From f38ba0a0bf5cbe96c9300247923f6979a5059529 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期二, 23 十二月 2025 19:09:07 +0800
Subject: [PATCH] 解决了异形无障碍物边界路径bug，另外优化了首页显示效果
---
dikuai.properties | 6
src/lujing/YixinglujingNoObstacle.java | 122 +++++-----
src/zhuye/MapRenderer.java | 77 ++++++
set.properties | 8
src/gecaoji/lujingdraw.java | 292 ++++++++++++++++++++++++--
src/zhuye/Shouye.java | 109 ---------
Obstacledge.properties | 2
7 files changed, 423 insertions(+), 193 deletions(-)
diff --git a/Obstacledge.properties b/Obstacledge.properties
index 42ee055..8588d73 100644
--- a/Obstacledge.properties
+++ b/Obstacledge.properties
@@ -1,5 +1,5 @@
# 鍓茶崏鏈哄湴鍧楅殰纰嶇墿閰嶇疆鏂囦欢
-# 鐢熸垚鏃堕棿锛�2025-12-23T18:32:39.445241900
+# 鐢熸垚鏃堕棿锛�2025-12-23T18:40:37.614553600
# 鍧愭爣绯伙細WGS84锛堝害鍒嗘牸寮忥級
# ============ 鍦板潡鍩哄噯绔欓厤缃� ============
diff --git a/dikuai.properties b/dikuai.properties
index d6aa004..ddb639d 100644
--- a/dikuai.properties
+++ b/dikuai.properties
@@ -1,5 +1,5 @@
#Dikuai Properties
-#Tue Dec 23 18:32:39 CST 2025
+#Tue Dec 23 18:41:03 CST 2025
LAND1.angleThreshold=-1
LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
LAND1.boundaryCoordinates=-99.64,193.56;185.77,182.30;61.84,424.89;237.59,415.88;235.34,539.80;-26.03,544.31
@@ -17,9 +17,9 @@
LAND1.mowingSafetyDistance=0.53
LAND1.mowingTrack=-1
LAND1.mowingWidth=200
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LAND1.returnPathCoordinates=-1
LAND1.returnPathRawCoordinates=-1
LAND1.returnPointCoordinates=-1
-LAND1.updateTime=2025-12-23 18\:32\:39
+LAND1.updateTime=2025-12-23 18\:41\:03
LAND1.userId=-1
diff --git a/set.properties b/set.properties
index 7ecf537..a603295 100644
--- a/set.properties
+++ b/set.properties
@@ -1,5 +1,5 @@
#Mower Configuration Properties - Updated
-#Tue Dec 23 18:35:51 CST 2025
+#Tue Dec 23 19:08:18 CST 2025
appVersion=-1
boundaryLengthVisible=false
currentWorkLandNumber=LAND1
@@ -8,12 +8,12 @@
handheldMarkerId=1872
idleTrailDurationSeconds=60
manualBoundaryDrawingMode=false
-mapScale=2.83
+mapScale=4.08
measurementModeEnabled=false
mowerId=860
serialAutoConnect=true
serialBaudRate=115200
serialPortName=COM15
simCardNumber=-1
-viewCenterX=-148.00
-viewCenterY=278.47
+viewCenterX=-14.44
+viewCenterY=-332.04
diff --git a/src/gecaoji/lujingdraw.java b/src/gecaoji/lujingdraw.java
index 813472d..95ed85a 100644
--- a/src/gecaoji/lujingdraw.java
+++ b/src/gecaoji/lujingdraw.java
@@ -8,12 +8,23 @@
import java.awt.geom.Point2D; // 寮曞叆浜岀淮鐐圭被
import java.util.ArrayList; // 寮曞叆鍔ㄦ�佹暟缁�
import java.util.List; // 寮曞叆鍒楄〃鎺ュ彛
+import lujing.Lunjingguihua; // 寮曞叆璺緞瑙勫垝绫�
+import org.locationtech.jts.geom.Coordinate; // 寮曞叆鍧愭爣绫�
+import org.locationtech.jts.geom.GeometryFactory; // 寮曞叆鍑犱綍宸ュ巶绫�
+import org.locationtech.jts.geom.Polygon; // 寮曞叆澶氳竟褰㈢被
/** // 鏂囨。娉ㄩ噴寮�澶�
* Helper class to parse and render planned mowing paths. // 杈呭姪绫昏鏄�
*/ // 鏂囨。娉ㄩ噴缁撳熬
public final class lujingdraw { // 绫诲畾涔夛紝闃叉缁ф壙
- private static final Color PATH_COLOR = new Color(255, 0, 0, 220); // 璺緞棰滆壊锛堢孩鑹插崐閫忔槑锛�
+ // 椹皵鏂豢鑹� (RGB: 102, 205, 170) - 鐢ㄤ簬鍐呯缉杈圭晫锛堝洿杈癸級
+ private static final Color INNER_BOUNDARY_COLOR = new Color(102, 205, 170);
+ // 鎻愰绾㈤�忔槑搴�70% (RGB: 210, 4, 45, alpha: 178) - 鐢ㄤ簬鍓茶崏浣滀笟璺緞
+ private static final Color MOWING_PATH_COLOR = new Color(210, 4, 45, 178);
+ // 钃濊壊 - 鐢ㄤ簬闈炰綔涓氱Щ鍔ㄨ矾寰�
+ private static final Color TRAVEL_PATH_COLOR = new Color(0, 0, 255);
+ // 铏氱嚎鏍峰紡 - 鐢ㄤ簬闈炰綔涓氱Щ鍔ㄨ矾寰�
+ private static final float[] DASH_PATTERN = {10.0f, 5.0f};
private static final Color START_POINT_COLOR = new Color(0, 0, 0, 220); // 璧风偣绠ご棰滆壊
private static final Color END_POINT_COLOR = new Color(0, 0, 0, 220); // 缁堢偣绠ご棰滆壊
@@ -71,37 +82,274 @@
* Draw the planned mowing path. // 缁樺埗璺緞
*/ // 鏂囨。娉ㄩ噴缁撴潫
public static void drawPlannedPath(Graphics2D g2d, List<Point2D.Double> path, double scale, double arrowScale) { // 缁樺埗涓绘柟娉�
+ drawPlannedPath(g2d, path, scale, arrowScale, null, null, null, null, null); // 璋冪敤閲嶈浇鏂规硶
+ } // 鏂规硶缁撴潫
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * Draw the planned mowing path with segment information. // 缁樺埗璺緞锛堝甫娈典俊鎭級
+ * @param boundaryCoords 鍦板潡杈圭晫鍧愭爣瀛楃涓诧紝鐢ㄤ簬缁樺埗鍐呯缉杈圭晫
+ * @param mowingWidth 鍓茶崏瀹藉害锛堢背锛夛紝瀛楃涓叉牸寮�
+ * @param safetyDistance 瀹夊叏璺濈锛堢背锛夛紝瀛楃涓叉牸寮�
+ * @param obstaclesCoords 闅滅鐗╁潗鏍囧瓧绗︿覆
+ * @param mowingPattern 鍓茶崏妯″紡锛�"parallel"鎴�"spiral"锛�
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ public static void drawPlannedPath(Graphics2D g2d, List<Point2D.Double> path, double scale, double arrowScale,
+ String boundaryCoords, String mowingWidth, String safetyDistance, String obstaclesCoords, String mowingPattern) { // 缁樺埗涓绘柟娉曪紙閲嶈浇锛�
if (path == null || path.size() < 2) { // 鍒ゅ畾鐐规暟
return; // 鏁版嵁涓嶈冻鐩存帴杩斿洖
} // if缁撴潫
- Path2D polyline = new Path2D.Double(); // 鍒涘缓鎶樼嚎
- boolean move = true; // 棣栨鏍囪
- for (Point2D.Double point : path) { // 閬嶅巻鐐归泦
- if (move) { // 绗竴娈�
- polyline.moveTo(point.x, point.y); // 绉诲姩鍒伴鐐�
- move = false; // 鏇存柊鏍囪
- } else { // 鍚庣画娈�
- polyline.lineTo(point.x, point.y); // 杩炵嚎鍒颁笅涓�鐐�
- } // if缁撴潫
- } // for缁撴潫
-
Stroke previous = g2d.getStroke(); // 淇濆瓨鍘熸弿杈�
float strokeWidth = (float) (2.5 / Math.max(0.5, scale)); // 鏍规嵁缂╂斁璁＄畻绾垮
- g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); // 璁剧疆鍦嗗ご鍦嗚鎻忚竟
- g2d.setColor(PATH_COLOR); // 璁剧疆绾胯矾棰滆壊
- g2d.draw(polyline); // 缁樺埗鎶樼嚎
+
+ // 1. 缁樺埗鍐呯缉杈圭晫锛堝洿杈癸級- 椹皵鏂豢鑹�
+ if (boundaryCoords != null && !boundaryCoords.trim().isEmpty() && !"-1".equals(boundaryCoords.trim())) {
+ drawInnerBoundary(g2d, boundaryCoords, safetyDistance, scale);
+ }
+
+ // 2. 灏濊瘯閲嶆柊鐢熸垚璺緞娈典互鍖哄垎浣滀笟璺緞鍜岀Щ鍔ㄨ矾寰�
+ List<Lunjingguihua.PathSegment> segments = null;
+ if (boundaryCoords != null && mowingWidth != null) {
+ try {
+ // 瑙ｆ瀽鍓茶崏妯″紡
+ String mode = "parallel"; // 榛樿骞宠妯″紡
+ if (mowingPattern != null && !mowingPattern.trim().isEmpty()) {
+ String pattern = mowingPattern.trim().toLowerCase();
+ if ("1".equals(pattern) || "spiral".equals(pattern) || "铻烘棆寮�".equals(pattern) || "铻烘棆".equals(pattern)) {
+ mode = "spiral";
+ } else if ("parallel".equals(pattern) || "骞宠绾�".equals(pattern) || "骞宠".equals(pattern)) {
+ mode = "parallel";
+ }
+ }
+ segments = Lunjingguihua.generatePathSegments(
+ boundaryCoords,
+ obstaclesCoords != null ? obstaclesCoords : "",
+ mowingWidth,
+ safetyDistance,
+ mode
+ );
+ } catch (Exception e) {
+ // 濡傛灉閲嶆柊鐢熸垚澶辫触锛屼娇鐢ㄧ畝鍗曠粯鍒舵柟寮�
+ segments = null;
+ }
+ }
+
+ // 3. 鏍规嵁鏄惁鏈夋淇℃伅閫夋嫨涓嶅悓鐨勭粯鍒舵柟寮�
+ if (segments != null && !segments.isEmpty()) {
+ // 鏈夋淇℃伅锛氬垎鍒粯鍒朵綔涓氳矾寰勫拰绉诲姩璺緞
+ drawPathSegments(g2d, segments, scale, arrowScale);
+ } else {
+ // 鏃犳淇℃伅锛氫娇鐢ㄧ畝鍗曠粯鍒舵柟寮忥紙鎵�鏈夎矾寰勪娇鐢ㄤ綔涓氳矾寰勯鑹诧級
+ Path2D polyline = new Path2D.Double(); // 鍒涘缓鎶樼嚎
+ boolean move = true; // 棣栨鏍囪
+ for (Point2D.Double point : path) { // 閬嶅巻鐐归泦
+ if (move) { // 绗竴娈�
+ polyline.moveTo(point.x, point.y); // 绉诲姩鍒伴鐐�
+ move = false; // 鏇存柊鏍囪
+ } else { // 鍚庣画娈�
+ polyline.lineTo(point.x, point.y); // 杩炵嚎鍒颁笅涓�鐐�
+ } // if缁撴潫
+ } // for缁撴潫
+
+ g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); // 璁剧疆鍦嗗ご鍦嗚鎻忚竟
+ g2d.setColor(MOWING_PATH_COLOR); // 璁剧疆浣滀笟璺緞棰滆壊锛堟彁棣欑孩70%閫忔槑搴︼級
+ g2d.draw(polyline); // 缁樺埗鎶樼嚎
+
+ Point2D.Double start = path.get(0); // 璧风偣
+ Point2D.Double second = path.get(1); // 绗簩涓偣
+ Point2D.Double end = path.get(path.size() - 1); // 缁堢偣
+ Point2D.Double prev = path.get(path.size() - 2); // 鍊掓暟绗簩涓偣
- Point2D.Double start = path.get(0); // 璧风偣
- Point2D.Double second = path.get(1); // 绗簩涓偣
- Point2D.Double end = path.get(path.size() - 1); // 缁堢偣
- Point2D.Double prev = path.get(path.size() - 2); // 鍊掓暟绗簩涓偣
-
- drawArrowMarker(g2d, start, second, START_POINT_COLOR, scale, arrowScale); // 缁樺埗璧风偣绠ご
- drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale, arrowScale); // 缁樺埗缁堢偣绠ご
+ drawArrowMarker(g2d, start, second, START_POINT_COLOR, scale, arrowScale); // 缁樺埗璧风偣绠ご
+ drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale, arrowScale); // 缁樺埗缁堢偣绠ご
+ }
g2d.setStroke(previous); // 鎭㈠鍘熸弿杈�
} // 鏂规硶缁撴潫
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * 缁樺埗鍐呯缉杈圭晫锛堝洿杈癸級- 椹皵鏂豢鑹�
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ private static void drawInnerBoundary(Graphics2D g2d, String boundaryCoords, String safetyDistanceStr, double scale) {
+ try {
+ List<Coordinate> boundary = Lunjingguihua.parseCoordinates(boundaryCoords);
+ if (boundary.size() < 4) {
+ return; // 杈圭晫鐐逛笉瓒�
+ }
+
+ // 瑙ｆ瀽瀹夊叏璺濈
+ double safetyDistance = 0.2; // 榛樿0.2绫�
+ if (safetyDistanceStr != null && !safetyDistanceStr.trim().isEmpty()) {
+ try {
+ safetyDistance = Double.parseDouble(safetyDistanceStr.trim());
+ } catch (NumberFormatException e) {
+ // 浣跨敤榛樿鍊�
+ }
+ }
+
+ // 鍒涘缓澶氳竟褰㈠苟鍐呯缉
+ GeometryFactory gf = new GeometryFactory();
+ Polygon poly = gf.createPolygon(gf.createLinearRing(boundary.toArray(new Coordinate[0])));
+ if (!poly.isValid()) {
+ poly = (Polygon) poly.buffer(0);
+ }
+
+ // 鍐呯缉鐢熸垚瀹夊叏杈圭晫
+ org.locationtech.jts.geom.Geometry innerBoundary = poly.buffer(-safetyDistance);
+ if (innerBoundary == null || innerBoundary.isEmpty()) {
+ return;
+ }
+
+ // 缁樺埗鍐呯缉杈圭晫
+ g2d.setColor(INNER_BOUNDARY_COLOR); // 椹皵鏂豢鑹�
+ float strokeWidth = (float) (3.0 / Math.max(0.5, scale));
+ g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
+
+ // 灏咼TS鍑犱綍浣撹浆鎹负Path2D骞剁粯鍒�
+ Path2D.Double innerPath = geometryToPath2D(innerBoundary);
+ if (innerPath != null) {
+ g2d.draw(innerPath);
+ }
+ } catch (Exception e) {
+ // 缁樺埗澶辫触鏃跺拷鐣ワ紝涓嶅奖鍝嶅叾浠栬矾寰勭粯鍒�
+ }
+ } // 鏂规硶缁撴潫
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * 灏咼TS鍑犱綍浣撹浆鎹负Path2D
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ private static Path2D.Double geometryToPath2D(org.locationtech.jts.geom.Geometry geom) {
+ if (geom == null) {
+ return null;
+ }
+ Path2D.Double path = new Path2D.Double();
+ if (geom instanceof Polygon) {
+ Polygon poly = (Polygon) geom;
+ addRingToPath(path, poly.getExteriorRing().getCoordinates(), true);
+ for (int i = 0; i < poly.getNumInteriorRing(); i++) {
+ addRingToPath(path, poly.getInteriorRingN(i).getCoordinates(), true);
+ }
+ } else if (geom instanceof org.locationtech.jts.geom.MultiPolygon) {
+ org.locationtech.jts.geom.MultiPolygon mp = (org.locationtech.jts.geom.MultiPolygon) geom;
+ for (int i = 0; i < mp.getNumGeometries(); i++) {
+ Polygon poly = (Polygon) mp.getGeometryN(i);
+ addRingToPath(path, poly.getExteriorRing().getCoordinates(), true);
+ for (int j = 0; j < poly.getNumInteriorRing(); j++) {
+ addRingToPath(path, poly.getInteriorRingN(j).getCoordinates(), true);
+ }
+ }
+ }
+ return path;
+ } // 鏂规硶缁撴潫
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * 灏嗗潗鏍囩幆娣诲姞鍒癙ath2D
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ private static void addRingToPath(Path2D.Double path, Coordinate[] coords, boolean close) {
+ if (coords == null || coords.length < 2) {
+ return;
+ }
+ path.moveTo(coords[0].x, coords[0].y);
+ for (int i = 1; i < coords.length; i++) {
+ path.lineTo(coords[i].x, coords[i].y);
+ }
+ if (close) {
+ path.closePath();
+ }
+ } // 鏂规硶缁撴潫
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * 缁樺埗璺緞娈碉紙鍖哄垎浣滀笟璺緞鍜岀Щ鍔ㄨ矾寰勶級
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ private static void drawPathSegments(Graphics2D g2d, List<Lunjingguihua.PathSegment> segments, double scale, double arrowScale) {
+ if (segments == null || segments.isEmpty()) {
+ return;
+ }
+
+ float strokeWidth = (float) (2.5 / Math.max(0.5, scale));
+ Stroke previous = g2d.getStroke();
+
+ // 鍒嗗埆缁樺埗浣滀笟璺緞鍜岀Щ鍔ㄨ矾寰�
+ Path2D.Double mowingPath = new Path2D.Double();
+ Path2D.Double travelPath = new Path2D.Double();
+ boolean mowingStarted = false;
+ boolean travelStarted = false;
+
+ Coordinate lastMowingEnd = null;
+ Coordinate lastTravelEnd = null;
+
+ for (Lunjingguihua.PathSegment seg : segments) {
+ if (seg == null || seg.start == null || seg.end == null) {
+ continue;
+ }
+
+ if (seg.isMowing) {
+ // 浣滀笟璺緞 - 鎻愰绾�70%閫忔槑搴�
+ if (!mowingStarted || lastMowingEnd == null || !equals2D(lastMowingEnd, seg.start)) {
+ mowingPath.moveTo(seg.start.x, seg.start.y);
+ mowingStarted = true;
+ }
+ mowingPath.lineTo(seg.end.x, seg.end.y);
+ lastMowingEnd = seg.end;
+ } else {
+ // 绉诲姩璺緞 - 钃濊壊铏氱嚎
+ if (!travelStarted || lastTravelEnd == null || !equals2D(lastTravelEnd, seg.start)) {
+ travelPath.moveTo(seg.start.x, seg.start.y);
+ travelStarted = true;
+ }
+ travelPath.lineTo(seg.end.x, seg.end.y);
+ lastTravelEnd = seg.end;
+ }
+ }
+
+ // 缁樺埗浣滀笟璺緞
+ if (mowingStarted) {
+ g2d.setColor(MOWING_PATH_COLOR); // 鎻愰绾�70%閫忔槑搴�
+ g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND));
+ g2d.draw(mowingPath);
+ }
+
+ // 缁樺埗绉诲姩璺緞锛堣櫄绾匡級
+ if (travelStarted) {
+ g2d.setColor(TRAVEL_PATH_COLOR); // 钃濊壊
+ g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND, 0, DASH_PATTERN, 0));
+ g2d.draw(travelPath);
+ }
+
+ // 缁樺埗璧风偣鍜岀粓鐐圭澶�
+ if (!segments.isEmpty()) {
+ Lunjingguihua.PathSegment firstSeg = segments.get(0);
+ if (firstSeg != null && firstSeg.start != null && segments.size() > 1) {
+ Lunjingguihua.PathSegment secondSeg = segments.get(1);
+ if (secondSeg != null && secondSeg.start != null) {
+ Point2D.Double start = new Point2D.Double(firstSeg.start.x, firstSeg.start.y);
+ Point2D.Double second = new Point2D.Double(secondSeg.start.x, secondSeg.start.y);
+ drawArrowMarker(g2d, start, second, START_POINT_COLOR, scale, arrowScale);
+ }
+ }
+
+ Lunjingguihua.PathSegment lastSeg = segments.get(segments.size() - 1);
+ if (lastSeg != null && lastSeg.end != null && segments.size() > 1) {
+ Lunjingguihua.PathSegment prevSeg = segments.get(segments.size() - 2);
+ if (prevSeg != null && prevSeg.end != null) {
+ Point2D.Double prev = new Point2D.Double(prevSeg.end.x, prevSeg.end.y);
+ Point2D.Double end = new Point2D.Double(lastSeg.end.x, lastSeg.end.y);
+ drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale, arrowScale);
+ }
+ }
+ }
+
+ g2d.setStroke(previous);
+ } // 鏂规硶缁撴潫
+
+ /** // 鏂囨。娉ㄩ噴寮�濮�
+ * 姣旇緝涓や釜鍧愭爣鏄惁鐩稿悓锛堝宸級
+ */ // 鏂囨。娉ㄩ噴缁撴潫
+ private static boolean equals2D(Coordinate a, Coordinate b) {
+ if (a == b) return true;
+ if (a == null || b == null) return false;
+ return a.distance(b) < 1e-4;
+ } // 鏂规硶缁撴潫
private static void drawArrowMarker(Graphics2D g2d, Point2D.Double from, Point2D.Double to, Color color, double scale, double sizeScale) { // 缁樺埗绠ご杈呭姪
if (from == null || to == null) { // 鍒ょ┖
diff --git a/src/lujing/YixinglujingNoObstacle.java b/src/lujing/YixinglujingNoObstacle.java
index 67a5bb0..1672ccc 100644
--- a/src/lujing/YixinglujingNoObstacle.java
+++ b/src/lujing/YixinglujingNoObstacle.java
@@ -3,8 +3,8 @@
import java.util.*;
/**
- * 寮傚舰鑽夊湴璺緞瑙勫垝 - 鍥磋竟+鍏ㄥ眬鎵弿鐗� V4.1
- * 浼樺寲锛氬洿杈圭粓鐐逛笌寮撳瓧褰㈣捣鐐硅嚜鍔ㄥ榻愶紝瀹炵幇鏃犵紳鍒囨崲锛岀‘淇濊矾寰勪笉瓒婄晫
+ * 寮傚舰鑽夊湴璺緞瑙勫垝 - 鍑瑰杈瑰舰鍏煎浼樺寲鐗� V5.0
+ * 淇锛氳В鍐冲嚬澶氳竟褰㈡壂鎻忕嚎璺ㄨ秺杈圭晫鐨勯棶棰橈紝浼樺寲璺緞瀵归綈
*/
public class YixinglujingNoObstacle {
@@ -15,31 +15,33 @@
double mowWidth = Double.parseDouble(widthStr);
double safeMargin = Double.parseDouble(marginStr);
- // 1. 棰勫鐞嗭細閫嗘椂閽堝寲
+ // 1. 棰勫鐞嗭細纭繚閫嗘椂閽堥『搴�
ensureCounterClockwise(rawPoints);
- // 2. 鐢熸垚鍐呯缉澶氳竟褰�
+ // 2. 鐢熸垚鍐呯缉澶氳竟褰紙瀹夊叏杈圭晫锛�
List<Point> boundary = getInsetPolygon(rawPoints, safeMargin);
if (boundary.size() < 3) return new ArrayList<>();
- // 3. 纭畾鏈�浼樻壂鎻忚搴﹀苟鎵惧埌寮撳瓧褰㈣矾寰勭殑绗竴涓綔涓氳捣鐐�
+ // 3. 纭畾鏈�浼樹綔涓氳搴�
double bestAngle = findOptimalAngle(boundary);
+
+ // 4. 鑾峰彇棣栦釜浣滀笟鐐癸紝鐢ㄤ簬瀵归綈鍥磋竟璧风偣
Point firstScanStart = getFirstScanPoint(boundary, mowWidth, bestAngle);
- // 4. 瀵归綈鍥磋竟璧风偣锛氶噸鏂版帓鍒楀洿杈瑰潗鏍囷紝浣挎渶鍚庝竴涓偣闈犺繎(鎴栫瓑浜�)鎵弿璧风偣
+ // 5. 瀵归綈鍥磋竟锛氫娇鍥磋竟鏈�鍚庣粨鏉熶簬闈犺繎鎵弿璧风偣鐨勪綅缃�
List<Point> alignedBoundary = alignBoundaryStart(boundary, firstScanStart);
List<PathSegment> finalPath = new ArrayList<>();
- // 5. 銆愮涓�姝ャ�戠敓鎴愬洿杈硅矾寰�
+ // 6. 绗竴闃舵锛氬洿杈硅矾寰�
for (int i = 0; i < alignedBoundary.size(); i++) {
Point pStart = alignedBoundary.get(i);
Point pEnd = alignedBoundary.get((i + 1) % alignedBoundary.size());
finalPath.add(new PathSegment(pStart, pEnd, true));
}
- // 6. 銆愮浜屾銆戜粠瀵归綈鍚庣殑缁堢偣寮�濮嬬敓鎴愬唴閮ㄦ壂鎻忚矾寰�
- Point lastEdgePos = alignedBoundary.get(0); // 鍥磋竟闂悎鍥炲埌璧风偣
+ // 7. 绗簩闃舵锛氱敓鎴愬唴閮ㄦ壂鎻忚矾寰勶紙淇鍑归儴绌鸿秺闂锛�
+ Point lastEdgePos = alignedBoundary.get(0);
List<PathSegment> scanPath = generateGlobalScanPath(boundary, mowWidth, bestAngle, lastEdgePos);
finalPath.addAll(scanPath);
@@ -47,43 +49,6 @@
return finalPath;
}
- /**
- * 璁＄畻骞惰幏鍙栨壂鎻忚矾寰勭殑绗竴琛岃捣鐐�
- */
- private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) {
- List<Point> rotatedPoly = new ArrayList<>();
- for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
-
- double minY = Double.MAX_VALUE;
- for (Point p : rotatedPoly) minY = Math.min(minY, p.y);
-
- double firstY = minY + width;
- List<Double> xIntersections = getXIntersections(rotatedPoly, firstY);
-
- if (xIntersections.isEmpty()) return polygon.get(0);
- return rotatePoint(new Point(Collections.min(xIntersections), firstY), angle);
- }
-
- /**
- * 閲嶆柊鎺掑垪澶氳竟褰㈤《鐐癸紝浣胯捣濮嬬偣涓庢壂鎻忚捣鐐瑰鎺�
- */
- private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) {
- int bestIdx = 0;
- double minDist = Double.MAX_VALUE;
- for (int i = 0; i < boundary.size(); i++) {
- double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y);
- if (d < minDist) {
- minDist = d;
- bestIdx = i;
- }
- }
- List<Point> aligned = new ArrayList<>();
- for (int i = 0; i < boundary.size(); i++) {
- aligned.add(boundary.get((bestIdx + i) % boundary.size()));
- }
- return aligned;
- }
-
private static List<PathSegment> generateGlobalScanPath(List<Point> polygon, double width, double angle, Point currentPos) {
List<PathSegment> segments = new ArrayList<>();
List<Point> rotatedPoly = new ArrayList<>();
@@ -96,29 +61,32 @@
}
boolean leftToRight = true;
- // 浠� minY + width 寮�濮嬶紝閬垮紑鍥磋竟宸插壊鍖哄煙
- for (double y = minY + width; y <= maxY - width/2; y += width) {
+ // 姝ラ暱 y 浠庢渶灏忓埌鏈�澶ф壂鎻�
+ for (double y = minY + width/2; y <= maxY - width/2; y += width) {
List<Double> xIntersections = getXIntersections(rotatedPoly, y);
if (xIntersections.size() < 2) continue;
Collections.sort(xIntersections);
- List<PathSegment> lineRows = new ArrayList<>();
+ // 澶勭悊鍑瑰杈瑰舰锛氭瘡涓や釜鐐圭粍鎴愪竴涓湁鏁堜綔涓氭
+ List<PathSegment> lineSegmentsInRow = new ArrayList<>();
for (int i = 0; i < xIntersections.size() - 1; i += 2) {
Point pS = rotatePoint(new Point(xIntersections.get(i), y), angle);
Point pE = rotatePoint(new Point(xIntersections.get(i + 1), y), angle);
- lineRows.add(new PathSegment(pS, pE, true));
+ lineSegmentsInRow.add(new PathSegment(pS, pE, true));
}
+ // 鏍规嵁褰撳墠S鍨嬫柟鍚戞帓搴忎綔涓氭
if (!leftToRight) {
- Collections.reverse(lineRows);
- for (PathSegment s : lineRows) {
- Point t = s.start; s.start = s.end; s.end = t;
+ Collections.reverse(lineSegmentsInRow);
+ for (PathSegment s : lineSegmentsInRow) {
+ Point temp = s.start; s.start = s.end; s.end = temp;
}
}
- for (PathSegment s : lineRows) {
- // 濡傛灉闂磋窛鏋佸皬锛岃涓烘棤缂濊鎺�
- if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.05) {
+ // 灏嗕綔涓氭杩炴帴鍒版�昏矾寰�
+ for (PathSegment s : lineSegmentsInRow) {
+ if (Math.hypot(currentPos.x - s.start.x, currentPos.y - s.start.y) > 0.01) {
+ // 濡傛灉闂磋窛澶т簬1cm锛屾坊鍔犵┖璧拌矾寰�
segments.add(new PathSegment(currentPos, s.start, false));
}
segments.add(s);
@@ -129,6 +97,33 @@
return segments;
}
+ private static Point getFirstScanPoint(List<Point> polygon, double width, double angle) {
+ List<Point> rotatedPoly = new ArrayList<>();
+ for (Point p : polygon) rotatedPoly.add(rotatePoint(p, -angle));
+ double minY = Double.MAX_VALUE;
+ for (Point p : rotatedPoly) minY = Math.min(minY, p.y);
+
+ double firstY = minY + width/2;
+ List<Double> xInter = getXIntersections(rotatedPoly, firstY);
+ if (xInter.isEmpty()) return polygon.get(0);
+ Collections.sort(xInter);
+ return rotatePoint(new Point(xInter.get(0), firstY), angle);
+ }
+
+ private static List<Point> alignBoundaryStart(List<Point> boundary, Point targetStart) {
+ int bestIdx = 0;
+ double minDist = Double.MAX_VALUE;
+ for (int i = 0; i < boundary.size(); i++) {
+ double d = Math.hypot(boundary.get(i).x - targetStart.x, boundary.get(i).y - targetStart.y);
+ if (d < minDist) { minDist = d; bestIdx = i; }
+ }
+ List<Point> aligned = new ArrayList<>();
+ for (int i = 0; i < boundary.size(); i++) {
+ aligned.add(boundary.get((bestIdx + i) % boundary.size()));
+ }
+ return aligned;
+ }
+
private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) {
List<Double> xIntersections = new ArrayList<>();
for (int i = 0; i < rotatedPoly.size(); i++) {
@@ -170,19 +165,30 @@
Point pPrev = points.get((i - 1 + n) % n);
Point pCurr = points.get(i);
Point pNext = points.get((i + 1) % n);
+
double d1x = pCurr.x - pPrev.x, d1y = pCurr.y - pPrev.y;
double l1 = Math.hypot(d1x, d1y);
double d2x = pNext.x - pCurr.x, d2y = pNext.y - pCurr.y;
double l2 = Math.hypot(d2x, d2y);
+
if (l1 < 1e-6 || l2 < 1e-6) continue;
+
+ // 鍗曚綅娉曞悜閲�
double n1x = -d1y / l1, n1y = d1x / l1;
double n2x = -d2y / l2, n2y = d2x / l2;
+
+ // 瑙掑钩鍒嗙嚎鏂瑰悜
double bisectorX = n1x + n2x, bisectorY = n1y + n2y;
double bLen = Math.hypot(bisectorX, bisectorY);
if (bLen < 1e-6) { bisectorX = n1x; bisectorY = n1y; }
else { bisectorX /= bLen; bisectorY /= bLen; }
+
double cosHalfAngle = n1x * bisectorX + n1y * bisectorY;
- double dist = margin / Math.max(cosHalfAngle, 0.1);
+ double dist = margin / Math.max(cosHalfAngle, 0.1);
+
+ // 闄愬埗鏈�澶т綅绉婚噺锛岄槻姝㈡瀬灏栬鐣稿彉
+ dist = Math.min(dist, margin * 5);
+
result.add(new Point(pCurr.x + bisectorX * dist, pCurr.y + bisectorY * dist));
}
return result;
@@ -226,7 +232,7 @@
public static class PathSegment {
public Point start, end;
- public boolean isMowing;
+ public boolean isMowing; // true: 鍓茶崏涓�, false: 绌鸿浇绉诲姩
public PathSegment(Point s, Point e, boolean m) { this.start = s; this.end = e; this.isMowing = m; }
}
}
\ No newline at end of file
diff --git a/src/zhuye/MapRenderer.java b/src/zhuye/MapRenderer.java
index dfffdf9..9d63270 100644
--- a/src/zhuye/MapRenderer.java
+++ b/src/zhuye/MapRenderer.java
@@ -1451,7 +1451,82 @@
private void drawCurrentPlannedPath(Graphics2D g2d) {
double arrowScale = previewSizingEnabled ? 0.5d : 1.0d;
- lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale, arrowScale);
+
+ // 灏濊瘯鑾峰彇鍦板潡淇℃伅浠ユ敮鎸佸尯鍒嗕綔涓氳矾寰勫拰绉诲姩璺緞锛屼互鍙婄粯鍒跺唴缂╄竟鐣�
+ String boundaryCoords = null;
+ String mowingWidth = null;
+ String safetyDistance = null;
+ String obstaclesCoords = null;
+ String mowingPattern = null;
+
+ // 浠庡綋鍓嶅湴鍧楃紪鍙疯幏鍙栧湴鍧椾俊鎭�
+ if (currentBoundaryLandNumber != null) {
+ Dikuai landData = Dikuai.getDikuai(currentBoundaryLandNumber);
+ if (landData != null) {
+ boundaryCoords = landData.getBoundaryCoordinates();
+ mowingWidth = landData.getMowingWidth();
+ safetyDistance = landData.getMowingSafetyDistance();
+ mowingPattern = landData.getMowingPattern();
+
+ // 鑾峰彇闅滅鐗╁潗鏍�
+ try {
+ java.io.File configFile = new java.io.File("Obstacledge.properties");
+ if (configFile.exists()) {
+ Obstacledge.ConfigManager manager = new Obstacledge.ConfigManager();
+ if (manager.loadFromFile(configFile.getAbsolutePath())) {
+ Obstacledge.Plot plot = manager.getPlotById(currentBoundaryLandNumber.trim());
+ if (plot != null && plot.getObstacles() != null && !plot.getObstacles().isEmpty()) {
+ obstaclesCoords = Obstacledge.buildPlannerPayload(plot.getObstacles());
+ }
+ }
+ }
+ } catch (Exception e) {
+ // 蹇界暐闅滅鐗╁姞杞介敊璇�
+ }
+ }
+ }
+
+ // 濡傛灉鏃犳硶浠庡湴鍧楄幏鍙栬竟鐣岋紝灏濊瘯浣跨敤褰撳墠鏄剧ず鐨勮竟鐣�
+ if (boundaryCoords == null || boundaryCoords.trim().isEmpty() || "-1".equals(boundaryCoords.trim())) {
+ if (currentBoundary != null && !currentBoundary.isEmpty()) {
+ StringBuilder sb = new StringBuilder();
+ for (int i = 0; i < currentBoundary.size(); i++) {
+ Point2D.Double pt = currentBoundary.get(i);
+ if (i > 0) sb.append(";");
+ sb.append(String.format(java.util.Locale.US, "%.3f,%.3f", pt.x, pt.y));
+ }
+ boundaryCoords = sb.toString();
+ }
+ }
+
+ // 杞崲鍓茶崏瀹藉害浠庡帢绫冲埌绫筹紙濡傛灉瀛樺湪锛�
+ if (mowingWidth != null && !mowingWidth.trim().isEmpty() && !"-1".equals(mowingWidth.trim())) {
+ try {
+ double widthCm = Double.parseDouble(mowingWidth.trim());
+ double widthMeters = widthCm / 100.0;
+ mowingWidth = String.format(java.util.Locale.US, "%.3f", widthMeters);
+ } catch (NumberFormatException e) {
+ // 濡傛灉宸茬粡鏄背涓哄崟浣嶏紝淇濇寔鍘熷��
+ }
+ }
+
+ // 杞崲瀹夊叏璺濈浠庡帢绫冲埌绫筹紙濡傛灉瀛樺湪锛�
+ if (safetyDistance != null && !safetyDistance.trim().isEmpty() && !"-1".equals(safetyDistance.trim())) {
+ try {
+ double distCm = Double.parseDouble(safetyDistance.trim());
+ // 濡傛灉鍊煎ぇ浜�100锛岃涓烘槸鍘樼背锛岄渶瑕佽浆鎹负绫�
+ if (distCm > 100) {
+ double distMeters = distCm / 100.0;
+ safetyDistance = String.format(java.util.Locale.US, "%.3f", distMeters);
+ }
+ } catch (NumberFormatException e) {
+ // 濡傛灉宸茬粡鏄背涓哄崟浣嶏紝淇濇寔鍘熷��
+ }
+ }
+
+ // 璋冪敤甯﹀湴鍧椾俊鎭殑缁樺埗鏂规硶
+ lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale, arrowScale,
+ boundaryCoords, mowingWidth, safetyDistance, obstaclesCoords, mowingPattern);
}
private void drawCircleSampleMarkers(Graphics2D g2d, List<double[]> markers, double scale) {
diff --git a/src/zhuye/Shouye.java b/src/zhuye/Shouye.java
index 6ac960d..8162334 100644
--- a/src/zhuye/Shouye.java
+++ b/src/zhuye/Shouye.java
@@ -131,10 +131,8 @@
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 JButton toggleBoundaryDisplayButton; // 鍒囨崲杈圭晫鏄剧ず鎸夐挳锛堝彧鏄剧ず鍘熷杈圭晫/鏄剧ず鍏ㄩ儴锛�
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;
@@ -577,9 +575,9 @@
if (setsys.isManualBoundaryDrawingMode()) {
setsys.setManualBoundaryDrawingMode(false);
setsys.updateProperty("manualBoundaryDrawingMode", "false");
- // 鍏抽棴MapRenderer涓殑鎵嬪姩缁樺埗杈圭晫妯″紡锛堣繖浼氭竻闄ら紶鏍囦綅缃拰杈圭晫鐐癸級
+ // 娓呯┖鎵嬪姩缁樺埗鐨勮竟鐣岀偣
if (mapRenderer != null) {
- mapRenderer.setManualBoundaryDrawingMode(false);
+ mapRenderer.clearManualBoundaryPoints();
}
modeChanged = true;
}
@@ -3240,13 +3238,6 @@
floatingButtonColumn.add(pathPreviewReturnButton);
added = true;
}
- if (toggleBoundaryDisplayButton != null && toggleBoundaryDisplayButton.isVisible()) {
- if (added) {
- floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
- }
- floatingButtonColumn.add(toggleBoundaryDisplayButton);
- added = true;
- }
if (saveManualBoundaryButton != null && saveManualBoundaryButton.isVisible()) {
if (added) {
floatingButtonColumn.add(Box.createRigidArea(new Dimension(0, 10)));
@@ -4318,32 +4309,12 @@
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);
@@ -4362,23 +4333,11 @@
shouye.pathPreviewReturnButton.setToolTipText("杩斿洖杈圭晫缂栬緫椤甸潰");
}
- // 鍒涘缓鎴栨樉绀哄垏鎹㈣竟鐣屾樉绀烘寜閽�
- if (shouye.toggleBoundaryDisplayButton == null) {
- shouye.toggleBoundaryDisplayButton = shouye.createToggleBoundaryDisplayButton();
- }
-
- // 閲嶇疆鍒囨崲鎸夐挳鐘舵�侊紙榛樿鏄剧ず鍏ㄩ儴杈圭晫锛�
- if (shouye.mapRenderer != null) {
- shouye.mapRenderer.setShowOnlyOriginalBoundary(false);
- }
- shouye.updateToggleBoundaryDisplayButtonText();
-
// 闅愯棌鍏朵粬鎮诞鎸夐挳
shouye.hideFloatingDrawingControls();
- // 鏄剧ず杩斿洖鎸夐挳鍜屽垏鎹㈡寜閽�
+ // 鏄剧ず杩斿洖鎸夐挳
shouye.pathPreviewReturnButton.setVisible(true);
- shouye.toggleBoundaryDisplayButton.setVisible(true);
if (shouye.floatingButtonPanel != null) {
shouye.floatingButtonPanel.setVisible(true);
if (shouye.floatingButtonPanel.getParent() != shouye.visualizationPanel) {
@@ -4408,28 +4367,20 @@
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);
}
- // 娓呴櫎杈圭晫棰勮骞堕噸缃樉绀虹姸鎬�
+ // 娓呴櫎杈圭晫棰勮
if (mapRenderer != null) {
mapRenderer.clearBoundaryPreview();
- mapRenderer.setBoundaryPreviewUpdateCallback(null);
- mapRenderer.setShowOnlyOriginalBoundary(false); // 閲嶇疆涓烘樉绀哄叏閮ㄨ竟鐣�
}
- // 闅愯棌杩斿洖鎸夐挳鍜屽垏鎹㈡寜閽�
+ // 闅愯棌杩斿洖鎸夐挳
if (pathPreviewReturnButton != null) {
pathPreviewReturnButton.setVisible(false);
}
- if (toggleBoundaryDisplayButton != null) {
- toggleBoundaryDisplayButton.setVisible(false);
- }
// 闅愯棌鎮诞闈㈡澘
if (floatingButtonPanel != null) {
@@ -4439,56 +4390,6 @@
visualizationPanel.revalidate();
visualizationPanel.repaint();
}
-
- /**
- * 鍒涘缓鍒囨崲杈圭晫鏄剧ず鎸夐挳
- */
- private JButton createToggleBoundaryDisplayButton() {
- JButton button = new JButton("闅愯棌浼樺寲杈圭晫");
- button.setFont(new Font("寰蒋闆呴粦", Font.PLAIN, 13));
- button.setBackground(new Color(46, 139, 87));
- button.setForeground(Color.WHITE);
- button.setBorder(BorderFactory.createEmptyBorder(8, 16, 8, 16));
- button.setFocusPainted(false);
- button.setCursor(new Cursor(Cursor.HAND_CURSOR));
- button.setToolTipText("鍒囨崲鏄剧ず锛氬彧鏄剧ず鍘熷杈圭晫/鏄剧ず鍏ㄩ儴杈圭晫");
-
- button.addActionListener(e -> {
- if (mapRenderer == null) {
- return;
- }
- // 鍒囨崲鏄剧ず鐘舵��
- boolean currentState = mapRenderer.isShowOnlyOriginalBoundary();
- mapRenderer.setShowOnlyOriginalBoundary(!currentState);
- updateToggleBoundaryDisplayButtonText();
- });
-
- button.addMouseListener(new java.awt.event.MouseAdapter() {
- public void mouseEntered(java.awt.event.MouseEvent e) {
- button.setBackground(new Color(30, 107, 69));
- }
-
- public void mouseExited(java.awt.event.MouseEvent e) {
- button.setBackground(new Color(46, 139, 87));
- }
- });
-
- return button;
- }
-
- /**
- * 鏇存柊鍒囨崲杈圭晫鏄剧ず鎸夐挳鐨勬枃鏈�
- */
- private void updateToggleBoundaryDisplayButtonText() {
- if (toggleBoundaryDisplayButton == null || mapRenderer == null) {
- return;
- }
- if (mapRenderer.isShowOnlyOriginalBoundary()) {
- toggleBoundaryDisplayButton.setText("鏄剧ず鍏ㄩ儴杈圭晫");
- } else {
- toggleBoundaryDisplayButton.setText("闅愯棌浼樺寲杈圭晫");
- }
- }
// 娴嬭瘯鏂规硶
public static void main(String[] args) {
--
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