From 1cf1ecbc75c6d14b40efb3161e7db0b8b64f7de2 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期三, 17 十二月 2025 12:05:27 +0800
Subject: [PATCH] 新增有障碍物的路径规划算法和优化没有障碍物的路径算法
---
src/zhuye/Shouye.java | 20 ++++++++++++++------
1 files changed, 14 insertions(+), 6 deletions(-)
diff --git a/src/zhuye/Shouye.java b/src/zhuye/Shouye.java
index 7c20720..1aa16f7 100644
--- a/src/zhuye/Shouye.java
+++ b/src/zhuye/Shouye.java
@@ -11,6 +11,8 @@
import java.awt.event.*;
import chuankou.dellmessage;
+import chuankou.sendmessage;
+import chuankou.SerialPortService;
import dikuai.Dikuai;
import dikuai.Dikuaiguanli;
import dikuai.addzhangaiwu;
@@ -287,6 +289,8 @@
// 杈圭晫妫�鏌ュ畾鏃跺櫒锛氭瘡500ms妫�鏌ヤ竴娆″壊鑽夋満鏄惁鍦ㄨ竟鐣屽唴
boundaryWarningTimer = new Timer(500, e -> {
checkMowerBoundaryStatus();
+ // 鍚屾椂鏇存柊钃濈墮鍥炬爣鐘舵��
+ updateBluetoothButtonIcon();
});
boundaryWarningTimer.setInitialDelay(0);
boundaryWarningTimer.start();
@@ -957,12 +961,14 @@
}
});
ensureBluetoothIconsLoaded();
- bluetoothConnected = Bluelink.isConnected();
- ImageIcon initialIcon = bluetoothConnected ? bluetoothLinkedIcon : bluetoothIcon;
+ // 鏍规嵁涓插彛杩炴帴鐘舵�佹樉绀哄浘鏍�
+ SerialPortService service = sendmessage.getActiveService();
+ boolean serialConnected = (service != null && service.isOpen());
+ ImageIcon initialIcon = serialConnected ? bluetoothLinkedIcon : bluetoothIcon;
if (initialIcon != null) {
button.setIcon(initialIcon);
} else {
- button.setText(bluetoothConnected ? "宸茶繛" : "钃濈墮");
+ button.setText(serialConnected ? "宸茶繛" : "钃濈墮");
}
return button;
}
@@ -1862,13 +1868,15 @@
return;
}
ensureBluetoothIconsLoaded();
- bluetoothConnected = Bluelink.isConnected();
- ImageIcon icon = bluetoothConnected ? bluetoothLinkedIcon : bluetoothIcon;
+ // 鏍规嵁涓插彛杩炴帴鐘舵�佹樉绀哄浘鏍�
+ SerialPortService service = sendmessage.getActiveService();
+ boolean serialConnected = (service != null && service.isOpen());
+ ImageIcon icon = serialConnected ? bluetoothLinkedIcon : bluetoothIcon;
if (icon != null) {
bluetoothBtn.setIcon(icon);
bluetoothBtn.setText(null);
} else {
- bluetoothBtn.setText(bluetoothConnected ? "宸茶繛" : "钃濈墮");
+ bluetoothBtn.setText(serialConnected ? "宸茶繛" : "钃濈墮");
}
}
--
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