From 48ee74129bb09a817a0bbbabe860c4007b74c66b Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期日, 21 十二月 2025 12:37:44 +0800
Subject: [PATCH] 新增了往返路径
---
src/zhuye/MapRenderer.java | 297 +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 295 insertions(+), 2 deletions(-)
diff --git a/src/zhuye/MapRenderer.java b/src/zhuye/MapRenderer.java
index 368e316..ed61778 100644
--- a/src/zhuye/MapRenderer.java
+++ b/src/zhuye/MapRenderer.java
@@ -31,6 +31,7 @@
import zhangaiwu.Obstacledge;
import zhangaiwu.yulanzhangaiwu;
import yaokong.Control03;
+import bianjie.shudongdraw;
/**
* 鍦板浘娓叉煋鍣� - 璐熻矗鍧愭爣绯荤粯鍒躲�佽鍥惧彉鎹㈢瓑鍔熻兘
@@ -85,6 +86,7 @@
private CircleCaptureOverlay circleCaptureOverlay;
private final List<double[]> circleSampleMarkers = new ArrayList<>();
private final List<Point2D.Double> realtimeMowingTrack = new ArrayList<>();
+ private final List<Point2D.Double> navigationPreviewTrack = new ArrayList<>(); // 瀵艰埅棰勮杞ㄨ抗
private final Deque<tuowei.TrailSample> idleMowerTrail = new ArrayDeque<>();
private final List<Point2D.Double> handheldBoundaryPreview = new ArrayList<>();
private double boundaryPreviewMarkerScale = 1.0d;
@@ -101,9 +103,13 @@
private boolean measurementModeActive = false; // 娴嬮噺妯″紡鏄惁婵�娲�
private boolean handheldBoundaryPreviewActive;
private boolean pendingTrackBreak = true;
+ private bianjie.shudongdraw manualBoundaryDrawer = new bianjie.shudongdraw(); // 鎵嬪姩缁樺埗杈圭晫缁樺埗鍣�
private boolean idleTrailSuppressed;
private Path2D.Double realtimeBoundaryPathCache;
private String realtimeBoundaryPathLand;
+ private WangfanDraw returnPathDrawer; // 寰�杩旇矾寰勭粯鍒剁鐞嗗櫒
+ private List<Point2D.Double> currentReturnPath; // 褰撳墠鍦板潡鐨勫線杩旇矾寰勶紙鐢ㄤ簬鏄剧ず锛�
+ private List<Point2D.Double> previewReturnPath; // 棰勮鐨勫線杩旇矾寰�
private static final double TRACK_SAMPLE_MIN_DISTANCE_METERS = 0.2d;
private static final double TRACK_DUPLICATE_TOLERANCE_METERS = 1e-3d;
@@ -206,6 +212,14 @@
lastDragPoint = null;
dragInProgress = false;
}
+
+ public void mouseExited(MouseEvent e) {
+ // 榧犳爣绂诲紑闈㈡澘鏃讹紝娓呴櫎榧犳爣浣嶇疆鏄剧ず
+ if (manualBoundaryDrawer.isManualBoundaryDrawingMode()) {
+ manualBoundaryDrawer.clearMousePosition();
+ visualizationPanel.repaint();
+ }
+ }
public void mouseClicked(MouseEvent e) {
if (dragInProgress) {
@@ -215,6 +229,14 @@
if (!SwingUtilities.isLeftMouseButton(e) || e.getClickCount() != 1) {
return;
}
+ // 浼樺厛澶勭悊鎵嬪姩缁樺埗杈圭晫妯″紡鐐瑰嚮
+ if (manualBoundaryDrawer.isManualBoundaryDrawingMode()) {
+ Point2D.Double worldPoint = screenToWorld(e.getPoint());
+ if (manualBoundaryDrawer.handleClick(worldPoint)) {
+ visualizationPanel.repaint();
+ return;
+ }
+ }
// 浼樺厛澶勭悊娴嬮噺妯″紡鐐瑰嚮
if (measurementModeActive && handleMeasurementClick(e.getPoint())) {
return;
@@ -247,6 +269,17 @@
visualizationPanel.repaint();
}
}
+
+ public void mouseMoved(MouseEvent e) {
+ // 鍦ㄦ墜鍔ㄧ粯鍒惰竟鐣屾ā寮忔椂锛屾洿鏂伴紶鏍囦綅缃�
+ if (manualBoundaryDrawer.isManualBoundaryDrawingMode()) {
+ Point2D.Double worldPoint = screenToWorld(e.getPoint());
+ manualBoundaryDrawer.updateMousePosition(worldPoint);
+ visualizationPanel.repaint();
+ } else {
+ manualBoundaryDrawer.clearMousePosition();
+ }
+ }
});
}
@@ -377,6 +410,12 @@
adddikuaiyulan.drawPreview(g2d, handheldBoundaryPreview, scale, handheldBoundaryPreviewActive, boundaryPreviewMarkerScale);
+ // 缁樺埗鎵嬪姩缁樺埗鐨勮竟鐣�
+ manualBoundaryDrawer.drawBoundary(g2d, scale);
+
+ // 缁樺埗榧犳爣瀹炴椂浣嶇疆锛堟墜鍔ㄧ粯鍒惰竟鐣屾ā寮忔椂锛�
+ manualBoundaryDrawer.drawMousePosition(g2d, scale);
+
// 缁樺埗瀵艰埅璺緞锛堜腑灞傦級
if (hasPlannedPath) {
drawCurrentPlannedPath(g2d);
@@ -417,9 +456,30 @@
if (!realtimeMowingTrack.isEmpty()) {
drawRealtimeMowingCoverage(g2d);
}
+
+ // 缁樺埗瀵艰埅棰勮宸插壊鍖哄煙
+ if (!navigationPreviewTrack.isEmpty()) {
+ drawNavigationPreviewCoverage(g2d);
+ }
+
+ // 鍏堢敾寰�杩旇矾寰勶紙绾�+鐐癸級锛屼繚璇佸壊鑽夋満鍥炬爣鍦ㄥ叾涓婃柟
+ if (returnPathDrawer != null && returnPathDrawer.isActive()) {
+ returnPathDrawer.draw(g2d, scale);
+ } else if (previewReturnPath != null && !previewReturnPath.isEmpty()) {
+ // 缁樺埗棰勮鐨勫線杩旇矾寰勶紙閾佺嚎璺浘椋庢牸锛�
+ WangfanDraw.drawRailwayPath(g2d, previewReturnPath, scale);
+ } else if (currentReturnPath != null && !currentReturnPath.isEmpty()) {
+ // 缁樺埗淇濆瓨鐨勫線杩旇矾寰勶紙閾佺嚎璺浘椋庢牸锛�
+ WangfanDraw.drawRailwayPath(g2d, currentReturnPath, scale);
+ }
drawMower(g2d);
+ // 缁樺埗瀵艰埅棰勮閫熷害锛堝鏋滄鍦ㄥ鑸瑙堬級
+ if (navigationPreviewSpeed > 0 && mower != null && mower.hasValidPosition()) {
+ drawNavigationPreviewSpeed(g2d, scale);
+ }
+
// 缁樺埗娴嬮噺妯″紡锛堝鏋滄縺娲伙級
if (measurementModeActive) {
drawMeasurementMode(g2d, scale);
@@ -458,6 +518,60 @@
private void drawMower(Graphics2D g2d) {
mower.draw(g2d, scale);
}
+
+ /**
+ * 缁樺埗瀵艰埅棰勮閫熷害锛堝湪鍓茶崏鏈哄浘鏍囦笂鏂癸級
+ */
+ private void drawNavigationPreviewSpeed(Graphics2D g2d, double scale) {
+ if (mower == null || !mower.hasValidPosition()) {
+ return;
+ }
+
+ Point2D.Double mowerPos = mower.getPosition();
+ if (mowerPos == null) {
+ return;
+ }
+
+ // 灏嗛�熷害浠庣背/绉掕浆鎹负KM/h
+ double speedKmh = navigationPreviewSpeed * 3.6;
+ String speedText = String.format("%.1f km/h", speedKmh);
+
+ // 淇濆瓨鍘熷鍙樻崲
+ AffineTransform originalTransform = g2d.getTransform();
+
+ // 灏嗕笘鐣屽潗鏍囪浆鎹负灞忓箷鍧愭爣
+ Point2D.Double screenPos = worldToScreen(mowerPos);
+
+ // 鎭㈠鍘熷鍙樻崲浠ョ粯鍒舵枃瀛楋紙鍥哄畾澶у皬锛屼笉闅忕缉鏀惧彉鍖栵級
+ g2d.setTransform(new AffineTransform());
+
+ // 璁剧疆瀛椾綋锛堜笌缂╂斁鏂囧瓧澶у皬涓�鑷达紝11鍙峰瓧浣擄級
+ Font labelFont = new Font("寰蒋闆呴粦", Font.PLAIN, 11);
+ g2d.setFont(labelFont);
+ FontMetrics metrics = g2d.getFontMetrics(labelFont);
+
+ // 璁＄畻鏂囧瓧浣嶇疆锛堝湪鍓茶崏鏈哄浘鏍囦笂鏂癸級
+ int textWidth = metrics.stringWidth(speedText);
+ int textHeight = metrics.getHeight();
+ int textX = (int)Math.round(screenPos.x - textWidth / 2.0);
+ // 鍦ㄥ壊鑽夋満鍥炬爣涓婃柟锛岀暀鍑轰竴瀹氶棿璺�
+ // 鍥炬爣鍦ㄤ笘鐣屽潗鏍囩郴涓殑澶у皬绾︿负 48 * 0.8 / scale 绫�
+ // 杞崲涓哄睆骞曞儚绱狅細鍥炬爣楂樺害锛堝儚绱狅級= (48 * 0.8 / scale) * scale = 48 * 0.8 = 38.4 鍍忕礌
+ double iconSizePixels = 48.0 * 0.8; // 鍥炬爣鍦ㄥ睆骞曚笂鐨勫ぇ灏忥紙鍍忕礌锛�
+ int spacing = 8; // 闂磋窛锛堝儚绱狅級
+ int textY = (int)Math.round(screenPos.y - iconSizePixels / 2.0 - spacing - textHeight);
+
+ // 缁樺埗鏂囧瓧鑳屾櫙锛堝崐閫忔槑鐧借壊锛屽寮哄彲璇绘�э級
+ g2d.setColor(new Color(255, 255, 255, 200));
+ g2d.fillRoundRect(textX - 4, textY - metrics.getAscent() - 2, textWidth + 8, textHeight + 4, 4, 4);
+
+ // 缁樺埗鏂囧瓧
+ g2d.setColor(new Color(46, 139, 87)); // 浣跨敤涓婚缁胯壊
+ g2d.drawString(speedText, textX, textY);
+
+ // 鎭㈠鍙樻崲
+ g2d.setTransform(originalTransform);
+ }
private void drawRealtimeMowingCoverage(Graphics2D g2d) {
if (realtimeMowingTrack == null || realtimeMowingTrack.size() < 2) {
@@ -468,6 +582,91 @@
double effectiveWidth = getEffectiveMowerWidthMeters();
gecaolunjing.draw(g2d, realtimeMowingTrack, effectiveWidth, boundaryPath);
}
+
+ /**
+ * 缁樺埗瀵艰埅棰勮宸插壊鍖哄煙
+ */
+ private void drawNavigationPreviewCoverage(Graphics2D g2d) {
+ if (navigationPreviewTrack == null || navigationPreviewTrack.size() < 2) {
+ return;
+ }
+
+ Path2D.Double boundaryPath = currentBoundaryPath;
+ // 鑾峰彇瀵艰埅棰勮鐨勫壊鑽夊搴︼紙浠巇aohangyulan鑾峰彇锛�
+ double previewWidth = getNavigationPreviewWidth();
+ if (previewWidth <= 0) {
+ previewWidth = 0.5; // 榛樿50鍘樼背
+ }
+ gecaolunjing.draw(g2d, navigationPreviewTrack, previewWidth, boundaryPath);
+ }
+
+ /**
+ * 璁剧疆瀵艰埅棰勮杞ㄨ抗
+ */
+ public void setNavigationPreviewTrack(List<Point2D.Double> track) {
+ if (track == null) {
+ navigationPreviewTrack.clear();
+ } else {
+ navigationPreviewTrack.clear();
+ navigationPreviewTrack.addAll(track);
+ }
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 娣诲姞瀵艰埅棰勮杞ㄨ抗鐐�
+ */
+ public void addNavigationPreviewTrackPoint(Point2D.Double point) {
+ if (point != null && Double.isFinite(point.x) && Double.isFinite(point.y)) {
+ navigationPreviewTrack.add(new Point2D.Double(point.x, point.y));
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+ }
+
+ /**
+ * 娓呴櫎瀵艰埅棰勮杞ㄨ抗
+ */
+ public void clearNavigationPreviewTrack() {
+ navigationPreviewTrack.clear();
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ private double navigationPreviewWidth = 0.5; // 瀵艰埅棰勮鐨勫壊鑽夊搴︼紙绫筹級
+ private double navigationPreviewSpeed = 0.0; // 瀵艰埅棰勮鐨勫壊鑽夋満閫熷害锛堢背/绉掞級
+
+ /**
+ * 璁剧疆瀵艰埅棰勮鐨勫壊鑽夊搴�
+ */
+ public void setNavigationPreviewWidth(double widthMeters) {
+ navigationPreviewWidth = widthMeters > 0 ? widthMeters : 0.5;
+ }
+
+ /**
+ * 鑾峰彇瀵艰埅棰勮鐨勫壊鑽夊搴�
+ */
+ private double getNavigationPreviewWidth() {
+ return navigationPreviewWidth;
+ }
+
+ /**
+ * 璁剧疆瀵艰埅棰勮鐨勫壊鑽夋満閫熷害锛堢背/绉掞級
+ */
+ public void setNavigationPreviewSpeed(double speedMetersPerSecond) {
+ navigationPreviewSpeed = speedMetersPerSecond >= 0 ? speedMetersPerSecond : 0.0;
+ }
+
+ /**
+ * 鑾峰彇瀵艰埅棰勮鐨勫壊鑽夋満閫熷害锛堢背/绉掞級
+ */
+ private double getNavigationPreviewSpeed() {
+ return navigationPreviewSpeed;
+ }
private Path2D.Double getRealtimeBoundaryPath() {
if (realtimeTrackLandNumber == null) {
@@ -777,6 +976,14 @@
mowerEffectiveWidthMeters = defaultMowerWidthMeters;
}
+ // 鍔犺浇寰�杩旇矾寰�
+ String returnPathStr = dikuai != null ? dikuai.getReturnPathCoordinates() : null;
+ if (returnPathStr != null && !returnPathStr.isEmpty() && !"-1".equals(returnPathStr)) {
+ currentReturnPath = lujingdraw.parsePlannedPath(returnPathStr);
+ } else {
+ currentReturnPath = null;
+ }
+
loadRealtimeTrack(landNumber, dikuai != null ? dikuai.getMowingTrack() : null);
visualizationPanel.repaint();
}
@@ -1073,6 +1280,33 @@
}
/**
+ * 璁剧疆鎵嬪姩缁樺埗杈圭晫妯″紡
+ */
+ public void setManualBoundaryDrawingMode(boolean active) {
+ manualBoundaryDrawer.setManualBoundaryDrawingMode(active);
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 鑾峰彇鎵嬪姩缁樺埗鐨勮竟鐣岀偣鍒楄〃
+ */
+ public List<Point2D.Double> getManualBoundaryPoints() {
+ return manualBoundaryDrawer.getManualBoundaryPoints();
+ }
+
+ /**
+ * 娓呯┖鎵嬪姩缁樺埗鐨勮竟鐣岀偣
+ */
+ public void clearManualBoundaryPoints() {
+ manualBoundaryDrawer.clearManualBoundaryPoints();
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
* 璁剧疆娴嬮噺妯″紡
*/
public void setMeasurementMode(boolean active) {
@@ -1870,10 +2104,11 @@
return;
}
- // 璁剧疆鐐圭殑澶у皬锛堜笌杈圭晫绾垮搴︿竴鑷达級
+ // 璁剧疆鐐圭殑澶у皬锛堣竟鐣岀嚎瀹藉害鐨�2鍊嶏級
// 杈圭晫绾垮搴︼細3 / Math.max(0.5, scale)
double scaleFactor = Math.max(0.5, scale);
- double markerDiameter = 3.0 / scaleFactor; // 涓庤竟鐣岀嚎瀹藉害涓�鑷�
+ double boundaryLineWidth = 3.0 / scaleFactor; // 杈圭晫绾垮搴�
+ double markerDiameter = boundaryLineWidth * 2.0; // 杈圭晫鐐圭洿寰� = 杈圭晫绾垮搴︾殑2鍊�
double markerRadius = markerDiameter / 2.0;
// 璁剧疆瀛椾綋锛堜笌闅滅鐗╁簭鍙蜂竴鑷达紝涓嶉殢缂╂斁鍙樺寲锛�
@@ -2780,5 +3015,63 @@
public Gecaoji getMower() {
return mower;
}
+
+ /**
+ * 璁剧疆寰�杩旇矾寰勭粯鍒剁鐞嗗櫒
+ */
+ public void setReturnPathDrawer(WangfanDraw drawer) {
+ this.returnPathDrawer = drawer;
+ }
+
+ /**
+ * 璁剧疆棰勮鐨勫線杩旇矾寰�
+ */
+ public void setPreviewReturnPath(List<Point2D.Double> path) {
+ this.previewReturnPath = path;
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 寮�濮嬪線杩旇矾寰勭粯鍒�
+ */
+ public void startReturnPathDrawing() {
+ if (returnPathDrawer != null) {
+ // 绂佺敤鎷栧熬鏁堟灉锛堝湪寰�杩旇矾寰勭粯鍒舵ā寮忎笅涓嶆樉绀哄疄鏃惰建杩规嫋灏撅級
+ idleTrailSuppressed = true;
+ clearIdleMowerTrail();
+ // 娓呯┖涔嬪墠鐨勮矾寰勭偣锛堥�氳繃 WangfanDraw 绠＄悊锛�
+ repaint();
+ }
+ }
+
+ /**
+ * 鍋滄寰�杩旇矾寰勭粯鍒�
+ */
+ public void stopReturnPathDrawing() {
+ // 鎭㈠鎷栧熬鏁堟灉
+ idleTrailSuppressed = false;
+ repaint();
+ }
+
+ /**
+ * 娣诲姞寰�杩旇矾寰勭偣锛堝凡搴熷純锛岃矾寰勭偣鐢� WangfanDraw 鐩存帴绠＄悊锛�
+ */
+ @Deprecated
+ public void addReturnPathPoint(double x, double y) {
+ // 璺緞鐐圭敱 WangfanDraw 鐩存帴绠＄悊锛岃繖閲屽彧闇�瑕侀噸缁�
+ repaint();
+ }
+
+ /**
+ * 鑾峰彇寰�杩旇矾寰勭偣鍒楄〃鐨勫揩鐓�
+ */
+ public List<Point2D.Double> getReturnPathPointsSnapshot() {
+ if (returnPathDrawer != null) {
+ return returnPathDrawer.getPointsSnapshot();
+ }
+ return new ArrayList<>();
+ }
}
\ No newline at end of file
--
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