优化了导航预览模式

张世豪

12 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
@@ -102,9 +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;
@@ -207,6 +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) {
@@ -216,6 +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;
@@ -248,6 +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();
                }
            }
        });
    }

@@ -365,6 +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);

@@ -378,6 +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);
@@ -424,6 +470,17 @@
            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）
@@ -927,6 +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();
    }
@@ -1223,6 +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) {
@@ -2931,5 +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);
        }
    }

}