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 | 122 +++++++++++++++++-----------------------
1 files changed, 53 insertions(+), 69 deletions(-)
diff --git a/src/zhuye/Shouye.java b/src/zhuye/Shouye.java
index 14c9fd5..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;
@@ -110,16 +111,25 @@
private boolean pathPreviewActive;
- private final Consumer<String> serialLineListener = line -> {
- SwingUtilities.invokeLater(() -> {
- updateDataPacketCountLabel();
- // 濡傛灉鏀跺埌$GNGGA鏁版嵁锛岀珛鍗虫洿鏂版嫋灏�
- if (line != null && line.trim().startsWith("$GNGGA")) {
- 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;
@@ -133,7 +143,6 @@
private JButton saveManualBoundaryButton; // 淇濆瓨鎵嬪姩缁樺埗杈圭晫鐨勬寜閽�
private String previewRestoreLandNumber;
private String previewRestoreLandName;
- private Dikuai currentBoundaryPreviewDikuai; // 褰撳墠杈圭晫棰勮鐨勫湴鍧楀紩鐢�
private boolean drawingPaused;
private ImageIcon pauseIcon;
private ImageIcon pauseActiveIcon;
@@ -191,6 +200,10 @@
scheduleIdentifierCheck();
}
+ private static boolean isFinite(double d) {
+ return !Double.isNaN(d) && !Double.isInfinite(d);
+ }
+
public static Shouye getInstance() {
return instance;
}
@@ -841,7 +854,7 @@
try {
ImageIcon settingsIcon = new ImageIcon("image/sets.png");
// 璋冩暣鍥剧墖澶у皬浠ラ�傚簲鎸夐挳
- Image scaledImage = settingsIcon.getImage().getScaledInstance(30, 30, Image.SCALE_SMOOTH);
+ Image scaledImage = settingsIcon.getImage().getScaledInstance(25, 25, Image.SCALE_SMOOTH);
settingsBtn.setIcon(new ImageIcon(scaledImage));
} catch (Exception e) {
// 濡傛灉鍥剧墖鍔犺浇澶辫触锛屼娇鐢ㄩ粯璁ゆ枃鏈�
@@ -1207,15 +1220,15 @@
controlPanel = new JPanel(new BorderLayout());
controlPanel.setBackground(PANEL_BACKGROUND);
controlPanel.setBorder(BorderFactory.createEmptyBorder(15, 20, 15, 20));
- controlPanel.setPreferredSize(new Dimension(0, 100));
+ controlPanel.setPreferredSize(new Dimension(0, 80));
JPanel buttonPanel = new JPanel(new GridLayout(1, 2, 20, 0));
buttonPanel.setBackground(PANEL_BACKGROUND);
- startBtn = createControlButton("鏆傚仠", THEME_COLOR);
+ startBtn = createControlButton("鏆傚仠鍓茶崏", THEME_COLOR);
updateStartButtonAppearance();
- stopBtn = createControlButton("缁撴潫", Color.ORANGE);
+ stopBtn = createControlButton("缁撴潫鍓茶崏", Color.ORANGE);
updateStopButtonIcon();
buttonPanel.add(startBtn);
@@ -1321,7 +1334,8 @@
button.setFont(new Font("寰蒋闆呴粦", Font.BOLD, 16));
button.setBackground(color);
button.setForeground(Color.WHITE);
- button.setBorder(BorderFactory.createEmptyBorder(15, 0, 15, 0));
+ button.setPreferredSize(new Dimension(0, 50));
+ button.setBorder(BorderFactory.createEmptyBorder(10, 0, 10, 0));
button.setFocusPainted(false);
// 鎮仠鏁堟灉
@@ -2125,7 +2139,7 @@
updateStartButtonAppearance();
}
if (stopBtn != null) {
- stopBtn.setText("缁撴潫");
+ stopBtn.setText("缁撴潫鍓茶崏");
updateStopButtonIcon();
}
if (statusLabel != null) {
@@ -2168,17 +2182,16 @@
if (startBtn == null) {
return;
}
- String iconPath = startButtonShowingPause ? "image/start0.png" : "image/start1.png";
- startBtn.setText(startButtonShowingPause ? "鏆傚仠" : "寮�濮�");
- applyButtonIcon(startBtn, iconPath);
+ startBtn.setText(startButtonShowingPause ? "鏆傚仠鍓茶崏" : "寮�濮嬪壊鑽�");
+ startBtn.setIcon(null);
}
private void updateStopButtonIcon() {
if (stopBtn == null) {
return;
}
- String iconPath = stopButtonActive ? "image/stop1.png" : "image/stop0.png";
- applyButtonIcon(stopBtn, iconPath);
+ stopBtn.setText("缁撴潫鍓茶崏");
+ stopBtn.setIcon(null);
}
private void toggleBluetoothConnection() {
@@ -2553,7 +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;
@@ -2561,7 +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;
@@ -2659,7 +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;
}
@@ -2737,7 +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);
@@ -2750,7 +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) {
@@ -2993,10 +3006,10 @@
private void ensureBluetoothIconsLoaded() {
if (bluetoothIcon == null) {
- bluetoothIcon = loadScaledIcon("image/blue.png", 28, 28);
+ bluetoothIcon = loadScaledIcon("image/blue.png", 25, 25);
}
if (bluetoothLinkedIcon == null) {
- bluetoothLinkedIcon = loadScaledIcon("image/bluelink.png", 28, 28);
+ bluetoothLinkedIcon = loadScaledIcon("image/bluelink.png", 25, 25);
}
}
@@ -3558,7 +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;
}
@@ -3715,7 +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};
@@ -3781,7 +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) {
@@ -3930,6 +3943,14 @@
updateCurrentAreaName(displayName);
showPathPreviewReturnControls();
+
+ // 鑷姩灏嗚鍥句腑蹇冨鍑嗗湴鍧楀嚑浣曚腑蹇�
+ if (mapRenderer != null) {
+ SwingUtilities.invokeLater(() -> {
+ mapRenderer.centerViewOnBoundary();
+ });
+ }
+
visualizationPanel.revalidate();
visualizationPanel.repaint();
return true;
@@ -4310,32 +4331,12 @@
return;
}
- // 淇濆瓨褰撳墠鍦板潡寮曠敤
- shouye.currentBoundaryPreviewDikuai = dikuai;
-
// 鑾峰彇鍘熷杈圭晫XY鍧愭爣
String originalBoundaryXY = dikuai.getBoundaryOriginalXY();
// 璁剧疆杈圭晫棰勮
shouye.mapRenderer.setBoundaryPreview(originalBoundaryXY, optimizedBoundary);
- // 璁剧疆杈圭晫棰勮鏇存柊鍥炶皟锛岀敤浜庝繚瀛樺垹闄ゅ潗鏍囩偣鍚庣殑杈圭晫
- shouye.mapRenderer.setBoundaryPreviewUpdateCallback(updatedBoundary -> {
- if (shouye.currentBoundaryPreviewDikuai != null && updatedBoundary != null) {
- // 淇濆瓨鏇存柊鍚庣殑杈圭晫鍧愭爣
- Dikuai.updateField(shouye.currentBoundaryPreviewDikuai.getLandNumber(), "boundaryCoordinates", updatedBoundary);
- java.text.SimpleDateFormat sdf = new java.text.SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
- Dikuai.updateField(shouye.currentBoundaryPreviewDikuai.getLandNumber(), "updateTime", sdf.format(new java.util.Date()));
- Dikuai.saveToProperties();
-
- // 鍚屾鏇存柊褰撳墠鍦板潡瀵硅薄鐨勫唴瀛樺�硷紙纭繚杩斿洖鏃惰兘鑾峰彇鍒版渶鏂板�硷級
- shouye.currentBoundaryPreviewDikuai.setBoundaryCoordinates(updatedBoundary);
-
- // 鏇存柊棰勮杈圭晫锛堥噸鏂拌缃互鍒锋柊鏄剧ず锛�
- shouye.mapRenderer.setBoundaryPreview(originalBoundaryXY, updatedBoundary);
- }
- });
-
// 鍋滄缁樺埗鍓茶崏鏈哄疄鏃舵嫋灏�
if (shouye.mapRenderer != null) {
shouye.mapRenderer.setIdleTrailSuppressed(true);
@@ -4388,9 +4389,6 @@
private void exitBoundaryPreview() {
pathPreviewActive = false;
- // 娓呴櫎褰撳墠鍦板潡寮曠敤
- currentBoundaryPreviewDikuai = null;
-
// 鎭㈠缁樺埗鍓茶崏鏈哄疄鏃舵嫋灏�
if (mapRenderer != null) {
mapRenderer.setIdleTrailSuppressed(false);
@@ -4399,7 +4397,6 @@
// 娓呴櫎杈圭晫棰勮
if (mapRenderer != null) {
mapRenderer.clearBoundaryPreview();
- mapRenderer.setBoundaryPreviewUpdateCallback(null);
}
// 闅愯棌杩斿洖鎸夐挳
@@ -4416,17 +4413,4 @@
visualizationPanel.repaint();
}
- // 娴嬭瘯鏂规硶
- public static void main(String[] args) {
- JFrame frame = new JFrame("AutoMow - 棣栭〉");
- frame.setDefaultCloseOperation(JFrame.EXIT_ON_CLOSE);
- frame.setSize(400, 800);
- frame.setLocationRelativeTo(null);
-
- Shouye shouye = new Shouye();
- frame.add(shouye);
-
- frame.setVisible(true);
- UDPServer.startAsync();//鍚姩鏁版嵁鎺ユ敹绾跨▼
- }
}
\ No newline at end of file
--
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