优化了导航预览模式

张世豪

10 小时以前 ed6936545d20cc490145d2936cee4387be2afd53

 src/zhuye/Shouye.java

@@ -19,23 +19,24 @@
import gecaoji.Device;
import gecaoji.Gecaoji;
import gecaoji.MowerBoundaryChecker;
import publicway.buttonset;
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;

import publicway.Gpstoxuzuobiao;
import publicway.Fanhuibutton;

/**
 * 首页界面 - 适配6.5寸竖屏，使用独立的MapRenderer进行绘制
 */
@@ -107,12 +108,14 @@
   // 地图渲染器
   private MapRenderer mapRenderer;
   
   private boolean pathPreviewActive;
	
   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) {
            if (mapRenderer != null && !pathPreviewActive) {
               mapRenderer.forceUpdateIdleMowerTrail();
            }
         }
@@ -125,7 +128,6 @@
   private JPanel floatingButtonColumn;
   private Runnable endDrawingCallback;
   private JButton pathPreviewReturnButton;
   private boolean pathPreviewActive;
   private Runnable pathPreviewReturnAction;
   private JButton settingsReturnButton;  // 返回系统设置页面的悬浮按钮
   private JButton saveManualBoundaryButton;  // 保存手动绘制边界的按钮
@@ -170,6 +172,7 @@
   private boolean storedStopButtonActive;
   private String storedStatusBeforeDrawing;
   private boolean handheldCaptureInlineUiActive;
   private WangfanDraw returnPathDrawer;  // 往返路径绘制管理器
   private Timer handheldCaptureStatusTimer;
   private String handheldCaptureStoredStatusText;
   private Color handheldStartButtonOriginalBackground;
@@ -209,6 +212,54 @@
      // 初始化地图渲染器
      mapRenderer = new MapRenderer(visualizationPanel);
      applyIdleTrailDurationFromSettings();
		
      // 初始化往返路径绘制管理器
      returnPathDrawer = new WangfanDraw(this, mapRenderer, new WangfanDraw.DrawingHelper() {
         @Override
         public double[] resolveBaseLatLon() {
            return resolveCircleBaseLatLon();
         }
			
         @Override
         public Coordinate getLatestCoordinate() {
            return Shouye.this.getLatestCoordinate();
         }
			
         @Override
         public double parseDMToDecimal(String dmm, String direction) {
            return Shouye.this.parseDMToDecimal(dmm, direction);
         }
			
         @Override
         public double[] convertLatLonToLocal(double lat, double lon, double baseLat, double baseLon) {
            return Shouye.this.convertLatLonToLocal(lat, lon, baseLat, baseLon);
         }
			
         @Override
         public boolean arePointsClose(Point2D.Double a, Point2D.Double b) {
            return Shouye.this.arePointsClose(a, b);
         }
			
         @Override
         public void enterDrawingControlMode() {
            Shouye.this.enterDrawingControlMode();
         }
			
         @Override
         public void exitDrawingControlMode() {
            Shouye.this.exitDrawingControlMode();
         }
			
         @Override
         public boolean isDrawingPaused() {
            return drawingPaused;
         }
      });
		
      // 设置 MapRenderer 的往返路径绘制管理器
      if (mapRenderer != null) {
         mapRenderer.setReturnPathDrawer(returnPathDrawer);
      }

      // 初始化对话框引用为null，延迟创建
      legendDialog = null;
@@ -511,7 +562,7 @@
   private void showSettingsReturnButton() {
      ensureFloatingButtonInfrastructure();
      if (settingsReturnButton == null) {
         settingsReturnButton = createFloatingTextButton("返回");
         settingsReturnButton = Fanhuibutton.createReturnButton(null);
         settingsReturnButton.setToolTipText("返回系统设置");
         settingsReturnButton.addActionListener(e -> {
            // 关闭所有相关模式
@@ -1361,6 +1412,8 @@
      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);
         // 直接进入地块管理界面
         Dikuaiguanli.showDikuaiManagement(this, null);
      });
      baseStationBtn.addActionListener(e -> showBaseStationDialog());
@@ -1839,7 +1892,11 @@
   }

   private void handleDrawingStopFromControlPanel() {
      if (endDrawingCallback != null) {
      // 如果是往返路径绘制模式，调用完成绘制回调
      if (returnPathDrawer != null && returnPathDrawer.isActive()) {
         returnPathDrawer.stop();
         returnPathDrawer.executeFinishCallback();
      } else if (endDrawingCallback != null) {
         endDrawingCallback.run();
      } else {
         addzhangaiwu.finishDrawingSession();
@@ -2071,7 +2128,12 @@
         updateStopButtonIcon();
      }
      if (statusLabel != null) {
         statusLabel.setText(storedStatusBeforeDrawing != null ? storedStatusBeforeDrawing : "待机");
         // 如果是往返路径绘制，退出时恢复为"待机"
         if (returnPathDrawer != null && returnPathDrawer.isActive()) {
            statusLabel.setText("待机");
         } else {
            statusLabel.setText(storedStatusBeforeDrawing != null ? storedStatusBeforeDrawing : "待机");
         }
      }
      storedStatusBeforeDrawing = null;
   }
@@ -2086,7 +2148,8 @@
         startBtn.setText(drawingPaused ? "开始绘制" : "暂停绘制");
      }
      if (stopBtn != null) {
         stopBtn.setText("结束绘制");
         // 如果是往返路径绘制模式，显示"完成绘制"，否则显示"结束绘制"
         stopBtn.setText((returnPathDrawer != null && returnPathDrawer.isActive()) ? "完成绘制" : "结束绘制");
      }
   }

@@ -2382,6 +2445,12 @@
      mapRenderer.setHandheldMowerIconActive(active);
   }

   public void setStatusLabelText(String text) {
      if (statusLabel != null) {
         statusLabel.setText(text);
      }
   }

   public boolean startMowerBoundaryCapture() {
      if (mapRenderer == null) {
         return false;
@@ -3025,7 +3094,11 @@
      if (drawingControlModeActive) {
         updateDrawingControlButtonLabels();
         if (statusLabel != null) {
            statusLabel.setText(paused ? "绘制暂停" : "绘制中");
            if (returnPathDrawer != null && returnPathDrawer.isActive()) {
               statusLabel.setText("正在绘制往返路径");
            } else {
               statusLabel.setText(paused ? "绘制暂停" : "绘制中");
            }
         }
      }
   }
@@ -3045,12 +3118,15 @@
      enterDrawingControlMode();
      
      // 隐藏返回设置按钮（如果显示绘制按钮，则不应该显示返回按钮）
      if (settingsReturnButton != null) {
         settingsReturnButton.setVisible(false);
      }
//    if (settingsReturnButton != null) {
//       settingsReturnButton.setVisible(false);
//    }
      
      // 显示"正在绘制边界"提示
      if (drawingBoundaryLabel != null) {
         // 如果是往返路径绘制，不显示此标签（状态栏已显示"正在绘制往返路径"）
//       boolean isReturnPathDrawing = returnPathDrawer != null && returnPathDrawer.isActive();
//       drawingBoundaryLabel.setVisible(!isReturnPathDrawing);
         drawingBoundaryLabel.setVisible(true);
      }

@@ -3645,34 +3721,11 @@
   }

   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;
      }
      return Gpstoxuzuobiao.parseDMToDecimal(dmm, direction);
   }

   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};
      return Gpstoxuzuobiao.convertLatLonToLocal(lat, lon, baseLat, baseLon);
   }

   private CircleSolution fitCircleFromPoints(List<double[]> points) {
@@ -3791,9 +3844,8 @@
         endDrawingButton.setVisible(false);
      }
      if (pathPreviewReturnButton == null) {
         pathPreviewReturnButton = createFloatingTextButton("返回");
         pathPreviewReturnButton = Fanhuibutton.createReturnButton(e -> handlePathPreviewReturn());
         pathPreviewReturnButton.setToolTipText("返回新增地块步骤");
         pathPreviewReturnButton.addActionListener(e -> handlePathPreviewReturn());
      }
      pathPreviewReturnButton.setVisible(true);
      if (floatingButtonPanel != null) {
@@ -3957,6 +4009,52 @@
   }

   /**
    * 更新导航预览状态显示
    * @param active 是否处于导航预览模式
    */
   public void updateNavigationPreviewStatus(boolean active) {
      setNavigationPreviewLabelVisible(active);
   }

   /**
    * 更新割草进度显示
    * @param percentage 完成百分比
    * @param completedArea 已完成面积（平方米）
    * @param totalArea 总面积（平方米）
    */
   public void updateMowingProgress(double percentage, double completedArea, double totalArea) {
      if (mowingProgressLabel == null) {
         return;
      }
      if (totalArea <= 0) {
         mowingProgressLabel.setText("--%");
         mowingProgressLabel.setToolTipText("暂无地块面积数据");
         return;
      }
      double percent = Math.max(0.0, Math.min(100.0, percentage));
      mowingProgressLabel.setText(String.format(Locale.US, "%.1f%%", percent));
      mowingProgressLabel.setToolTipText(String.format(Locale.US, "%.1f㎡ / %.1f㎡", completedArea, totalArea));
   }

   /**
    * 更新割草机速度显示
    * @param speed 速度值（单位：km/h）
    */
   public void updateMowerSpeed(double speed) {
      if (mowerSpeedValueLabel == null) {
         return;
      }
      if (speed < 0) {
         mowerSpeedValueLabel.setText("--");
      } else {
         mowerSpeedValueLabel.setText(String.format(Locale.US, "%.1f", speed));
      }
      if (mowerSpeedUnitLabel != null) {
         mowerSpeedUnitLabel.setText("km/h");
      }
   }

   /**
    * 获取可视化面板实例
    */
   public JPanel getVisualizationPanel() {
@@ -4068,6 +4166,230 @@
   }

    
    /**
     * 启动往返路径绘制
     * @param finishCallback 完成绘制时的回调
     * @param isHandheld 是否使用手持设备模式
     * @return 是否成功启动
     */
    public boolean startReturnPathDrawing(Runnable finishCallback, boolean isHandheld) {
        if (returnPathDrawer == null) {
            return false;
        }
        return returnPathDrawer.start(finishCallback, isHandheld);
    }
    
    /**
     * 停止往返路径绘制
     */
    public void stopReturnPathDrawing() {
        if (returnPathDrawer != null) {
            returnPathDrawer.stop();
        }
    }
    
    /**
     * 获取往返路径绘制管理器
     */
    public WangfanDraw getReturnPathDrawer() {
        return returnPathDrawer;
    }
    
    /**
     * 启动往返路径预览
     * @param coordinatesStr 路径坐标字符串 (x,y;x,y)
     * @param returnCallback 返回回调
     */
    public void startReturnPathPreview(String coordinatesStr, Runnable returnCallback) {
        if (returnPathDrawer == null || coordinatesStr == null || coordinatesStr.isEmpty()) {
            return;
        }
        
        // 解析坐标
        List<Point2D.Double> points = new ArrayList<>();
        String[] pairs = coordinatesStr.split(";");
        for (String pair : pairs) {
            String[] xy = pair.split(",");
            if (xy.length == 2) {
                try {
                    double x = Double.parseDouble(xy[0]);
                    double y = Double.parseDouble(xy[1]);
                    points.add(new Point2D.Double(x, y));
                } catch (NumberFormatException e) {
                    // 忽略无效坐标
                }
            }
        }
        
        if (points.isEmpty()) {
            JOptionPane.showMessageDialog(this, "没有有效的路径点可预览", "提示", JOptionPane.WARNING_MESSAGE);
            return;
        }
        
        // 设置预览点
        returnPathDrawer.setPoints(points);
        if (mapRenderer != null) {
            mapRenderer.setPreviewReturnPath(points);
        }
        
        // 开启预览模式
        pathPreviewActive = true;
        if (mapRenderer != null) {
            mapRenderer.clearIdleTrail();
        }
        pathPreviewReturnAction = returnCallback;
        
        // 确保悬浮按钮基础设施已创建
        ensureFloatingButtonInfrastructure();
        
        // 创建或显示返回按钮
        if (pathPreviewReturnButton == null) {
            // 使用 Fanhuibutton 创建返回按钮
            pathPreviewReturnButton = publicway.Fanhuibutton.createReturnButton(e -> {
                // 停止预览
                stopReturnPathPreview();
            });
            pathPreviewReturnButton.setToolTipText("返回绘制页面");
        }
        
        // 隐藏其他悬浮按钮
        hideFloatingDrawingControls();
        
        // 显示返回按钮
        pathPreviewReturnButton.setVisible(true);
        floatingButtonPanel.setVisible(true);
        if (floatingButtonPanel.getParent() != visualizationPanel) {
            visualizationPanel.add(floatingButtonPanel, BorderLayout.SOUTH);
        }
        rebuildFloatingButtonColumn();
        
        visualizationPanel.revalidate();
        visualizationPanel.repaint();
    }
    
    /**
     * 停止往返路径预览
     */
    private void stopReturnPathPreview() {
        pathPreviewActive = false;
        
        // 清空预览点
        if (returnPathDrawer != null) {
            returnPathDrawer.clearPoints();
        }
        if (mapRenderer != null) {
            mapRenderer.setPreviewReturnPath(null);
        }
        
        // 隐藏返回按钮
        if (pathPreviewReturnButton != null) {
            pathPreviewReturnButton.setVisible(false);
        }
        
        // 隐藏悬浮面板
        if (floatingButtonPanel != null) {
            floatingButtonPanel.setVisible(false);
        }
        
        // 执行返回回调
        if (pathPreviewReturnAction != null) {
            pathPreviewReturnAction.run();
        }
    }
    
    /**
     * 显示边界预览（原始边界-紫色，优化后边界-绿色）
     * @param dikuai 地块对象
     * @param optimizedBoundary 优化后的边界坐标字符串
     * @param returnCallback 返回回调
     */
    public static void showBoundaryPreview(dikuai.Dikuai dikuai, String optimizedBoundary, Runnable returnCallback) {
        Shouye shouye = getInstance();
        if (shouye == null || shouye.mapRenderer == null || dikuai == null) {
            return;
        }
        
        // 获取原始边界XY坐标
        String originalBoundaryXY = dikuai.getBoundaryOriginalXY();
        
        // 设置边界预览
        shouye.mapRenderer.setBoundaryPreview(originalBoundaryXY, optimizedBoundary);
        
        // 停止绘制割草机实时拖尾
        if (shouye.mapRenderer != null) {
            shouye.mapRenderer.setIdleTrailSuppressed(true);
        }
        
        // 设置返回回调
        shouye.pathPreviewReturnAction = returnCallback;
        shouye.pathPreviewActive = true;
        
        // 确保悬浮按钮基础设施已创建
        shouye.ensureFloatingButtonInfrastructure();
        
        // 创建或显示返回按钮
        if (shouye.pathPreviewReturnButton == null) {
            shouye.pathPreviewReturnButton = publicway.Fanhuibutton.createReturnButton(e -> shouye.handleBoundaryPreviewReturn());
            shouye.pathPreviewReturnButton.setToolTipText("返回边界编辑页面");
        }
        
        // 隐藏其他悬浮按钮
        shouye.hideFloatingDrawingControls();
        
        // 显示返回按钮
        shouye.pathPreviewReturnButton.setVisible(true);
        if (shouye.floatingButtonPanel != null) {
            shouye.floatingButtonPanel.setVisible(true);
            if (shouye.floatingButtonPanel.getParent() != shouye.visualizationPanel) {
                shouye.visualizationPanel.add(shouye.floatingButtonPanel, BorderLayout.SOUTH);
            }
        }
        shouye.rebuildFloatingButtonColumn();
        
        shouye.visualizationPanel.revalidate();
        shouye.visualizationPanel.repaint();
    }
    
    /**
     * 处理边界预览返回
     */
    private void handleBoundaryPreviewReturn() {
        Runnable callback = pathPreviewReturnAction;
        exitBoundaryPreview();
        if (callback != null) {
            callback.run();
        }
    }
    
    /**
     * 退出边界预览
     */
    private void exitBoundaryPreview() {
        pathPreviewActive = false;
        
        // 恢复绘制割草机实时拖尾
        if (mapRenderer != null) {
            mapRenderer.setIdleTrailSuppressed(false);
        }
        
        // 清除边界预览
        if (mapRenderer != null) {
            mapRenderer.clearBoundaryPreview();
        }
        
        // 隐藏返回按钮
        if (pathPreviewReturnButton != null) {
            pathPreviewReturnButton.setVisible(false);
        }
        
        // 隐藏悬浮面板
        if (floatingButtonPanel != null) {
            floatingButtonPanel.setVisible(false);
        }
        
        visualizationPanel.revalidate();
        visualizationPanel.repaint();
    }

   // 测试方法
    public static void main(String[] args) {