解决了异形无障碍物边界路径bug，另外优化了首页显示效果

张世豪

3 天以前 f38ba0a0bf5cbe96c9300247923f6979a5059529

解决了异形无障碍物边界路径bug，另外优化了首页显示效果

 Obstacledge.properties

@@ -1,5 +1,5 @@
# 割草机地块障碍物配置文件
# 生成时间：2025-12-23T18:32:39.445241900
# 生成时间：2025-12-23T18:40:37.614553600
# 坐标系：WGS84（度分格式）

# ============ 地块基准站配置 ============

 dikuai.properties

@@ -1,5 +1,5 @@
#Dikuai Properties
#Tue Dec 23 18:32:39 CST 2025
#Tue Dec 23 18:41:03 CST 2025
LAND1.angleThreshold=-1
LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
LAND1.boundaryCoordinates=-99.64,193.56;185.77,182.30;61.84,424.89;237.59,415.88;235.34,539.80;-26.03,544.31
@@ -17,9 +17,9 @@
LAND1.mowingSafetyDistance=0.53
LAND1.mowingTrack=-1
LAND1.mowingWidth=200
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LAND1.returnPathCoordinates=-1
LAND1.returnPathRawCoordinates=-1
LAND1.returnPointCoordinates=-1
LAND1.updateTime=2025-12-23 18\:32\:39
LAND1.updateTime=2025-12-23 18\:41\:03
LAND1.userId=-1

 set.properties

@@ -1,5 +1,5 @@
#Mower Configuration Properties - Updated
#Tue Dec 23 18:35:51 CST 2025
#Tue Dec 23 19:08:18 CST 2025
appVersion=-1
boundaryLengthVisible=false
currentWorkLandNumber=LAND1
@@ -8,12 +8,12 @@
handheldMarkerId=1872
idleTrailDurationSeconds=60
manualBoundaryDrawingMode=false
mapScale=2.83
mapScale=4.08
measurementModeEnabled=false
mowerId=860
serialAutoConnect=true
serialBaudRate=115200
serialPortName=COM15
simCardNumber=-1
viewCenterX=-148.00
viewCenterY=278.47
viewCenterX=-14.44
viewCenterY=-332.04

 src/gecaoji/lujingdraw.java

@@ -8,12 +8,23 @@
import java.awt.geom.Point2D; // 引入二维点类
import java.util.ArrayList; // 引入动态数组
import java.util.List; // 引入列表接口
import lujing.Lunjingguihua; // 引入路径规划类
import org.locationtech.jts.geom.Coordinate; // 引入坐标类
import org.locationtech.jts.geom.GeometryFactory; // 引入几何工厂类
import org.locationtech.jts.geom.Polygon; // 引入多边形类

/** // 文档注释开头
 * Helper class to parse and render planned mowing paths. // 辅助类说明
 */ // 文档注释结尾
public final class lujingdraw { // 类定义，防止继承
    private static final Color PATH_COLOR = new Color(255, 0, 0, 220); // 路径颜色（红色半透明）
    // 马尔斯绿色 (RGB: 102, 205, 170) - 用于内缩边界（围边）
    private static final Color INNER_BOUNDARY_COLOR = new Color(102, 205, 170);
    // 提香红透明度70% (RGB: 210, 4, 45, alpha: 178) - 用于割草作业路径
    private static final Color MOWING_PATH_COLOR = new Color(210, 4, 45, 178);
    // 蓝色 - 用于非作业移动路径
    private static final Color TRAVEL_PATH_COLOR = new Color(0, 0, 255);
    // 虚线样式 - 用于非作业移动路径
    private static final float[] DASH_PATTERN = {10.0f, 5.0f};
    private static final Color START_POINT_COLOR = new Color(0, 0, 0, 220); // 起点箭头颜色
    private static final Color END_POINT_COLOR = new Color(0, 0, 0, 220); // 终点箭头颜色

@@ -71,37 +82,274 @@
     * Draw the planned mowing path. // 绘制路径
     */ // 文档注释结束
    public static void drawPlannedPath(Graphics2D g2d, List<Point2D.Double> path, double scale, double arrowScale) { // 绘制主方法
        drawPlannedPath(g2d, path, scale, arrowScale, null, null, null, null, null); // 调用重载方法
    } // 方法结束
    
    /** // 文档注释开始
     * Draw the planned mowing path with segment information. // 绘制路径（带段信息）
     * @param boundaryCoords 地块边界坐标字符串，用于绘制内缩边界
     * @param mowingWidth 割草宽度（米），字符串格式
     * @param safetyDistance 安全距离（米），字符串格式
     * @param obstaclesCoords 障碍物坐标字符串
     * @param mowingPattern 割草模式（"parallel"或"spiral"）
     */ // 文档注释结束
    public static void drawPlannedPath(Graphics2D g2d, List<Point2D.Double> path, double scale, double arrowScale,
                                      String boundaryCoords, String mowingWidth, String safetyDistance, String obstaclesCoords, String mowingPattern) { // 绘制主方法（重载）
        if (path == null || path.size() < 2) { // 判定点数
            return; // 数据不足直接返回
        } // if结束

        Path2D polyline = new Path2D.Double(); // 创建折线
        boolean move = true; // 首段标记
        for (Point2D.Double point : path) { // 遍历点集
            if (move) { // 第一段
                polyline.moveTo(point.x, point.y); // 移动到首点
                move = false; // 更新标记
            } else { // 后续段
                polyline.lineTo(point.x, point.y); // 连线到下一点
            } // if结束
        } // for结束

        Stroke previous = g2d.getStroke(); // 保存原描边
        float strokeWidth = (float) (2.5 / Math.max(0.5, scale)); // 根据缩放计算线宽
        g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); // 设置圆头圆角描边
        g2d.setColor(PATH_COLOR); // 设置线路颜色
        g2d.draw(polyline); // 绘制折线
        
        // 1. 绘制内缩边界（围边）- 马尔斯绿色
        if (boundaryCoords != null && !boundaryCoords.trim().isEmpty() && !"-1".equals(boundaryCoords.trim())) {
            drawInnerBoundary(g2d, boundaryCoords, safetyDistance, scale);
        }
        
        // 2. 尝试重新生成路径段以区分作业路径和移动路径
        List<Lunjingguihua.PathSegment> segments = null;
        if (boundaryCoords != null && mowingWidth != null) {
            try {
                // 解析割草模式
                String mode = "parallel"; // 默认平行模式
                if (mowingPattern != null && !mowingPattern.trim().isEmpty()) {
                    String pattern = mowingPattern.trim().toLowerCase();
                    if ("1".equals(pattern) || "spiral".equals(pattern) || "螺旋式".equals(pattern) || "螺旋".equals(pattern)) {
                        mode = "spiral";
                    } else if ("parallel".equals(pattern) || "平行线".equals(pattern) || "平行".equals(pattern)) {
                        mode = "parallel";
                    }
                }
                segments = Lunjingguihua.generatePathSegments(
                    boundaryCoords, 
                    obstaclesCoords != null ? obstaclesCoords : "", 
                    mowingWidth, 
                    safetyDistance, 
                    mode
                );
            } catch (Exception e) {
                // 如果重新生成失败，使用简单绘制方式
                segments = null;
            }
        }
        
        // 3. 根据是否有段信息选择不同的绘制方式
        if (segments != null && !segments.isEmpty()) {
            // 有段信息：分别绘制作业路径和移动路径
            drawPathSegments(g2d, segments, scale, arrowScale);
        } else {
            // 无段信息：使用简单绘制方式（所有路径使用作业路径颜色）
            Path2D polyline = new Path2D.Double(); // 创建折线
            boolean move = true; // 首段标记
            for (Point2D.Double point : path) { // 遍历点集
                if (move) { // 第一段
                    polyline.moveTo(point.x, point.y); // 移动到首点
                    move = false; // 更新标记
                } else { // 后续段
                    polyline.lineTo(point.x, point.y); // 连线到下一点
                } // if结束
            } // for结束
            
            g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); // 设置圆头圆角描边
            g2d.setColor(MOWING_PATH_COLOR); // 设置作业路径颜色（提香红70%透明度）
            g2d.draw(polyline); // 绘制折线
            
            Point2D.Double start = path.get(0); // 起点
            Point2D.Double second = path.get(1); // 第二个点
            Point2D.Double end = path.get(path.size() - 1); // 终点
            Point2D.Double prev = path.get(path.size() - 2); // 倒数第二个点

        Point2D.Double start = path.get(0); // 起点
        Point2D.Double second = path.get(1); // 第二个点
        Point2D.Double end = path.get(path.size() - 1); // 终点
        Point2D.Double prev = path.get(path.size() - 2); // 倒数第二个点

    drawArrowMarker(g2d, start, second, START_POINT_COLOR, scale, arrowScale); // 绘制起点箭头
    drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale, arrowScale); // 绘制终点箭头
            drawArrowMarker(g2d, start, second, START_POINT_COLOR, scale, arrowScale); // 绘制起点箭头
            drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale, arrowScale); // 绘制终点箭头
        }

        g2d.setStroke(previous); // 恢复原描边
    } // 方法结束
    
    /** // 文档注释开始
     * 绘制内缩边界（围边）- 马尔斯绿色
     */ // 文档注释结束
    private static void drawInnerBoundary(Graphics2D g2d, String boundaryCoords, String safetyDistanceStr, double scale) {
        try {
            List<Coordinate> boundary = Lunjingguihua.parseCoordinates(boundaryCoords);
            if (boundary.size() < 4) {
                return; // 边界点不足
            }
            
            // 解析安全距离
            double safetyDistance = 0.2; // 默认0.2米
            if (safetyDistanceStr != null && !safetyDistanceStr.trim().isEmpty()) {
                try {
                    safetyDistance = Double.parseDouble(safetyDistanceStr.trim());
                } catch (NumberFormatException e) {
                    // 使用默认值
                }
            }
            
            // 创建多边形并内缩
            GeometryFactory gf = new GeometryFactory();
            Polygon poly = gf.createPolygon(gf.createLinearRing(boundary.toArray(new Coordinate[0])));
            if (!poly.isValid()) {
                poly = (Polygon) poly.buffer(0);
            }
            
            // 内缩生成安全边界
            org.locationtech.jts.geom.Geometry innerBoundary = poly.buffer(-safetyDistance);
            if (innerBoundary == null || innerBoundary.isEmpty()) {
                return;
            }
            
            // 绘制内缩边界
            g2d.setColor(INNER_BOUNDARY_COLOR); // 马尔斯绿色
            float strokeWidth = (float) (3.0 / Math.max(0.5, scale));
            g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
            
            // 将JTS几何体转换为Path2D并绘制
            Path2D.Double innerPath = geometryToPath2D(innerBoundary);
            if (innerPath != null) {
                g2d.draw(innerPath);
            }
        } catch (Exception e) {
            // 绘制失败时忽略，不影响其他路径绘制
        }
    } // 方法结束
    
    /** // 文档注释开始
     * 将JTS几何体转换为Path2D
     */ // 文档注释结束
    private static Path2D.Double geometryToPath2D(org.locationtech.jts.geom.Geometry geom) {
        if (geom == null) {
            return null;
        }
        Path2D.Double path = new Path2D.Double();
        if (geom instanceof Polygon) {
            Polygon poly = (Polygon) geom;
            addRingToPath(path, poly.getExteriorRing().getCoordinates(), true);
            for (int i = 0; i < poly.getNumInteriorRing(); i++) {
                addRingToPath(path, poly.getInteriorRingN(i).getCoordinates(), true);
            }
        } else if (geom instanceof org.locationtech.jts.geom.MultiPolygon) {
            org.locationtech.jts.geom.MultiPolygon mp = (org.locationtech.jts.geom.MultiPolygon) geom;
            for (int i = 0; i < mp.getNumGeometries(); i++) {
                Polygon poly = (Polygon) mp.getGeometryN(i);
                addRingToPath(path, poly.getExteriorRing().getCoordinates(), true);
                for (int j = 0; j < poly.getNumInteriorRing(); j++) {
                    addRingToPath(path, poly.getInteriorRingN(j).getCoordinates(), true);
                }
            }
        }
        return path;
    } // 方法结束
    
    /** // 文档注释开始
     * 将坐标环添加到Path2D
     */ // 文档注释结束
    private static void addRingToPath(Path2D.Double path, Coordinate[] coords, boolean close) {
        if (coords == null || coords.length < 2) {
            return;
        }
        path.moveTo(coords[0].x, coords[0].y);
        for (int i = 1; i < coords.length; i++) {
            path.lineTo(coords[i].x, coords[i].y);
        }
        if (close) {
            path.closePath();
        }
    } // 方法结束
    
    /** // 文档注释开始
     * 绘制路径段（区分作业路径和移动路径）
     */ // 文档注释结束
    private static void drawPathSegments(Graphics2D g2d, List<Lunjingguihua.PathSegment> segments, double scale, double arrowScale) {
        if (segments == null || segments.isEmpty()) {
            return;
        }
        
        float strokeWidth = (float) (2.5 / Math.max(0.5, scale));
        Stroke previous = g2d.getStroke();
        
        // 分别绘制作业路径和移动路径
        Path2D.Double mowingPath = new Path2D.Double();
        Path2D.Double travelPath = new Path2D.Double();
        boolean mowingStarted = false;
        boolean travelStarted = false;
        
        Coordinate lastMowingEnd = null;
        Coordinate lastTravelEnd = null;
        
        for (Lunjingguihua.PathSegment seg : segments) {
            if (seg == null || seg.start == null || seg.end == null) {
                continue;
            }
            
            if (seg.isMowing) {
                // 作业路径 - 提香红70%透明度
                if (!mowingStarted || lastMowingEnd == null || !equals2D(lastMowingEnd, seg.start)) {
                    mowingPath.moveTo(seg.start.x, seg.start.y);
                    mowingStarted = true;
                }
                mowingPath.lineTo(seg.end.x, seg.end.y);
                lastMowingEnd = seg.end;
            } else {
                // 移动路径 - 蓝色虚线
                if (!travelStarted || lastTravelEnd == null || !equals2D(lastTravelEnd, seg.start)) {
                    travelPath.moveTo(seg.start.x, seg.start.y);
                    travelStarted = true;
                }
                travelPath.lineTo(seg.end.x, seg.end.y);
                lastTravelEnd = seg.end;
            }
        }
        
        // 绘制作业路径
        if (mowingStarted) {
            g2d.setColor(MOWING_PATH_COLOR); // 提香红70%透明度
            g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
            g2d.draw(mowingPath);
        }
        
        // 绘制移动路径（虚线）
        if (travelStarted) {
            g2d.setColor(TRAVEL_PATH_COLOR); // 蓝色
            g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND, 0, DASH_PATTERN, 0));
            g2d.draw(travelPath);
        }
        
        // 绘制起点和终点箭头
        if (!segments.isEmpty()) {
            Lunjingguihua.PathSegment firstSeg = segments.get(0);
            if (firstSeg != null && firstSeg.start != null && segments.size() > 1) {
                Lunjingguihua.PathSegment secondSeg = segments.get(1);
                if (secondSeg != null && secondSeg.start != null) {
                    Point2D.Double start = new Point2D.Double(firstSeg.start.x, firstSeg.start.y);
                    Point2D.Double second = new Point2D.Double(secondSeg.start.x, secondSeg.start.y);
                    drawArrowMarker(g2d, start, second, START_POINT_COLOR, scale, arrowScale);
                }
            }
            
            Lunjingguihua.PathSegment lastSeg = segments.get(segments.size() - 1);
            if (lastSeg != null && lastSeg.end != null && segments.size() > 1) {
                Lunjingguihua.PathSegment prevSeg = segments.get(segments.size() - 2);
                if (prevSeg != null && prevSeg.end != null) {
                    Point2D.Double prev = new Point2D.Double(prevSeg.end.x, prevSeg.end.y);
                    Point2D.Double end = new Point2D.Double(lastSeg.end.x, lastSeg.end.y);
                    drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale, arrowScale);
                }
            }
        }
        
        g2d.setStroke(previous);
    } // 方法结束
    
    /** // 文档注释开始
     * 比较两个坐标是否相同（容差）
     */ // 文档注释结束
    private static boolean equals2D(Coordinate a, Coordinate b) {
        if (a == b) return true;
        if (a == null || b == null) return false;
        return a.distance(b) < 1e-4;
    } // 方法结束

    private static void drawArrowMarker(Graphics2D g2d, Point2D.Double from, Point2D.Double to, Color color, double scale, double sizeScale) { // 绘制箭头辅助
        if (from == null || to == null) { // 判空

 src/lujing/YixinglujingNoObstacle.java

@@ -3,8 +3,8 @@
import java.util.*;

/**
 * 异形草地路径规划 - 围边+全局扫描版 V4.1
 * 优化：围边终点与弓字形起点自动对齐，实现无缝切换，确保路径不越界
 * 异形草地路径规划 - 凹多边形兼容优化版 V5.0
 * 修复：解决凹多边形扫描线跨越边界的问题，优化路径对齐
 */
public class YixinglujingNoObstacle {

@@ -15,31 +15,33 @@
        double mowWidth = Double.parseDouble(widthStr);
        double safeMargin = Double.parseDouble(marginStr);

        // 1. 预处理：逆时针化
        // 1. 预处理：确保逆时针顺序
        ensureCounterClockwise(rawPoints);
        
        // 2. 生成内缩多边形
        // 2. 生成内缩多边形（安全边界）
        List<Point> boundary = getInsetPolygon(rawPoints, safeMargin);
        if (boundary.size() < 3) return new ArrayList<>();

        // 3. 确定最优扫描角度并找到弓字形路径的第一个作业起点
        // 3. 确定最优作业角度
        double bestAngle = findOptimalAngle(boundary);
        
        // 4. 获取首个作业点，用于对齐围边起点
        Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);

        // 4. 对齐围边起点：重新排列围边坐标，使最后一个点靠近(或等于)扫描起点
        // 5. 对齐围边：使围边最后结束于靠近扫描起点的位置
        List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);

        List<PathSegment> finalPath = new ArrayList<>();

        // 5. 【第一步】生成围边路径
        // 6. 第一阶段：围边路径
        for (int i = 0; i < alignedBoundary.size(); i++) {
            Point pStart = alignedBoundary.get(i);
            Point pEnd = alignedBoundary.get((i + 1) % alignedBoundary.size());
            finalPath.add(new PathSegment(pStart, pEnd, true));
        }

        // 6. 【第二步】从对齐后的终点开始生成内部扫描路径
        Point lastEdgePos = alignedBoundary.get(0); // 围边闭合回到起点
        // 7. 第二阶段：生成内部扫描路径（修复凹部空越问题）
        Point lastEdgePos = alignedBoundary.get(0); 
        List<PathSegment> scanPath = generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos);
        
        finalPath.addAll(scanPath);
@@ -47,43 +49,6 @@
        return finalPath;
    }

    /**
     * 计算并获取扫描路径的第一行起点
     */
    private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) {
        List<Point> rotatedPoly = new ArrayList<>();
        for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));

        double minY = Double.MAX_VALUE;
        for (Point p : rotatedPoly) minY = Math.min(minY, p.y);

        double firstY = minY + width; 
        List<Double> xIntersections = getXIntersections(rotatedPoly, firstY);
        
        if (xIntersections.isEmpty()) return polygon.get(0);
        return rotatePoint(new Point(Collections.min(xIntersections), firstY), angle);
    }

    /**
     * 重新排列多边形顶点，使起始点与扫描起点对接
     */
    private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) {
        int bestIdx = 0;
        double minDist = Double.MAX_VALUE;
        for (int i = 0; i < boundary.size(); i++) {
            double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y);
            if (d < minDist) {
                minDist = d;
                bestIdx = i;
            }
        }
        List<Point> aligned = new ArrayList<>();
        for (int i = 0; i < boundary.size(); i++) {
            aligned.add(boundary.get((bestIdx + i) % boundary.size()));
        }
        return aligned;
    }

    private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
        List<PathSegment> segments = new ArrayList<>();
        List<Point> rotatedPoly = new ArrayList<>();
@@ -96,29 +61,32 @@
        }

        boolean leftToRight = true;
        // 从 minY + width 开始，避开围边已割区域
        for (double y = minY + width; y <= maxY - width/2; y += width) {
        // 步长 y 从最小到最大扫描
        for (double y = minY + width/2; y <= maxY - width/2; y += width) {
            List<Double> xIntersections = getXIntersections(rotatedPoly, y);
            if (xIntersections.size() < 2) continue;
            Collections.sort(xIntersections);

            List<PathSegment> lineRows = new ArrayList<>();
            // 处理凹多边形：每两个点组成一个有效作业段
            List<PathSegment> lineSegmentsInRow = new ArrayList<>();
            for (int i = 0; i < xIntersections.size() - 1; i += 2) {
                Point pS = rotatePoint(new Point(xIntersections.get(i), y), angle);
                Point pE = rotatePoint(new Point(xIntersections.get(i + 1), y), angle);
                lineRows.add(new PathSegment(pS, pE, true));
                lineSegmentsInRow.add(new PathSegment(pS, pE, true));
            }

            // 根据当前S型方向排序作业段
            if (!leftToRight) {
                Collections.reverse(lineRows);
                for (PathSegment s : lineRows) {
                    Point t = s.start; s.start = s.end; s.end = t;
                Collections.reverse(lineSegmentsInRow);
                for (PathSegment s : lineSegmentsInRow) {
                    Point temp = s.start; s.start = s.end; s.end = temp;
                }
            }

            for (PathSegment s : lineRows) {
                // 如果间距极小，视为无缝衔接
                if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.05) {
            // 将作业段连接到总路径
            for (PathSegment s : lineSegmentsInRow) {
                if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
                    // 如果间距大于1cm，添加空走路径
                    segments.add(new PathSegment(currentPos, s.start, false));
                }
                segments.add(s);
@@ -129,6 +97,33 @@
        return segments;
    }

    private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) {
        List<Point> rotatedPoly = new ArrayList<>();
        for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
        double minY = Double.MAX_VALUE;
        for (Point p : rotatedPoly) minY = Math.min(minY, p.y);
        
        double firstY = minY + width/2;
        List<Double> xInter = getXIntersections(rotatedPoly, firstY);
        if (xInter.isEmpty()) return polygon.get(0);
        Collections.sort(xInter);
        return rotatePoint(new Point(xInter.get(0), firstY), angle);
    }

    private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) {
        int bestIdx = 0;
        double minDist = Double.MAX_VALUE;
        for (int i = 0; i < boundary.size(); i++) {
            double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y);
            if (d < minDist) { minDist = d; bestIdx = i; }
        }
        List<Point> aligned = new ArrayList<>();
        for (int i = 0; i < boundary.size(); i++) {
            aligned.add(boundary.get((bestIdx + i) % boundary.size()));
        }
        return aligned;
    }

    private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) {
        List<Double> xIntersections = new ArrayList<>();
        for (int i = 0; i < rotatedPoly.size(); i++) {
@@ -170,19 +165,30 @@
            Point pPrev = points.get((i - 1 + n) % n);
            Point pCurr = points.get(i);
            Point pNext = points.get((i + 1) % n);

            double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y;
            double l1 = Math.hypot(d1x, d1y);
            double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y;
            double l2 = Math.hypot(d2x, d2y);

            if (l1 < 1e-6 || l2 < 1e-6) continue;

            // 单位法向量
            double n1x = -d1y / l1, n1y = d1x / l1;
            double n2x = -d2y / l2, n2y = d2x / l2;

            // 角平分线方向
            double bisectorX = n1x + n2x, bisectorY = n1y + n2y;
            double bLen = Math.hypot(bisectorX, bisectorY);
            if (bLen < 1e-6) { bisectorX = n1x; bisectorY = n1y; } 
            else { bisectorX /= bLen; bisectorY /= bLen; }

            double cosHalfAngle = n1x * bisectorX + n1y * bisectorY;
            double dist = margin / Math.max(cosHalfAngle, 0.1);
            double dist = margin / Math.max(cosHalfAngle, 0.1); 
            
            // 限制最大位移量，防止极尖角畸变
            dist = Math.min(dist, margin * 5); 

            result.add(new Point(pCurr.x + bisectorX * dist, pCurr.y + bisectorY * dist));
        }
        return result;
@@ -226,7 +232,7 @@

    public static class PathSegment {
        public Point start, end;
        public boolean isMowing;
        public boolean isMowing; // true: 割草中, false: 空载移动
        public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
    }
}

 src/zhuye/MapRenderer.java

@@ -1451,7 +1451,82 @@

    private void drawCurrentPlannedPath(Graphics2D g2d) {
        double arrowScale = previewSizingEnabled ? 0.5d : 1.0d;
        lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale, arrowScale);
        
        // 尝试获取地块信息以支持区分作业路径和移动路径，以及绘制内缩边界
        String boundaryCoords = null;
        String mowingWidth = null;
        String safetyDistance = null;
        String obstaclesCoords = null;
        String mowingPattern = null;
        
        // 从当前地块编号获取地块信息
        if (currentBoundaryLandNumber != null) {
            Dikuai landData = Dikuai.getDikuai(currentBoundaryLandNumber);
            if (landData != null) {
                boundaryCoords = landData.getBoundaryCoordinates();
                mowingWidth = landData.getMowingWidth();
                safetyDistance = landData.getMowingSafetyDistance();
                mowingPattern = landData.getMowingPattern();
                
                // 获取障碍物坐标
                try {
                    java.io.File configFile = new java.io.File("Obstacledge.properties");
                    if (configFile.exists()) {
                        Obstacledge.ConfigManager manager = new Obstacledge.ConfigManager();
                        if (manager.loadFromFile(configFile.getAbsolutePath())) {
                            Obstacledge.Plot plot = manager.getPlotById(currentBoundaryLandNumber.trim());
                            if (plot != null && plot.getObstacles() != null && !plot.getObstacles().isEmpty()) {
                                obstaclesCoords = Obstacledge.buildPlannerPayload(plot.getObstacles());
                            }
                        }
                    }
                } catch (Exception e) {
                    // 忽略障碍物加载错误
                }
            }
        }
        
        // 如果无法从地块获取边界，尝试使用当前显示的边界
        if (boundaryCoords == null || boundaryCoords.trim().isEmpty() || "-1".equals(boundaryCoords.trim())) {
            if (currentBoundary != null && !currentBoundary.isEmpty()) {
                StringBuilder sb = new StringBuilder();
                for (int i = 0; i < currentBoundary.size(); i++) {
                    Point2D.Double pt = currentBoundary.get(i);
                    if (i > 0) sb.append(";");
                    sb.append(String.format(java.util.Locale.US, "%.3f,%.3f", pt.x, pt.y));
                }
                boundaryCoords = sb.toString();
            }
        }
        
        // 转换割草宽度从厘米到米（如果存在）
        if (mowingWidth != null && !mowingWidth.trim().isEmpty() && !"-1".equals(mowingWidth.trim())) {
            try {
                double widthCm = Double.parseDouble(mowingWidth.trim());
                double widthMeters = widthCm / 100.0;
                mowingWidth = String.format(java.util.Locale.US, "%.3f", widthMeters);
            } catch (NumberFormatException e) {
                // 如果已经是米为单位，保持原值
            }
        }
        
        // 转换安全距离从厘米到米（如果存在）
        if (safetyDistance != null && !safetyDistance.trim().isEmpty() && !"-1".equals(safetyDistance.trim())) {
            try {
                double distCm = Double.parseDouble(safetyDistance.trim());
                // 如果值大于100，认为是厘米，需要转换为米
                if (distCm > 100) {
                    double distMeters = distCm / 100.0;
                    safetyDistance = String.format(java.util.Locale.US, "%.3f", distMeters);
                }
            } catch (NumberFormatException e) {
                // 如果已经是米为单位，保持原值
            }
        }
        
        // 调用带地块信息的绘制方法
        lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale, arrowScale, 
                                   boundaryCoords, mowingWidth, safetyDistance, obstaclesCoords, mowingPattern);
    }

    private void drawCircleSampleMarkers(Graphics2D g2d, List<double[]> markers, double scale) {

 src/zhuye/Shouye.java

@@ -131,10 +131,8 @@
    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
    private JButton toggleBoundaryDisplayButton;  // 切换边界显示按钮（只显示原始边界/显示全部）
    private String previewRestoreLandNumber;
    private String previewRestoreLandName;
    private Dikuai currentBoundaryPreviewDikuai;  // 当前边界预览的地块引用
    private boolean drawingPaused;
    private ImageIcon pauseIcon;
    private ImageIcon pauseActiveIcon;
@@ -577,9 +575,9 @@
                if (setsys.isManualBoundaryDrawingMode()) {
                    setsys.setManualBoundaryDrawingMode(false);
                    setsys.updateProperty("manualBoundaryDrawingMode", "false");
                    // 关闭MapRenderer中的手动绘制边界模式（这会清除鼠标位置和边界点）
                    // 清空手动绘制的边界点
                    if (mapRenderer != null) {
                        mapRenderer.setManualBoundaryDrawingMode(false);
                        mapRenderer.clearManualBoundaryPoints();
                    }
                    modeChanged = true;
                }
@@ -3240,13 +3238,6 @@
            floatingButtonColumn.add(pathPreviewReturnButton);
            added = true;
        }
        if (toggleBoundaryDisplayButton != null && toggleBoundaryDisplayButton.isVisible()) {
            if (added) {
                floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
            }
            floatingButtonColumn.add(toggleBoundaryDisplayButton);
            added = true;
        }
        if (saveManualBoundaryButton != null && saveManualBoundaryButton.isVisible()) {
            if (added) {
                floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
@@ -4318,32 +4309,12 @@
            return;
        }
        
        // 保存当前地块引用
        shouye.currentBoundaryPreviewDikuai = dikuai;
        
        // 获取原始边界XY坐标
        String originalBoundaryXY = dikuai.getBoundaryOriginalXY();
        
        // 设置边界预览
        shouye.mapRenderer.setBoundaryPreview(originalBoundaryXY, optimizedBoundary);
        
        // 设置边界预览更新回调，用于保存删除坐标点后的边界
        shouye.mapRenderer.setBoundaryPreviewUpdateCallback(updatedBoundary -> {
            if (shouye.currentBoundaryPreviewDikuai != null && updatedBoundary != null) {
                // 保存更新后的边界坐标
                Dikuai.updateField(shouye.currentBoundaryPreviewDikuai.getLandNumber(), "boundaryCoordinates", updatedBoundary);
                java.text.SimpleDateFormat sdf = new java.text.SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
                Dikuai.updateField(shouye.currentBoundaryPreviewDikuai.getLandNumber(), "updateTime", sdf.format(new java.util.Date()));
                Dikuai.saveToProperties();
                
                // 同步更新当前地块对象的内存值（确保返回时能获取到最新值）
                shouye.currentBoundaryPreviewDikuai.setBoundaryCoordinates(updatedBoundary);
                
                // 更新预览边界（重新设置以刷新显示）
                shouye.mapRenderer.setBoundaryPreview(originalBoundaryXY, updatedBoundary);
            }
        });
        
        // 停止绘制割草机实时拖尾
        if (shouye.mapRenderer != null) {
            shouye.mapRenderer.setIdleTrailSuppressed(true);
@@ -4362,23 +4333,11 @@
            shouye.pathPreviewReturnButton.setToolTipText("返回边界编辑页面");
        }
        
        // 创建或显示切换边界显示按钮
        if (shouye.toggleBoundaryDisplayButton == null) {
            shouye.toggleBoundaryDisplayButton = shouye.createToggleBoundaryDisplayButton();
        }
        
        // 重置切换按钮状态（默认显示全部边界）
        if (shouye.mapRenderer != null) {
            shouye.mapRenderer.setShowOnlyOriginalBoundary(false);
        }
        shouye.updateToggleBoundaryDisplayButtonText();
        
        // 隐藏其他悬浮按钮
        shouye.hideFloatingDrawingControls();
        
        // 显示返回按钮和切换按钮
        // 显示返回按钮
        shouye.pathPreviewReturnButton.setVisible(true);
        shouye.toggleBoundaryDisplayButton.setVisible(true);
        if (shouye.floatingButtonPanel != null) {
            shouye.floatingButtonPanel.setVisible(true);
            if (shouye.floatingButtonPanel.getParent() != shouye.visualizationPanel) {
@@ -4408,28 +4367,20 @@
    private void exitBoundaryPreview() {
        pathPreviewActive = false;
        
        // 清除当前地块引用
        currentBoundaryPreviewDikuai = null;
        
        // 恢复绘制割草机实时拖尾
        if (mapRenderer != null) {
            mapRenderer.setIdleTrailSuppressed(false);
        }
        
        // 清除边界预览并重置显示状态
        // 清除边界预览
        if (mapRenderer != null) {
            mapRenderer.clearBoundaryPreview();
            mapRenderer.setBoundaryPreviewUpdateCallback(null);
            mapRenderer.setShowOnlyOriginalBoundary(false); // 重置为显示全部边界
        }
        
        // 隐藏返回按钮和切换按钮
        // 隐藏返回按钮
        if (pathPreviewReturnButton != null) {
            pathPreviewReturnButton.setVisible(false);
        }
        if (toggleBoundaryDisplayButton != null) {
            toggleBoundaryDisplayButton.setVisible(false);
        }
        
        // 隐藏悬浮面板
        if (floatingButtonPanel != null) {
@@ -4439,56 +4390,6 @@
        visualizationPanel.revalidate();
        visualizationPanel.repaint();
    }
    
    /**
     * 创建切换边界显示按钮
     */
    private JButton createToggleBoundaryDisplayButton() {
        JButton button = new JButton("隐藏优化边界");
        button.setFont(new Font("微软雅黑", Font.PLAIN, 13));
        button.setBackground(new Color(46, 139, 87));
        button.setForeground(Color.WHITE);
        button.setBorder(BorderFactory.createEmptyBorder(8, 16, 8, 16));
        button.setFocusPainted(false);
        button.setCursor(new Cursor(Cursor.HAND_CURSOR));
        button.setToolTipText("切换显示：只显示原始边界/显示全部边界");
        
        button.addActionListener(e -> {
            if (mapRenderer == null) {
                return;
            }
            // 切换显示状态
            boolean currentState = mapRenderer.isShowOnlyOriginalBoundary();
            mapRenderer.setShowOnlyOriginalBoundary(!currentState);
            updateToggleBoundaryDisplayButtonText();
        });
        
        button.addMouseListener(new java.awt.event.MouseAdapter() {
            public void mouseEntered(java.awt.event.MouseEvent e) {
                button.setBackground(new Color(30, 107, 69));
            }
            
            public void mouseExited(java.awt.event.MouseEvent e) {
                button.setBackground(new Color(46, 139, 87));
            }
        });
        
        return button;
    }
    
    /**
     * 更新切换边界显示按钮的文本
     */
    private void updateToggleBoundaryDisplayButtonText() {
        if (toggleBoundaryDisplayButton == null || mapRenderer == null) {
            return;
        }
        if (mapRenderer.isShowOnlyOriginalBoundary()) {
            toggleBoundaryDisplayButton.setText("显示全部边界");
        } else {
            toggleBoundaryDisplayButton.setText("隐藏优化边界");
        }
    }

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