From ed6936545d20cc490145d2936cee4387be2afd53 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期一, 22 十二月 2025 19:04:34 +0800
Subject: [PATCH] 优化了导航预览模式
---
src/gecaoji/Device.java | 184 ++++++++++++++++++++++++++++++++++++++-------
1 files changed, 154 insertions(+), 30 deletions(-)
diff --git a/src/gecaoji/Device.java b/src/gecaoji/Device.java
index aa4b77d..9e26eff 100644
--- a/src/gecaoji/Device.java
+++ b/src/gecaoji/Device.java
@@ -1,6 +1,7 @@
package gecaoji;
import baseStation.BaseStation;
import set.Setsys;
+import zhuye.MowerLocationData;
import java.io.FileInputStream;
import java.io.FileOutputStream;
import java.io.IOException;
@@ -83,6 +84,12 @@
// 鍓茶崏鏈虹伅寮�鍏崇姸鎬侊細1寮�鍚紝0鍏抽棴锛�-1鏈煡
private String mowerBladeHeight = "-1";
// 鍓茶崏鏈哄垁鐩橀珮搴︼細-1鏈煡
+ private String mowerWidth;
+ // 鍓茶崏鏈哄搴︼紝鍗曚綅绫�
+ private String mowerLength;
+ // 鍓茶崏鏈洪暱搴︼紝鍗曚綅绫�
+ private String mowingSafetyDistance;
+ // 鍓茶崏瀹夊叏璺濈锛屽崟浣嶇背
private static final double METERS_PER_DEGREE_LAT = 111320.0d;
@@ -155,6 +162,9 @@
if (mowerStartStatus != null) properties.setProperty("mowerStartStatus", mowerStartStatus);
if (mowerLightStatus != null) properties.setProperty("mowerLightStatus", mowerLightStatus);
if (mowerBladeHeight != null) properties.setProperty("mowerBladeHeight", mowerBladeHeight);
+ if (mowerWidth != null) properties.setProperty("mowerWidth", mowerWidth);
+ if (mowerLength != null) properties.setProperty("mowerLength", mowerLength);
+ if (mowingSafetyDistance != null) properties.setProperty("mowingSafetyDistance", mowingSafetyDistance);
// 淇濆瓨鍒版枃浠�
try (FileOutputStream output = new FileOutputStream("device.properties");
@@ -198,6 +208,9 @@
target.mowerStartStatus = properties.getProperty("mowerStartStatus", "-1");
target.mowerLightStatus = properties.getProperty("mowerLightStatus", "-1");
target.mowerBladeHeight = properties.getProperty("mowerBladeHeight", "-1");
+ target.mowerWidth = properties.getProperty("mowerWidth", "-1");
+ target.mowerLength = properties.getProperty("mowerLength", "-1");
+ target.mowingSafetyDistance = properties.getProperty("mowingSafetyDistance", "-1");
}
private void applyDefaults(Device target) {
@@ -233,6 +246,9 @@
target.mowerStartStatus = "-1";
target.mowerLightStatus = "-1";
target.mowerBladeHeight = "-1";
+ target.mowerWidth = "-1";
+ target.mowerLength = "-1";
+ target.mowingSafetyDistance = "-1";
}
public static synchronized Device initializeActiveDevice(String mowerId) { // 鏍规嵁璁惧ID鍒濆鍖栨椿璺冭澶�
@@ -343,6 +359,15 @@
case "mowerBladeHeight":
this.mowerBladeHeight = value;
return true;
+ case "mowerWidth":
+ this.mowerWidth = value;
+ return true;
+ case "mowerLength":
+ this.mowerLength = value;
+ return true;
+ case "mowingSafetyDistance":
+ this.mowingSafetyDistance = value;
+ return true;
default:
System.err.println("鏈煡瀛楁: " + fieldName);
return false;
@@ -392,35 +417,51 @@
mowerNumber = incomingDeviceId;
}
+ // 妫�鏌ユ槸鍚︽鍦ㄥ鑸瑙堟ā寮�
+ boolean isNavigating = checkIfNavigating();
+
String latitudeValue = sanitizeField(fields, 2);
String latitudeHemisphere = sanitizeField(fields, 3);
String longitudeValue = sanitizeField(fields, 4);
String longitudeHemisphere = sanitizeField(fields, 5);
- String combinedLatitude = combineCoordinate(latitudeValue, latitudeHemisphere);
- if (hasMeaningfulValue(combinedLatitude)) {
- realtimeLatitude = combinedLatitude;
- }
- String combinedLongitude = combineCoordinate(longitudeValue, longitudeHemisphere);
- if (hasMeaningfulValue(combinedLongitude)) {
- realtimeLongitude = combinedLongitude;
+ // 鍙湁鍦ㄩ潪瀵艰埅棰勮妯″紡涓嬫墠鏇存柊浣嶇疆鐩稿叧鏁版嵁
+ if (!isNavigating) {
+ String combinedLatitude = combineCoordinate(latitudeValue, latitudeHemisphere);
+ if (hasMeaningfulValue(combinedLatitude)) {
+ realtimeLatitude = combinedLatitude;
+ }
+ String combinedLongitude = combineCoordinate(longitudeValue, longitudeHemisphere);
+ if (hasMeaningfulValue(combinedLongitude)) {
+ realtimeLongitude = combinedLongitude;
+ }
+
+ String altitudeValue = sanitizeField(fields, 9);
+ if (hasMeaningfulValue(altitudeValue)) {
+ realtimeAltitude = altitudeValue;
+ }
+
+ // 鏇存柊浣嶇疆鍧愭爣
+ updateRelativeCoordinates(latitudeValue, latitudeHemisphere, longitudeValue, longitudeHemisphere);
+
+ // 鏇存柊鑸悜瑙掞紙浣嶇疆鐩稿叧锛�
+ heading = defaultIfEmpty(sanitizeField(fields, 19));
}
- String altitudeValue = sanitizeField(fields, 9);
- if (hasMeaningfulValue(altitudeValue)) {
- realtimeAltitude = altitudeValue;
- }
-
+ // 鍏朵粬鏁版嵁锛堢數閲忋�佸崼鏄熸暟绛夛級濮嬬粓鏇存柊
positioningStatus = defaultIfEmpty(sanitizeField(fields, 6));
+ // 鍚屾鍒扮粯鍒舵ā鍧楃殑鏁版嵁婧愶紝淇濊瘉寰�杩旂粯鍒跺畾鏃跺櫒鑳借瘑鍒畾浣嶈川閲�
+ try {
+ MowerLocationData.updateProperty("positioningQuality", positioningStatus);
+ } catch (Throwable ignored) {
+ // 闃插尽寮忥細鍗充娇鏇存柊澶辫触涔熶笉褰卞搷璁惧鏁版嵁澶勭悊
+ }
satelliteCount = defaultIfEmpty(sanitizeField(fields, 7));
differentialAge = defaultIfEmpty(sanitizeField(fields, 13));
battery = defaultIfEmpty(sanitizeField(fields, 16));
pitch = defaultIfEmpty(sanitizeField(fields, 17));
realtimeSpeed = defaultIfEmpty(sanitizeField(fields, 18));
- heading = defaultIfEmpty(sanitizeField(fields, 19));
GupdateTime = String.valueOf(System.currentTimeMillis());
-
- updateRelativeCoordinates(latitudeValue, latitudeHemisphere, longitudeValue, longitudeHemisphere);
}
/**涓插彛鏇存柊GNGGA鏁版嵁*/
@@ -440,33 +481,86 @@
return;
}
-
+ // 妫�鏌ユ槸鍚︽鍦ㄥ鑸瑙堟ā寮�
+ boolean isNavigating = checkIfNavigating();
+
String latitudeValue = sanitizeField(fields, 2);
String latitudeHemisphere = sanitizeField(fields, 3);
String longitudeValue = sanitizeField(fields, 4);
String longitudeHemisphere = sanitizeField(fields, 5);
- String combinedLatitude = combineCoordinate(latitudeValue, latitudeHemisphere);
- if (hasMeaningfulValue(combinedLatitude)) {
- realtimeLatitude = combinedLatitude;
- }
- String combinedLongitude = combineCoordinate(longitudeValue, longitudeHemisphere);
- if (hasMeaningfulValue(combinedLongitude)) {
- realtimeLongitude = combinedLongitude;
+ // 鍙湁鍦ㄩ潪瀵艰埅棰勮妯″紡涓嬫墠鏇存柊浣嶇疆鐩稿叧鏁版嵁
+ if (!isNavigating) {
+ String combinedLatitude = combineCoordinate(latitudeValue, latitudeHemisphere);
+ if (hasMeaningfulValue(combinedLatitude)) {
+ realtimeLatitude = combinedLatitude;
+ }
+ String combinedLongitude = combineCoordinate(longitudeValue, longitudeHemisphere);
+ if (hasMeaningfulValue(combinedLongitude)) {
+ realtimeLongitude = combinedLongitude;
+ }
+
+ String altitudeValue = sanitizeField(fields, 9);
+ if (hasMeaningfulValue(altitudeValue)) {
+ realtimeAltitude = altitudeValue;
+ }
+
+ // 鏇存柊浣嶇疆鍧愭爣
+ updateRelativeCoordinates(latitudeValue, latitudeHemisphere, longitudeValue, longitudeHemisphere);
+
+ // 涓插彛鏀跺埌GNGGA鏁版嵁鍚庯紝瑙﹀彂鎷栧熬鏇存柊
+ notifyMowerTrailUpdate();
}
- String altitudeValue = sanitizeField(fields, 9);
- if (hasMeaningfulValue(altitudeValue)) {
- realtimeAltitude = altitudeValue;
- }
-
+ // 鍏朵粬鏁版嵁锛堢數閲忋�佸崼鏄熸暟绛夛級濮嬬粓鏇存柊
positioningStatus = defaultIfEmpty(sanitizeField(fields, 6));
+ // 鍚屾鍒扮粯鍒舵ā鍧楃殑鏁版嵁婧愶紝淇濊瘉寰�杩旂粯鍒跺畾鏃跺櫒鑳借瘑鍒畾浣嶈川閲�
+ try {
+ MowerLocationData.updateProperty("positioningQuality", positioningStatus);
+ } catch (Throwable ignored) {
+ // 闃插尽寮忥細鍗充娇鏇存柊澶辫触涔熶笉褰卞搷璁惧鏁版嵁澶勭悊
+ }
satelliteCount = defaultIfEmpty(sanitizeField(fields, 7));
differentialAge = defaultIfEmpty(sanitizeField(fields, 13));
realtimeSpeed ="0";
GupdateTime = String.valueOf(System.currentTimeMillis());
-
- updateRelativeCoordinates(latitudeValue, latitudeHemisphere, longitudeValue, longitudeHemisphere);
+ }
+
+ /**
+ * 閫氱煡鍦板浘娓叉煋鍣ㄦ洿鏂板壊鑽夋満鎷栧熬
+ * 褰撲覆鍙ｆ敹鍒癎NGGA鏁版嵁骞舵洿鏂颁綅缃悗璋冪敤
+ */
+ /**
+ * 妫�鏌ユ槸鍚︽鍦ㄥ鑸瑙堟ā寮�
+ * @return 濡傛灉姝ｅ湪瀵艰埅棰勮杩斿洖true锛屽惁鍒欒繑鍥瀎alse
+ */
+ private boolean checkIfNavigating() {
+ try {
+ dikuai.daohangyulan nav = dikuai.daohangyulan.getInstance();
+ if (nav != null) {
+ return nav.isNavigating();
+ }
+ } catch (Exception e) {
+ // 濡傛灉鑾峰彇瀵艰埅瀹炰緥澶辫触锛岃繑鍥瀎alse锛堜笉褰卞搷涓昏鍔熻兘锛�
+ }
+ return false;
+ }
+
+ private void notifyMowerTrailUpdate() {
+ try {
+ // 閫氳繃Shouye.getInstance()鑾峰彇瀹炰緥锛岄伩鍏嶅惊鐜緷璧�
+ zhuye.Shouye shouye = zhuye.Shouye.getInstance();
+ if (shouye != null) {
+ zhuye.MapRenderer mapRenderer = shouye.getMapRenderer();
+ if (mapRenderer != null) {
+ // 璋冪敤鏇存柊鎷栧熬鏂规硶
+ mapRenderer.forceUpdateIdleMowerTrail();
+ }
+ }
+ } catch (Exception e) {
+ // 濡傛灉璋冪敤澶辫触锛岄潤榛樺鐞嗭紙涓嶅奖鍝嶄富瑕佸姛鑳斤級
+ // System.err.println("閫氱煡鎷栧熬鏇存柊澶辫触: " + e.getMessage());
+ }
}
private void updateRelativeCoordinates(String latValue, String latHemisphere,
@@ -498,6 +592,9 @@
if (Double.isFinite(eastMeters) && Double.isFinite(northMeters)) {
realtimeX = formatMeters(eastMeters);
realtimeY = formatMeters(northMeters);
+
+ // 淇濆瓨鍧愭爣鍒板伐鍏风被
+ lujing.SavaXyZuobiao.addCoordinate(eastMeters, northMeters);
}
}
@@ -811,6 +908,30 @@
this.mowerBladeHeight = mowerBladeHeight;
}
+ public String getMowerWidth() { // 鑾峰彇鍓茶崏鏈哄搴�
+ return mowerWidth;
+ }
+
+ public void setMowerWidth(String mowerWidth) { // 璁剧疆鍓茶崏鏈哄搴�
+ this.mowerWidth = mowerWidth;
+ }
+
+ public String getMowerLength() { // 鑾峰彇鍓茶崏鏈洪暱搴�
+ return mowerLength;
+ }
+
+ public void setMowerLength(String mowerLength) { // 璁剧疆鍓茶崏鏈洪暱搴�
+ this.mowerLength = mowerLength;
+ }
+
+ public String getMowingSafetyDistance() { // 鑾峰彇鍓茶崏瀹夊叏璺濈
+ return mowingSafetyDistance;
+ }
+
+ public void setMowingSafetyDistance(String mowingSafetyDistance) { // 璁剧疆鍓茶崏瀹夊叏璺濈
+ this.mowingSafetyDistance = mowingSafetyDistance;
+ }
+
@Override
public String toString() { // 杈撳嚭瀵硅薄淇℃伅
return "Device{" +
@@ -842,6 +963,9 @@
", mowerStartStatus='" + mowerStartStatus + '\'' +
", mowerLightStatus='" + mowerLightStatus + '\'' +
", mowerBladeHeight='" + mowerBladeHeight + '\'' +
+ ", mowerWidth='" + mowerWidth + '\'' +
+ ", mowerLength='" + mowerLength + '\'' +
+ ", mowingSafetyDistance='" + mowingSafetyDistance + '\'' +
'}';
}
}
\ No newline at end of file
--
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