From 5b685e9066ccfbc432c29739b5524f1d42a20891 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期一, 22 十二月 2025 19:37:30 +0800
Subject: [PATCH] 进一步优化边界管理页面功能
---
src/zhuye/MapRenderer.java | 412 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1 files changed, 410 insertions(+), 2 deletions(-)
diff --git a/src/zhuye/MapRenderer.java b/src/zhuye/MapRenderer.java
index 31b93b8..9db0014 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 +103,16 @@
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 List<Point2D.Double> previewOriginalBoundary; // 棰勮鐨勫師濮嬭竟鐣岋紙绱壊锛�
+ private List<Point2D.Double> previewOptimizedBoundary; // 棰勮鐨勪紭鍖栧悗杈圭晫
+ private boolean boundaryPreviewActive; // 鏄惁澶勪簬杈圭晫棰勮妯″紡
private static final double TRACK_SAMPLE_MIN_DISTANCE_METERS = 0.2d;
private static final double TRACK_DUPLICATE_TOLERANCE_METERS = 1e-3d;
@@ -207,6 +215,14 @@
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 +232,14 @@
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;
@@ -223,6 +247,10 @@
if (handleMowerClick(e.getPoint())) {
return;
}
+ // 浼樺厛澶勭悊浼樺寲鍚庤竟鐣屽潗鏍囩偣鐐瑰嚮锛堣竟鐣岄瑙堟ā寮忎笅锛�
+ if (boundaryPreviewActive && handleOptimizedBoundaryPointClick(e.getPoint())) {
+ return;
+ }
// 浼樺厛澶勭悊闅滅鐗╄竟鐣岀偣鐐瑰嚮锛堝鏋滃彲瑙侊級
if (obstaclePointsVisible && handleObstaclePointClick(e.getPoint())) {
return;
@@ -248,6 +276,17 @@
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();
+ }
+ }
});
}
@@ -365,6 +404,11 @@
if (hasBoundary) {
drawCurrentBoundary(g2d);
}
+
+ // 缁樺埗杈圭晫棰勮锛堝師濮嬭竟鐣�-绱壊锛屼紭鍖栧悗杈圭晫锛�
+ if (boundaryPreviewActive) {
+ drawBoundaryPreview(g2d);
+ }
yulanzhangaiwu.renderPreview(g2d, scale);
@@ -378,8 +422,14 @@
adddikuaiyulan.drawPreview(g2d, handheldBoundaryPreview, scale, handheldBoundaryPreviewActive, boundaryPreviewMarkerScale);
- // 缁樺埗瀵艰埅璺緞锛堜腑灞傦級
- if (hasPlannedPath) {
+ // 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- 杈圭晫棰勮妯″紡涓嬩笉鏄剧ず瀵艰埅璺緞
+ if (hasPlannedPath && !boundaryPreviewActive) {
drawCurrentPlannedPath(g2d);
}
@@ -424,6 +474,17 @@
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 +988,14 @@
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 +1292,33 @@
}
/**
+ * 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 +3027,317 @@
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();
+ }
+
+ /**
+ * 璁剧疆鎷栧熬鎶戝埗鐘舵��
+ * @param suppressed true琛ㄧず鎶戝埗鎷栧熬缁樺埗锛宖alse琛ㄧず鍏佽鎷栧熬缁樺埗
+ */
+ public void setIdleTrailSuppressed(boolean suppressed) {
+ idleTrailSuppressed = suppressed;
+ if (suppressed && !idleMowerTrail.isEmpty()) {
+ clearIdleMowerTrail();
+ }
+ if (visualizationPanel != null) {
+ visualizationPanel.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<>();
+ }
+
+ /**
+ * 璁剧疆杈圭晫棰勮鏁版嵁锛堝師濮嬭竟鐣屽拰浼樺寲鍚庤竟鐣岋級
+ */
+ public void setBoundaryPreview(String originalBoundaryXY, String optimizedBoundary) {
+ if (originalBoundaryXY != null && !originalBoundaryXY.trim().isEmpty() && !"-1".equals(originalBoundaryXY.trim())) {
+ previewOriginalBoundary = parseBoundary(originalBoundaryXY.trim());
+ } else {
+ previewOriginalBoundary = null;
+ }
+
+ if (optimizedBoundary != null && !optimizedBoundary.trim().isEmpty() && !"-1".equals(optimizedBoundary.trim())) {
+ previewOptimizedBoundary = parseBoundary(optimizedBoundary.trim());
+ } else {
+ previewOptimizedBoundary = null;
+ }
+
+ boundaryPreviewActive = (previewOriginalBoundary != null && previewOriginalBoundary.size() >= 2) ||
+ (previewOptimizedBoundary != null && previewOptimizedBoundary.size() >= 2);
+
+ if (boundaryPreviewActive) {
+ // 璁＄畻棰勮杈圭晫鐨勮竟鐣屾骞惰皟鏁磋鍥�
+ List<Point2D.Double> allPoints = new ArrayList<>();
+ if (previewOriginalBoundary != null) allPoints.addAll(previewOriginalBoundary);
+ if (previewOptimizedBoundary != null) allPoints.addAll(previewOptimizedBoundary);
+ if (!allPoints.isEmpty()) {
+ Rectangle2D.Double bounds = computeBounds(allPoints);
+ SwingUtilities.invokeLater(() -> {
+ fitBoundsToView(bounds);
+ visualizationPanel.repaint();
+ });
+ }
+ } else {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 娓呴櫎杈圭晫棰勮
+ */
+ public void clearBoundaryPreview() {
+ previewOriginalBoundary = null;
+ previewOptimizedBoundary = null;
+ boundaryPreviewActive = false;
+ visualizationPanel.repaint();
+ }
+
+ /**
+ * 缁樺埗杈圭晫棰勮锛堝師濮嬭竟鐣�-绱壊锛屼紭鍖栧悗杈圭晫-缁胯壊锛�
+ */
+ private void drawBoundaryPreview(Graphics2D g2d) {
+ // 缁樺埗鍘熷杈圭晫锛堢传鑹诧級
+ if (previewOriginalBoundary != null && previewOriginalBoundary.size() >= 2) {
+ Color purpleFill = new Color(128, 0, 128, 80); // 绱壊鍗婇�忔槑濉厖
+ Color purpleBorder = new Color(128, 0, 128, 255); // 绱壊杈规
+ bianjiedrwa.drawBoundary(g2d, previewOriginalBoundary, scale, purpleFill, purpleBorder);
+ }
+
+ // 缁樺埗浼樺寲鍚庤竟鐣岋紙缁胯壊锛屼笌姝ｅ父杈圭晫棰滆壊涓�鑷达級
+ if (previewOptimizedBoundary != null && previewOptimizedBoundary.size() >= 2) {
+ bianjiedrwa.drawBoundary(g2d, previewOptimizedBoundary, scale, GRASS_FILL_COLOR, GRASS_BORDER_COLOR);
+
+ // 缁樺埗浼樺寲鍚庤竟鐣屽潗鏍囩偣锛堢传鑹插疄蹇冨渾鍦堬紝鏄剧ず搴忓彿锛�
+ drawOptimizedBoundaryPointsWithNumbers(g2d, previewOptimizedBoundary, scale);
+ }
+ }
+
+ /**
+ * 缁樺埗浼樺寲鍚庤竟鐣屽潗鏍囩偣锛堢传鑹插疄蹇冨渾鍦堬紝鏄剧ず搴忓彿锛�
+ * 搴忓彿鏄剧ず鍦ㄧ偣涓績锛屽瓧浣撳ぇ灏�11鍙凤紝涓嶉殢缂╂斁鍙樺寲
+ */
+ private void drawOptimizedBoundaryPointsWithNumbers(Graphics2D g2d, List<Point2D.Double> boundary, double scale) {
+ if (boundary == null || boundary.isEmpty()) {
+ return;
+ }
+
+ // 淇濆瓨鍘熷鍙樻崲
+ AffineTransform originalTransform = g2d.getTransform();
+
+ // 璁剧疆鐐圭殑澶у皬锛堝疄蹇冨渾鍦堬紝鐩村緞绾�0.3绫筹級
+ double scaleFactor = Math.max(0.5, scale);
+ double markerDiameter = 0.3; // 鍦嗗湀鐩村緞锛堢背锛�
+ double markerRadius = markerDiameter / 2.0;
+
+ // 璁剧疆瀛椾綋锛�11鍙凤紝涓嶉殢缂╂斁鍙樺寲锛�
+ Font labelFont = new Font("寰蒋闆呴粦", Font.PLAIN, 11);
+ g2d.setFont(labelFont);
+ FontMetrics fontMetrics = g2d.getFontMetrics(labelFont);
+
+ // 绱壊瀹炲績鍦嗗湀棰滆壊
+ Color purpleColor = new Color(128, 0, 128, 255); // 绱壊
+
+ // 缁樺埗姣忎釜鐐瑰強鍏跺簭鍙�
+ for (int i = 0; i < boundary.size(); i++) {
+ Point2D.Double point = boundary.get(i);
+ double x = point.x;
+ double y = point.y;
+
+ // 缁樺埗绱壊瀹炲績鍦嗗湀锛堝湪涓栫晫鍧愭爣绯讳腑锛岄殢缂╂斁鍙樺寲锛�
+ g2d.setColor(purpleColor);
+ Ellipse2D.Double marker = new Ellipse2D.Double(
+ x - markerRadius,
+ y - markerRadius,
+ markerDiameter,
+ markerDiameter
+ );
+ g2d.fill(marker);
+
+ // 灏嗕笘鐣屽潗鏍囪浆鎹负灞忓箷鍧愭爣浠ョ粯鍒跺簭鍙凤紙涓嶉殢缂╂斁鍙樺寲锛�
+ Point2D.Double worldPoint = new Point2D.Double(x, y);
+ Point2D.Double screenPoint = new Point2D.Double();
+ originalTransform.transform(worldPoint, screenPoint);
+
+ // 淇濆瓨褰撳墠鍙樻崲
+ AffineTransform savedTransform = g2d.getTransform();
+
+ // 閲嶇疆鍙樻崲涓哄睆骞曞潗鏍囩郴缁�
+ g2d.setTransform(new AffineTransform());
+
+ // 缁樺埗搴忓彿锛堝湪灞忓箷鍧愭爣绯讳腑锛屼笉闅忕缉鏀惧彉鍖栵級
+ String numberText = String.valueOf(i + 1);
+ int textWidth = fontMetrics.stringWidth(numberText);
+ int textHeight = fontMetrics.getHeight();
+
+ // 鍦ㄧ偣涓績缁樺埗搴忓彿
+ int textX = (int)(screenPoint.x - textWidth / 2.0);
+ int textY = (int)(screenPoint.y + textHeight / 4.0);
+
+ // 缁樺埗搴忓彿鏂囧瓧锛堥粦鑹诧級
+ g2d.setColor(Color.BLACK);
+ g2d.drawString(numberText, textX, textY);
+
+ // 鎭㈠鍙樻崲
+ g2d.setTransform(savedTransform);
+ }
+
+ // 鎭㈠鍘熷鍙樻崲
+ g2d.setTransform(originalTransform);
+ }
+
+ /**
+ * 澶勭悊浼樺寲鍚庤竟鐣屽潗鏍囩偣鐐瑰嚮
+ * @param screenPoint 灞忓箷鍧愭爣鐐�
+ * @return 鏄惁澶勭悊浜嗙偣鍑�
+ */
+ private boolean handleOptimizedBoundaryPointClick(Point screenPoint) {
+ if (previewOptimizedBoundary == null || previewOptimizedBoundary.isEmpty()) {
+ return false;
+ }
+
+ // 璁＄畻閫夋嫨闃堝�硷紙鍍忕礌锛�
+ double threshold = computeOptimizedBoundaryPointSelectionThreshold();
+
+ // 鏌ユ壘琚偣鍑荤殑鐐�
+ int hitIndex = -1;
+ for (int i = 0; i < previewOptimizedBoundary.size(); i++) {
+ Point2D.Double worldPoint = previewOptimizedBoundary.get(i);
+ Point2D.Double screenPosition = worldToScreen(worldPoint);
+ double dx = screenPosition.x - screenPoint.x;
+ double dy = screenPosition.y - screenPoint.y;
+ if (Math.hypot(dx, dy) <= threshold) {
+ hitIndex = i;
+ break;
+ }
+ }
+
+ if (hitIndex < 0) {
+ return false;
+ }
+
+ // 寮瑰嚭纭瀵硅瘽妗�
+ String pointLabel = String.valueOf(hitIndex + 1);
+ int choice = JOptionPane.showConfirmDialog(
+ visualizationPanel,
+ "纭畾瑕佸垹闄ょ" + pointLabel + "鍙蜂紭鍖栧悗杈圭晫鍧愭爣鐐瑰悧锛�",
+ "鍒犻櫎杈圭晫鍧愭爣鐐�",
+ JOptionPane.OK_CANCEL_OPTION,
+ JOptionPane.WARNING_MESSAGE
+ );
+
+ if (choice == JOptionPane.OK_OPTION) {
+ // 鍒犻櫎鍧愭爣鐐�
+ List<Point2D.Double> updated = new ArrayList<>(previewOptimizedBoundary);
+ updated.remove(hitIndex);
+
+ // 鏇存柊棰勮杈圭晫
+ previewOptimizedBoundary = updated;
+
+ // 杞崲涓哄瓧绗︿覆鏍煎紡骞朵繚瀛�
+ String updatedBoundaryString = convertBoundaryToString(updated);
+
+ // 閫氱煡 Shouye 淇濆瓨鏇存柊鍚庣殑杈圭晫鍧愭爣
+ if (boundaryPreviewUpdateCallback != null) {
+ boundaryPreviewUpdateCallback.accept(updatedBoundaryString);
+ }
+
+ // 鍒锋柊鏄剧ず
+ visualizationPanel.repaint();
+ }
+
+ return true;
+ }
+
+ /**
+ * 璁＄畻浼樺寲鍚庤竟鐣屽潗鏍囩偣鐨勯�夋嫨闃堝�硷紙鍍忕礌锛�
+ */
+ private double computeOptimizedBoundaryPointSelectionThreshold() {
+ double scaleFactor = Math.max(0.5, scale);
+ double markerDiameterWorld = 0.3; // 鍦嗗湀鐩村緞锛堢背锛�
+ double markerDiameterPixels = markerDiameterWorld * scale;
+ return Math.max(8.0, markerDiameterPixels * 1.5);
+ }
+
+ /**
+ * 灏嗚竟鐣岀偣鍒楄〃杞崲涓哄瓧绗︿覆鏍煎紡
+ */
+ private String convertBoundaryToString(List<Point2D.Double> boundary) {
+ if (boundary == null || boundary.isEmpty()) {
+ return "";
+ }
+
+ StringBuilder sb = new StringBuilder();
+ for (int i = 0; i < boundary.size(); i++) {
+ Point2D.Double point = boundary.get(i);
+ sb.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
+ if (i < boundary.size() - 1) {
+ sb.append(";");
+ }
+ }
+ return sb.toString();
+ }
+
+ /**
+ * 璁剧疆杈圭晫棰勮鏇存柊鍥炶皟
+ */
+ private java.util.function.Consumer<String> boundaryPreviewUpdateCallback;
+
+ public void setBoundaryPreviewUpdateCallback(java.util.function.Consumer<String> callback) {
+ this.boundaryPreviewUpdateCallback = callback;
+ }
}
\ No newline at end of file
--
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