From cbfd1df513c473dd5550d78740c92fc1677b6e9b Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期六, 27 十二月 2025 13:40:42 +0800
Subject: [PATCH] 异形有障碍物路径规划没完成
---
src/lujing/MowingPathGenerationPage.java | 56 ++++++++++++++++++++++++++++++++++++--------------------
1 files changed, 36 insertions(+), 20 deletions(-)
diff --git a/src/lujing/MowingPathGenerationPage.java b/src/lujing/MowingPathGenerationPage.java
index 77c496c..675d83f 100644
--- a/src/lujing/MowingPathGenerationPage.java
+++ b/src/lujing/MowingPathGenerationPage.java
@@ -140,8 +140,21 @@
contentPanel.add(createTextAreaSection(obstacleTitle, obstacleArea));
// 鍓茶崏瀹藉害
- widthField = createInfoTextField(widthValue != null ? widthValue : "", true);
- contentPanel.add(createTextFieldSection("鍓茶崏瀹藉害 (cm)", widthField));
+ String displayWidth = "";
+ if (widthValue != null && !widthValue.trim().isEmpty() && !"-1".equals(widthValue.trim())) {
+ try {
+ double val = Double.parseDouble(widthValue.trim());
+ // 绠�鍗曠殑鍚彂寮忚浆鎹細濡傛灉鍊煎ぇ浜�5锛屽亣璁炬槸鍘樼背锛岃浆鎹负绫�
+ if (val > 5) {
+ val = val / 100.0;
+ }
+ displayWidth = String.format(Locale.US, "%.2f", val);
+ } catch (NumberFormatException e) {
+ displayWidth = widthValue;
+ }
+ }
+ widthField = createInfoTextField(displayWidth, true);
+ contentPanel.add(createTextFieldSection("鍓茶崏瀹藉害 (m)", widthField));
// 鍓茶崏瀹夊叏璺濈锛堝彧璇绘樉绀猴級
// 浼樺厛浠嶥ikuai瀵硅薄鑾峰彇锛屽鏋淒ikuai涓病鏈夛紝鍐嶄粠Device鑾峰彇
@@ -223,9 +236,9 @@
String sanitizedWidth = sanitizeWidthString(widthField.getText());
if (sanitizedWidth != null) {
try {
- double widthCm = Double.parseDouble(sanitizedWidth);
- widthField.setText(formatWidthForStorage(widthCm));
- sanitizedWidth = formatWidthForStorage(widthCm);
+ double widthMeters = Double.parseDouble(sanitizedWidth);
+ widthField.setText(formatWidthForStorage(widthMeters));
+ sanitizedWidth = formatWidthForStorage(widthMeters);
} catch (NumberFormatException ex) {
widthField.setText(sanitizedWidth);
}
@@ -407,25 +420,25 @@
String rawWidthInput = widthField.getText() != null ? widthField.getText().trim() : "";
String widthSanitized = sanitizeWidthString(widthField.getText());
if (widthSanitized == null) {
- String message = rawWidthInput.isEmpty() ? "璇峰厛璁剧疆鍓茶崏瀹藉害(cm)" : "鍓茶崏瀹藉害鏍煎紡涓嶆纭�";
+ String message = rawWidthInput.isEmpty() ? "璇峰厛璁剧疆鍓茶崏瀹藉害(m)" : "鍓茶崏瀹藉害鏍煎紡涓嶆纭�";
JOptionPane.showMessageDialog(this, message, "鎻愮ず", JOptionPane.WARNING_MESSAGE);
return;
}
- double widthCm;
+ double widthMeters;
try {
- widthCm = Double.parseDouble(widthSanitized);
+ widthMeters = Double.parseDouble(widthSanitized);
} catch (NumberFormatException ex) {
JOptionPane.showMessageDialog(this, "鍓茶崏瀹藉害鏍煎紡涓嶆纭�", "鎻愮ず", JOptionPane.WARNING_MESSAGE);
return;
}
- if (widthCm <= 0) {
+ if (widthMeters <= 0) {
JOptionPane.showMessageDialog(this, "鍓茶崏瀹藉害蹇呴』澶т簬0", "鎻愮ず", JOptionPane.WARNING_MESSAGE);
return;
}
- String widthNormalized = formatWidthForStorage(widthCm);
+ String widthNormalized = formatWidthForStorage(widthMeters);
widthField.setText(widthNormalized);
String pathNormalized = normalizeCoordinateInput(pathArea.getText());
@@ -518,15 +531,15 @@
String widthStr = sanitizeWidthString(widthCmInput);
if (widthStr == null) {
if (showMessages) {
- String message = rawWidth.isEmpty() ? "璇峰厛璁剧疆鍓茶崏瀹藉害(cm)" : "鍓茶崏瀹藉害鏍煎紡涓嶆纭�";
+ String message = rawWidth.isEmpty() ? "璇峰厛璁剧疆鍓茶崏瀹藉害(m)" : "鍓茶崏瀹藉害鏍煎紡涓嶆纭�";
JOptionPane.showMessageDialog(parentComponent, message, "鎻愮ず", JOptionPane.WARNING_MESSAGE);
}
return null;
}
- double widthCm;
+ double widthVal;
try {
- widthCm = Double.parseDouble(widthStr);
+ widthVal = Double.parseDouble(widthStr);
} catch (NumberFormatException ex) {
if (showMessages) {
JOptionPane.showMessageDialog(parentComponent, "鍓茶崏瀹藉害鏍煎紡涓嶆纭�",
@@ -535,7 +548,7 @@
return null;
}
- if (widthCm <= 0) {
+ if (widthVal <= 0) {
if (showMessages) {
JOptionPane.showMessageDialog(parentComponent, "鍓茶崏瀹藉害蹇呴』澶т簬0",
"鎻愮ず", JOptionPane.WARNING_MESSAGE);
@@ -543,7 +556,7 @@
return null;
}
- double widthMeters = widthCm / 100.0d;
+ double widthMeters = widthVal;
String plannerWidth = BigDecimal.valueOf(widthMeters)
.setScale(3, RoundingMode.HALF_UP)
.stripTrailingZeros()
@@ -596,12 +609,14 @@
// 鏃犻殰纰嶇墿鐨勬儏鍐�
if (grassType == 1) {
// 鍑稿舰鍦板潡锛屾棤闅滅鐗� -> 璋冪敤 AoxinglujingNoObstacle
+ System.out.println("璋冪敤绠楁硶: 鍑稿舰鏃犻殰纰嶇墿, 绫诲悕: AoxinglujingNoObstacle");
List<AoxinglujingNoObstacle.PathSegment> segments =
AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
generated = formatAoxingPathSegments(segments);
} else if (grassType == 2) {
// 寮傚舰鍦板潡锛屾棤闅滅鐗� -> 璋冪敤 YixinglujingNoObstacle
// 璋冪敤 YixinglujingNoObstacle.planPath 鑾峰彇璺緞娈靛垪琛�
+ System.out.println("璋冪敤绠楁硶: 寮傚舰鏃犻殰纰嶇墿, 绫诲悕: YixinglujingNoObstacle");
List<YixinglujingNoObstacle.PathSegment> segments =
YixinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
// 鏍煎紡鍖栬矾寰勬鍒楄〃涓哄瓧绗︿覆
@@ -612,6 +627,7 @@
JOptionPane.showMessageDialog(parentComponent, "鏃犳硶鍒ゆ柇鍦板潡绫诲瀷锛屽皾璇曟寜鍑稿舰鍦板潡澶勭悊",
"鎻愮ず", JOptionPane.WARNING_MESSAGE);
}
+ System.out.println("璋冪敤绠楁硶: 鏃犳硶鍒ゆ柇绫诲瀷(榛樿鍑稿舰鏃犻殰纰嶇墿), 绫诲悕: AoxinglujingNoObstacle");
List<AoxinglujingNoObstacle.PathSegment> segments =
AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
generated = formatAoxingPathSegments(segments);
@@ -621,12 +637,14 @@
if (grassType == 1) {
// 鍑稿舰鍦板潡锛屾湁闅滅鐗� -> 璋冪敤 AoxinglujingHaveObstacel
// 浼犲叆鍙傛暟锛歜oundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
+ System.out.println("璋冪敤绠楁硶: 鍑稿舰鏈夐殰纰嶇墿, 绫诲悕: AoxinglujingHaveObstacel");
List<AoxinglujingHaveObstacel.PathSegment> segments =
AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
generated = formatAoxingHaveObstaclePathSegments(segments);
} else if (grassType == 2) {
// 寮傚舰鍦板潡锛屾湁闅滅鐗� -> 璋冪敤 YixinglujingHaveObstacel
// 浼犲叆鍙傛暟锛歜oundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
+ System.out.println("璋冪敤绠楁硶: 寮傚舰鏈夐殰纰嶇墿, 绫诲悕: YixinglujingHaveObstacel");
List<YixinglujingHaveObstacel.PathSegment> segments =
YixinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
generated = formatYixingHaveObstaclePathSegments(segments);
@@ -636,6 +654,7 @@
JOptionPane.showMessageDialog(parentComponent, "鏃犳硶鍒ゆ柇鍦板潡绫诲瀷锛屽皾璇曟寜鍑稿舰鍦板潡澶勭悊",
"鎻愮ず", JOptionPane.WARNING_MESSAGE);
}
+ System.out.println("璋冪敤绠楁硶: 鏃犳硶鍒ゆ柇绫诲瀷(榛樿鍑稿舰鏈夐殰纰嶇墿), 绫诲悕: AoxinglujingHaveObstacel");
List<AoxinglujingHaveObstacel.PathSegment> segments =
AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
generated = formatAoxingHaveObstaclePathSegments(segments);
@@ -1081,11 +1100,8 @@
return cleaned.isEmpty() ? null : cleaned;
}
- private String formatWidthForStorage(double widthCm) {
- return BigDecimal.valueOf(widthCm)
- .setScale(2, RoundingMode.HALF_UP)
- .stripTrailingZeros()
- .toPlainString();
+ private String formatWidthForStorage(double widthVal) {
+ return String.format(Locale.US, "%.2f", widthVal);
}
private String formatMowingPatternForDialog(String patternValue) {
--
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