if (segments == null || segments.isEmpty()) {
            return "";
        }
        StringBuilder sb = new StringBuilder();
        AoxinglujingNoObstacle.Point last = null;
        for (AoxinglujingNoObstacle.PathSegment segment : segments) {
            // 只添加割草工作段，跳过过渡段
            if (segment.isMowing) {
                // 如果起点与上一个终点不同，添加起点
                if (last == null || !equalsAoxingPoint(last, segment.start)) {
                    appendAoxingPoint(sb, segment.start);
                }
                // 添加终点
                appendAoxingPoint(sb, segment.end);
                last = segment.end;
            }
        }
        return sb.toString();
    }
    
    /**
     * 格式化 YixinglujingNoObstacle.PathSegment 列表为坐标字符串
     */
    private String formatYixingPathSegments(List<YixinglujingNoObstacle.PathSegment> segments) {
        if (segments == null || segments.isEmpty()) {
            return "";
        }
        StringBuilder sb = new StringBuilder();
        YixinglujingNoObstacle.Point last = null;
        for (YixinglujingNoObstacle.PathSegment segment : segments) {
            // 只添加割草工作段，跳过过渡段
            if (segment.isMowing) {
                // 如果起点与上一个终点不同，添加起点
                if (last == null || !equalsYixingPoint(last, segment.start)) {
                    appendYixingPoint(sb, segment.start);
                }
                // 添加终点
                appendYixingPoint(sb, segment.end);
                last = segment.end;
            }
        }
        return sb.toString();
    }
    
    /**
     * 比较两个 AoxinglujingNoObstacle.Point 是否相同（使用小的容差）
     */
    private boolean equalsAoxingPoint(AoxinglujingNoObstacle.Point p1, AoxinglujingNoObstacle.Point p2) {
        if (p1 == null || p2 == null) {
            return p1 == p2;
        }
        double tolerance = 1e-6;
        return Math.abs(p1.x - p2.x) < tolerance && Math.abs(p1.y - p2.y) < tolerance;
    }
    
    /**
     * 添加 AoxinglujingNoObstacle.Point 到字符串构建器
     */
    private void appendAoxingPoint(StringBuilder sb, AoxinglujingNoObstacle.Point point) {
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
    }
    
    /**
     * 比较两个 YixinglujingNoObstacle.Point 是否相同（使用小的容差）
     */
    private boolean equalsYixingPoint(YixinglujingNoObstacle.Point p1, YixinglujingNoObstacle.Point p2) {
        if (p1 == null || p2 == null) {
            return p1 == p2;
        }
        double tolerance = 1e-6;
        return Math.abs(p1.x - p2.x) < tolerance && Math.abs(p1.y - p2.y) < tolerance;
    }
    
    /**
     * 添加 YixinglujingNoObstacle.Point 到字符串构建器
     */
    private void appendYixingPoint(StringBuilder sb, YixinglujingNoObstacle.Point point) {
        if (sb.length() > 0) {
            sb.append(";");
        }
        sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
    }
    
    private void previewMowingPath() {
        if (!hasGeneratedPath()) {
            showPathGenerationMessage("请先生成割草路径后再预览。", false);
@@ -1515,6 +1670,11 @@
            JOptionPane.showMessageDialog(this, "无法启动预览，请稍后再试", "提示", JOptionPane.WARNING_MESSAGE);
            return;
        }
        
        // 在步骤3预览时，不显示边界点圆圈
        if (shouye.getMapRenderer() != null) {
            shouye.getMapRenderer().setBoundaryPointsVisible(false);
        }

        closePreviewAndDispose();
    }
@@ -1575,14 +1735,23 @@
            @Override
            public void mouseEntered(MouseEvent e) {
                if (button.isEnabled()) {
                    button.setBackground(PRIMARY_DARK);
                    // 如果按钮可用，鼠标悬停时显示深绿色
                    if (button.getBackground().equals(PRIMARY_COLOR)) {
                        button.setBackground(PRIMARY_DARK);
                    }
                }
            }

            @Override
            public void mouseExited(MouseEvent e) {
                if (button.isEnabled()) {
                    button.setBackground(PRIMARY_COLOR);
                    // 如果按钮可用，鼠标离开时恢复绿色
                    if (!button.getBackground().equals(MEDIUM_GRAY)) {
                        button.setBackground(PRIMARY_COLOR);
                    }
                } else {
                    // 如果按钮不可用，保持灰色
                    button.setBackground(MEDIUM_GRAY);
                }
            }
        });
@@ -1643,7 +1812,15 @@
        ));
        prevButton.setCursor(new Cursor(Cursor.HAND_CURSOR));

        boundaryPreviewButton = createPrimaryButton("预览", 16);
        boundaryPreviewButton.setVisible(false);
        boundaryPreviewButton.setEnabled(false);
        boundaryPreviewButton.addActionListener(e -> previewBoundary());

        nextButton = createPrimaryButton("下一步", 16);
        nextButton.setBackground(MEDIUM_GRAY); // 初始灰色背景
        nextButton.setEnabled(false); // 初始不可用
        
        createButton = createPrimaryButton("保存", 16);
        createButton.setVisible(false);
        createButton.setEnabled(false);
@@ -1657,6 +1834,8 @@

        buttonPanel.add(prevButton);
        buttonPanel.add(Box.createHorizontalGlue());
        buttonPanel.add(boundaryPreviewButton);
        buttonPanel.add(Box.createHorizontalStrut(15));
        buttonPanel.add(nextButton);
        buttonPanel.add(previewButtonSpacer);
        buttonPanel.add(previewButton);
@@ -1704,6 +1883,11 @@
            dikuai.setLandArea(snapshot.areaSqMeters);
            dikuai.setBaseStationCoordinates(snapshot.baseStationCoordinates);
            dikuai.setUpdateTime(getCurrentTime());
            // 计算并设置原始边界XY坐标
            String originalBoundaryXY = convertOriginalBoundaryToXY(snapshot.originalBoundary, snapshot.baseStationCoordinates);
            if (originalBoundaryXY != null && !originalBoundaryXY.isEmpty()) {
                dikuai.setBoundaryOriginalXY(originalBoundaryXY);
            }
            Dikuai.putDikuai(landNumber, dikuai);
        }

@@ -1810,6 +1994,144 @@
        }
        return dikuai;
    }
    
    /**
     * 将原始边界坐标（经纬度格式）转换为XY坐标
     * @param originalBoundary 原始边界坐标字符串，格式："lat1,lon1,alt1;lat2,lon2,alt2;..."
     * @param baseStationCoordinates 基准站坐标，格式："lat,N/S,lon,E/W"
     * @return XY坐标字符串，格式："X0,Y0;X1,Y1;X2,Y2;..." 如果转换失败返回null
     */
    private static String convertOriginalBoundaryToXY(String originalBoundary, String baseStationCoordinates) {
        if (originalBoundary == null || originalBoundary.trim().isEmpty() || "-1".equals(originalBoundary.trim())) {
            return null;
        }
        if (baseStationCoordinates == null || baseStationCoordinates.trim().isEmpty()) {
            return null;
        }
        
        try {
            // 解析基准站坐标
            String[] baseParts = baseStationCoordinates.trim().split(",");
            if (baseParts.length != 4) {
                return null;
            }
            double baseLat = convertToDecimalDegree(baseParts[0], baseParts[1]);
            double baseLon = convertToDecimalDegree(baseParts[2], baseParts[3]);
            
            // 解析原始边界坐标
            String[] points = originalBoundary.split(";");
            StringBuilder xyStr = new StringBuilder();
            
            for (int i = 0; i < points.length; i++) {
                String point = points[i].trim();
                if (point.isEmpty()) {
                    continue;
                }
                
                String[] coords = point.split(",");
                if (coords.length >= 2) {
                    try {
                        double lat = Double.parseDouble(coords[0].trim());
                        double lon = Double.parseDouble(coords[1].trim());
                        
                        // 转换为XY坐标
                        double[] xy = publicway.Gpstoxuzuobiao.convertLatLonToLocal(lat, lon, baseLat, baseLon);
                        if (xy != null && xy.length >= 2) {
                            if (xyStr.length() > 0) {
                                xyStr.append(";");
                            }
                            xyStr.append(String.format(Locale.US, "%.3f,%.3f", xy[0], xy[1]));
                        }
                    } catch (NumberFormatException e) {
                        // 跳过无效的坐标点
                        continue;
                    }
                }
            }
            
            return xyStr.length() > 0 ? xyStr.toString() : null;
        } catch (Exception e) {
            System.err.println("转换原始边界坐标到XY失败: " + e.getMessage());
            return null;
        }
    }
    
    /**
     * 预览边界
     */
    private void previewBoundary() {
        if (!dikuaiData.containsKey("boundaryDrawn")) {
            JOptionPane.showMessageDialog(this, "请先完成边界绘制后再预览", "提示", JOptionPane.WARNING_MESSAGE);
            return;
        }
        
        // 获取或创建地块对象
        String landNumber = getPendingLandNumber();
        Dikuai dikuai = getOrCreatePendingDikuai();
        if (dikuai == null) {
            JOptionPane.showMessageDialog(this, "无法获取地块信息", "错误", JOptionPane.ERROR_MESSAGE);
            return;
        }
        
        // 确保地块数据是最新的
        String optimizedBoundaryXY = dikuaiData.get("optimizedBoundaryXY");
        if (optimizedBoundaryXY == null || optimizedBoundaryXY.isEmpty() || optimizedBoundaryXY.startsWith("ERROR")) {
            // 如果没有优化后的边界，尝试从boundaryCoordinates获取
            String boundaryCoords = dikuaiData.get("boundaryCoordinates");
            if (boundaryCoords != null && !boundaryCoords.isEmpty() && !"-1".equals(boundaryCoords)) {
                optimizedBoundaryXY = boundaryCoords;
            } else {
                // 尝试从地块对象获取
                optimizedBoundaryXY = dikuai.getBoundaryCoordinates();
            }
        }
        
        if (optimizedBoundaryXY == null || optimizedBoundaryXY.isEmpty() || "-1".equals(optimizedBoundaryXY)) {
            JOptionPane.showMessageDialog(this, "未找到有效的边界坐标，无法预览", "提示", JOptionPane.WARNING_MESSAGE);
            return;
        }
        
        // 确保原始边界XY坐标已计算
        String originalBoundaryXY = dikuai.getBoundaryOriginalXY();
        if (originalBoundaryXY == null || originalBoundaryXY.isEmpty() || "-1".equals(originalBoundaryXY)) {
            // 计算原始边界XY坐标
            String originalBoundary = dikuaiData.get("boundaryOriginalCoordinates");
            String baseStationCoordinates = dikuaiData.get("baseStationCoordinates");
            if (originalBoundary != null && baseStationCoordinates != null) {
                originalBoundaryXY = convertOriginalBoundaryToXY(originalBoundary, baseStationCoordinates);
                if (originalBoundaryXY != null && !originalBoundaryXY.isEmpty()) {
                    dikuai.setBoundaryOriginalXY(originalBoundaryXY);
                    Dikuai.putDikuai(landNumber, dikuai);
                }
            }
        }
        
        // 保存会话快照
        captureSessionSnapshot();
        
        // 创建final变量供lambda使用
        final String finalOptimizedBoundaryXY = optimizedBoundaryXY;
        final Dikuai finalDikuai = dikuai;
        
        // 关闭对话框
        setVisible(false);
        dispose();
        
        // 调用首页显示预览（与边界管理页面逻辑一致）
        SwingUtilities.invokeLater(() -> {
            Shouye.showBoundaryPreview(finalDikuai, finalOptimizedBoundaryXY, () -> {
                // 返回回调：重新打开新增地块对话框，并显示步骤2
                Component parent = Shouye.getInstance();
                if (parent != null) {
                    // 确保会话状态正确，以便返回时显示步骤2
                    if (activeSession != null && activeSession.drawingCompleted) {
                        resumeRequested = true;
                    }
                    showAddDikuaiDialog(parent);
                }
            });
        });
    }

    private void hideBoundaryPointSummary() {
        if (boundaryCountLabel != null) {
@@ -2010,6 +2332,8 @@
        
        if (step == 1) {
            updateObstacleSummary();
            // 步骤1显示时，立即更新按钮状态
            SwingUtilities.invokeLater(() -> updateStep1ButtonState());
        }

        // 更新按钮状态
@@ -2030,6 +2354,39 @@
            if (previewButtonSpacer != null) {
                previewButtonSpacer.setVisible(false);
            }
            // 步骤1：根据验证结果更新下一步按钮状态
            if (step == 1) {
                updateStep1ButtonState();
            }
            // 步骤2显示边界预览按钮
            if (step == 2) {
                if (boundaryPreviewButton != null) {
                    boundaryPreviewButton.setVisible(true);
                    // 根据是否完成边界绘制来设置按钮状态和背景颜色
                    boolean boundaryDrawn = dikuaiData.containsKey("boundaryDrawn");
                    boundaryPreviewButton.setEnabled(boundaryDrawn);
                    if (boundaryDrawn) {
                        boundaryPreviewButton.setBackground(PRIMARY_COLOR); // 绿色背景
                    } else {
                        boundaryPreviewButton.setBackground(MEDIUM_GRAY); // 灰色背景
                    }
                }
                // 更新下一步按钮状态（根据是否完成边界绘制）
                boolean boundaryDrawn = dikuaiData.containsKey("boundaryDrawn");
                nextButton.setEnabled(boundaryDrawn);
                if (boundaryDrawn) {
                    nextButton.setBackground(PRIMARY_COLOR); // 绿色背景
                } else {
                    nextButton.setBackground(MEDIUM_GRAY); // 灰色背景
                }
                // 更新开始绘制按钮状态
                updateStartDrawingButtonState();
            } else {
                if (boundaryPreviewButton != null) {
                    boundaryPreviewButton.setVisible(false);
                    boundaryPreviewButton.setEnabled(false);
                }
            }
        } else {
            nextButton.setVisible(false);
            createButton.setVisible(true);
@@ -2039,6 +2396,10 @@
            if (previewButtonSpacer != null) {
                previewButtonSpacer.setVisible(true);
            }
            if (boundaryPreviewButton != null) {
                boundaryPreviewButton.setVisible(false);
                boundaryPreviewButton.setEnabled(false);
            }
            setPathAvailability(hasGeneratedPath());
        }

@@ -2049,6 +2410,85 @@
        }
    }
    
    /**
     * 更新步骤1的下一步按钮状态
     * 根据地块名称是否填写来设置按钮的启用状态和背景颜色
     */
    private void updateStep1ButtonState() {
        if (nextButton == null || currentStep != 1) {
            return;
        }
        
        String name = areaNameField.getText().trim();
        boolean canProceed = !name.isEmpty();
        
        nextButton.setEnabled(canProceed);
        if (canProceed) {
            // 可点击时：绿色背景
            nextButton.setBackground(PRIMARY_COLOR);
        } else {
            // 不可点击时：灰色背景
            nextButton.setBackground(MEDIUM_GRAY);
        }
    }
    
    /**
     * 更新步骤2的开始绘制按钮状态
     * 根据是否选择了绘制方式来设置按钮的启用状态和背景颜色
     */
    private void updateStartDrawingButtonState() {
        if (startEndDrawingBtn == null || currentStep != 2) {
            return;
        }
        
        boolean hasSelectedMethod = dikuaiData.containsKey("drawingMethod");
        boolean isDrawingActive = isDrawing;
        
        // 如果正在绘制，按钮状态由toggleDrawing方法控制
        if (isDrawingActive) {
            return;
        }
        
        // 如果已经完成绘制，按钮显示"已完成"且不可用
        boolean boundaryDrawn = dikuaiData.containsKey("boundaryDrawn");
        if (boundaryDrawn) {
            startEndDrawingBtn.setEnabled(false);
            startEndDrawingBtn.setBackground(MEDIUM_GRAY);
            return;
        }
        
        startEndDrawingBtn.setEnabled(hasSelectedMethod);
        if (hasSelectedMethod) {
            // 已选择绘制方式：绿色背景，可点击
            startEndDrawingBtn.setBackground(PRIMARY_COLOR);
        } else {
            // 未选择绘制方式：灰色背景，不可点击
            startEndDrawingBtn.setBackground(MEDIUM_GRAY);
        }
    }
    
    /**
     * 更新步骤2的预览和下一步按钮状态（在完成边界绘制后调用）
     * 将按钮背景颜色设置为绿色，表示可以点击操作
     */
    private void updateStep2ButtonsAfterDrawing() {
        if (currentStep != 2) {
            return;
        }
        
        // 更新预览按钮
        if (boundaryPreviewButton != null) {
            boundaryPreviewButton.setEnabled(true);
            boundaryPreviewButton.setBackground(PRIMARY_COLOR); // 绿色背景
        }
        
        // 更新下一步按钮
        if (nextButton != null) {
            nextButton.setEnabled(true);
            nextButton.setBackground(PRIMARY_COLOR); // 绿色背景
        }
    }
    
    private boolean validateCurrentStep() {
        switch (currentStep) {
            case 1:
@@ -2340,6 +2780,8 @@
            showStep(2);
            showBoundaryPointSummary();
            updateBoundaryXYDisplay();
            // 更新预览和下一步按钮状态（背景颜色变绿色，可点击）
            updateStep2ButtonsAfterDrawing();
        } else {
            if (startEndDrawingBtn != null) {
                startEndDrawingBtn.setText("开始绘制");
@@ -2511,10 +2953,70 @@
        if (dikuaiData.containsKey("mowingPattern")) {
            dikuai.setMowingPattern(dikuaiData.get("mowingPattern"));
        }
        if (dikuaiData.containsKey("mowingWidth")) {
        
        // 保存割草宽度（从文本框获取，单位：米，转换为厘米保存）
        if (mowingWidthField != null) {
            String mowingWidthStr = mowingWidthField.getText().trim();
            if (mowingWidthStr != null && !mowingWidthStr.isEmpty()) {
                try {
                    double mowingWidthMeters = Double.parseDouble(mowingWidthStr);
                    // 转换为厘米保存
                    double mowingWidthCm = mowingWidthMeters * 100.0;
                    dikuai.setMowingWidth(String.format(Locale.US, "%.2f", mowingWidthCm));
                } catch (NumberFormatException e) {
                    // 如果解析失败，尝试使用dikuaiData中的值
                    if (dikuaiData.containsKey("mowingWidth")) {
                        dikuai.setMowingWidth(dikuaiData.get("mowingWidth"));
                    }
                }
            } else if (dikuaiData.containsKey("mowingWidth")) {
                dikuai.setMowingWidth(dikuaiData.get("mowingWidth"));
            }
        } else if (dikuaiData.containsKey("mowingWidth")) {
            dikuai.setMowingWidth(dikuaiData.get("mowingWidth"));
        }
        
        // 保存割草机割刀宽度（从文本框获取，单位：米）
        if (bladeWidthField != null) {
            String bladeWidthStr = bladeWidthField.getText().trim();
            if (bladeWidthStr != null && !bladeWidthStr.isEmpty()) {
                try {
                    double bladeWidthMeters = Double.parseDouble(bladeWidthStr);
                    // 保存为米，保留2位小数
                    dikuai.setMowingBladeWidth(String.format(Locale.US, "%.2f", bladeWidthMeters));
                } catch (NumberFormatException e) {
                    // 解析失败时，保存原始字符串
                    dikuai.setMowingBladeWidth(bladeWidthStr);
                }
            }
        }
        
        // 保存割草安全距离（从文本框获取，单位：米）
        if (safetyDistanceField != null) {
            String safetyDistanceStr = safetyDistanceField.getText().trim();
            if (safetyDistanceStr != null && !safetyDistanceStr.isEmpty()) {
                try {
                    double safetyDistanceMeters = Double.parseDouble(safetyDistanceStr);
                    // 保存为米，保留2位小数
                    String formattedValue = String.format(Locale.US, "%.2f", safetyDistanceMeters);
                    dikuai.setMowingSafetyDistance(formattedValue);
                    // 同时保存到dikuaiData中，以便后续使用
                    dikuaiData.put("mowingSafetyDistance", formattedValue);
                } catch (NumberFormatException e) {
                    // 解析失败时，保存原始字符串
                    dikuai.setMowingSafetyDistance(safetyDistanceStr);
                    dikuaiData.put("mowingSafetyDistance", safetyDistanceStr);
                }
            } else if (dikuaiData.containsKey("mowingSafetyDistance")) {
                // 如果文本框为空，尝试从dikuaiData获取
                dikuai.setMowingSafetyDistance(dikuaiData.get("mowingSafetyDistance"));
            }
        } else if (dikuaiData.containsKey("mowingSafetyDistance")) {
            // 如果safetyDistanceField为null，从dikuaiData获取
            dikuai.setMowingSafetyDistance(dikuaiData.get("mowingSafetyDistance"));
        }

        // 保存割草路径坐标
        String plannedPath = dikuaiData.get("plannedPath");
        if (isMeaningfulValue(plannedPath)) {
            dikuai.setPlannedPath(plannedPath);
@@ -2569,6 +3071,13 @@
        if (resumeRequested && activeSession != null) {
            dialog.applySessionData(activeSession);
            resumeRequested = false;
            // 如果会话已生成路径，优先显示步骤3
            if (activeSession.data != null && isMeaningfulValue(activeSession.data.get("plannedPath"))) {
                dialog.showStep(3);
            } else if (activeSession.drawingCompleted) {
                // 如果会话已完成绘制，显示步骤2
                dialog.showStep(2);
            }
        }
        
        dialog.setVisible(true);