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/zhuye/Shouye.java | 51 +++++++++++++++++++++++++++++++--------------------
1 files changed, 31 insertions(+), 20 deletions(-)
diff --git a/src/zhuye/Shouye.java b/src/zhuye/Shouye.java
index dd3dfbf..cd33de7 100644
--- a/src/zhuye/Shouye.java
+++ b/src/zhuye/Shouye.java
@@ -31,7 +31,8 @@
import java.util.Map;
import java.util.Locale;
import java.util.concurrent.atomic.AtomicBoolean;
-import java.util.function.Consumer;
+// import java.util.function.Consumer;
+import chuankou.DataListener;
import java.awt.geom.Point2D;
import publicway.Gpstoxuzuobiao;
@@ -110,19 +111,25 @@
private boolean pathPreviewActive;
- private final Consumer<String> serialLineListener = line -> {
- SwingUtilities.invokeLater(() -> {
- updateDataPacketCountLabel();
- // 濡傛灉鏀跺埌GGA鏁版嵁锛岀珛鍗虫洿鏂版嫋灏�
- if (line != null) {
- String trimmed = line.trim();
- if (trimmed.startsWith("$GNGGA") || trimmed.startsWith("$GPGGA") || trimmed.startsWith("$GBGGA")) {
- if (mapRenderer != null && !pathPreviewActive) {
- mapRenderer.forceUpdateIdleMowerTrail();
+ private final DataListener<String> serialLineListener = new DataListener<String>() {
+ @Override
+ public void accept(final String line) {
+ SwingUtilities.invokeLater(new Runnable() {
+ @Override
+ public void run() {
+ updateDataPacketCountLabel();
+ // 濡傛灉鏀跺埌GGA鏁版嵁锛岀珛鍗虫洿鏂版嫋灏�
+ if (line != null) {
+ String trimmed = line.trim();
+ if (trimmed.startsWith("$GNGGA") || trimmed.startsWith("$GPGGA") || trimmed.startsWith("$GBGGA")) {
+ if (mapRenderer != null && !pathPreviewActive) {
+ mapRenderer.forceUpdateIdleMowerTrail();
+ }
+ }
}
}
- }
- });
+ });
+ }
};
private static final int FLOAT_ICON_SIZE = 32;
private JButton endDrawingButton;
@@ -193,6 +200,10 @@
scheduleIdentifierCheck();
}
+ private static boolean isFinite(double d) {
+ return !Double.isNaN(d) && !Double.isInfinite(d);
+ }
+
public static Shouye getInstance() {
return instance;
}
@@ -2555,7 +2566,7 @@
double lat = parseDMToDecimal(latest.getLatitude(), latest.getLatDirection());
double lon = parseDMToDecimal(latest.getLongitude(), latest.getLonDirection());
- if (!Double.isFinite(lat) || !Double.isFinite(lon)) {
+ if (!isFinite(lat) || !isFinite(lon)) {
discardLatestCoordinate(latest);
lastMowerCoordinate = latest;
return;
@@ -2563,7 +2574,7 @@
double[] local = convertLatLonToLocal(lat, lon, base[0], base[1]);
Point2D.Double candidate = new Point2D.Double(local[0], local[1]);
- if (!Double.isFinite(candidate.x) || !Double.isFinite(candidate.y)) {
+ if (!isFinite(candidate.x) || !isFinite(candidate.y)) {
discardLatestCoordinate(latest);
lastMowerCoordinate = latest;
return;
@@ -2661,7 +2672,7 @@
double x = parseMetersValue(device.getRealtimeX());
double y = parseMetersValue(device.getRealtimeY());
- if (!Double.isFinite(x) || !Double.isFinite(y)) {
+ if (!isFinite(x) || !isFinite(y)) {
JOptionPane.showMessageDialog(this, "褰撳墠瀹氫綅鏁版嵁鏃犳晥锛岃绋嶅悗鍐嶈瘯銆�", "鎻愮ず", JOptionPane.WARNING_MESSAGE);
return -1;
}
@@ -2739,7 +2750,7 @@
}
double x = parseMetersValue(device.getRealtimeX());
double y = parseMetersValue(device.getRealtimeY());
- if (!Double.isFinite(x) || !Double.isFinite(y)) {
+ if (!isFinite(x) || !isFinite(y)) {
return false;
}
return isDuplicateHandheldPoint(x, y);
@@ -2752,7 +2763,7 @@
}
double x = parseMetersValue(device.getRealtimeX());
double y = parseMetersValue(device.getRealtimeY());
- return Double.isFinite(x) && Double.isFinite(y);
+ return isFinite(x) && isFinite(y);
}
private boolean isDuplicateHandheldPoint(double x, double y) {
@@ -3560,7 +3571,7 @@
double lat = parseDMToDecimal(latest.getLatitude(), latest.getLatDirection());
double lon = parseDMToDecimal(latest.getLongitude(), latest.getLonDirection());
- if (!Double.isFinite(lat) || !Double.isFinite(lon)) {
+ if (!isFinite(lat) || !isFinite(lon)) {
JOptionPane.showMessageDialog(this, "閲囬泦鐐瑰潗鏍囨棤鏁堬紝璇烽噸鏂伴噰闆嗐��", "鎻愮ず", JOptionPane.WARNING_MESSAGE);
return false;
}
@@ -3717,7 +3728,7 @@
}
double baseLat = parseDMToDecimal(parts[0], parts[1]);
double baseLon = parseDMToDecimal(parts[2], parts[3]);
- if (!Double.isFinite(baseLat) || !Double.isFinite(baseLon)) {
+ if (!isFinite(baseLat) || !isFinite(baseLon)) {
return null;
}
return new double[]{baseLat, baseLon};
@@ -3783,7 +3794,7 @@
double centerX = (x1Sq * (y2 - y3) + x2Sq * (y3 - y1) + x3Sq * (y1 - y2)) / d;
double centerY = (x1Sq * (x3 - x2) + x2Sq * (x1 - x3) + x3Sq * (x2 - x1)) / d;
double radius = Math.hypot(centerX - x1, centerY - y1);
- if (!Double.isFinite(centerX) || !Double.isFinite(centerY) || !Double.isFinite(radius)) {
+ if (!isFinite(centerX) || !isFinite(centerY) || !isFinite(radius)) {
return null;
}
if (radius < 0.05) {
--
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