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 | 142 +++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 142 insertions(+), 0 deletions(-)
diff --git a/src/zhuye/MapRenderer.java b/src/zhuye/MapRenderer.java
index 31b93b8..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
@@ -102,9 +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;
@@ -207,6 +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) {
@@ -216,6 +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;
@@ -248,6 +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();
+ }
+ }
});
}
@@ -378,6 +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);
@@ -424,6 +462,17 @@
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
@@ -927,6 +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();
}
@@ -1223,6 +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) {
@@ -2931,5 +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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