优化了导航预览模式

张世豪

10 小时以前 ed6936545d20cc490145d2936cee4387be2afd53

 src/zhuye/MapRenderer.java

@@ -31,6 +31,7 @@
import zhangaiwu.Obstacledge;
import zhangaiwu.yulanzhangaiwu;
import yaokong.Control03;
import bianjie.shudongdraw;

/**
 * 地图渲染器 - 负责坐标系绘制、视图变换等功能
@@ -85,6 +86,7 @@
    private CircleCaptureOverlay circleCaptureOverlay;
    private final List<double[]> circleSampleMarkers = new ArrayList<>();
    private final List<Point2D.Double> realtimeMowingTrack = new ArrayList<>();
    private final List<Point2D.Double> navigationPreviewTrack = new ArrayList<>(); // 导航预览轨迹
    private final Deque<tuowei.TrailSample> idleMowerTrail = new ArrayDeque<>();
    private final List<Point2D.Double> handheldBoundaryPreview = new ArrayList<>();
    private double boundaryPreviewMarkerScale = 1.0d;
@@ -101,9 +103,16 @@
    private boolean measurementModeActive = false;  // 测量模式是否激活
    private boolean handheldBoundaryPreviewActive;
    private boolean pendingTrackBreak = true;
    private bianjie.shudongdraw manualBoundaryDrawer = new bianjie.shudongdraw();  // 手动绘制边界绘制器
    private boolean idleTrailSuppressed;
    private Path2D.Double realtimeBoundaryPathCache;
    private String realtimeBoundaryPathLand;
    private WangfanDraw returnPathDrawer;  // 往返路径绘制管理器
    private List<Point2D.Double> currentReturnPath; // 当前地块的往返路径（用于显示）
    private List<Point2D.Double> previewReturnPath; // 预览的往返路径
    private List<Point2D.Double> previewOriginalBoundary; // 预览的原始边界（紫色）
    private List<Point2D.Double> previewOptimizedBoundary; // 预览的优化后边界
    private boolean boundaryPreviewActive; // 是否处于边界预览模式

    private static final double TRACK_SAMPLE_MIN_DISTANCE_METERS = 0.2d;
    private static final double TRACK_DUPLICATE_TOLERANCE_METERS = 1e-3d;
@@ -206,6 +215,14 @@
                lastDragPoint = null;
                dragInProgress = false;
            }
            
            public void mouseExited(MouseEvent e) {
                // 鼠标离开面板时，清除鼠标位置显示
                if (manualBoundaryDrawer.isManualBoundaryDrawingMode()) {
                    manualBoundaryDrawer.clearMousePosition();
                    visualizationPanel.repaint();
                }
            }

            public void mouseClicked(MouseEvent e) {
                if (dragInProgress) {
@@ -215,6 +232,14 @@
                if (!SwingUtilities.isLeftMouseButton(e) || e.getClickCount() != 1) {
                    return;
                }
                // 优先处理手动绘制边界模式点击
                if (manualBoundaryDrawer.isManualBoundaryDrawingMode()) {
                    Point2D.Double worldPoint = screenToWorld(e.getPoint());
                    if (manualBoundaryDrawer.handleClick(worldPoint)) {
                        visualizationPanel.repaint();
                        return;
                    }
                }
                // 优先处理测量模式点击
                if (measurementModeActive && handleMeasurementClick(e.getPoint())) {
                    return;
@@ -247,6 +272,17 @@
                    visualizationPanel.repaint();
                }
            }
            
            public void mouseMoved(MouseEvent e) {
                // 在手动绘制边界模式时，更新鼠标位置
                if (manualBoundaryDrawer.isManualBoundaryDrawingMode()) {
                    Point2D.Double worldPoint = screenToWorld(e.getPoint());
                    manualBoundaryDrawer.updateMousePosition(worldPoint);
                    visualizationPanel.repaint();
                } else {
                    manualBoundaryDrawer.clearMousePosition();
                }
            }
        });
    }

@@ -364,6 +400,11 @@
        if (hasBoundary) {
            drawCurrentBoundary(g2d);
        }
        
        // 绘制边界预览（原始边界-紫色，优化后边界）
        if (boundaryPreviewActive) {
            drawBoundaryPreview(g2d);
        }

        yulanzhangaiwu.renderPreview(g2d, scale);

@@ -377,6 +418,12 @@

    adddikuaiyulan.drawPreview(g2d, handheldBoundaryPreview, scale, handheldBoundaryPreviewActive, boundaryPreviewMarkerScale);

        // 绘制手动绘制的边界
        manualBoundaryDrawer.drawBoundary(g2d, scale);
        
        // 绘制鼠标实时位置（手动绘制边界模式时）
        manualBoundaryDrawer.drawMousePosition(g2d, scale);

        // 绘制导航路径（中层）
        if (hasPlannedPath) {
            drawCurrentPlannedPath(g2d);
@@ -417,9 +464,30 @@
        if (!realtimeMowingTrack.isEmpty()) {
            drawRealtimeMowingCoverage(g2d);
        }
        
        // 绘制导航预览已割区域
        if (!navigationPreviewTrack.isEmpty()) {
            drawNavigationPreviewCoverage(g2d);
        }

        // 先画往返路径（线+点），保证割草机图标在其上方
        if (returnPathDrawer != null && returnPathDrawer.isActive()) {
            returnPathDrawer.draw(g2d, scale);
        } else if (previewReturnPath != null && !previewReturnPath.isEmpty()) {
            // 绘制预览的往返路径（铁线路图风格）
            WangfanDraw.drawRailwayPath(g2d, previewReturnPath, scale);
        } else if (currentReturnPath != null && !currentReturnPath.isEmpty()) {
            // 绘制保存的往返路径（铁线路图风格）
            WangfanDraw.drawRailwayPath(g2d, currentReturnPath, scale);
        }

        drawMower(g2d);
        
        // 绘制导航预览速度（如果正在导航预览）
        if (navigationPreviewSpeed > 0 && mower != null && mower.hasValidPosition()) {
            drawNavigationPreviewSpeed(g2d, scale);
        }
        
        // 绘制测量模式（如果激活）
        if (measurementModeActive) {
            drawMeasurementMode(g2d, scale);
@@ -458,6 +526,60 @@
    private void drawMower(Graphics2D g2d) {
        mower.draw(g2d, scale);
    }
    
    /**
     * 绘制导航预览速度（在割草机图标上方）
     */
    private void drawNavigationPreviewSpeed(Graphics2D g2d, double scale) {
        if (mower == null || !mower.hasValidPosition()) {
            return;
        }
        
        Point2D.Double mowerPos = mower.getPosition();
        if (mowerPos == null) {
            return;
        }
        
        // 将速度从米/秒转换为KM/h
        double speedKmh = navigationPreviewSpeed * 3.6;
        String speedText = String.format("%.1f km/h", speedKmh);
        
        // 保存原始变换
        AffineTransform originalTransform = g2d.getTransform();
        
        // 将世界坐标转换为屏幕坐标
        Point2D.Double screenPos = worldToScreen(mowerPos);
        
        // 恢复原始变换以绘制文字（固定大小，不随缩放变化）
        g2d.setTransform(new AffineTransform());
        
        // 设置字体（与缩放文字大小一致，11号字体）
        Font labelFont = new Font("微软雅黑", Font.PLAIN, 11);
        g2d.setFont(labelFont);
        FontMetrics metrics = g2d.getFontMetrics(labelFont);
        
        // 计算文字位置（在割草机图标上方）
        int textWidth = metrics.stringWidth(speedText);
        int textHeight = metrics.getHeight();
        int textX = (int)Math.round(screenPos.x - textWidth / 2.0);
        // 在割草机图标上方，留出一定间距
        // 图标在世界坐标系中的大小约为 48 * 0.8 / scale 米
        // 转换为屏幕像素：图标高度（像素）= (48 * 0.8 / scale) * scale = 48 * 0.8 = 38.4 像素
        double iconSizePixels = 48.0 * 0.8; // 图标在屏幕上的大小（像素）
        int spacing = 8; // 间距（像素）
        int textY = (int)Math.round(screenPos.y - iconSizePixels / 2.0 - spacing - textHeight);
        
        // 绘制文字背景（半透明白色，增强可读性）
        g2d.setColor(new Color(255, 255, 255, 200));
        g2d.fillRoundRect(textX - 4, textY - metrics.getAscent() - 2, textWidth + 8, textHeight + 4, 4, 4);
        
        // 绘制文字
        g2d.setColor(new Color(46, 139, 87)); // 使用主题绿色
        g2d.drawString(speedText, textX, textY);
        
        // 恢复变换
        g2d.setTransform(originalTransform);
    }

    private void drawRealtimeMowingCoverage(Graphics2D g2d) {
        if (realtimeMowingTrack == null || realtimeMowingTrack.size() < 2) {
@@ -468,6 +590,91 @@
        double effectiveWidth = getEffectiveMowerWidthMeters();
        gecaolunjing.draw(g2d, realtimeMowingTrack, effectiveWidth, boundaryPath);
    }
    
    /**
     * 绘制导航预览已割区域
     */
    private void drawNavigationPreviewCoverage(Graphics2D g2d) {
        if (navigationPreviewTrack == null || navigationPreviewTrack.size() < 2) {
            return;
        }
        
        Path2D.Double boundaryPath = currentBoundaryPath;
        // 获取导航预览的割草宽度（从daohangyulan获取）
        double previewWidth = getNavigationPreviewWidth();
        if (previewWidth <= 0) {
            previewWidth = 0.5; // 默认50厘米
        }
        gecaolunjing.draw(g2d, navigationPreviewTrack, previewWidth, boundaryPath);
    }
    
    /**
     * 设置导航预览轨迹
     */
    public void setNavigationPreviewTrack(List<Point2D.Double> track) {
        if (track == null) {
            navigationPreviewTrack.clear();
        } else {
            navigationPreviewTrack.clear();
            navigationPreviewTrack.addAll(track);
        }
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }
    
    /**
     * 添加导航预览轨迹点
     */
    public void addNavigationPreviewTrackPoint(Point2D.Double point) {
        if (point != null && Double.isFinite(point.x) && Double.isFinite(point.y)) {
            navigationPreviewTrack.add(new Point2D.Double(point.x, point.y));
            if (visualizationPanel != null) {
                visualizationPanel.repaint();
            }
        }
    }
    
    /**
     * 清除导航预览轨迹
     */
    public void clearNavigationPreviewTrack() {
        navigationPreviewTrack.clear();
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }
    
    private double navigationPreviewWidth = 0.5; // 导航预览的割草宽度（米）
    private double navigationPreviewSpeed = 0.0; // 导航预览的割草机速度（米/秒）
    
    /**
     * 设置导航预览的割草宽度
     */
    public void setNavigationPreviewWidth(double widthMeters) {
        navigationPreviewWidth = widthMeters > 0 ? widthMeters : 0.5;
    }
    
    /**
     * 获取导航预览的割草宽度
     */
    private double getNavigationPreviewWidth() {
        return navigationPreviewWidth;
    }
    
    /**
     * 设置导航预览的割草机速度（米/秒）
     */
    public void setNavigationPreviewSpeed(double speedMetersPerSecond) {
        navigationPreviewSpeed = speedMetersPerSecond >= 0 ? speedMetersPerSecond : 0.0;
    }
    
    /**
     * 获取导航预览的割草机速度（米/秒）
     */
    private double getNavigationPreviewSpeed() {
        return navigationPreviewSpeed;
    }

    private Path2D.Double getRealtimeBoundaryPath() {
        if (realtimeTrackLandNumber == null) {
@@ -777,6 +984,14 @@
            mowerEffectiveWidthMeters = defaultMowerWidthMeters;
        }

        // 加载往返路径
        String returnPathStr = dikuai != null ? dikuai.getReturnPathCoordinates() : null;
        if (returnPathStr != null && !returnPathStr.isEmpty() && !"-1".equals(returnPathStr)) {
            currentReturnPath = lujingdraw.parsePlannedPath(returnPathStr);
        } else {
            currentReturnPath = null;
        }

        loadRealtimeTrack(landNumber, dikuai != null ? dikuai.getMowingTrack() : null);
        visualizationPanel.repaint();
    }
@@ -1073,6 +1288,33 @@
    }
    
    /**
     * 设置手动绘制边界模式
     */
    public void setManualBoundaryDrawingMode(boolean active) {
        manualBoundaryDrawer.setManualBoundaryDrawingMode(active);
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }
    
    /**
     * 获取手动绘制的边界点列表
     */
    public List<Point2D.Double> getManualBoundaryPoints() {
        return manualBoundaryDrawer.getManualBoundaryPoints();
    }
    
    /**
     * 清空手动绘制的边界点
     */
    public void clearManualBoundaryPoints() {
        manualBoundaryDrawer.clearManualBoundaryPoints();
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }
    
    /**
     * 设置测量模式
     */
    public void setMeasurementMode(boolean active) {
@@ -1870,10 +2112,11 @@
            return;
        }
        
        // 设置点的大小（与边界线宽度一致）
        // 设置点的大小（边界线宽度的2倍）
        // 边界线宽度：3 / Math.max(0.5, scale)
        double scaleFactor = Math.max(0.5, scale);
        double markerDiameter = 3.0 / scaleFactor;  // 与边界线宽度一致
        double boundaryLineWidth = 3.0 / scaleFactor;  // 边界线宽度
        double markerDiameter = boundaryLineWidth * 2.0;  // 边界点直径 = 边界线宽度的2倍
        double markerRadius = markerDiameter / 2.0;
        
        // 设置字体（与障碍物序号一致，不随缩放变化）
@@ -2780,5 +3023,140 @@
    public Gecaoji getMower() {
        return mower;
    }
    
    /**
     * 设置往返路径绘制管理器
     */
    public void setReturnPathDrawer(WangfanDraw drawer) {
        this.returnPathDrawer = drawer;
    }

    /**
     * 设置预览的往返路径
     */
    public void setPreviewReturnPath(List<Point2D.Double> path) {
        this.previewReturnPath = path;
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }
    
    /**
     * 开始往返路径绘制
     */
    public void startReturnPathDrawing() {
        if (returnPathDrawer != null) {
            // 禁用拖尾效果（在往返路径绘制模式下不显示实时轨迹拖尾）
            idleTrailSuppressed = true;
            clearIdleMowerTrail();
            // 清空之前的路径点（通过 WangfanDraw 管理）
            repaint();
        }
    }
    
    /**
     * 停止往返路径绘制
     */
    public void stopReturnPathDrawing() {
        // 恢复拖尾效果
        idleTrailSuppressed = false;
        repaint();
    }
    
    /**
     * 设置拖尾抑制状态
     * @param suppressed true表示抑制拖尾绘制，false表示允许拖尾绘制
     */
    public void setIdleTrailSuppressed(boolean suppressed) {
        idleTrailSuppressed = suppressed;
        if (suppressed && !idleMowerTrail.isEmpty()) {
            clearIdleMowerTrail();
        }
        if (visualizationPanel != null) {
            visualizationPanel.repaint();
        }
    }
    
    /**
     * 添加往返路径点（已废弃，路径点由 WangfanDraw 直接管理）
     */
    @Deprecated
    public void addReturnPathPoint(double x, double y) {
        // 路径点由 WangfanDraw 直接管理，这里只需要重绘
        repaint();
    }
    
    /**
     * 获取往返路径点列表的快照
     */
    public List<Point2D.Double> getReturnPathPointsSnapshot() {
        if (returnPathDrawer != null) {
            return returnPathDrawer.getPointsSnapshot();
        }
        return new ArrayList<>();
    }
    
    /**
     * 设置边界预览数据（原始边界和优化后边界）
     */
    public void setBoundaryPreview(String originalBoundaryXY, String optimizedBoundary) {
        if (originalBoundaryXY != null && !originalBoundaryXY.trim().isEmpty() && !"-1".equals(originalBoundaryXY.trim())) {
            previewOriginalBoundary = parseBoundary(originalBoundaryXY.trim());
        } else {
            previewOriginalBoundary = null;
        }
        
        if (optimizedBoundary != null && !optimizedBoundary.trim().isEmpty() && !"-1".equals(optimizedBoundary.trim())) {
            previewOptimizedBoundary = parseBoundary(optimizedBoundary.trim());
        } else {
            previewOptimizedBoundary = null;
        }
        
        boundaryPreviewActive = (previewOriginalBoundary != null && previewOriginalBoundary.size() >= 2) ||
                               (previewOptimizedBoundary != null && previewOptimizedBoundary.size() >= 2);
        
        if (boundaryPreviewActive) {
            // 计算预览边界的边界框并调整视图
            List<Point2D.Double> allPoints = new ArrayList<>();
            if (previewOriginalBoundary != null) allPoints.addAll(previewOriginalBoundary);
            if (previewOptimizedBoundary != null) allPoints.addAll(previewOptimizedBoundary);
            if (!allPoints.isEmpty()) {
                Rectangle2D.Double bounds = computeBounds(allPoints);
                SwingUtilities.invokeLater(() -> {
                    fitBoundsToView(bounds);
                    visualizationPanel.repaint();
                });
            }
        } else {
            visualizationPanel.repaint();
        }
    }
    
    /**
     * 清除边界预览
     */
    public void clearBoundaryPreview() {
        previewOriginalBoundary = null;
        previewOptimizedBoundary = null;
        boundaryPreviewActive = false;
        visualizationPanel.repaint();
    }
    
    /**
     * 绘制边界预览（原始边界-紫色，优化后边界-绿色）
     */
    private void drawBoundaryPreview(Graphics2D g2d) {
        // 绘制原始边界（紫色）
        if (previewOriginalBoundary != null && previewOriginalBoundary.size() >= 2) {
            Color purpleFill = new Color(128, 0, 128, 80); // 紫色半透明填充
            Color purpleBorder = new Color(128, 0, 128, 255); // 紫色边框
            bianjiedrwa.drawBoundary(g2d, previewOriginalBoundary, scale, purpleFill, purpleBorder);
        }
        
        // 绘制优化后边界（绿色，与正常边界颜色一致）
        if (previewOptimizedBoundary != null && previewOptimizedBoundary.size() >= 2) {
            bianjiedrwa.drawBoundary(g2d, previewOptimizedBoundary, scale, GRASS_FILL_COLOR, GRASS_BORDER_COLOR);
        }
    }

}