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 | 188 ++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 176 insertions(+), 12 deletions(-)
diff --git a/src/gecaoji/lujingdraw.java b/src/gecaoji/lujingdraw.java
index 15a4c46..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�
@@ -8,12 +7,22 @@
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 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
/** // 鏂囨。娉ㄩ噴寮�澶�
* Helper class to parse and render planned mowing paths. // 杈呭姪绫昏鏄�
*/ // 鏂囨。娉ㄩ噴缁撳熬
public final class lujingdraw { // 绫诲畾涔夛紝闃叉缁ф壙
- private static final Color PATH_COLOR = new Color(255, 0, 0, 220); // 璺緞棰滆壊锛堢孩鑹插崐閫忔槑锛�
+ // 椹皵鏂豢鑹� (RGB: 102, 205, 170) - 鐢ㄤ簬鍐呯缉杈圭晫锛堝洿杈癸級
+ private static final Color INNER_BOUNDARY_COLOR = new Color(102, 205, 170);
+ // 鎻愰绾㈤�忔槑搴�70% (RGB: 210, 4, 45, alpha: 178) - 鐢ㄤ簬鍓茶崏浣滀笟璺緞
+ private static final Color MOWING_PATH_COLOR = new Color(210, 4, 45, 178);
+ // 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 = {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
@@ -70,11 +79,33 @@
/** // 鏂囨。娉ㄩ噴寮�濮�
* Draw the planned mowing path. // 缁樺埗璺緞
*/ // 鏂囨。娉ㄩ噴缁撴潫
- public static void drawPlannedPath(Graphics2D g2d, List<Point2D.Double> path, double scale) { // 缁樺埗涓绘柟娉�
+ public static void drawPlannedPath(Graphics2D g2d, List<Point2D.Double> path, double scale, double arrowScale) { // 缁樺埗涓绘柟娉�
+ drawPlannedPath(g2d, path, scale, arrowScale, null, null, null, null, null); // 璋冪敤閲嶈浇鏂规硶
+ } // 鏂规硶缁撴潫
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * Draw the planned mowing path with segment information. // 缁樺埗璺緞锛堝甫娈典俊鎭級
+ * @param boundaryCoords 鍦板潡杈圭晫鍧愭爣瀛楃涓诧紝鐢ㄤ簬缁樺埗鍐呯缉杈圭晫
+ * @param mowingWidth 鍓茶崏瀹藉害锛堢背锛夛紝瀛楃涓叉牸寮�
+ * @param safetyDistance 瀹夊叏璺濈锛堢背锛夛紝瀛楃涓叉牸寮�
+ * @param obstaclesCoords 闅滅鐗╁潗鏍囧瓧绗︿覆
+ * @param mowingPattern 鍓茶崏妯″紡锛�"parallel"鎴�"spiral"锛�
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ public static void drawPlannedPath(Graphics2D g2d, List<Point2D.Double> path, double scale, double arrowScale,
+ String boundaryCoords, String mowingWidth, String safetyDistance, String obstaclesCoords, String mowingPattern) { // 缁樺埗涓绘柟娉曪紙閲嶈浇锛�
if (path == null || path.size() < 2) { // 鍒ゅ畾鐐规暟
return; // 鏁版嵁涓嶈冻鐩存帴杩斿洖
} // if缁撴潫
+ Stroke previous = g2d.getStroke(); // 淇濆瓨鍘熸弿杈�
+ float strokeWidth = (float) (2.5 / Math.max(0.5, scale)); // 鏍规嵁缂╂斁璁＄畻绾垮
+
+ // 1. 缁樺埗鍐呯缉杈圭晫锛堝洿杈癸級- 椹皵鏂豢鑹�
+ if (boundaryCoords != null && !boundaryCoords.trim().isEmpty() && !"-1".equals(boundaryCoords.trim())) {
+ drawInnerBoundary(g2d, boundaryCoords, safetyDistance, scale);
+ }
+
+ // 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
@@ -85,25 +116,125 @@
polyline.lineTo(point.x, point.y); // 杩炵嚎鍒颁笅涓�鐐�
} // if缁撴潫
} // for缁撴潫
-
- Stroke previous = g2d.getStroke(); // 淇濆瓨鍘熸弿杈�
- float strokeWidth = (float) (2.5 / Math.max(0.5, scale)); // 鏍规嵁缂╂斁璁＄畻绾垮
+
g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); // 璁剧疆鍦嗗ご鍦嗚鎻忚竟
- g2d.setColor(PATH_COLOR); // 璁剧疆绾胯矾棰滆壊
+ 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); // 缁樺埗璧风偣绠ご
- drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale); // 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
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * 缁樺埗鍐呯缉杈圭晫锛堝洿杈癸級- 椹皵鏂豢鑹�
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ private static void drawInnerBoundary(Graphics2D g2d, String boundaryCoords, String safetyDistanceStr, double scale) {
+ try {
+ List<Coordinate> boundary = parseCoordinates(boundaryCoords);
+ if (boundary.size() < 4) {
+ return; // 杈圭晫鐐逛笉瓒�
+ }
+
+ // 瑙ｆ瀽瀹夊叏璺濈
+ double safetyDistance = 0.2; // 榛樿0.2绫�
+ if (safetyDistanceStr != null && !safetyDistanceStr.trim().isEmpty()) {
+ try {
+ safetyDistance = Double.parseDouble(safetyDistanceStr.trim());
+ } catch (NumberFormatException e) {
+ // 浣跨敤榛樿鍊�
+ }
+ }
+
+ // 鍒涘缓澶氳竟褰㈠苟鍐呯缉
+ GeometryFactory gf = new GeometryFactory();
+ Polygon poly = gf.createPolygon(gf.createLinearRing(boundary.toArray(new Coordinate[0])));
+ if (!poly.isValid()) {
+ poly = (Polygon) poly.buffer(0);
+ }
+
+ // 鍐呯缉鐢熸垚瀹夊叏杈圭晫
+ org.locationtech.jts.geom.Geometry innerBoundary = poly.buffer(-safetyDistance);
+ if (innerBoundary == null || innerBoundary.isEmpty()) {
+ return;
+ }
+
+ // 缁樺埗鍐呯缉杈圭晫
+ g2d.setColor(INNER_BOUNDARY_COLOR); // 椹皵鏂豢鑹�
+ float strokeWidth = (float) (3.0 / Math.max(0.5, scale));
+ g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
+
+ // 灏咼TS鍑犱綍浣撹浆鎹负Path2D骞剁粯鍒�
+ Path2D.Double innerPath = geometryToPath2D(innerBoundary);
+ if (innerPath != null) {
+ g2d.draw(innerPath);
+ }
+ } catch (Exception e) {
+ // 缁樺埗澶辫触鏃跺拷鐣ワ紝涓嶅奖鍝嶅叾浠栬矾寰勭粯鍒�
+ }
+ } // 鏂规硶缁撴潫
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * 灏咼TS鍑犱綍浣撹浆鎹负Path2D
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ 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;
+ } // 鏂规硶缁撴潫
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * 灏嗗潗鏍囩幆娣诲姞鍒癙ath2D
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ 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();
+ }
+ } // 鏂规硶缁撴潫
+
- private static void drawArrowMarker(Graphics2D g2d, Point2D.Double from, Point2D.Double to, Color color, double scale) { // 缁樺埗绠ご杈呭姪
+
+ /** // 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
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ 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;
+ } // 鏂规硶缁撴潫
+
+ private static void drawArrowMarker(Graphics2D g2d, Point2D.Double from, Point2D.Double to, Color color, double scale, double sizeScale) { // 缁樺埗绠ご杈呭姪
if (from == null || to == null) { // 鍒ょ┖
return; // 鏁版嵁涓嶈冻杩斿洖
} // if缁撴潫
@@ -115,7 +246,8 @@
} // if缁撴潫
double arrowLength = Math.max(2.5, 5.5 / Math.max(0.5, scale)); // 璁＄畻绠ご闀垮害
- arrowLength *= 0.5; // 缂╁皬绠ご灏哄涓哄師鏉ョ殑涓�鍗�
+ double clampedScale = sizeScale > 0 ? sizeScale : 1.0; // 闃叉闈炴硶缂╂斁
+ arrowLength *= 0.25 * clampedScale; // 缂╁皬绠ご鑷冲師鏉ョ殑涓�鍗�
double arrowWidth = arrowLength * 0.45; // 璁＄畻绠ご瀹藉害
double ux = dx / length; // 鍗曚綅鍚戦噺X
@@ -143,4 +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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