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 | 647 +++++++++++++++++++++++++++++++++++++++++++++++++++++++---
1 files changed, 611 insertions(+), 36 deletions(-)
diff --git a/src/zhuye/Shouye.java b/src/zhuye/Shouye.java
index b588d83..8162334 100644
--- a/src/zhuye/Shouye.java
+++ b/src/zhuye/Shouye.java
@@ -19,23 +19,24 @@
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
*/
@@ -107,12 +108,14 @@
// 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) {
+ if (mapRenderer != null && !pathPreviewActive) {
mapRenderer.forceUpdateIdleMowerTrail();
}
}
@@ -125,8 +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;
@@ -168,6 +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;
@@ -207,6 +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;
@@ -467,6 +520,238 @@
} 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() {
@@ -1127,6 +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());
@@ -1605,7 +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();
@@ -1837,7 +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;
}
@@ -1852,7 +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");
}
}
@@ -2148,6 +2445,12 @@
mapRenderer.setHandheldMowerIconActive(active);
}
+ public void setStatusLabelText(String text) {
+ if (statusLabel != null) {
+ statusLabel.setText(text);
+ }
+ }
+
public boolean startMowerBoundaryCapture() {
if (mapRenderer == null) {
return false;
@@ -2791,7 +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�");
+ }
}
}
}
@@ -2810,8 +3117,16 @@
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);
}
@@ -2923,6 +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();
}
@@ -3392,34 +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) {
@@ -3538,9 +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) {
@@ -3704,6 +4009,52 @@
}
/**
+ * 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() {
@@ -3815,6 +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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