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/zhuye/Shouye.java | 1245 +++++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 1,172 insertions(+), 73 deletions(-)
diff --git a/src/zhuye/Shouye.java b/src/zhuye/Shouye.java
index b1334a0..8162334 100644
--- a/src/zhuye/Shouye.java
+++ b/src/zhuye/Shouye.java
@@ -11,26 +11,32 @@
import java.awt.event.*;
import chuankou.dellmessage;
+import chuankou.sendmessage;
+import chuankou.SerialPortService;
import dikuai.Dikuai;
import dikuai.Dikuaiguanli;
import dikuai.addzhangaiwu;
import gecaoji.Device;
+import gecaoji.Gecaoji;
+import gecaoji.MowerBoundaryChecker;
+import publicway.buttonset;
import set.Sets;
+import set.debug;
import udpdell.UDPServer;
import zhangaiwu.AddDikuai;
-import yaokong.Control04;
import yaokong.RemoteControlDialog;
-
import java.util.ArrayList;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import java.util.Locale;
-import java.util.Objects;
import java.util.concurrent.atomic.AtomicBoolean;
import java.util.function.Consumer;
import java.awt.geom.Point2D;
+import publicway.Gpstoxuzuobiao;
+import publicway.Fanhuibutton;
+
/**
* 棣栭〉鐣岄潰 - 閫傞厤6.5瀵哥珫灞忥紝浣跨敤鐙珛鐨凪apRenderer杩涜缁樺埗
*/
@@ -75,6 +81,17 @@
private JLabel statusLabel;
private JLabel speedLabel; // 閫熷害鏄剧ず鏍囩
private JLabel areaNameLabel;
+ private JLabel drawingBoundaryLabel; // 姝ｅ湪缁樺埗杈圭晫鐘舵�佹爣绛�
+ private JLabel navigationPreviewLabel; // 瀵艰埅棰勮妯″紡鏍囩
+
+ // 杈圭晫璀﹀憡鐩稿叧
+ private Timer boundaryWarningTimer; // 杈圭晫璀﹀憡妫�鏌ュ畾鏃跺櫒
+ private Timer warningBlinkTimer; // 璀﹀憡鍥炬爣闂儊瀹氭椂鍣�
+ private boolean isMowerOutsideBoundary = false; // 鍓茶崏鏈烘槸鍚﹀湪杈圭晫澶�
+ private boolean warningIconVisible = true; // 璀﹀憡鍥炬爣鏄剧ず鐘舵�侊紙鐢ㄤ簬闂儊锛�
+
+ // 浠ュ壊鑽夋満涓轰腑蹇冭鍥炬ā寮�
+ private boolean centerOnMowerMode = false; // 鏄惁澶勪簬浠ュ壊鑽夋満涓轰腑蹇冪殑妯″紡
// 褰撳墠閫変腑鐨勫鑸寜閽�
private JButton currentNavButton;
@@ -88,10 +105,22 @@
private Sets settingsDialog;
private BaseStation baseStation;
- private final Consumer<String> serialLineListener = line -> SwingUtilities.invokeLater(this::updateDataPacketCountLabel);
-
// 鍦板浘娓叉煋鍣�
private MapRenderer mapRenderer;
+
+ 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 static final int FLOAT_ICON_SIZE = 32;
private JButton endDrawingButton;
private JButton drawingPauseButton;
@@ -99,8 +128,9 @@
private JPanel floatingButtonColumn;
private Runnable endDrawingCallback;
private JButton pathPreviewReturnButton;
- private boolean pathPreviewActive;
private Runnable pathPreviewReturnAction;
+ private JButton settingsReturnButton; // 杩斿洖绯荤粺璁剧疆椤甸潰鐨勬偓娴寜閽�
+ 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 boolean drawingPaused;
@@ -142,6 +172,7 @@
private boolean storedStopButtonActive;
private String storedStatusBeforeDrawing;
private boolean handheldCaptureInlineUiActive;
+ private WangfanDraw returnPathDrawer; // 寰�杩旇矾寰勭粯鍒剁鐞嗗櫒
private Timer handheldCaptureStatusTimer;
private String handheldCaptureStoredStatusText;
private Color handheldStartButtonOriginalBackground;
@@ -181,6 +212,54 @@
// 鍒濆鍖栧湴鍥炬覆鏌撳櫒
mapRenderer = new MapRenderer(visualizationPanel);
applyIdleTrailDurationFromSettings();
+
+ // 鍒濆鍖栧線杩旇矾寰勭粯鍒剁鐞嗗櫒
+ returnPathDrawer = new WangfanDraw(this, mapRenderer, new WangfanDraw.DrawingHelper() {
+ @Override
+ public double[] resolveBaseLatLon() {
+ return resolveCircleBaseLatLon();
+ }
+
+ @Override
+ public Coordinate getLatestCoordinate() {
+ return Shouye.this.getLatestCoordinate();
+ }
+
+ @Override
+ public double parseDMToDecimal(String dmm, String direction) {
+ return Shouye.this.parseDMToDecimal(dmm, direction);
+ }
+
+ @Override
+ public double[] convertLatLonToLocal(double lat, double lon, double baseLat, double baseLon) {
+ return Shouye.this.convertLatLonToLocal(lat, lon, baseLat, baseLon);
+ }
+
+ @Override
+ public boolean arePointsClose(Point2D.Double a, Point2D.Double b) {
+ return Shouye.this.arePointsClose(a, b);
+ }
+
+ @Override
+ public void enterDrawingControlMode() {
+ Shouye.this.enterDrawingControlMode();
+ }
+
+ @Override
+ public void exitDrawingControlMode() {
+ Shouye.this.exitDrawingControlMode();
+ }
+
+ @Override
+ public boolean isDrawingPaused() {
+ return drawingPaused;
+ }
+ });
+
+ // 璁剧疆 MapRenderer 鐨勫線杩旇矾寰勭粯鍒剁鐞嗗櫒
+ if (mapRenderer != null) {
+ mapRenderer.setReturnPathDrawer(returnPathDrawer);
+ }
// 鍒濆鍖栧璇濇寮曠敤涓簄ull锛屽欢杩熷垱寤�
legendDialog = null;
@@ -194,6 +273,9 @@
initializeDefaultAreaSelection();
refreshMapForSelectedArea();
+
+ // 鍚姩杈圭晫璀﹀憡妫�鏌ュ畾鏃跺櫒
+ startBoundaryWarningTimer();
}
private void scheduleIdentifierCheck() {
@@ -205,12 +287,200 @@
SwingUtilities.invokeLater(() -> {
Shouye.this.checkIdentifiersAndPromptIfNeeded();
Shouye.this.showInitialMowerSelfCheckDialogIfNeeded();
+ // 璁剧疆绐楀彛鍏抽棴鐩戝惉鍣紝鍦ㄥ叧闂椂淇濆瓨缂╂斁姣斾緥
+ setupWindowCloseListener();
});
}
}
};
addHierarchyListener(listener);
}
+
+ /**
+ * 璁剧疆绐楀彛鍏抽棴鐩戝惉鍣紝鍦ㄧ獥鍙ｅ叧闂椂淇濆瓨褰撳墠缂╂斁姣斾緥
+ */
+ private void setupWindowCloseListener() {
+ Window window = SwingUtilities.getWindowAncestor(this);
+ if (window != null && window instanceof JFrame) {
+ JFrame frame = (JFrame) window;
+ frame.addWindowListener(new WindowAdapter() {
+ @Override
+ public void windowClosing(WindowEvent e) {
+ // 淇濆瓨褰撳墠缂╂斁姣斾緥
+ saveCurrentScale();
+ // 鍋滄杈圭晫璀﹀憡瀹氭椂鍣�
+ if (boundaryWarningTimer != null && boundaryWarningTimer.isRunning()) {
+ boundaryWarningTimer.stop();
+ }
+ // 鍋滄闂儊瀹氭椂鍣�
+ if (warningBlinkTimer != null && warningBlinkTimer.isRunning()) {
+ warningBlinkTimer.stop();
+ }
+ }
+ });
+ }
+ }
+
+ /**
+ * 淇濆瓨褰撳墠鍦板浘缂╂斁姣斾緥鍜岃鍥句腑蹇冨潗鏍囧埌閰嶇疆鏂囦欢
+ */
+ public void saveCurrentScale() {
+ if (mapRenderer != null) {
+ double currentScale = mapRenderer.getScale();
+ double translateX = mapRenderer.getTranslateX();
+ double translateY = mapRenderer.getTranslateY();
+ Setsys setsys = new Setsys();
+ // 淇濈暀2浣嶅皬鏁�
+ setsys.updateProperty("mapScale", String.format("%.2f", currentScale));
+ setsys.updateProperty("viewCenterX", String.format("%.2f", translateX));
+ setsys.updateProperty("viewCenterY", String.format("%.2f", translateY));
+ }
+ }
+
+ /**
+ * 鍚姩杈圭晫璀﹀憡妫�鏌ュ畾鏃跺櫒
+ */
+ private void startBoundaryWarningTimer() {
+ // 杈圭晫妫�鏌ュ畾鏃跺櫒锛氭瘡500ms妫�鏌ヤ竴娆″壊鑽夋満鏄惁鍦ㄨ竟鐣屽唴
+ boundaryWarningTimer = new Timer(500, e -> {
+ checkMowerBoundaryStatus();
+ // 鍚屾椂鏇存柊钃濈墮鍥炬爣鐘舵��
+ updateBluetoothButtonIcon();
+ });
+ boundaryWarningTimer.setInitialDelay(0);
+ boundaryWarningTimer.start();
+
+ // 闂儊瀹氭椂鍣細姣�1绉掑垏鎹竴娆¤鍛婂浘鏍囨樉绀虹姸鎬�
+ warningBlinkTimer = new Timer(1000, e -> {
+ if (isMowerOutsideBoundary) {
+ warningIconVisible = !warningIconVisible;
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+ });
+ warningBlinkTimer.setInitialDelay(0);
+ warningBlinkTimer.start();
+ }
+
+ /**
+ * 鍒囨崲浠ュ壊鑽夋満涓轰腑蹇冪殑妯″紡
+ */
+ private void toggleCenterOnMowerMode() {
+ centerOnMowerMode = !centerOnMowerMode;
+
+ if (centerOnMowerMode) {
+ // 寮�鍚ā寮忥細绔嬪嵆灏嗚鍥句腑蹇冪Щ鍔ㄥ埌鍓茶崏鏈轰綅缃�
+ updateViewToCenterOnMower();
+ }
+ // 鍏抽棴妯″紡鏃朵笉闇�瑕佸仛浠讳綍鎿嶄綔锛岀敤鎴峰凡缁忓彲浠ヨ嚜鐢辩Щ鍔ㄥ湴鍥�
+
+ // 鏇存柊鍥炬爣鏄剧ず锛堥噸缁樹互鍒囨崲鍥炬爣锛�
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ /**
+ * 鏇存柊瑙嗗浘涓績鍒板壊鑽夋満浣嶇疆
+ */
+ private void updateViewToCenterOnMower() {
+ if (mapRenderer == null) {
+ return;
+ }
+
+ Gecaoji mower = mapRenderer.getMower();
+ if (mower != null && mower.hasValidPosition()) {
+ Point2D.Double mowerPosition = mower.getPosition();
+ if (mowerPosition != null) {
+ // 鑾峰彇褰撳墠缂╂斁姣斾緥
+ double currentScale = mapRenderer.getScale();
+ // 璁剧疆瑙嗗浘鍙樻崲锛屼娇鍓茶崏鏈轰綅缃搴斿埌灞忓箷涓績
+ // translateX = -mowerX, translateY = -mowerY 鍙互璁╁壊鑽夋満鍦ㄥ睆骞曚腑蹇�
+ mapRenderer.setViewTransform(currentScale, -mowerPosition.x, -mowerPosition.y);
+ }
+ }
+ }
+
+ /**
+ * 妫�鏌ュ壊鑽夋満杈圭晫鐘舵��
+ */
+ private void checkMowerBoundaryStatus() {
+ // 濡傛灉澶勪簬浠ュ壊鑽夋満涓轰腑蹇冪殑妯″紡锛屽疄鏃舵洿鏂拌鍥句腑蹇�
+ if (centerOnMowerMode) {
+ updateViewToCenterOnMower();
+ }
+
+ // 妫�鏌ユ槸鍚﹀湪浣滀笟涓�
+ if (statusLabel == null || !"浣滀笟涓�".equals(statusLabel.getText())) {
+ // 涓嶅湪浣滀笟涓紝閲嶇疆鐘舵��
+ if (isMowerOutsideBoundary) {
+ isMowerOutsideBoundary = false;
+ warningIconVisible = true;
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+ return;
+ }
+
+ // 鍦ㄤ綔涓氫腑锛屾鏌ユ槸鍚﹀湪杈圭晫鍐�
+ if (mapRenderer == null) {
+ return;
+ }
+
+ // 鑾峰彇褰撳墠杈圭晫
+ List<Point2D.Double> boundary = mapRenderer.getCurrentBoundary();
+ if (boundary == null || boundary.size() < 3) {
+ // 娌℃湁杈圭晫锛岄噸缃姸鎬�
+ if (isMowerOutsideBoundary) {
+ isMowerOutsideBoundary = false;
+ warningIconVisible = true;
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+ return;
+ }
+
+ // 鑾峰彇鍓茶崏鏈轰綅缃�
+ Gecaoji mower = mapRenderer.getMower();
+ if (mower == null || !mower.hasValidPosition()) {
+ // 鏃犳硶鑾峰彇浣嶇疆锛岄噸缃姸鎬�
+ if (isMowerOutsideBoundary) {
+ isMowerOutsideBoundary = false;
+ warningIconVisible = true;
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+ return;
+ }
+
+ Point2D.Double mowerPosition = mower.getPosition();
+ if (mowerPosition == null) {
+ return;
+ }
+
+ // 浣跨敤 MowerBoundaryChecker 妫�鏌ユ槸鍚﹀湪杈圭晫鍐�
+ boolean isInside = MowerBoundaryChecker.isInsideBoundaryPoints(
+ boundary,
+ mowerPosition.x,
+ mowerPosition.y
+ );
+
+ // 鏇存柊鐘舵��
+ boolean wasOutside = isMowerOutsideBoundary;
+ isMowerOutsideBoundary = !isInside;
+
+ // 濡傛灉鐘舵�佹敼鍙橈紝绔嬪嵆閲嶇粯
+ if (wasOutside != isMowerOutsideBoundary) {
+ warningIconVisible = true;
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+ }
private void showInitialMowerSelfCheckDialogIfNeeded() {
// 宸茬Щ闄よ繘鍏ヤ富椤垫椂鐨勮嚜妫�鎻愮ず锛堟寜鐢ㄦ埛瑕佹眰鍒犻櫎锛�
@@ -237,6 +507,251 @@
}
}
mapRenderer.setIdleTrailDurationSeconds(durationSeconds);
+
+ // 搴旂敤杈圭晫璺濈鏄剧ず璁剧疆鍜屾祴閲忔ā寮忚缃�
+ Setsys setsys = new Setsys();
+ setsys.initializeFromProperties();
+ mapRenderer.setBoundaryLengthVisible(setsys.isBoundaryLengthVisible());
+ // 鍒濆鍖栨祴閲忔ā寮�
+ boolean measurementEnabled = setsys.isMeasurementModeEnabled();
+ mapRenderer.setMeasurementMode(measurementEnabled);
+ if (measurementEnabled) {
+ celiangmoshi.start();
+ } else {
+ celiangmoshi.stop();
+ }
+ // 鍒濆鍖栨墜鍔ㄧ粯鍒惰竟鐣屾ā寮�
+ boolean manualBoundaryDrawingEnabled = setsys.isManualBoundaryDrawingMode();
+ if (mapRenderer != null) {
+ mapRenderer.setManualBoundaryDrawingMode(manualBoundaryDrawingEnabled);
+ }
+ // 鏇存柊杩斿洖璁剧疆鎸夐挳鐨勬樉绀虹姸鎬�
+ updateSettingsReturnButtonVisibility();
+ }
+
+ /**
+ * 鏇存柊杩斿洖绯荤粺璁剧疆鎸夐挳鐨勬樉绀虹姸鎬�
+ * 褰撴墜鍔ㄧ粯鍒惰竟鐣屾ā寮忋�佹樉绀鸿竟鐣岃窛绂绘垨寮�鍚祴閲忔ā寮忎换涓�寮�鍚椂鏄剧ず
+ */
+ public void updateSettingsReturnButtonVisibility() {
+ Setsys setsys = new Setsys();
+ setsys.initializeFromProperties();
+
+ boolean manualBoundaryDrawingEnabled = setsys.isManualBoundaryDrawingMode();
+ boolean shouldShow = manualBoundaryDrawingEnabled
+ || setsys.isBoundaryLengthVisible()
+ || setsys.isMeasurementModeEnabled();
+
+ if (shouldShow) {
+ showSettingsReturnButton();
+ // 濡傛灉鎵嬪姩缁樺埗杈圭晫妯″紡寮�鍚紝鏄剧ず淇濆瓨鎸夐挳
+ if (manualBoundaryDrawingEnabled) {
+ showSaveManualBoundaryButton();
+ } else {
+ hideSaveManualBoundaryButton();
+ }
+ } else {
+ hideSettingsReturnButton();
+ hideSaveManualBoundaryButton();
+ }
+ }
+
+ /**
+ * 鏄剧ず杩斿洖绯荤粺璁剧疆鎸夐挳
+ */
+ private void showSettingsReturnButton() {
+ ensureFloatingButtonInfrastructure();
+ if (settingsReturnButton == null) {
+ settingsReturnButton = Fanhuibutton.createReturnButton(null);
+ settingsReturnButton.setToolTipText("杩斿洖绯荤粺璁剧疆");
+ settingsReturnButton.addActionListener(e -> {
+ // 鍏抽棴鎵�鏈夌浉鍏虫ā寮�
+ Setsys setsys = new Setsys();
+ setsys.initializeFromProperties();
+
+ boolean modeChanged = false;
+
+ // 鍏抽棴鎵嬪姩缁樺埗杈圭晫妯″紡
+ if (setsys.isManualBoundaryDrawingMode()) {
+ setsys.setManualBoundaryDrawingMode(false);
+ setsys.updateProperty("manualBoundaryDrawingMode", "false");
+ // 娓呯┖鎵嬪姩缁樺埗鐨勮竟鐣岀偣
+ if (mapRenderer != null) {
+ mapRenderer.clearManualBoundaryPoints();
+ }
+ modeChanged = true;
+ }
+
+ // 鍏抽棴鏄剧ず杈圭晫璺濈
+ if (setsys.isBoundaryLengthVisible()) {
+ setsys.setBoundaryLengthVisible(false);
+ setsys.updateProperty("boundaryLengthVisible", "false");
+ if (mapRenderer != null) {
+ mapRenderer.setBoundaryLengthVisible(false);
+ }
+ modeChanged = true;
+ }
+
+ // 鍏抽棴娴嬮噺妯″紡
+ if (setsys.isMeasurementModeEnabled()) {
+ setsys.setMeasurementModeEnabled(false);
+ setsys.updateProperty("measurementModeEnabled", "false");
+ if (mapRenderer != null) {
+ mapRenderer.setMeasurementMode(false);
+ }
+ celiangmoshi.stop();
+ modeChanged = true;
+ }
+
+ // 濡傛灉鍏抽棴浜嗕换浣曟ā寮忥紝绔嬪嵆闅愯棌杩斿洖鎸夐挳骞跺埛鏂扮晫闈�
+ if (modeChanged) {
+ // 绔嬪嵆闅愯棌杩斿洖鎸夐挳
+ if (settingsReturnButton != null) {
+ settingsReturnButton.setVisible(false);
+ }
+ // 鏇存柊鎸夐挳鍒楋紙绉婚櫎杩斿洖鎸夐挳锛�
+ rebuildFloatingButtonColumn();
+ // 濡傛灉鎵�鏈夋寜閽兘闅愯棌浜嗭紝闅愯棌鎮诞鎸夐挳闈㈡澘
+ if (floatingButtonPanel != null && floatingButtonColumn != null
+ && floatingButtonColumn.getComponentCount() == 0) {
+ floatingButtonPanel.setVisible(false);
+ }
+ // 鍒锋柊鐣岄潰
+ if (visualizationPanel != null) {
+ visualizationPanel.revalidate();
+ visualizationPanel.repaint();
+ }
+ }
+
+ // 鏇存柊杩斿洖鎸夐挳鏄剧ず鐘舵�侊紙纭繚鐘舵�佸悓姝ワ級
+ updateSettingsReturnButtonVisibility();
+
+ // 鎵撳紑绯荤粺璁剧疆椤甸潰
+ showSettingsDialog();
+ });
+ }
+ settingsReturnButton.setVisible(true);
+ // 闅愯棌缁樺埗鐩稿叧鐨勬寜閽紙鏆傚仠銆佺粨鏉熺粯鍒讹級
+ if (drawingPauseButton != null) {
+ drawingPauseButton.setVisible(false);
+ }
+ if (endDrawingButton != null) {
+ endDrawingButton.setVisible(false);
+ }
+ if (floatingButtonPanel != null) {
+ floatingButtonPanel.setVisible(true);
+ if (floatingButtonPanel.getParent() != visualizationPanel) {
+ visualizationPanel.add(floatingButtonPanel, BorderLayout.SOUTH);
+ }
+ }
+ rebuildFloatingButtonColumn();
+ }
+
+ /**
+ * 闅愯棌杩斿洖绯荤粺璁剧疆鎸夐挳
+ */
+ private void hideSettingsReturnButton() {
+ if (settingsReturnButton != null) {
+ settingsReturnButton.setVisible(false);
+ }
+ rebuildFloatingButtonColumn();
+ if (floatingButtonPanel != null && floatingButtonColumn != null
+ && floatingButtonColumn.getComponentCount() == 0) {
+ floatingButtonPanel.setVisible(false);
+ }
+ }
+
+ /**
+ * 鏄剧ず淇濆瓨鎵嬪姩缁樺埗杈圭晫鎸夐挳
+ */
+ private void showSaveManualBoundaryButton() {
+ ensureFloatingButtonInfrastructure();
+ if (saveManualBoundaryButton == null) {
+ saveManualBoundaryButton = createFloatingTextButton("淇濆瓨");
+ saveManualBoundaryButton.setToolTipText("淇濆瓨鎵嬪姩缁樺埗鐨勮竟鐣�");
+ saveManualBoundaryButton.addActionListener(e -> saveManualBoundary());
+ }
+ saveManualBoundaryButton.setVisible(true);
+ if (floatingButtonPanel != null) {
+ floatingButtonPanel.setVisible(true);
+ if (floatingButtonPanel.getParent() != visualizationPanel) {
+ visualizationPanel.add(floatingButtonPanel, BorderLayout.SOUTH);
+ }
+ }
+ rebuildFloatingButtonColumn();
+ }
+
+ /**
+ * 闅愯棌淇濆瓨鎵嬪姩缁樺埗杈圭晫鎸夐挳
+ */
+ private void hideSaveManualBoundaryButton() {
+ if (saveManualBoundaryButton != null) {
+ saveManualBoundaryButton.setVisible(false);
+ }
+ rebuildFloatingButtonColumn();
+ if (floatingButtonPanel != null && floatingButtonColumn != null
+ && floatingButtonColumn.getComponentCount() == 0) {
+ floatingButtonPanel.setVisible(false);
+ }
+ }
+
+ /**
+ * 淇濆瓨鎵嬪姩缁樺埗鐨勮竟鐣屽埌鏂囦欢
+ */
+ private void saveManualBoundary() {
+ if (mapRenderer == null) {
+ JOptionPane.showMessageDialog(this, "鍦板浘娓叉煋鍣ㄦ湭鍒濆鍖�", "閿欒", JOptionPane.ERROR_MESSAGE);
+ return;
+ }
+
+ List<Point2D.Double> points = mapRenderer.getManualBoundaryPoints();
+ if (points == null || points.isEmpty()) {
+ JOptionPane.showMessageDialog(this, "娌℃湁鍙繚瀛樼殑杈圭晫鐐癸紝璇峰厛鍦ㄥ湴鍥句笂鐐瑰嚮缁樺埗杈圭晫", "鎻愮ず", JOptionPane.WARNING_MESSAGE);
+ return;
+ }
+
+ // 鏋勫缓鍧愭爣瀛楃涓诧細x1,y1;x2,y2;...;xn,yn锛堝崟浣嶏細绫筹紝绮剧‘鍒板皬鏁扮偣鍚�2浣嶏級
+ StringBuilder coordinates = new StringBuilder();
+ for (int i = 0; i < points.size(); i++) {
+ Point2D.Double point = points.get(i);
+ if (i > 0) {
+ coordinates.append(";");
+ }
+ coordinates.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
+ }
+
+ // 淇濆瓨鍒� properties 鏂囦欢
+ try {
+ java.util.Properties props = new java.util.Properties();
+ java.io.File file = new java.io.File("shoudongbianjie.properties");
+
+ // 濡傛灉鏂囦欢瀛樺湪锛屽厛鍔犺浇鐜版湁鍐呭
+ if (file.exists()) {
+ try (java.io.FileInputStream input = new java.io.FileInputStream(file)) {
+ props.load(input);
+ }
+ }
+
+ // 淇濆瓨鍧愭爣
+ props.setProperty("boundaryCoordinates", coordinates.toString());
+ props.setProperty("pointCount", String.valueOf(points.size()));
+
+ // 鍐欏洖鏂囦欢
+ try (java.io.FileOutputStream output = new java.io.FileOutputStream(file)) {
+ props.store(output, "鎵嬪姩缁樺埗杈圭晫鍧愭爣 - 鏍煎紡: x1,y1;x2,y2;...;xn,yn (鍗曚綅:绫�,绮剧‘鍒板皬鏁扮偣鍚�2浣�)");
+ }
+
+ JOptionPane.showMessageDialog(this,
+ String.format("杈圭晫宸蹭繚瀛樻垚鍔燂紒\n鍏� %d 涓偣", points.size()),
+ "淇濆瓨鎴愬姛",
+ JOptionPane.INFORMATION_MESSAGE);
+ } catch (Exception ex) {
+ ex.printStackTrace();
+ JOptionPane.showMessageDialog(this,
+ "淇濆瓨澶辫触: " + ex.getMessage(),
+ "閿欒",
+ JOptionPane.ERROR_MESSAGE);
+ }
}
private void createHeaderPanel() {
@@ -283,14 +798,28 @@
// 娣诲姞閫熷害鏄剧ず鏍囩
speedLabel = new JLabel("");
- speedLabel.setFont(new Font("寰蒋闆呴粦", Font.PLAIN, 12));
- speedLabel.setForeground(Color.GRAY);
- speedLabel.setVisible(false); // 榛樿闅愯棌
+ speedLabel.setFont(new Font("寰蒋闆呴粦", Font.PLAIN, 12));
+ speedLabel.setForeground(Color.GRAY);
+ speedLabel.setVisible(false); // 榛樿闅愯棌
+
+ // 姝ｅ湪缁樺埗杈圭晫鐘舵�佹爣绛�
+ drawingBoundaryLabel = new JLabel("姝ｅ湪缁樺埗杈圭晫");
+ drawingBoundaryLabel.setFont(new Font("寰蒋闆呴粦", Font.PLAIN, 14));
+ drawingBoundaryLabel.setForeground(new Color(46, 139, 87));
+ drawingBoundaryLabel.setVisible(false); // 榛樿闅愯棌
+
+ // 瀵艰埅棰勮妯″紡鏍囩
+ navigationPreviewLabel = new JLabel("褰撳墠瀵艰埅棰勮妯″紡");
+ navigationPreviewLabel.setFont(new Font("寰蒋闆呴粦", Font.PLAIN, 14));
+ navigationPreviewLabel.setForeground(new Color(46, 139, 87));
+ navigationPreviewLabel.setVisible(false); // 榛樿闅愯棌
// 灏嗙姸鎬佷笌閫熷害鏀惧湪鍚屼竴琛岋紝鏄剧ず鍦ㄥ湴鍧楀悕绉颁笅闈竴琛�
JPanel statusRow = new JPanel(new FlowLayout(FlowLayout.LEFT, 8, 0));
statusRow.setOpaque(false);
statusRow.add(statusLabel);
+ statusRow.add(drawingBoundaryLabel);
+ statusRow.add(navigationPreviewLabel);
statusRow.add(speedLabel);
// 宸﹀榻愭爣绛句笌鐘舵�佽锛岀‘淇濆畠浠湪 BoxLayout 涓潬宸︽樉绀�
@@ -349,6 +878,39 @@
// 鍙鍖栧尯鍩� - 浣跨敤MapRenderer杩涜缁樺埗
visualizationPanel = new JPanel() {
+ private ImageIcon gecaojiIcon1 = null; // 榛樿鍥炬爣
+ private ImageIcon gecaojiIcon2 = null; // 浠ュ壊鑽夋満涓轰腑蹇冩ā寮忓浘鏍�
+ private static final int GECAOJI_ICON_X = 37;
+ private static final int GECAOJI_ICON_Y = 10;
+ private static final int GECAOJI_ICON_SIZE = 20;
+
+ {
+ // 鍔犺浇鍓茶崏鏈哄浘鏍囷紝澶у皬20x20鍍忕礌
+ gecaojiIcon1 = loadScaledIcon("image/gecaojishijiao1.png", GECAOJI_ICON_SIZE, GECAOJI_ICON_SIZE);
+ gecaojiIcon2 = loadScaledIcon("image/gecaojishijiao2.png", GECAOJI_ICON_SIZE, GECAOJI_ICON_SIZE);
+ }
+
+ /**
+ * 妫�鏌ラ紶鏍囦綅缃槸鍚﹀湪鍓茶崏鏈哄浘鏍囧尯鍩熷唴
+ */
+ private boolean isMouseOnGecaojiIcon(Point mousePoint) {
+ return mousePoint.x >= GECAOJI_ICON_X &&
+ mousePoint.x <= GECAOJI_ICON_X + GECAOJI_ICON_SIZE &&
+ mousePoint.y >= GECAOJI_ICON_Y &&
+ mousePoint.y <= GECAOJI_ICON_Y + GECAOJI_ICON_SIZE;
+ }
+
+ @Override
+ public String getToolTipText(MouseEvent event) {
+ // 濡傛灉榧犳爣鍦ㄥ壊鑽夋満鍥炬爣鍖哄煙鍐咃紝鏄剧ず鎻愮ず鏂囧瓧
+ if (isMouseOnGecaojiIcon(event.getPoint())) {
+ // 鏍规嵁褰撳墠妯″紡鏄剧ず涓嶅悓鐨勬彁绀烘枃瀛�
+ return centerOnMowerMode ? "鍙栨秷浠ュ壊鑽夋満涓轰腑蹇�" : "浠ュ壊鑽夋満涓轰腑蹇�";
+ }
+ // 涓嶅湪鍥炬爣涓婃椂杩斿洖null锛屼笉鏄剧ず宸ュ叿鎻愮ず妗�
+ return null;
+ }
+
@Override
protected void paintComponent(Graphics g) {
super.paintComponent(g);
@@ -356,14 +918,75 @@
if (mapRenderer != null) {
mapRenderer.renderMap(g);
}
+
+ // 妫�鏌ユ槸鍚﹂渶瑕佹樉绀鸿鍛婂浘鏍�
+ if (isMowerOutsideBoundary && warningIconVisible) {
+ // 缁樺埗绾㈣壊涓夎褰㈣鍛婂浘鏍囷紙甯﹀徆鍙凤級
+ drawWarningIcon(g, GECAOJI_ICON_X, GECAOJI_ICON_Y, GECAOJI_ICON_SIZE);
+ } else {
+ // 鏍规嵁妯″紡閫夋嫨涓嶅悓鐨勫浘鏍�
+ ImageIcon iconToDraw = centerOnMowerMode ? gecaojiIcon2 : gecaojiIcon1;
+ if (iconToDraw != null) {
+ // 缁樺埗鍓茶崏鏈哄浘鏍�
+ // 姘村钩鏂瑰悜涓庨�熷害鎸囩ず鍣ㄥ榻愶紙x=37锛�
+ // 鍨傜洿鏂瑰悜涓庡崼鏄熺姸鎬佸浘鏍囧榻愶紙y=10锛岄�熷害鎸囩ず鍣ㄩ潰鏉块《閮ㄨ竟璺�10鍍忕礌锛屼娇鍥炬爣涓績瀵归綈锛�
+ g.drawImage(iconToDraw.getImage(), GECAOJI_ICON_X, GECAOJI_ICON_Y, null);
+ }
+ }
+ }
+
+ /**
+ * 缁樺埗绾㈣壊涓夎褰㈣鍛婂浘鏍囷紙甯﹀徆鍙凤級
+ */
+ private void drawWarningIcon(Graphics g, int x, int y, int size) {
+ Graphics2D g2d = (Graphics2D) g.create();
+ g2d.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
+
+ // 缁樺埗绾㈣壊涓夎褰�
+ int[] xPoints = {x + size / 2, x, x + size};
+ int[] yPoints = {y, y + size, y + size};
+ g2d.setColor(Color.RED);
+ g2d.fillPolygon(xPoints, yPoints, 3);
+
+ // 缁樺埗鐧借壊杈规
+ g2d.setColor(Color.WHITE);
+ g2d.setStroke(new BasicStroke(1.5f));
+ g2d.drawPolygon(xPoints, yPoints, 3);
+
+ // 缁樺埗鐧借壊鍙瑰彿
+ g2d.setColor(Color.WHITE);
+ g2d.setFont(new Font("Arial", Font.BOLD, size * 3 / 4));
+ FontMetrics fm = g2d.getFontMetrics();
+ String exclamation = "!";
+ int textWidth = fm.stringWidth(exclamation);
+ int textHeight = fm.getAscent();
+ g2d.drawString(exclamation, x + (size - textWidth) / 2, y + (size + textHeight) / 2 - 2);
+
+ g2d.dispose();
}
};
visualizationPanel.setLayout(new BorderLayout());
+
+ // 娣诲姞榧犳爣鐐瑰嚮鐩戝惉鍣紝妫�娴嬫槸鍚︾偣鍑讳簡鍓茶崏鏈哄浘鏍�
+ visualizationPanel.addMouseListener(new MouseAdapter() {
+ @Override
+ public void mouseClicked(MouseEvent e) {
+ if (SwingUtilities.isLeftMouseButton(e)) {
+ Point clickPoint = e.getPoint();
+ // 妫�鏌ユ槸鍚︾偣鍑讳簡鍓茶崏鏈哄浘鏍囧尯鍩燂紙37, 10, 20, 20锛�
+ if (clickPoint.x >= 37 && clickPoint.x <= 57 &&
+ clickPoint.y >= 10 && clickPoint.y <= 30) {
+ // 鍒囨崲浠ュ壊鑽夋満涓轰腑蹇冪殑妯″紡
+ toggleCenterOnMowerMode();
+ }
+ }
+ }
+ });
JPanel speedIndicatorPanel = createSpeedIndicatorPanel();
visualizationPanel.add(speedIndicatorPanel, BorderLayout.NORTH);
- // 鍒涘缓鍔熻兘鎸夐挳闈㈡澘锛堟斁鍦ㄥ乏涓婅锛�
+ // 鍒涘缓鍔熻兘鎸夐挳闈㈡澘
JPanel functionButtonsPanel = new JPanel();
functionButtonsPanel.setLayout(new BoxLayout(functionButtonsPanel, BoxLayout.Y_AXIS));
functionButtonsPanel.setOpaque(false);
@@ -658,12 +1281,14 @@
}
});
ensureBluetoothIconsLoaded();
- bluetoothConnected = Bluelink.isConnected();
- ImageIcon initialIcon = bluetoothConnected ? bluetoothLinkedIcon : bluetoothIcon;
+ // 鏍规嵁涓插彛杩炴帴鐘舵�佹樉绀哄浘鏍�
+ SerialPortService service = sendmessage.getActiveService();
+ boolean serialConnected = (service != null && service.isOpen());
+ ImageIcon initialIcon = serialConnected ? bluetoothLinkedIcon : bluetoothIcon;
if (initialIcon != null) {
button.setIcon(initialIcon);
} else {
- button.setText(bluetoothConnected ? "宸茶繛" : "钃濈墮");
+ button.setText(serialConnected ? "宸茶繛" : "钃濈墮");
}
return button;
}
@@ -787,6 +1412,8 @@
remoteBtn.addActionListener(e -> showRemoteControlDialog());
areaSelectBtn.addActionListener(e -> {
// 鐐瑰嚮鈥滃湴鍧椻�濈洿鎺ユ墦寮�鍦板潡绠＄悊瀵硅瘽妗嗭紙鑻ラ渶瑕佸彲浼犲叆鐗瑰畾鍦板潡缂栧彿锛�
+// Dikuaiguanli.showDikuaiManagement(this, null);
+ // 鐩存帴杩涘叆鍦板潡绠＄悊鐣岄潰
Dikuaiguanli.showDikuaiManagement(this, null);
});
baseStationBtn.addActionListener(e -> showBaseStationDialog());
@@ -830,7 +1457,7 @@
if (parentWindow != null) {
// 浣跨敤 yaokong 鍖呬腑鐨� RemoteControlDialog 瀹炵幇
remoteDialog = new yaokong.RemoteControlDialog(this, THEME_COLOR, speedLabel);
- } else {
+ } else {/* */
remoteDialog = new yaokong.RemoteControlDialog((JFrame) null, THEME_COLOR, speedLabel);
}
}
@@ -1132,26 +1759,115 @@
}
startButtonShowingPause = !startButtonShowingPause;
if (!startButtonShowingPause) {
- statusLabel.setText("浣滀笟涓�");
- if (stopButtonActive) {
- stopButtonActive = false;
- updateStopButtonIcon();
- }
- if (!beginMowingSession()) {
+ // 妫�鏌ュ壊鑽夋満鏄惁鍦ㄤ綔涓氬湴鍧楄竟鐣岃寖鍥村唴
+ if (!checkMowerInBoundary()) {
startButtonShowingPause = true;
statusLabel.setText("寰呮満");
updateStartButtonAppearance();
return;
}
- Control04.sendStartCommandIfDebugSerialOpen();
+
+ statusLabel.setText("浣滀笟涓�");
+ if (stopButtonActive) {
+ stopButtonActive = false;
+ updateStopButtonIcon();
+ }
+ if (!beginMowingSession()) {
+ startButtonShowingPause = true;
+ statusLabel.setText("寰呮満");
+ updateStartButtonAppearance();
+ return;
+ }
} else {
statusLabel.setText("鏆傚仠涓�");
pauseMowingSession();
- Control04.sendPauseCommandIfDebugSerialOpen();
}
updateStartButtonAppearance();
}
+ /**
+ * 妫�鏌ュ壊鑽夋満鏄惁鍦ㄥ綋鍓嶉�変腑鐨勪綔涓氬湴鍧楄竟鐣岃寖鍥村唴
+ * @return 濡傛灉鍓茶崏鏈哄湪杈圭晫鍐呰繑鍥瀟rue锛屽惁鍒欒繑鍥瀎alse骞舵樉绀烘彁绀�
+ */
+ private boolean checkMowerInBoundary() {
+ if (mapRenderer == null) {
+ return true; // 濡傛灉娌℃湁鍦板浘娓叉煋鍣紝璺宠繃妫�鏌�
+ }
+
+ // 鑾峰彇褰撳墠杈圭晫
+ List<Point2D.Double> boundary = mapRenderer.getCurrentBoundary();
+ if (boundary == null || boundary.size() < 3) {
+ return true; // 濡傛灉娌℃湁杈圭晫鎴栬竟鐣岀偣涓嶈冻锛岃烦杩囨鏌�
+ }
+
+ // 鑾峰彇鍓茶崏鏈轰綅缃�
+ Gecaoji mower = mapRenderer.getMower();
+ if (mower == null || !mower.hasValidPosition()) {
+ showCustomMessageDialog("鏃犳硶鑾峰彇鍓茶崏鏈轰綅缃紝璇锋鏌ヨ澶囪繛鎺�", "鎻愮ず");
+ return false;
+ }
+
+ Point2D.Double mowerPosition = mower.getPosition();
+ if (mowerPosition == null) {
+ showCustomMessageDialog("鏃犳硶鑾峰彇鍓茶崏鏈轰綅缃紝璇锋鏌ヨ澶囪繛鎺�", "鎻愮ず");
+ return false;
+ }
+
+ // 浣跨敤 MowerBoundaryChecker 妫�鏌ユ槸鍚﹀湪杈圭晫鍐�
+ boolean isInside = MowerBoundaryChecker.isInsideBoundaryPoints(
+ boundary,
+ mowerPosition.x,
+ mowerPosition.y
+ );
+
+ if (!isInside) {
+ showCustomMessageDialog("璇峰皢鍓茶崏鏈哄紑鍒颁綔涓氬湴鍧楀唴鐒跺悗鐐瑰嚮寮�濮嬩綔涓�", "鎻愮ず");
+ return false;
+ }
+
+ return true;
+ }
+
+ /**
+ * 鏄剧ず鑷畾涔夋秷鎭璇濇锛屼娇鐢� buttonset 鍒涘缓纭畾鎸夐挳
+ * @param message 娑堟伅鍐呭
+ * @param title 瀵硅瘽妗嗘爣棰�
+ */
+ private void showCustomMessageDialog(String message, String title) {
+ Window parentWindow = SwingUtilities.getWindowAncestor(this);
+ JDialog dialog = new JDialog(parentWindow, title, Dialog.ModalityType.APPLICATION_MODAL);
+ dialog.setLayout(new BorderLayout(20, 20));
+ dialog.setResizable(false);
+
+ // 鍐呭闈㈡澘
+ JPanel contentPanel = new JPanel(new BorderLayout(0, 15));
+ contentPanel.setBorder(BorderFactory.createEmptyBorder(20, 20, 10, 20));
+ contentPanel.setBackground(Color.WHITE);
+
+ // 娑堟伅鏍囩
+ JLabel messageLabel = new JLabel("<html><div style='text-align: center;'>" + message + "</div></html>");
+ messageLabel.setFont(new Font("寰蒋闆呴粦", Font.PLAIN, 14));
+ messageLabel.setHorizontalAlignment(SwingConstants.CENTER);
+ contentPanel.add(messageLabel, BorderLayout.CENTER);
+
+ // 鎸夐挳闈㈡澘
+ JPanel buttonPanel = new JPanel(new FlowLayout(FlowLayout.CENTER, 10, 0));
+ buttonPanel.setBorder(BorderFactory.createEmptyBorder(10, 0, 0, 0));
+ buttonPanel.setOpaque(false);
+
+ // 浣跨敤 buttonset 鍒涘缓纭畾鎸夐挳
+ JButton okButton = buttonset.createStyledButton("纭畾", THEME_COLOR);
+ okButton.addActionListener(e -> dialog.dispose());
+ buttonPanel.add(okButton);
+
+ contentPanel.add(buttonPanel, BorderLayout.SOUTH);
+ dialog.add(contentPanel, BorderLayout.CENTER);
+
+ dialog.pack();
+ dialog.setLocationRelativeTo(this);
+ dialog.setVisible(true);
+ }
+
private void handleStopAction() {
if (handheldCaptureInlineUiActive) {
handleHandheldFinishAction();
@@ -1167,7 +1883,6 @@
statusLabel.setText("宸茬粨鏉�");
startButtonShowingPause = false;
stopMowingSession();
- Control04.sendStopCommandIfDebugSerialOpen();
} else {
statusLabel.setText("寰呮満");
startButtonShowingPause = true;
@@ -1177,7 +1892,11 @@
}
private void handleDrawingStopFromControlPanel() {
- if (endDrawingCallback != null) {
+ // 濡傛灉鏄線杩旇矾寰勭粯鍒舵ā寮忥紝璋冪敤瀹屾垚缁樺埗鍥炶皟
+ if (returnPathDrawer != null && returnPathDrawer.isActive()) {
+ returnPathDrawer.stop();
+ returnPathDrawer.executeFinishCallback();
+ } else if (endDrawingCallback != null) {
endDrawingCallback.run();
} else {
addzhangaiwu.finishDrawingSession();
@@ -1409,7 +2128,12 @@
updateStopButtonIcon();
}
if (statusLabel != null) {
- statusLabel.setText(storedStatusBeforeDrawing != null ? storedStatusBeforeDrawing : "寰呮満");
+ // 濡傛灉鏄線杩旇矾寰勭粯鍒讹紝閫�鍑烘椂鎭㈠涓�"寰呮満"
+ if (returnPathDrawer != null && returnPathDrawer.isActive()) {
+ statusLabel.setText("寰呮満");
+ } else {
+ statusLabel.setText(storedStatusBeforeDrawing != null ? storedStatusBeforeDrawing : "寰呮満");
+ }
}
storedStatusBeforeDrawing = null;
}
@@ -1424,7 +2148,8 @@
startBtn.setText(drawingPaused ? "寮�濮嬬粯鍒�" : "鏆傚仠缁樺埗");
}
if (stopBtn != null) {
- stopBtn.setText("缁撴潫缁樺埗");
+ // 濡傛灉鏄線杩旇矾寰勭粯鍒舵ā寮忥紝鏄剧ず"瀹屾垚缁樺埗"锛屽惁鍒欐樉绀�"缁撴潫缁樺埗"
+ stopBtn.setText((returnPathDrawer != null && returnPathDrawer.isActive()) ? "瀹屾垚缁樺埗" : "缁撴潫缁樺埗");
}
}
@@ -1459,19 +2184,15 @@
if (bluetoothBtn == null) {
return;
}
- if (Bluelink.isConnected()) {
- Bluelink.disconnect();
- bluetoothConnected = false;
- } else {
- boolean success = Bluelink.connect();
- if (success) {
- bluetoothConnected = true;
- } else {
- bluetoothConnected = false;
- JOptionPane.showMessageDialog(this, "钃濈墮杩炴帴澶辫触锛岃閲嶈瘯", "鎻愮ず", JOptionPane.WARNING_MESSAGE);
- }
- }
- updateBluetoothButtonIcon();
+ // 寮瑰嚭绯荤粺璋冭瘯椤甸潰
+ showDebugDialog();
+ }
+
+ private void showDebugDialog() {
+ Window parentWindow = SwingUtilities.getWindowAncestor(this);
+ debug debugDialog = new debug(parentWindow, THEME_COLOR);
+ debugDialog.setLocationRelativeTo(this); // 灞呬腑鏄剧ず鍦ㄩ椤�
+ debugDialog.setVisible(true);
}
private void updateBluetoothButtonIcon() {
@@ -1479,13 +2200,15 @@
return;
}
ensureBluetoothIconsLoaded();
- bluetoothConnected = Bluelink.isConnected();
- ImageIcon icon = bluetoothConnected ? bluetoothLinkedIcon : bluetoothIcon;
+ // 鏍规嵁涓插彛杩炴帴鐘舵�佹樉绀哄浘鏍�
+ SerialPortService service = sendmessage.getActiveService();
+ boolean serialConnected = (service != null && service.isOpen());
+ ImageIcon icon = serialConnected ? bluetoothLinkedIcon : bluetoothIcon;
if (icon != null) {
bluetoothBtn.setIcon(icon);
bluetoothBtn.setText(null);
} else {
- bluetoothBtn.setText(bluetoothConnected ? "宸茶繛" : "钃濈墮");
+ bluetoothBtn.setText(serialConnected ? "宸茶繛" : "钃濈墮");
}
}
@@ -1722,6 +2445,12 @@
mapRenderer.setHandheldMowerIconActive(active);
}
+ public void setStatusLabelText(String text) {
+ if (statusLabel != null) {
+ statusLabel.setText(text);
+ }
+ }
+
public boolean startMowerBoundaryCapture() {
if (mapRenderer == null) {
return false;
@@ -2365,7 +3094,11 @@
if (drawingControlModeActive) {
updateDrawingControlButtonLabels();
if (statusLabel != null) {
- statusLabel.setText(paused ? "缁樺埗鏆傚仠" : "缁樺埗涓�");
+ if (returnPathDrawer != null && returnPathDrawer.isActive()) {
+ statusLabel.setText("姝ｅ湪缁樺埗寰�杩旇矾寰�");
+ } else {
+ statusLabel.setText(paused ? "缁樺埗鏆傚仠" : "缁樺埗涓�");
+ }
}
}
}
@@ -2383,6 +3116,19 @@
circleDialogMode = false;
hideCircleGuidancePanel();
enterDrawingControlMode();
+
+ // 闅愯棌杩斿洖璁剧疆鎸夐挳锛堝鏋滄樉绀虹粯鍒舵寜閽紝鍒欎笉搴旇鏄剧ず杩斿洖鎸夐挳锛�
+// if (settingsReturnButton != null) {
+// settingsReturnButton.setVisible(false);
+// }
+
+ // 鏄剧ず"姝ｅ湪缁樺埗杈圭晫"鎻愮ず
+ if (drawingBoundaryLabel != null) {
+ // 濡傛灉鏄線杩旇矾寰勭粯鍒讹紝涓嶆樉绀烘鏍囩锛堢姸鎬佹爮宸叉樉绀�"姝ｅ湪缁樺埗寰�杩旇矾寰�"锛�
+// boolean isReturnPathDrawing = returnPathDrawer != null && returnPathDrawer.isActive();
+// drawingBoundaryLabel.setVisible(!isReturnPathDrawing);
+ drawingBoundaryLabel.setVisible(true);
+ }
boolean enableCircleGuidance = drawingShape != null
&& "circle".equalsIgnoreCase(drawingShape.trim());
@@ -2492,6 +3238,20 @@
floatingButtonColumn.add(pathPreviewReturnButton);
added = true;
}
+ if (saveManualBoundaryButton != null && saveManualBoundaryButton.isVisible()) {
+ if (added) {
+ floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
+ }
+ floatingButtonColumn.add(saveManualBoundaryButton);
+ added = true;
+ }
+ if (settingsReturnButton != null && settingsReturnButton.isVisible()) {
+ if (added) {
+ floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
+ }
+ floatingButtonColumn.add(settingsReturnButton);
+ added = true;
+ }
floatingButtonColumn.revalidate();
floatingButtonColumn.repaint();
}
@@ -2858,7 +3618,34 @@
if (latest == null) {
return false;
}
- return lastCapturedCoordinate == null || latest != lastCapturedCoordinate;
+
+ // 妫�鏌ユ槸鍚︽湁鏂扮殑鍧愭爣锛堜笌涓婃閲囬泦鐨勪笉鍚岋級
+ if (lastCapturedCoordinate != null && latest == lastCapturedCoordinate) {
+ return false;
+ }
+
+ // 妫�鏌ュ畾浣嶇姸鎬佹槸鍚︿负4锛堝浐瀹氳В锛�
+ // 褰撻�夋嫨鍓茶崏鏈虹粯鍒跺渾褰㈤殰纰嶇墿鏃讹紝闇�瑕佹鏌ヨ澶囩紪鍙峰拰瀹氫綅鐘舵��
+ Device device = Device.getGecaoji();
+ if (device == null) {
+ return false;
+ }
+
+ String positioningStatus = device.getPositioningStatus();
+ if (positioningStatus == null || !"4".equals(positioningStatus.trim())) {
+ return false;
+ }
+
+ // 妫�鏌ヨ澶囩紪鍙锋槸鍚﹀尮閰嶅壊鑽夋満缂栧彿
+ String mowerId = Setsys.getPropertyValue("mowerId");
+ String deviceId = device.getMowerNumber();
+ if (mowerId != null && !mowerId.trim().isEmpty()) {
+ if (deviceId == null || !mowerId.trim().equals(deviceId.trim())) {
+ return false;
+ }
+ }
+
+ return true;
}
private void applyCirclePrimaryButtonState(boolean enabled) {
@@ -2934,34 +3721,11 @@
}
private double parseDMToDecimal(String dmm, String direction) {
- if (dmm == null || dmm.trim().isEmpty()) {
- return Double.NaN;
- }
- try {
- String trimmed = dmm.trim();
- int dotIndex = trimmed.indexOf('.');
- if (dotIndex < 2) {
- return Double.NaN;
- }
- int degrees = Integer.parseInt(trimmed.substring(0, dotIndex - 2));
- double minutes = Double.parseDouble(trimmed.substring(dotIndex - 2));
- double decimal = degrees + minutes / 60.0;
- if ("S".equalsIgnoreCase(direction) || "W".equalsIgnoreCase(direction)) {
- decimal = -decimal;
- }
- return decimal;
- } catch (NumberFormatException ex) {
- return Double.NaN;
- }
+ return Gpstoxuzuobiao.parseDMToDecimal(dmm, direction);
}
private double[] convertLatLonToLocal(double lat, double lon, double baseLat, double baseLon) {
- double deltaLat = lat - baseLat;
- double deltaLon = lon - baseLon;
- double meanLatRad = Math.toRadians((baseLat + lat) / 2.0);
- double eastMeters = deltaLon * METERS_PER_DEGREE_LAT * Math.cos(meanLatRad);
- double northMeters = deltaLat * METERS_PER_DEGREE_LAT;
- return new double[]{eastMeters, northMeters};
+ return Gpstoxuzuobiao.convertLatLonToLocal(lat, lon, baseLat, baseLon);
}
private CircleSolution fitCircleFromPoints(List<double[]> points) {
@@ -3060,6 +3824,12 @@
activeBoundaryMode = BoundaryCaptureMode.NONE;
}
endDrawingCallback = null;
+
+ // 闅愯棌"姝ｅ湪缁樺埗杈圭晫"鎻愮ず
+ if (drawingBoundaryLabel != null) {
+ drawingBoundaryLabel.setVisible(false);
+ }
+
visualizationPanel.revalidate();
visualizationPanel.repaint();
setHandheldMowerIconActive(false);
@@ -3074,9 +3844,8 @@
endDrawingButton.setVisible(false);
}
if (pathPreviewReturnButton == null) {
- pathPreviewReturnButton = createFloatingTextButton("杩斿洖");
+ pathPreviewReturnButton = Fanhuibutton.createReturnButton(e -> handlePathPreviewReturn());
pathPreviewReturnButton.setToolTipText("杩斿洖鏂板鍦板潡姝ラ");
- pathPreviewReturnButton.addActionListener(e -> handlePathPreviewReturn());
}
pathPreviewReturnButton.setVisible(true);
if (floatingButtonPanel != null) {
@@ -3113,7 +3882,11 @@
String obstacles,
String plannedPath,
Runnable returnAction) {
- if (mapRenderer == null || !isMeaningfulValue(plannedPath)) {
+ if (mapRenderer == null) {
+ return false;
+ }
+ // 鍏佽娌℃湁璺緞鐨勯瑙堬紙渚嬪闅滅鐗╅瑙堬級锛屽彧瑕佹湁杩斿洖鍥炶皟鍗冲彲
+ if (!isMeaningfulValue(plannedPath) && returnAction == null) {
return false;
}
@@ -3140,10 +3913,17 @@
mapRenderer.setCurrentBoundary(boundary, landNumber, landName);
mapRenderer.setCurrentObstacles(obstacles, landNumber);
- mapRenderer.setCurrentPlannedPath(plannedPath);
+ // 鍙湁鍦ㄦ湁璺緞鏃舵墠璁剧疆璺緞
+ if (isMeaningfulValue(plannedPath)) {
+ mapRenderer.setCurrentPlannedPath(plannedPath);
+ } else {
+ mapRenderer.setCurrentPlannedPath(null);
+ }
mapRenderer.clearHandheldBoundaryPreview();
mapRenderer.setBoundaryPointSizeScale(1.0d);
mapRenderer.setBoundaryPointsVisible(isMeaningfulValue(boundary));
+ // 鍚敤闅滅鐗╄竟鐣岀偣鏄剧ず
+ mapRenderer.setObstaclePointsVisible(isMeaningfulValue(obstacles));
String displayName = isMeaningfulValue(landName) ? landName : landNumber;
updateCurrentAreaName(displayName);
@@ -3194,6 +3974,101 @@
return mapRenderer;
}
+ /**
+ * 鑾峰彇鎺у埗闈㈡澘锛堢敤浜庡鑸瑙堟椂鏇挎崲鎸夐挳锛�
+ * @return 鎺у埗闈㈡澘
+ */
+ public JPanel getControlPanel() {
+ return controlPanel;
+ }
+
+ /**
+ * 鑾峰彇寮�濮嬫寜閽紙鐢ㄤ簬瀵艰埅棰勮鏃堕殣钘忥級
+ * @return 寮�濮嬫寜閽�
+ */
+ public JButton getStartButton() {
+ return startBtn;
+ }
+
+ /**
+ * 鑾峰彇缁撴潫鎸夐挳锛堢敤浜庡鑸瑙堟椂闅愯棌锛�
+ * @return 缁撴潫鎸夐挳
+ */
+ public JButton getStopButton() {
+ return stopBtn;
+ }
+
+ /**
+ * 璁剧疆瀵艰埅棰勮妯″紡鏍囩鐨勬樉绀虹姸鎬�
+ * @param visible 鏄惁鏄剧ず
+ */
+ public void setNavigationPreviewLabelVisible(boolean visible) {
+ if (navigationPreviewLabel != null) {
+ navigationPreviewLabel.setVisible(visible);
+ }
+ }
+
+ /**
+ * 鏇存柊瀵艰埅棰勮鐘舵�佹樉绀�
+ * @param active 鏄惁澶勪簬瀵艰埅棰勮妯″紡
+ */
+ public void updateNavigationPreviewStatus(boolean active) {
+ setNavigationPreviewLabelVisible(active);
+ }
+
+ /**
+ * 鏇存柊鍓茶崏杩涘害鏄剧ず
+ * @param percentage 瀹屾垚鐧惧垎姣�
+ * @param completedArea 宸插畬鎴愰潰绉紙骞虫柟绫筹級
+ * @param totalArea 鎬婚潰绉紙骞虫柟绫筹級
+ */
+ public void updateMowingProgress(double percentage, double completedArea, double totalArea) {
+ if (mowingProgressLabel == null) {
+ return;
+ }
+ if (totalArea <= 0) {
+ mowingProgressLabel.setText("--%");
+ mowingProgressLabel.setToolTipText("鏆傛棤鍦板潡闈㈢Н鏁版嵁");
+ return;
+ }
+ double percent = Math.max(0.0, Math.min(100.0, percentage));
+ mowingProgressLabel.setText(String.format(Locale.US, "%.1f%%", percent));
+ mowingProgressLabel.setToolTipText(String.format(Locale.US, "%.1f銕� / %.1f銕�", completedArea, totalArea));
+ }
+
+ /**
+ * 鏇存柊鍓茶崏鏈洪�熷害鏄剧ず
+ * @param speed 閫熷害鍊硷紙鍗曚綅锛歬m/h锛�
+ */
+ public void updateMowerSpeed(double speed) {
+ if (mowerSpeedValueLabel == null) {
+ return;
+ }
+ if (speed < 0) {
+ mowerSpeedValueLabel.setText("--");
+ } else {
+ mowerSpeedValueLabel.setText(String.format(Locale.US, "%.1f", speed));
+ }
+ if (mowerSpeedUnitLabel != null) {
+ mowerSpeedUnitLabel.setText("km/h");
+ }
+ }
+
+ /**
+ * 鑾峰彇鍙鍖栭潰鏉垮疄渚�
+ */
+ public JPanel getVisualizationPanel() {
+ return visualizationPanel;
+ }
+
+ /**
+ * 鑾峰彇涓诲唴瀹归潰鏉垮疄渚嬶紙鐢ㄤ簬娣诲姞娴姩鎸夐挳锛�
+ */
+ public JPanel getMainContentPanel() {
+ return mainContentPanel;
+ }
+
+
public void updateCurrentAreaName(String areaName) {
if (areaNameLabel == null) {
return;
@@ -3291,6 +4166,230 @@
}
+ /**
+ * 鍚姩寰�杩旇矾寰勭粯鍒�
+ * @param finishCallback 瀹屾垚缁樺埗鏃剁殑鍥炶皟
+ * @param isHandheld 鏄惁浣跨敤鎵嬫寔璁惧妯″紡
+ * @return 鏄惁鎴愬姛鍚姩
+ */
+ public boolean startReturnPathDrawing(Runnable finishCallback, boolean isHandheld) {
+ if (returnPathDrawer == null) {
+ return false;
+ }
+ return returnPathDrawer.start(finishCallback, isHandheld);
+ }
+
+ /**
+ * 鍋滄寰�杩旇矾寰勭粯鍒�
+ */
+ public void stopReturnPathDrawing() {
+ if (returnPathDrawer != null) {
+ returnPathDrawer.stop();
+ }
+ }
+
+ /**
+ * 鑾峰彇寰�杩旇矾寰勭粯鍒剁鐞嗗櫒
+ */
+ public WangfanDraw getReturnPathDrawer() {
+ return returnPathDrawer;
+ }
+
+ /**
+ * 鍚姩寰�杩旇矾寰勯瑙�
+ * @param coordinatesStr 璺緞鍧愭爣瀛楃涓� (x,y;x,y)
+ * @param returnCallback 杩斿洖鍥炶皟
+ */
+ public void startReturnPathPreview(String coordinatesStr, Runnable returnCallback) {
+ if (returnPathDrawer == null || coordinatesStr == null || coordinatesStr.isEmpty()) {
+ return;
+ }
+
+ // 瑙ｆ瀽鍧愭爣
+ List<Point2D.Double> points = new ArrayList<>();
+ String[] pairs = coordinatesStr.split(";");
+ for (String pair : pairs) {
+ String[] xy = pair.split(",");
+ if (xy.length == 2) {
+ try {
+ double x = Double.parseDouble(xy[0]);
+ double y = Double.parseDouble(xy[1]);
+ points.add(new Point2D.Double(x, y));
+ } catch (NumberFormatException e) {
+ // 蹇界暐鏃犳晥鍧愭爣
+ }
+ }
+ }
+
+ if (points.isEmpty()) {
+ JOptionPane.showMessageDialog(this, "娌℃湁鏈夋晥鐨勮矾寰勭偣鍙瑙�", "鎻愮ず", JOptionPane.WARNING_MESSAGE);
+ return;
+ }
+
+ // 璁剧疆棰勮鐐�
+ returnPathDrawer.setPoints(points);
+ if (mapRenderer != null) {
+ mapRenderer.setPreviewReturnPath(points);
+ }
+
+ // 寮�鍚瑙堟ā寮�
+ pathPreviewActive = true;
+ if (mapRenderer != null) {
+ mapRenderer.clearIdleTrail();
+ }
+ pathPreviewReturnAction = returnCallback;
+
+ // 纭繚鎮诞鎸夐挳鍩虹璁炬柦宸插垱寤�
+ ensureFloatingButtonInfrastructure();
+
+ // 鍒涘缓鎴栨樉绀鸿繑鍥炴寜閽�
+ if (pathPreviewReturnButton == null) {
+ // 浣跨敤 Fanhuibutton 鍒涘缓杩斿洖鎸夐挳
+ pathPreviewReturnButton = publicway.Fanhuibutton.createReturnButton(e -> {
+ // 鍋滄棰勮
+ stopReturnPathPreview();
+ });
+ pathPreviewReturnButton.setToolTipText("杩斿洖缁樺埗椤甸潰");
+ }
+
+ // 闅愯棌鍏朵粬鎮诞鎸夐挳
+ hideFloatingDrawingControls();
+
+ // 鏄剧ず杩斿洖鎸夐挳
+ pathPreviewReturnButton.setVisible(true);
+ floatingButtonPanel.setVisible(true);
+ if (floatingButtonPanel.getParent() != visualizationPanel) {
+ visualizationPanel.add(floatingButtonPanel, BorderLayout.SOUTH);
+ }
+ rebuildFloatingButtonColumn();
+
+ visualizationPanel.revalidate();
+ visualizationPanel.repaint();
+ }
+
+ /**
+ * 鍋滄寰�杩旇矾寰勯瑙�
+ */
+ private void stopReturnPathPreview() {
+ pathPreviewActive = false;
+
+ // 娓呯┖棰勮鐐�
+ if (returnPathDrawer != null) {
+ returnPathDrawer.clearPoints();
+ }
+ if (mapRenderer != null) {
+ mapRenderer.setPreviewReturnPath(null);
+ }
+
+ // 闅愯棌杩斿洖鎸夐挳
+ if (pathPreviewReturnButton != null) {
+ pathPreviewReturnButton.setVisible(false);
+ }
+
+ // 闅愯棌鎮诞闈㈡澘
+ if (floatingButtonPanel != null) {
+ floatingButtonPanel.setVisible(false);
+ }
+
+ // 鎵ц杩斿洖鍥炶皟
+ if (pathPreviewReturnAction != null) {
+ pathPreviewReturnAction.run();
+ }
+ }
+
+ /**
+ * 鏄剧ず杈圭晫棰勮锛堝師濮嬭竟鐣�-绱壊锛屼紭鍖栧悗杈圭晫-缁胯壊锛�
+ * @param dikuai 鍦板潡瀵硅薄
+ * @param optimizedBoundary 浼樺寲鍚庣殑杈圭晫鍧愭爣瀛楃涓�
+ * @param returnCallback 杩斿洖鍥炶皟
+ */
+ public static void showBoundaryPreview(dikuai.Dikuai dikuai, String optimizedBoundary, Runnable returnCallback) {
+ Shouye shouye = getInstance();
+ if (shouye == null || shouye.mapRenderer == null || dikuai == null) {
+ return;
+ }
+
+ // 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);
+
+ // 鍋滄缁樺埗鍓茶崏鏈哄疄鏃舵嫋灏�
+ if (shouye.mapRenderer != null) {
+ shouye.mapRenderer.setIdleTrailSuppressed(true);
+ }
+
+ // 璁剧疆杩斿洖鍥炶皟
+ shouye.pathPreviewReturnAction = returnCallback;
+ shouye.pathPreviewActive = true;
+
+ // 纭繚鎮诞鎸夐挳鍩虹璁炬柦宸插垱寤�
+ shouye.ensureFloatingButtonInfrastructure();
+
+ // 鍒涘缓鎴栨樉绀鸿繑鍥炴寜閽�
+ if (shouye.pathPreviewReturnButton == null) {
+ shouye.pathPreviewReturnButton = publicway.Fanhuibutton.createReturnButton(e -> shouye.handleBoundaryPreviewReturn());
+ shouye.pathPreviewReturnButton.setToolTipText("杩斿洖杈圭晫缂栬緫椤甸潰");
+ }
+
+ // 闅愯棌鍏朵粬鎮诞鎸夐挳
+ shouye.hideFloatingDrawingControls();
+
+ // 鏄剧ず杩斿洖鎸夐挳
+ shouye.pathPreviewReturnButton.setVisible(true);
+ if (shouye.floatingButtonPanel != null) {
+ shouye.floatingButtonPanel.setVisible(true);
+ if (shouye.floatingButtonPanel.getParent() != shouye.visualizationPanel) {
+ shouye.visualizationPanel.add(shouye.floatingButtonPanel, BorderLayout.SOUTH);
+ }
+ }
+ shouye.rebuildFloatingButtonColumn();
+
+ shouye.visualizationPanel.revalidate();
+ shouye.visualizationPanel.repaint();
+ }
+
+ /**
+ * 澶勭悊杈圭晫棰勮杩斿洖
+ */
+ private void handleBoundaryPreviewReturn() {
+ Runnable callback = pathPreviewReturnAction;
+ exitBoundaryPreview();
+ if (callback != null) {
+ callback.run();
+ }
+ }
+
+ /**
+ * 閫�鍑鸿竟鐣岄瑙�
+ */
+ private void exitBoundaryPreview() {
+ pathPreviewActive = false;
+
+ // 鎭㈠缁樺埗鍓茶崏鏈哄疄鏃舵嫋灏�
+ if (mapRenderer != null) {
+ mapRenderer.setIdleTrailSuppressed(false);
+ }
+
+ // 娓呴櫎杈圭晫棰勮
+ if (mapRenderer != null) {
+ mapRenderer.clearBoundaryPreview();
+ }
+
+ // 闅愯棌杩斿洖鎸夐挳
+ if (pathPreviewReturnButton != null) {
+ pathPreviewReturnButton.setVisible(false);
+ }
+
+ // 闅愯棌鎮诞闈㈡澘
+ if (floatingButtonPanel != null) {
+ floatingButtonPanel.setVisible(false);
+ }
+
+ visualizationPanel.revalidate();
+ visualizationPanel.repaint();
+ }
// 娴嬭瘯鏂规硶
public static void main(String[] args) {
--
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