From 1175f5fbe8fd832943880bfc37c0e2a451a0688a Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期四, 25 十二月 2025 19:34:38 +0800
Subject: [PATCH] 删除了几个类优化了路径生成的逻辑
---
src/gecaoji/lujingdraw.java | 197 ++++++++++++++-----------------------------------
1 files changed, 56 insertions(+), 141 deletions(-)
diff --git a/src/gecaoji/lujingdraw.java b/src/gecaoji/lujingdraw.java
index 95ed85a..5d54008 100644
--- a/src/gecaoji/lujingdraw.java
+++ b/src/gecaoji/lujingdraw.java
@@ -1,5 +1,4 @@
package gecaoji; // 鍖呭０鏄�
-
import java.awt.BasicStroke; // 寮曞叆鍩虹鎻忚竟绫�
import java.awt.Color; // 寮曞叆棰滆壊绫�
import java.awt.Graphics2D; // 寮曞叆2D鍥惧舰涓婁笅鏂�
@@ -8,7 +7,6 @@
import java.awt.geom.Point2D; // 寮曞叆浜岀淮鐐圭被
import java.util.ArrayList; // 寮曞叆鍔ㄦ�佹暟缁�
import java.util.List; // 寮曞叆鍒楄〃鎺ュ彛
-import lujing.Lunjingguihua; // 寮曞叆璺緞瑙勫垝绫�
import org.locationtech.jts.geom.Coordinate; // 寮曞叆鍧愭爣绫�
import org.locationtech.jts.geom.GeometryFactory; // 寮曞叆鍑犱綍宸ュ巶绫�
import org.locationtech.jts.geom.Polygon; // 寮曞叆澶氳竟褰㈢被
@@ -24,7 +22,7 @@
// 钃濊壊 - 鐢ㄤ簬闈炰綔涓氱Щ鍔ㄨ矾寰�
private static final Color TRAVEL_PATH_COLOR = new Color(0, 0, 255);
// 铏氱嚎鏍峰紡 - 鐢ㄤ簬闈炰綔涓氱Щ鍔ㄨ矾寰�
- private static final float[] DASH_PATTERN = {10.0f, 5.0f};
+ private static final float[] DASH_PATTERN = {5.0f, 5.0f};
private static final Color START_POINT_COLOR = new Color(0, 0, 0, 220); // 璧风偣绠ご棰滆壊
private static final Color END_POINT_COLOR = new Color(0, 0, 0, 220); // 缁堢偣绠ご棰滆壊
@@ -107,62 +105,29 @@
drawInnerBoundary(g2d, boundaryCoords, safetyDistance, scale);
}
- // 2. 灏濊瘯閲嶆柊鐢熸垚璺緞娈典互鍖哄垎浣滀笟璺緞鍜岀Щ鍔ㄨ矾寰�
- List<Lunjingguihua.PathSegment> segments = null;
- if (boundaryCoords != null && mowingWidth != null) {
- try {
- // 瑙ｆ瀽鍓茶崏妯″紡
- String mode = "parallel"; // 榛樿骞宠妯″紡
- if (mowingPattern != null && !mowingPattern.trim().isEmpty()) {
- String pattern = mowingPattern.trim().toLowerCase();
- if ("1".equals(pattern) || "spiral".equals(pattern) || "铻烘棆寮�".equals(pattern) || "铻烘棆".equals(pattern)) {
- mode = "spiral";
- } else if ("parallel".equals(pattern) || "骞宠绾�".equals(pattern) || "骞宠".equals(pattern)) {
- mode = "parallel";
- }
- }
- segments = Lunjingguihua.generatePathSegments(
- boundaryCoords,
- obstaclesCoords != null ? obstaclesCoords : "",
- mowingWidth,
- safetyDistance,
- mode
- );
- } catch (Exception e) {
- // 濡傛灉閲嶆柊鐢熸垚澶辫触锛屼娇鐢ㄧ畝鍗曠粯鍒舵柟寮�
- segments = null;
- }
- }
+ // 2. 鐩存帴缁樺埗璺緞锛堜笉鍐嶉噸鏂扮敓鎴愶級
+ Path2D polyline = new Path2D.Double(); // 鍒涘缓鎶樼嚎
+ boolean move = true; // 棣栨鏍囪
+ for (Point2D.Double point : path) { // 閬嶅巻鐐归泦
+ if (move) { // 绗竴娈�
+ polyline.moveTo(point.x, point.y); // 绉诲姩鍒伴鐐�
+ move = false; // 鏇存柊鏍囪
+ } else { // 鍚庣画娈�
+ polyline.lineTo(point.x, point.y); // 杩炵嚎鍒颁笅涓�鐐�
+ } // if缁撴潫
+ } // for缁撴潫
- // 3. 鏍规嵁鏄惁鏈夋淇℃伅閫夋嫨涓嶅悓鐨勭粯鍒舵柟寮�
- if (segments != null && !segments.isEmpty()) {
- // 鏈夋淇℃伅锛氬垎鍒粯鍒朵綔涓氳矾寰勫拰绉诲姩璺緞
- drawPathSegments(g2d, segments, scale, arrowScale);
- } else {
- // 鏃犳淇℃伅锛氫娇鐢ㄧ畝鍗曠粯鍒舵柟寮忥紙鎵�鏈夎矾寰勪娇鐢ㄤ綔涓氳矾寰勯鑹诧級
- Path2D polyline = new Path2D.Double(); // 鍒涘缓鎶樼嚎
- boolean move = true; // 棣栨鏍囪
- for (Point2D.Double point : path) { // 閬嶅巻鐐归泦
- if (move) { // 绗竴娈�
- polyline.moveTo(point.x, point.y); // 绉诲姩鍒伴鐐�
- move = false; // 鏇存柊鏍囪
- } else { // 鍚庣画娈�
- polyline.lineTo(point.x, point.y); // 杩炵嚎鍒颁笅涓�鐐�
- } // if缁撴潫
- } // for缁撴潫
-
- g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); // 璁剧疆鍦嗗ご鍦嗚鎻忚竟
- g2d.setColor(MOWING_PATH_COLOR); // 璁剧疆浣滀笟璺緞棰滆壊锛堟彁棣欑孩70%閫忔槑搴︼級
- g2d.draw(polyline); // 缁樺埗鎶樼嚎
-
- Point2D.Double start = path.get(0); // 璧风偣
- Point2D.Double second = path.get(1); // 绗簩涓偣
- Point2D.Double end = path.get(path.size() - 1); // 缁堢偣
- Point2D.Double prev = path.get(path.size() - 2); // 鍊掓暟绗簩涓偣
+ g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); // 璁剧疆鍦嗗ご鍦嗚鎻忚竟
+ g2d.setColor(MOWING_PATH_COLOR); // 璁剧疆浣滀笟璺緞棰滆壊锛堟彁棣欑孩70%閫忔槑搴︼級
+ g2d.draw(polyline); // 缁樺埗鎶樼嚎
+
+ Point2D.Double start = path.get(0); // 璧风偣
+ Point2D.Double second = path.get(1); // 绗簩涓偣
+ Point2D.Double end = path.get(path.size() - 1); // 缁堢偣
+ Point2D.Double prev = path.get(path.size() - 2); // 鍊掓暟绗簩涓偣
- drawArrowMarker(g2d, start, second, START_POINT_COLOR, scale, arrowScale); // 缁樺埗璧风偣绠ご
- drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale, arrowScale); // 缁樺埗缁堢偣绠ご
- }
+ drawArrowMarker(g2d, start, second, START_POINT_COLOR, scale, arrowScale); // 缁樺埗璧风偣绠ご
+ drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale, arrowScale); // 缁樺埗缁堢偣绠ご
g2d.setStroke(previous); // 鎭㈠鍘熸弿杈�
} // 鏂规硶缁撴潫
@@ -172,7 +137,7 @@
*/ // 鏂囨。娉ㄩ噴缁撴潫
private static void drawInnerBoundary(Graphics2D g2d, String boundaryCoords, String safetyDistanceStr, double scale) {
try {
- List<Coordinate> boundary = Lunjingguihua.parseCoordinates(boundaryCoords);
+ List<Coordinate> boundary = parseCoordinates(boundaryCoords);
if (boundary.size() < 4) {
return; // 杈圭晫鐐逛笉瓒�
}
@@ -258,89 +223,7 @@
}
} // 鏂规硶缁撴潫
- /** // 鏂囨。娉ㄩ噴寮�濮�
- * 缁樺埗璺緞娈碉紙鍖哄垎浣滀笟璺緞鍜岀Щ鍔ㄨ矾寰勶級
- */ // 鏂囨。娉ㄩ噴缁撴潫
- 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();
-
- // 鍒嗗埆缁樺埗浣滀笟璺緞鍜岀Щ鍔ㄨ矾寰�
- 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) {
- // 浣滀笟璺緞 - 鎻愰绾�70%閫忔槑搴�
- 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 {
- // 绉诲姩璺緞 - 钃濊壊铏氱嚎
- 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;
- }
- }
-
- // 缁樺埗浣滀笟璺緞
- if (mowingStarted) {
- g2d.setColor(MOWING_PATH_COLOR); // 鎻愰绾�70%閫忔槑搴�
- g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
- g2d.draw(mowingPath);
- }
-
- // 缁樺埗绉诲姩璺緞锛堣櫄绾匡級
- if (travelStarted) {
- g2d.setColor(TRAVEL_PATH_COLOR); // 钃濊壊
- g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND, 0, DASH_PATTERN, 0));
- g2d.draw(travelPath);
- }
-
- // 缁樺埗璧风偣鍜岀粓鐐圭澶�
- 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);
- } // 鏂规硶缁撴潫
+
/** // 鏂囨。娉ㄩ噴寮�濮�
* 姣旇緝涓や釜鍧愭爣鏄惁鐩稿悓锛堝宸級
@@ -392,4 +275,36 @@
g2d.setColor(color); // 璁剧疆棰滆壊
g2d.fill(arrow); // 濉厖绠ご
} // 鏂规硶缁撴潫
+
+ /**
+ * 瑙ｆ瀽鍧愭爣瀛楃涓�
+ */
+ private static List<Coordinate> parseCoordinates(String s) {
+ List<Coordinate> list = new ArrayList<>();
+ if (s == null || s.trim().isEmpty()) return list;
+ // 澧炲己姝ｅ垯锛氬鐞嗗彲鑳藉瓨鍦ㄧ殑澶氱鍒嗛殧绗�
+ String[] pts = s.split("[;\\s]+");
+ for (String p : pts) {
+ String trimmed = p.trim().replace("(", "").replace(")", "");
+ if (trimmed.isEmpty()) continue;
+ String[] xy = trimmed.split("[,锛孿\s]+");
+ if (xy.length >= 2) {
+ try {
+ double x = Double.parseDouble(xy[0].trim());
+ double y = Double.parseDouble(xy[1].trim());
+ // 杩囨护鏃犳晥鍧愭爣
+ if (!Double.isNaN(x) && !Double.isNaN(y) && !Double.isInfinite(x) && !Double.isInfinite(y)) {
+ list.add(new Coordinate(x, y));
+ }
+ } catch (NumberFormatException ex) {
+ // 蹇界暐瑙ｆ瀽閿欒鐨勭偣
+ }
+ }
+ }
+ // 纭繚澶氳竟褰㈤棴鍚�
+ if (list.size() > 2 && !list.get(0).equals2D(list.get(list.size() - 1))) {
+ list.add(new Coordinate(list.get(0)));
+ }
+ return list;
+ }
} // 绫荤粨鏉�
--
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