From c498385fb7e372d13e2ee76d7b54ae2381728082 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期三, 17 十二月 2025 19:35:57 +0800
Subject: [PATCH] 新增了测量模式
---
src/zhuye/MapRenderer.java | 561 +++++++++++++++++++++++++++++++++++++++++++++++++++++--
1 files changed, 534 insertions(+), 27 deletions(-)
diff --git a/src/zhuye/MapRenderer.java b/src/zhuye/MapRenderer.java
index 3c79352..368e316 100644
--- a/src/zhuye/MapRenderer.java
+++ b/src/zhuye/MapRenderer.java
@@ -18,6 +18,7 @@
import java.util.List;
import java.util.Locale;
import java.util.Set;
+import java.io.File;
import set.Setsys;
import gecaoji.Device;
import gecaoji.Gecaoji;
@@ -73,6 +74,7 @@
private String boundaryName;
private boolean boundaryPointsVisible;
private boolean obstaclePointsVisible;
+ private boolean boundaryLengthVisible = false; // 鏄惁鏄剧ず杈圭晫璺濈锛岄粯璁ゅ叧闂�
private double boundaryPointSizeScale = 1.0d;
private boolean previewSizingEnabled;
private String currentBoundaryLandNumber;
@@ -96,6 +98,7 @@
private double mowingCompletionRatio;
private long lastTrackPersistTimeMillis;
private boolean trackDirty;
+ private boolean measurementModeActive = false; // 娴嬮噺妯″紡鏄惁婵�娲�
private boolean handheldBoundaryPreviewActive;
private boolean pendingTrackBreak = true;
private boolean idleTrailSuppressed;
@@ -212,9 +215,18 @@
if (!SwingUtilities.isLeftMouseButton(e) || e.getClickCount() != 1) {
return;
}
+ // 浼樺厛澶勭悊娴嬮噺妯″紡鐐瑰嚮
+ if (measurementModeActive && handleMeasurementClick(e.getPoint())) {
+ return;
+ }
if (handleMowerClick(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;
+ }
+ // 鐒跺悗澶勭悊鍦板潡杈圭晫鐐圭偣鍑�
if (boundaryPointsVisible) {
handleBoundaryPointClick(e.getPoint());
}
@@ -375,33 +387,28 @@
Obstacledraw.drawObstacles(g2d, currentObstacles, scale, selectedObstacleName);
}
- if (boundaryPointsVisible && hasBoundary) {
- double markerScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
- pointandnumber.drawBoundaryPoints(
- g2d,
- currentBoundary,
- scale,
- BOUNDARY_POINT_MERGE_THRESHOLD,
- BOUNDARY_POINT_COLOR,
- markerScale
- );
- }
-
- // 缁樺埗闅滅鐗╁潗鏍囩偣
- if (obstaclePointsVisible && hasObstacles) {
- List<Point2D.Double> obstaclePoints = Obstacledraw.getObstaclePoints(currentObstacles);
- if (obstaclePoints != null && !obstaclePoints.isEmpty()) {
- double markerScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
+ // 鏄剧ず杈圭晫鐐癸紙濡傛灉杈圭晫鐐瑰彲瑙侊紝鎴栬�呰竟鐣岃窛绂诲彲瑙侊級
+ if ((boundaryPointsVisible || boundaryLengthVisible) && hasBoundary) {
+ // 棰勮妯″紡涓嬫樉绀哄簭鍙�
+ if (previewSizingEnabled) {
+ drawBoundaryPointsWithNumbers(g2d, currentBoundary, scale);
+ } else {
+ double markerScale = boundaryPointSizeScale;
pointandnumber.drawBoundaryPoints(
g2d,
- obstaclePoints,
+ currentBoundary,
scale,
BOUNDARY_POINT_MERGE_THRESHOLD,
- OBSTACLE_POINT_COLOR,
+ BOUNDARY_POINT_COLOR,
markerScale
);
}
}
+
+ // 缁樺埗闅滅鐗╁潗鏍囩偣锛堝甫搴忓彿锛�
+ if (obstaclePointsVisible && hasObstacles) {
+ drawObstaclePointsWithNumbers(g2d, currentObstacles, scale);
+ }
if (shouldRenderIdleTrail()) {
tuowei.draw(g2d, idleMowerTrail, scale);
@@ -413,9 +420,23 @@
drawMower(g2d);
+ // 缁樺埗娴嬮噺妯″紡锛堝鏋滄縺娲伙級
+ if (measurementModeActive) {
+ drawMeasurementMode(g2d, scale);
+ }
+
+ // 淇濆瓨褰撳墠鍙樻崲锛堝寘鍚鍥惧彉鎹級鐢ㄤ簬鍧愭爣杞崲
+ AffineTransform currentTransformForLength = g2d.getTransform();
+
// 鎭㈠鍘熷鍙樻崲
g2d.setTransform(originalTransform);
+ // 缁樺埗杈圭晫闀垮害锛堝鏋滃惎鐢級- 鍦ㄦ仮澶嶅師濮嬪彉鎹㈠悗缁樺埗
+ if (boundaryLengthVisible && hasBoundary) {
+ bianjie.BoundaryLengthDrawer.drawBoundaryLengths(g2d, currentBoundary, scale,
+ visualizationPanel.getWidth(), visualizationPanel.getHeight(), translateX, translateY);
+ }
+
// 缁樺埗瑙嗗浘淇℃伅
drawViewInfo(g2d);
}
@@ -1037,6 +1058,145 @@
double worldY = (screenPoint.y - visualizationPanel.getHeight() / 2.0) / scale - translateY;
return new Point2D.Double(worldX, worldY);
}
+
+ /**
+ * 澶勭悊娴嬮噺妯″紡鐐瑰嚮
+ */
+ private boolean handleMeasurementClick(Point screenPoint) {
+ if (!measurementModeActive) {
+ return false;
+ }
+ Point2D.Double worldPoint = screenToWorld(screenPoint);
+ celiangmoshi.addPoint(worldPoint);
+ visualizationPanel.repaint();
+ return true;
+ }
+
+ /**
+ * 璁剧疆娴嬮噺妯″紡
+ */
+ public void setMeasurementMode(boolean active) {
+ measurementModeActive = active;
+ if (!active) {
+ celiangmoshi.clear();
+ }
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 瑙﹀彂鍦板浘閲嶇粯
+ */
+ public void repaint() {
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 缁樺埗娴嬮噺妯″紡
+ */
+ private void drawMeasurementMode(Graphics2D g2d, double scale) {
+ List<Point2D.Double> points = celiangmoshi.getPoints();
+ if (points.isEmpty()) {
+ return;
+ }
+
+ // 淇濆瓨鍘熷鍙樻崲
+ AffineTransform originalTransform = g2d.getTransform();
+
+ // 璁剧疆娴嬮噺妯″紡棰滆壊
+ Color lineColor = new Color(255, 0, 0, 200); // 绾㈣壊鍗婇�忔槑
+ Color pointColor = new Color(255, 0, 0, 255); // 绾㈣壊
+ Color textColor = new Color(33, 37, 41, 220); // 娣辩伆鑹叉枃瀛�
+
+ // 璁剧疆绾垮鍜岀偣鐨勫ぇ灏忥紙纭繚鐐瑰拰绾胯繛鎺ワ級
+ float lineWidth = (float)(2.0 / scale);
+ // 鐐圭殑澶у皬锛堝湪涓栫晫鍧愭爣绯讳腑锛岀背锛夛紝纭繚鐐硅冻澶熷ぇ浠ヨ鐩栫嚎鐨勭鐐�
+ double pointSizeInWorld = 0.15d; // 鐐圭殑澶у皬锛堢背锛�
+ double halfSize = pointSizeInWorld / 2.0;
+
+ // 鍏堢粯鍒舵墍鏈夋祴閲忕偣锛堜綔涓哄熀纭�灞傦級
+ g2d.setColor(pointColor);
+ for (Point2D.Double point : points) {
+ // 鐐圭殑涓績鍦� point.x, point.y
+ Ellipse2D.Double pointShape = new Ellipse2D.Double(
+ point.x - halfSize,
+ point.y - halfSize,
+ pointSizeInWorld,
+ pointSizeInWorld
+ );
+ g2d.fill(pointShape);
+ }
+
+ // 鐒跺悗缁樺埗杩炵嚎锛岀‘淇濈嚎浠庣偣鐨勪腑蹇冨紑濮嬪拰缁撴潫锛岀偣鍜岀嚎杩炴帴鍦ㄤ竴璧�
+ g2d.setColor(lineColor);
+ g2d.setStroke(new BasicStroke(lineWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
+
+ // 缁樺埗杩炵嚎鍜岃窛绂绘枃瀛楋紙鏄剧ず涓や釜鐩搁偦鐐硅繛绾跨殑闀垮害锛�
+ for (int i = 0; i < points.size() - 1; i++) {
+ Point2D.Double p1 = points.get(i);
+ Point2D.Double p2 = points.get(i + 1);
+
+ // 缁樺埗杩炵嚎锛堜粠绗竴涓偣鐨勪腑蹇冨埌绗簩涓偣鐨勪腑蹇冿級
+ // 浣跨敤 Path2D 纭繚绮剧‘缁樺埗锛屼繚鎸佹诞鐐圭簿搴�
+ Path2D.Double linePath = new Path2D.Double();
+ linePath.moveTo(p1.x, p1.y);
+ linePath.lineTo(p2.x, p2.y);
+ g2d.draw(linePath);
+
+ // 璁＄畻璺濈锛堜袱涓浉閭荤偣杩炵嚎鐨勯暱搴︼級
+ double distance = celiangmoshi.calculateDistance(p1, p2);
+ String distanceText = celiangmoshi.formatDistance(distance);
+
+ // 璁＄畻涓偣浣嶇疆锛堢敤浜庢樉绀烘枃瀛楋級
+ double midX = (p1.x + p2.x) / 2.0;
+ double midY = (p1.y + p2.y) / 2.0;
+
+ // 灏嗕笘鐣屽潗鏍囪浆鎹负灞忓箷鍧愭爣锛堢敤浜庢枃瀛楁樉绀猴級
+ Point2D.Double worldMid = new Point2D.Double(midX, midY);
+ Point2D.Double screenMid = worldToScreen(worldMid);
+
+ // 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眳涓樉绀猴級
+ int textWidth = metrics.stringWidth(distanceText);
+ int textHeight = metrics.getHeight();
+ int textX = (int)Math.round(screenMid.x - textWidth / 2.0);
+ int textY = (int)Math.round(screenMid.y - textHeight / 2.0) + metrics.getAscent();
+
+ // 缁樺埗鏂囧瓧鑳屾櫙锛堝彲閫夛紝鐢ㄤ簬鎻愰珮鍙鎬э級
+ g2d.setColor(new Color(255, 255, 255, 200));
+ g2d.fillRoundRect(textX - 2, textY - metrics.getAscent() - 2, textWidth + 4, textHeight + 4, 4, 4);
+
+ // 缁樺埗鏂囧瓧
+ g2d.setColor(textColor);
+ g2d.drawString(distanceText, textX, textY);
+
+ // 鎭㈠鍙樻崲
+ g2d.setTransform(originalTransform);
+ }
+
+ // 鏈�鍚庡啀娆＄粯鍒舵祴閲忕偣锛堝湪杩炵嚎涔嬩笂锛岀‘淇濈偣瑕嗙洊鍦ㄧ嚎鐨勭鐐逛笂锛岀偣鍜岀嚎杩炴帴鍦ㄤ竴璧凤級
+ g2d.setColor(pointColor);
+ for (Point2D.Double point : points) {
+ // 鐐圭殑涓績鍦� point.x, point.y锛屾濂芥槸绾跨殑绔偣浣嶇疆
+ Ellipse2D.Double pointShape = new Ellipse2D.Double(
+ point.x - halfSize,
+ point.y - halfSize,
+ pointSizeInWorld,
+ pointSizeInWorld
+ );
+ g2d.fill(pointShape);
+ }
+ }
private void drawCurrentBoundary(Graphics2D g2d) {
bianjiedrwa.drawBoundary(g2d, currentBoundary, scale, GRASS_FILL_COLOR, GRASS_BORDER_COLOR);
@@ -1051,33 +1211,53 @@
if (markers == null || markers.isEmpty()) {
return;
}
+
+ // 淇濆瓨鍘熷鍙樻崲
+ AffineTransform originalTransform = g2d.getTransform();
+
Shape markerShape;
double half = CIRCLE_SAMPLE_SIZE / 2.0;
g2d.setColor(CIRCLE_SAMPLE_COLOR);
g2d.setStroke(new BasicStroke((float) (1.2f / scale), BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
- Font originalFont = g2d.getFont();
- float baseSize = (float) Math.max(12f / scale, 9f);
- float reducedSize = Math.max(baseSize / 3f, 3f);
- Font labelFont = originalFont.deriveFont(reducedSize);
+
+ // 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 metrics = g2d.getFontMetrics();
+ FontMetrics metrics = g2d.getFontMetrics(labelFont);
+
for (double[] pt : markers) {
if (pt == null || pt.length < 2 || !Double.isFinite(pt[0]) || !Double.isFinite(pt[1])) {
continue;
}
double x = pt[0];
double y = pt[1];
+
+ // 缁樺埗鐐癸紙鍦ㄤ笘鐣屽潗鏍囩郴涓紝闅忕缉鏀惧彉鍖栵級
markerShape = new Ellipse2D.Double(x - half, y - half, CIRCLE_SAMPLE_SIZE, CIRCLE_SAMPLE_SIZE);
g2d.fill(markerShape);
+
+ // 灏嗕笘鐣屽潗鏍囪浆鎹负灞忓箷鍧愭爣浠ョ粯鍒舵枃瀛楋紙涓嶉殢缂╂斁鍙樺寲锛�
+ Point2D.Double worldPoint = new Point2D.Double(x, y);
+ Point2D.Double screenPoint = new Point2D.Double();
+ originalTransform.transform(worldPoint, screenPoint);
+
+ // 鎭㈠鍘熷鍙樻崲浠ヤ娇鐢ㄥ睆骞曞潗鏍囩粯鍒舵枃瀛�
+ g2d.setTransform(new AffineTransform());
+
String label = String.format(Locale.US, "%.2f,%.2f", x, y);
int textWidth = metrics.stringWidth(label);
- float textX = (float) (x - textWidth / 2.0);
- float textY = (float) (y - half - 0.2d) - metrics.getDescent();
+ int textHeight = metrics.getHeight();
+
+ // 鍦ㄥ睆骞曞潗鏍囩郴涓粯鍒舵枃瀛楋紙涓嶉殢缂╂斁鍙樺寲锛�
+ int textX = (int)(screenPoint.x - textWidth / 2.0);
+ int textY = (int)(screenPoint.y - half - 0.2d) - metrics.getDescent();
g2d.setColor(new Color(33, 37, 41, 220));
g2d.drawString(label, textX, textY);
+
+ // 鎭㈠鍘熷鍙樻崲
+ g2d.setTransform(originalTransform);
g2d.setColor(CIRCLE_SAMPLE_COLOR);
}
- g2d.setFont(originalFont);
}
private void drawCircleCaptureOverlay(Graphics2D g2d, CircleCaptureOverlay overlay, double scale) {
@@ -1184,6 +1364,139 @@
}
}
+ /**
+ * 澶勭悊闅滅鐗╄竟鐣岀偣鐐瑰嚮
+ * @param screenPoint 灞忓箷鍧愭爣鐐�
+ * @return 濡傛灉澶勭悊浜嗙偣鍑昏繑鍥瀟rue锛屽惁鍒欒繑鍥瀎alse
+ */
+ private boolean handleObstaclePointClick(Point screenPoint) {
+ if (currentObstacles == null || currentObstacles.isEmpty() || currentObstacleLandNumber == null) {
+ return false;
+ }
+
+ double threshold = computeSelectionThresholdPixels();
+
+ // 閬嶅巻鎵�鏈夐殰纰嶇墿锛屾壘鍒拌鐐瑰嚮鐨勭偣
+ for (Obstacledge.Obstacle obstacle : currentObstacles) {
+ if (obstacle == null) {
+ continue;
+ }
+
+ List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
+ if (xyCoords == null || xyCoords.isEmpty()) {
+ continue;
+ }
+
+ // 妫�鏌ユ瘡涓偣
+ for (int i = 0; i < xyCoords.size(); i++) {
+ Obstacledge.XYCoordinate coord = xyCoords.get(i);
+ Point2D.Double worldPoint = new Point2D.Double(coord.getX(), coord.getY());
+ Point2D.Double screenPosition = worldToScreen(worldPoint);
+
+ double dx = screenPosition.x - screenPoint.x;
+ double dy = screenPosition.y - screenPoint.y;
+ if (Math.hypot(dx, dy) <= threshold) {
+ // 鎵惧埌琚偣鍑荤殑鐐�
+ String obstacleName = obstacle.getObstacleName();
+ String pointLabel = (i + 1) + "";
+ String message = "纭畾瑕佸垹闄ら殰纰嶇墿 \"" + obstacleName + "\" 鐨勭" + pointLabel + "鍙疯竟鐣岀偣鍚楋紵";
+
+ int choice = JOptionPane.showConfirmDialog(
+ visualizationPanel,
+ message,
+ "鍒犻櫎闅滅鐗╄竟鐣岀偣",
+ JOptionPane.OK_CANCEL_OPTION,
+ JOptionPane.WARNING_MESSAGE
+ );
+
+ if (choice == JOptionPane.OK_OPTION) {
+ removeObstaclePoint(obstacle, i);
+ }
+ return true;
+ }
+ }
+ }
+
+ return false;
+ }
+
+ /**
+ * 鍒犻櫎闅滅鐗╃殑鎸囧畾杈圭晫鐐�
+ */
+ private void removeObstaclePoint(Obstacledge.Obstacle obstacle, int pointIndex) {
+ if (obstacle == null || currentObstacleLandNumber == null) {
+ return;
+ }
+
+ List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
+ if (xyCoords == null || pointIndex < 0 || pointIndex >= xyCoords.size()) {
+ return;
+ }
+
+ // 妫�鏌ュ垹闄ゅ悗鏄惁杩樻湁瓒冲鐨勭偣
+ Obstacledge.ObstacleShape shape = obstacle.getShape();
+ int minPoints = (shape == Obstacledge.ObstacleShape.CIRCLE) ? 2 : 3;
+
+ if (xyCoords.size() <= minPoints) {
+ JOptionPane.showMessageDialog(
+ visualizationPanel,
+ "闅滅鐗╄嚦灏戦渶瑕�" + minPoints + "涓偣锛屾棤娉曞垹闄�",
+ "鎻愮ず",
+ JOptionPane.INFORMATION_MESSAGE
+ );
+ return;
+ }
+
+ // 鍒涘缓鏂扮殑鍧愭爣鍒楄〃锛堢Щ闄ゆ寚瀹氱偣锛�
+ List<Obstacledge.XYCoordinate> updatedCoords = new ArrayList<>(xyCoords);
+ updatedCoords.remove(pointIndex);
+
+ // 鏇存柊闅滅鐗╁潗鏍�
+ obstacle.setXyCoordinates(updatedCoords);
+
+ // 淇濆瓨鍒伴厤缃枃浠�
+ try {
+ File configFile = new File("Obstacledge.properties");
+ Obstacledge.ConfigManager manager = new Obstacledge.ConfigManager();
+ if (configFile.exists()) {
+ manager.loadFromFile(configFile.getAbsolutePath());
+ }
+
+ Obstacledge.Plot plot = manager.getPlotById(currentObstacleLandNumber.trim());
+ if (plot != null) {
+ // 绉婚櫎鏃ч殰纰嶇墿骞舵坊鍔犳洿鏂板悗鐨勯殰纰嶇墿
+ plot.removeObstacleByName(obstacle.getObstacleName());
+ plot.addObstacle(obstacle);
+ manager.saveToFile(configFile.getAbsolutePath());
+
+ // 鏇存柊鍦板潡鏇存柊鏃堕棿
+ Dikuai.updateField(currentObstacleLandNumber.trim(), "updateTime",
+ new java.text.SimpleDateFormat("yyyy-MM-dd HH:mm:ss").format(new java.util.Date()));
+ Dikuai.saveToProperties();
+
+ // 閲嶆柊鍔犺浇闅滅鐗╂暟鎹互鍒锋柊鏄剧ず
+ List<Obstacledge.Obstacle> updatedObstacles = new ArrayList<>();
+ for (Obstacledge.Obstacle obs : currentObstacles) {
+ if (obs.getObstacleName().equals(obstacle.getObstacleName())) {
+ updatedObstacles.add(obstacle); // 浣跨敤鏇存柊鍚庣殑闅滅鐗�
+ } else {
+ updatedObstacles.add(obs); // 淇濇寔鍏朵粬闅滅鐗╀笉鍙�
+ }
+ }
+ applyObstaclesToRenderer(updatedObstacles, currentObstacleLandNumber);
+ visualizationPanel.repaint();
+ }
+ } catch (Exception ex) {
+ ex.printStackTrace();
+ JOptionPane.showMessageDialog(
+ visualizationPanel,
+ "淇濆瓨澶辫触: " + ex.getMessage(),
+ "閿欒",
+ JOptionPane.ERROR_MESSAGE
+ );
+ }
+ }
+
private void handleBoundaryPointClick(Point screenPoint) {
if (currentBoundary == null || currentBoundaryLandNumber == null) {
return;
@@ -1451,6 +1764,183 @@
/**
* 缁樺埗瑙嗗浘淇℃伅
*/
+ /**
+ * 缁樺埗闅滅鐗╁潗鏍囩偣锛堝甫搴忓彿锛�
+ * 搴忓彿鏄剧ず鍦ㄧ偣涓績锛屽瓧浣撳ぇ灏忎笌闅滅鐗╁悕绉颁竴鑷达紙11鍙凤級锛屼笉闅忕缉鏀惧彉鍖�
+ */
+ private void drawObstaclePointsWithNumbers(Graphics2D g2d, List<Obstacledge.Obstacle> obstacles, double scale) {
+ if (obstacles == null || obstacles.isEmpty()) {
+ return;
+ }
+
+ // 淇濆瓨鍘熷鍙樻崲
+ AffineTransform originalTransform = g2d.getTransform();
+
+ // 璁剧疆鐐圭殑澶у皬锛堥殢缂╂斁鍙樺寲锛�
+ double scaleFactor = Math.max(0.5, scale);
+ double clampedScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
+ if (!Double.isFinite(clampedScale) || clampedScale <= 0.0d) {
+ clampedScale = 1.0d;
+ }
+ double minimumDiameter = clampedScale < 1.0 ? 0.5 : 1.0;
+ double markerDiameter = Math.max(minimumDiameter, (10.0 / scaleFactor) * 0.2 * clampedScale);
+ double markerRadius = markerDiameter / 2.0;
+
+ // 璁剧疆瀛椾綋锛堜笌闅滅鐗╁悕绉颁竴鑷达紝涓嶉殢缂╂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);
+
+ // 閬嶅巻鎵�鏈夐殰纰嶇墿
+ for (Obstacledge.Obstacle obstacle : obstacles) {
+ if (obstacle == null || !obstacle.isValid()) {
+ continue;
+ }
+
+ List<Obstacledge.XYCoordinate> xyCoords = obstacle.getXyCoordinates();
+ if (xyCoords == null || xyCoords.isEmpty()) {
+ continue;
+ }
+
+ // 缁樺埗姣忎釜鐐瑰強鍏跺簭鍙�
+ for (int i = 0; i < xyCoords.size(); i++) {
+ Obstacledge.XYCoordinate coord = xyCoords.get(i);
+ double x = coord.getX();
+ double y = coord.getY();
+
+ // 缁樺埗鐐癸紙鍦ㄤ笘鐣屽潗鏍囩郴涓紝闅忕缉鏀惧彉鍖栵級
+ g2d.setColor(OBSTACLE_POINT_COLOR);
+ 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堟棤鑳屾櫙锛�
+ 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);
+ }
+
+ /**
+ * 缁樺埗杈圭晫鐐癸紙甯﹀簭鍙凤級
+ * 搴忓彿鏄剧ず鍦ㄧ偣涓績锛屽瓧浣撳ぇ灏忎笌闅滅鐗╁簭鍙蜂竴鑷达紙11鍙凤級锛屼笉闅忕缉鏀惧彉鍖�
+ */
+ private void drawBoundaryPointsWithNumbers(Graphics2D g2d, List<Point2D.Double> boundary, double scale) {
+ if (boundary == null || boundary.size() < 2) {
+ return;
+ }
+
+ // 淇濆瓨鍘熷鍙樻崲
+ AffineTransform originalTransform = g2d.getTransform();
+
+ int totalPoints = boundary.size();
+ boolean closed = totalPoints > 2 && areBoundaryPointsClose(boundary.get(0), boundary.get(totalPoints - 1));
+ int effectiveCount = closed ? totalPoints - 1 : totalPoints;
+ if (effectiveCount <= 0) {
+ return;
+ }
+
+ // 璁剧疆鐐圭殑澶у皬锛堜笌杈圭晫绾垮搴︿竴鑷达級
+ // 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 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�
+ Font labelFont = new Font("寰蒋闆呴粦", Font.PLAIN, 11);
+ g2d.setFont(labelFont);
+ FontMetrics fontMetrics = g2d.getFontMetrics(labelFont);
+
+ // 缁樺埗姣忎釜鐐瑰強鍏跺簭鍙�
+ for (int i = 0; i < effectiveCount; i++) {
+ Point2D.Double point = boundary.get(i);
+ double x = point.x;
+ double y = point.y;
+
+ // 缁樺埗鐐癸紙鍦ㄤ笘鐣屽潗鏍囩郴涓紝闅忕缉鏀惧彉鍖栵級
+ g2d.setColor(BOUNDARY_POINT_COLOR);
+ 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堟棤鑳屾櫙锛�
+ 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);
+ }
+
+ /**
+ * 妫�鏌ヤ袱涓竟鐣岀偣鏄惁鎺ヨ繎锛堢敤浜庡垽鏂竟鐣屾槸鍚﹂棴鍚堬級
+ */
+ private boolean areBoundaryPointsClose(Point2D.Double a, Point2D.Double b) {
+ if (a == null || b == null) {
+ return false;
+ }
+ double dx = a.x - b.x;
+ double dy = a.y - b.y;
+ return Math.hypot(dx, dy) <= BOUNDARY_POINT_MERGE_THRESHOLD;
+ }
+
private void drawViewInfo(Graphics2D g2d) {
g2d.setColor(new Color(80, 80, 80));
g2d.setFont(new Font("寰蒋闆呴粦", Font.PLAIN, 11));
@@ -2056,6 +2546,23 @@
this.obstaclePointsVisible = visible;
visualizationPanel.repaint();
}
+
+ /**
+ * 璁剧疆鏄惁鏄剧ず杈圭晫璺濈
+ */
+ public void setBoundaryLengthVisible(boolean visible) {
+ boundaryLengthVisible = visible;
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 鑾峰彇鏄惁鏄剧ず杈圭晫璺濈
+ */
+ public boolean isBoundaryLengthVisible() {
+ return boundaryLengthVisible;
+ }
public void setBoundaryPointSizeScale(double sizeScale) {
double normalized = (Double.isFinite(sizeScale) && sizeScale > 0.0d) ? sizeScale : 1.0d;
--
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