From f4a2ce6f608049dc11f00908ee8a829060882de3 Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期四, 25 十二月 2025 16:38:32 +0800
Subject: [PATCH] 优化了部分内容
---
dikuai.properties | 9
src/dikuai/daohangyulan.java | 80 +++++++++++
src/lujing/MowingPathGenerationPage.java | 9 +
set.properties | 10
Obstacledge.properties | 7
src/Mqttmessage/PushCallback.java | 1
src/dikuai/Dikuai.java | 16 ++
src/lujing/AoxinglujingHaveObstacel.java | 245 +++++++++++++---------------------
src/dikuai/Dikuaiguanli.java | 3
9 files changed, 214 insertions(+), 166 deletions(-)
diff --git a/Obstacledge.properties b/Obstacledge.properties
index 77653fd..1209c73 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�2025-12-25T16:03:28.188601
+# 鐢熸垚鏃堕棿锛�2025-12-25T16:37:39.564155300
# 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� ============
@@ -12,8 +12,3 @@
# 鏍煎紡锛歱lot.[鍦板潡缂栧彿].obstacle.[闅滅鐗╁悕绉癩.originalCoords=[鍧愭爣涓瞉
# 鏍煎紡锛歱lot.[鍦板潡缂栧彿].obstacle.[闅滅鐗╁悕绉癩.xyCoords=[鍧愭爣涓瞉
-# --- 鍦板潡LAND1鐨勯殰纰嶇墿 ---
-plot.LAND1.obstacle.闅滅鐗�1.shape=1
-plot.LAND1.obstacle.闅滅鐗�1.originalCoords=0.000000,N;0.000000,E;0.000000,N;0.000000,E;0.000000,N;0.000000,E;0.000000,N;0.000000,E;0.000000,N;0.000000,E
-plot.LAND1.obstacle.闅滅鐗�1.xyCoords=143.09,-434.11;142.20,-387.55;186.08,-379.49;224.58,-418.89;201.30,-447.54
-
diff --git a/dikuai.properties b/dikuai.properties
index 1b54182..4958dad 100644
--- a/dikuai.properties
+++ b/dikuai.properties
@@ -1,5 +1,5 @@
#Dikuai Properties
-#Thu Dec 25 16:03:28 CST 2025
+#Thu Dec 25 16:37:39 CST 2025
LAND1.angleThreshold=-1
LAND1.baseStationCoordinates=3949.89151752,N,11616.79267501,E
LAND1.boundaryCoordinates=-58.32,-476.37;85.99,-289.22;354.31,-329.80;293.43,-559.79
@@ -16,10 +16,11 @@
LAND1.mowingPattern=骞宠绾�
LAND1.mowingSafetyDistance=0.53
LAND1.mowingTrack=-1
-LAND1.mowingWidth=200
-LAND1.plannedPath=292.652,-558.038;-56.017,-475.349;-54.677,-473.611;293.164,-556.104;293.676,-554.170;-53.337,-471.874;-51.998,-470.136;294.188,-552.236;294.700,-550.302;-50.658,-468.398;-49.318,-466.660;295.212,-548.368;295.724,-546.434;-47.978,-464.923;-46.638,-463.185;296.236,-544.500;296.748,-542.566;-45.298,-461.447;-43.958,-459.710;297.260,-540.632;297.772,-538.698;-42.618,-457.972;-41.278,-456.234;298.284,-536.764;298.796,-534.830;-39.938,-454.497;-38.598,-452.759;299.308,-532.896;299.820,-530.962;-37.258,-451.021;-35.918,-449.283;300.332,-529.028;300.844,-527.093;-34.578,-447.546;-33.239,-445.808;301.356,-525.159;301.868,-523.225;-31.899,-444.070;-30.559,-442.333;302.380,-521.291;302.892,-519.357;-29.219,-440.595;-27.879,-438.857;303.403,-517.423;303.915,-515.489;-26.539,-437.120;-25.199,-435.382;304.427,-513.555;304.939,-511.621;-23.859,-433.644;-22.519,-431.906;305.451,-509.687;305.963,-507.753;-21.179,-430.169;-19.839,-428.431;306.475,-505.819;306.987,-503.885;-18.499,-426.693;-17.159,-424.956;307.499,-501.951;308.011,-500.017;-15.819,-423.218;-14.480,-421.480;308.523,-498.083;309.035,-496.148;-13.140,-419.742;-11.800,-418.005;309.547,-494.214;310.059,-492.280;-10.460,-416.267;-9.120,-414.529;310.571,-490.346;311.083,-488.412;-7.780,-412.792;-6.440,-411.054;311.595,-486.478;312.107,-484.544;-5.100,-409.316;-3.760,-407.579;312.619,-482.610;313.131,-480.676;-2.420,-405.841;-1.080,-404.103;313.643,-478.742;314.155,-476.808;0.260,-402.365;1.600,-400.628;142.559,-434.057;142.519,-431.992;2.940,-398.890;4.279,-397.152;142.480,-429.928;142.440,-427.863;5.619,-395.415;6.959,-393.677;142.401,-425.798;142.362,-423.733;8.299,-391.939;9.639,-390.202;142.322,-421.668;142.283,-419.603;10.979,-388.464;12.319,-386.726;142.243,-417.539;142.204,-415.474;13.659,-384.988;14.999,-383.251;142.164,-413.409;142.125,-411.344;16.339,-381.513;17.679,-379.775;142.085,-409.279;142.046,-407.214;19.019,-378.038;20.359,-376.300;142.006,-405.150;141.967,-403.085;21.699,-374.562;23.038,-372.825;141.927,-401.020;141.888,-398.955;24.378,-371.087;25.718,-369.349;141.848,-396.890;141.809,-394.825;27.058,-367.611;28.398,-365.874;141.770,-392.761;141.730,-390.696;29.738,-364.136;31.078,-362.398;141.691,-388.631;141.679,-387.454;141.708,-387.352;141.758,-387.258;141.825,-387.175;141.908,-387.108;142.002,-387.058;142.948,-386.874;32.418,-360.661;33.758,-358.923;147.832,-385.977;152.717,-385.079;35.098,-357.185;36.438,-355.448;157.601,-384.182;162.485,-383.285;37.778,-353.710;39.118,-351.972;167.369,-382.388;172.254,-381.491;40.458,-350.234;41.797,-348.497;177.138,-380.594;182.022,-379.697;43.137,-346.759;44.477,-345.021;331.049,-412.984;331.561,-411.050;45.817,-343.284;47.157,-341.546;332.073,-409.116;332.585,-407.182;48.497,-339.808;49.837,-338.071;333.097,-405.248;333.609,-403.314;51.177,-336.333;52.517,-334.595;334.121,-401.380;334.633,-399.446;53.857,-332.857;55.197,-331.120;335.145,-397.511;335.657,-395.577;56.537,-329.382;57.877,-327.644;336.169,-393.643;336.681,-391.709;59.217,-325.907;60.556,-324.169;337.193,-389.775;337.705,-387.841;61.896,-322.431;63.236,-320.694;338.217,-385.907;338.729,-383.973;64.576,-318.956;65.916,-317.218;339.241,-382.039;339.753,-380.105;67.256,-315.480;68.596,-313.743;340.265,-378.171;340.777,-376.237;69.936,-312.005;71.276,-310.267;341.288,-374.303;341.800,-372.369;72.616,-308.530;73.956,-306.792;342.312,-370.435;342.824,-368.501;75.296,-305.054;76.636,-303.317;343.336,-366.567;343.848,-364.632;77.976,-301.579;79.315,-299.841;344.360,-362.698;344.872,-360.764;80.655,-298.103;81.995,-296.366;345.384,-358.830;345.896,-356.896;83.335,-294.628;84.675,-292.890;346.408,-354.962;346.920,-353.028;86.015,-291.153;101.614,-292.797;347.432,-351.094;347.944,-349.160;125.537,-296.415;149.460,-300.033;348.456,-347.226;348.968,-345.292;173.384,-303.651;197.307,-307.269;349.480,-343.358;349.992,-341.424;221.230,-310.887;245.153,-314.505;350.504,-339.490;351.016,-337.556;269.076,-318.123;293.000,-321.741;351.528,-335.622;352.040,-333.688;316.923,-325.359;340.846,-328.977;352.552,-331.753;222.518,-416.022;323.882,-440.061;324.394,-438.127;219.904,-413.346;217.289,-410.671;324.906,-436.193;325.418,-434.259;214.675,-407.995;212.061,-405.320;325.930,-432.325;326.442,-430.390;209.446,-402.644;206.832,-399.969;326.954,-428.456;327.466,-426.522;204.218,-397.293;201.603,-394.618;327.978,-424.588;328.489,-422.654;198.989,-391.942;196.374,-389.267;329.001,-420.720;329.513,-418.786;193.760,-386.591;191.146,-383.916;330.025,-416.852;330.537,-414.918;188.531,-381.240;224.959,-418.520;225.027,-418.606;225.076,-418.704;225.104,-418.811;225.109,-418.921;225.091,-419.029;225.051,-419.132;224.991,-419.224;201.642,-447.944;201.490,-448.033;314.667,-474.874;315.179,-472.940;202.968,-446.328;204.368,-444.605;315.691,-471.006;316.202,-469.072;205.768,-442.881;207.169,-441.158;316.714,-467.138;317.226,-465.204;208.569,-439.435;209.969,-437.711;317.738,-463.269;318.250,-461.335;211.370,-435.988;212.770,-434.265;318.762,-459.401;319.274,-457.467;214.170,-432.541;215.571,-430.818;319.786,-455.533;320.298,-453.599;216.971,-429.094;218.371,-427.371;320.810,-451.665;321.322,-449.731;219.772,-425.648;221.172,-423.924;321.834,-447.797;322.346,-445.863;222.573,-422.201;223.973,-420.478;322.858,-443.929;323.370,-441.995;225.065,-418.681
+LAND1.mowingWidth=500
+LAND1.obstacleCoordinates=-1
+LAND1.plannedPath=353.646421,-330.235669;86.219211,-289.790692;-57.399120,-476.043693;293.049800,-559.155132;353.646421,-330.235669;352.359360,-335.097876;82.727142,-294.319420;79.235073,-298.848147;351.072299,-339.960083;349.785238,-344.822290;75.743005,-303.376874;72.250936,-307.905602;348.498177,-349.684497;347.211116,-354.546703;68.758867,-312.434329;65.266799,-316.963057;345.924055,-359.408910;344.636994,-364.271117;61.774730,-321.491784;58.282661,-326.020511;343.349933,-369.133324;342.062872,-373.995531;54.790593,-330.549239;51.298524,-335.077966;340.775811,-378.857738;339.488750,-383.719945;47.806455,-339.606694;44.314387,-344.135421;338.201689,-388.582152;336.914628,-393.444358;40.822318,-348.664148;37.330249,-353.192876;335.627567,-398.306565;334.340506,-403.168772;33.838181,-357.721603;30.346112,-362.250331;333.053445,-408.030979;331.766384,-412.893186;26.854043,-366.779058;23.361975,-371.307785;330.479324,-417.755393;329.192263,-422.617600;19.869906,-375.836513;16.377837,-380.365240;327.905202,-427.479807;326.618141,-432.342013;12.885769,-384.893968;9.393700,-389.422695;325.331080,-437.204220;324.044019,-442.066427;5.901631,-393.951422;2.409563,-398.480150;322.756958,-446.928634;321.469897,-451.790841;-1.082506,-403.008877;-4.574575,-407.537605;320.182836,-456.653048;318.895775,-461.515255;-8.066643,-412.066332;-11.558712,-416.595059;317.608714,-466.377461;316.321653,-471.239668;-15.050781,-421.123787;-18.542849,-425.652514;315.034592,-476.101875;313.747531,-480.964082;-22.034918,-430.181242;-25.526987,-434.709969;312.460470,-485.826289;311.173409,-490.688496;-29.019055,-439.238696;-32.511124,-443.767424;309.886348,-495.550703;308.599287,-500.412910;-36.003193,-448.296151;-39.495261,-452.824879;307.312226,-505.275116;306.025165,-510.137323;-42.987330,-457.353606;-46.479399,-461.882333;304.738104,-514.999530;303.451043,-519.861737;-49.971467,-466.411061;-53.463536,-470.939788;302.163982,-524.723944;300.876921,-529.586151;-56.955605,-475.468516;-6.018549,-488.228958;299.589860,-534.448358;298.302799,-539.310565;52.837057,-502.186981;111.692662,-516.145005;297.015738,-544.172771;295.728677,-549.034978;170.548268,-530.103028;229.403874,-544.061051;294.441616,-553.897185
LAND1.returnPathCoordinates=-1
LAND1.returnPathRawCoordinates=-1
LAND1.returnPointCoordinates=-1
-LAND1.updateTime=2025-12-25 16\:03\:28
+LAND1.updateTime=2025-12-25 16\:37\:39
LAND1.userId=-1
diff --git a/set.properties b/set.properties
index 20684a5..6ff9c73 100644
--- a/set.properties
+++ b/set.properties
@@ -1,5 +1,5 @@
#Mower Configuration Properties - Updated
-#Thu Dec 25 16:03:36 CST 2025
+#Thu Dec 25 16:37:55 CST 2025
appVersion=-1
boundaryLengthVisible=false
currentWorkLandNumber=LAND1
@@ -8,12 +8,12 @@
handheldMarkerId=1872
idleTrailDurationSeconds=60
manualBoundaryDrawingMode=false
-mapScale=0.05
+mapScale=11.95
measurementModeEnabled=false
-mowerId=6258
+mowerId=6288
serialAutoConnect=true
serialBaudRate=115200
serialPortName=COM15
simCardNumber=-1
-viewCenterX=-5443.82
-viewCenterY=-3798.20
+viewCenterX=-148.00
+viewCenterY=424.51
diff --git a/src/Mqttmessage/PushCallback.java b/src/Mqttmessage/PushCallback.java
index e124a95..08d523b 100644
--- a/src/Mqttmessage/PushCallback.java
+++ b/src/Mqttmessage/PushCallback.java
@@ -112,6 +112,7 @@
String gpsRaw = gpsData.getGps_raw();
UDPServer.processSerialData(gpsRaw);
gecaojistatus.parseStatus(gpsData.getStatus());
+ gpsData.getImu_data();
}
}
diff --git a/src/dikuai/Dikuai.java b/src/dikuai/Dikuai.java
index 8a9a589..0d2c5ec 100644
--- a/src/dikuai/Dikuai.java
+++ b/src/dikuai/Dikuai.java
@@ -55,6 +55,8 @@
private String mowingOverlapDistance;
// 鍓茶崏瀹夊叏璺濈锛堢背锛�
private String mowingSafetyDistance;
+ // 闅滅鐗╁潗鏍�
+ private String obstacleCoordinates;
// 瀛樺偍澶氫釜鍦板潡鐨勬槧灏勮〃锛岄敭涓哄湴鍧楃紪鍙�
private static Map<String, Dikuai> dikuaiMap = new HashMap<>();
@@ -122,6 +124,7 @@
dikuai.mowingBladeWidth = landProps.getProperty("mowingBladeWidth", "0.40");
dikuai.mowingOverlapDistance = landProps.getProperty("mowingOverlapDistance", "0.06");
dikuai.mowingSafetyDistance = landProps.getProperty("mowingSafetyDistance", "-1");
+ dikuai.obstacleCoordinates = landProps.getProperty("obstacleCoordinates", "-1");
dikuaiMap.put(landNum, dikuai);
}
@@ -261,6 +264,9 @@
case "mowingSafetyDistance":
this.mowingSafetyDistance = value;
return true;
+ case "obstacleCoordinates":
+ this.obstacleCoordinates = value;
+ return true;
default:
System.err.println("鏈煡瀛楁: " + fieldName);
return false;
@@ -301,6 +307,7 @@
if (dikuai.mowingBladeWidth != null) properties.setProperty(landNumber + ".mowingBladeWidth", dikuai.mowingBladeWidth);
if (dikuai.mowingOverlapDistance != null) properties.setProperty(landNumber + ".mowingOverlapDistance", dikuai.mowingOverlapDistance);
if (dikuai.mowingSafetyDistance != null) properties.setProperty(landNumber + ".mowingSafetyDistance", dikuai.mowingSafetyDistance);
+ if (dikuai.obstacleCoordinates != null) properties.setProperty(landNumber + ".obstacleCoordinates", dikuai.obstacleCoordinates);
}
try {
@@ -500,6 +507,14 @@
this.mowingSafetyDistance = mowingSafetyDistance;
}
+ public String getObstacleCoordinates() {
+ return obstacleCoordinates;
+ }
+
+ public void setObstacleCoordinates(String obstacleCoordinates) {
+ this.obstacleCoordinates = obstacleCoordinates;
+ }
+
@Override
public String toString() {
return "Dikuai{" +
@@ -522,6 +537,7 @@
", updateTime='" + updateTime + '\'' +
", mowingPattern='" + mowingPattern + '\'' +
", mowingWidth='" + mowingWidth + '\'' +
+ ", obstacleCoordinates='" + obstacleCoordinates + '\'' +
'}';
}
}
\ No newline at end of file
diff --git a/src/dikuai/Dikuaiguanli.java b/src/dikuai/Dikuaiguanli.java
index dc9a431..a9b2a9a 100644
--- a/src/dikuai/Dikuaiguanli.java
+++ b/src/dikuai/Dikuaiguanli.java
@@ -1648,6 +1648,9 @@
return false;
}
+ // 鍚屾椂淇濆瓨鍒� dikuai.properties
+ saveFieldAndRefresh(dikuai, "obstacleCoordinates", obstaclePayload);
+
obstacleSummaryCache = loadObstacleSummaries();
boolean isCurrent = landNumber.equals(currentWorkLandNumber);
loadDikuaiData();
diff --git a/src/dikuai/daohangyulan.java b/src/dikuai/daohangyulan.java
index ec51972..8d3bfaf 100644
--- a/src/dikuai/daohangyulan.java
+++ b/src/dikuai/daohangyulan.java
@@ -9,6 +9,7 @@
import java.util.ArrayList;
import zhuye.Shouye;
import zhuye.MapRenderer;
+import gecaoji.Device;
import gecaoji.Gecaoji;
import gecaoji.lujingdraw;
import publicway.buttonset;
@@ -82,12 +83,85 @@
return;
}
- // 瑙ｆ瀽璺緞鍧愭爣
- pathPoints = lujingdraw.parsePlannedPath(plannedPath);
- if (pathPoints == null || pathPoints.size() < 2) {
+ // 1. 瑙ｆ瀽璺緞鍧愭爣锛堝師濮嬭矾寰勶級
+ List<Point2D.Double> rawPathPoints = lujingdraw.parsePlannedPath(plannedPath);
+ if (rawPathPoints == null || rawPathPoints.size() < 2) {
JOptionPane.showMessageDialog(null, "璺緞鍧愭爣瑙ｆ瀽澶辫触锛屾棤娉曡繘琛屽鑸瑙�", "閿欒", JOptionPane.ERROR_MESSAGE);
return;
}
+
+ // 2. 灏濊瘯閲嶆柊鐢熸垚瀹屾暣璺緞娈碉紙鍖呭惈鍥磋竟鍜屼綔涓氳矾寰勶級
+ // 杩欐牱鍙互纭繚瀵艰埅棰勮鏃讹紝鍓茶崏鏈哄厛娌跨潃鍐呯缉杈圭晫璧颁竴鍦堬紝鍐嶈蛋鍓茶崏璺緞
+ List<lujing.Lunjingguihua.PathSegment> segments = null;
+ String boundaryCoords = dikuai.getBoundaryCoordinates();
+ String mowingWidth = dikuai.getMowingBladeWidth(); // 娉ㄦ剰锛氳繖閲屽簲璇ョ敤鍓茶崏瀹藉害锛岃�屼笉鏄壊鍒�瀹藉害锛岄�氬父鏄竴鏍风殑
+ // 濡傛灉娌℃湁鍓茶崏瀹藉害锛屽皾璇曚粠Device鑾峰彇
+ if (mowingWidth == null || mowingWidth.trim().isEmpty() || "-1".equals(mowingWidth.trim())) {
+ Device device = Device.getActiveDevice();
+ if (device != null) {
+ mowingWidth = device.getMowingWidth();
+ }
+ }
+ // 濡傛灉杩樻槸娌℃湁锛屼娇鐢ㄩ粯璁ゅ��
+ if (mowingWidth == null || mowingWidth.trim().isEmpty() || "-1".equals(mowingWidth.trim())) {
+ mowingWidth = "0.34";
+ }
+
+ String safetyDistance = dikuai.getMowingSafetyDistance();
+ String obstaclesCoords = dikuai.getObstacleCoordinates();
+ String mowingPattern = dikuai.getMowingPattern();
+
+ if (boundaryCoords != null && !boundaryCoords.trim().isEmpty() && !"-1".equals(boundaryCoords.trim())) {
+ 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";
+ }
+ }
+
+ // 璋冪敤璺緞瑙勫垝鐢熸垚瀹屾暣璺緞娈�
+ segments = lujing.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宻egments 涓� null
+ System.err.println("瀵艰埅棰勮閲嶆柊鐢熸垚璺緞澶辫触: " + e.getMessage());
+ }
+ }
+
+ // 3. 鏋勫缓鏈�缁堝鑸矾寰勭偣鍒楄〃
+ pathPoints = new ArrayList<>();
+ if (segments != null && !segments.isEmpty()) {
+ // 濡傛灉鎴愬姛鐢熸垚浜嗚矾寰勬锛屼娇鐢ㄨ矾寰勬鏋勫缓鐐瑰垪琛�
+ // 杩欐牱鍖呭惈浜嗗洿杈硅矾寰勫拰浣滀笟璺緞锛屼互鍙婂畠浠箣闂寸殑杩炴帴
+ lujing.Lunjingguihua.PathSegment firstSeg = segments.get(0);
+ pathPoints.add(new Point2D.Double(firstSeg.start.x, firstSeg.start.y));
+
+ for (lujing.Lunjingguihua.PathSegment seg : segments) {
+ // 娣诲姞缁堢偣锛堣捣鐐瑰凡缁忓湪涓婁竴娆″惊鐜垨鍒濆鍖栨椂娣诲姞浜嗭級
+ // 娉ㄦ剰锛氳繖閲屽亣璁捐矾寰勬鏄繛缁殑锛屾垨鑰呮垜浠彧鍏冲績绔偣
+ // 濡傛灉娈典箣闂翠笉杩炵画锛堟湁绌鸿蛋锛夛紝generatePathSegments 搴旇宸茬粡鐢熸垚浜嗚繛鎺ユ锛坕sMowing=false锛�
+ pathPoints.add(new Point2D.Double(seg.end.x, seg.end.y));
+ }
+ } else {
+ // 濡傛灉鐢熸垚澶辫触锛屽洖閫�鍒颁娇鐢ㄥ師濮嬭В鏋愮殑璺緞鐐�
+ // 杩欓�氬父鍙寘鍚綔涓氳矾寰勶紝鍙兘娌℃湁鍥磋竟
+ pathPoints = rawPathPoints;
+ }
+
+ if (pathPoints == null || pathPoints.size() < 2) {
+ JOptionPane.showMessageDialog(null, "鏃犳硶鏋勫缓鏈夋晥鐨勫鑸矾寰�", "閿欒", JOptionPane.ERROR_MESSAGE);
+ return;
+ }
this.currentDikuai = dikuai;
this.currentPathIndex = 0;
diff --git a/src/lujing/AoxinglujingHaveObstacel.java b/src/lujing/AoxinglujingHaveObstacel.java
index 12e585e..5e2f046 100644
--- a/src/lujing/AoxinglujingHaveObstacel.java
+++ b/src/lujing/AoxinglujingHaveObstacel.java
@@ -5,8 +5,8 @@
import java.util.List;
/**
- * 鍑稿舰鑽夊湴璺緞瑙勫垝 (閬块殰浼樺寲鐗�)
- * 浼樺寲锛氬鍔犱簡闅滅鐗╁尯闂撮澶勭悊銆佽矾寰勮繛鎺ュ氨杩戝師鍒欍�佷互鍙婃洿绋冲仴鐨勫杈瑰舰澶栨墿
+ * 鍑稿舰鑽夊湴璺緞瑙勫垝 (閬块殰淇鐗�)
+ * 淇閲嶇偣锛氬己鍖栬法琛屽強閬块殰鍚庣殑璺緞杩炶疮鎬э紝纭繚姣忎竴娈靛垏鍓查兘鏈夋樉寮忕殑绉诲姩璺緞杩炴帴銆�
*/
public class AoxinglujingHaveObstacel {
@@ -35,7 +35,6 @@
public static class PolygonObstacle extends Obstacle {
public List<Point> points;
public PolygonObstacle(List<Point> points) { this.points = points; }
-
@Override
public boolean isInside(Point p) {
boolean result = false;
@@ -47,7 +46,6 @@
}
return result;
}
-
@Override
public List<Double> getIntersectionsX(double y, double angle) {
List<Point> rotated = rotatePolygon(this.points, -angle);
@@ -66,12 +64,8 @@
public Point center;
public double radius;
public CircleObstacle(Point center, double radius) { this.center = center; this.radius = radius; }
-
@Override
- public boolean isInside(Point p) {
- return Math.hypot(p.x - center.x, p.y - center.y) <= radius + EPSILON;
- }
-
+ public boolean isInside(Point p) { return Math.hypot(p.x - center.x, p.y - center.y) <= radius + EPSILON; }
@Override
public List<Double> getIntersectionsX(double y, double angle) {
List<Double> xInts = new ArrayList<>();
@@ -79,8 +73,7 @@
double dy = Math.abs(y - rCenter.y);
if (dy < radius) {
double dx = Math.sqrt(radius * radius - dy * dy);
- xInts.add(rCenter.x - dx);
- xInts.add(rCenter.x + dx);
+ xInts.add(rCenter.x - dx); xInts.add(rCenter.x + dx);
}
return xInts;
}
@@ -91,13 +84,11 @@
double width = Double.parseDouble(widthStr);
double margin = Double.parseDouble(marginStr);
List<Obstacle> obstacles = parseObstacles(obstacleStr, margin);
-
return planPathCore(boundary, obstacles, width, margin);
}
private static List<PathSegment> planPathCore(List<Point> boundary, List<Obstacle> obstacles, double width, double margin) {
if (boundary.size() < 3) return new ArrayList<>();
-
ensureCCW(boundary);
List<Point> workArea = shrinkPolygon(boundary, margin);
if (workArea.size() < 3) return new ArrayList<>();
@@ -107,109 +98,94 @@
List<Point> alignedWorkArea = alignBoundaryToStart(workArea, firstScanStart);
List<PathSegment> finalPath = new ArrayList<>();
-
- // 1. 鍥磋竟璺緞
+ // 1. 娣诲姞鍥磋竟璺緞
for (int i = 0; i < alignedWorkArea.size(); i++) {
finalPath.add(new PathSegment(alignedWorkArea.get(i), alignedWorkArea.get((i + 1) % alignedWorkArea.size()), true));
}
- // 2. 鍐呴儴濉厖
+ // 2. 鐢熸垚鍐呴儴寮撳瓧褰� (寮哄寲杩炴帴閫昏緫)
Point currentPos = alignedWorkArea.get(0);
- List<PathSegment> zigZagLines = generateOptimizedZigZag(workArea, obstacles, bestAngle, width, currentPos);
- finalPath.addAll(zigZagLines);
+ List<PathSegment> zigZag = generateFixedZigZag(workArea, obstacles, bestAngle, width, currentPos);
+ finalPath.addAll(zigZag);
return finalPath;
}
- private static List<PathSegment> generateOptimizedZigZag(List<Point> polygon, List<Obstacle> obstacles, double angle, double width, Point startPoint) {
+ private static List<PathSegment> generateFixedZigZag(List<Point> polygon, List<Obstacle> obstacles, double angle, double width, Point startPoint) {
List<PathSegment> result = new ArrayList<>();
List<Point> rotatedPoly = rotatePolygon(polygon, -angle);
-
double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
- for (Point p : rotatedPoly) {
- minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y);
- }
+ for (Point p : rotatedPoly) { minY = Math.min(minY, p.y); maxY = Math.max(maxY, p.y); }
Point currentPos = startPoint;
boolean leftToRight = true;
- for (double y = minY + width; y < maxY - width / 2; y += width) {
- List<Double> intersections = getXIntersections(rotatedPoly, y);
- if (intersections.size() < 2) continue;
- Collections.sort(intersections);
-
- double xBoundaryMin = intersections.get(0);
- double xBoundaryMax = intersections.get(intersections.size() - 1);
+ for (double y = minY + width; y < maxY - width/2; y += width) {
+ List<Double> polyInts = getXIntersections(rotatedPoly, y);
+ if (polyInts.size() < 2) continue;
+ Collections.sort(polyInts);
+ double xMin = polyInts.get(0), xMax = polyInts.get(polyInts.size() - 1);
- // 鏀堕泦褰撳墠琛屾墍鏈夐殰纰嶇墿浜ょ偣骞惰繘琛岃鍓�
- List<Double> splitPoints = new ArrayList<>();
- splitPoints.add(xBoundaryMin);
+ // 鏀堕泦鎵�鏈夊垎鍓茬偣锛堣竟鐣� + 闅滅鐗╀氦鐐癸級
+ List<Double> splits = new ArrayList<>();
+ splits.add(xMin); splits.add(xMax);
for (Obstacle obs : obstacles) {
- List<Double> obsX = obs.getIntersectionsX(y, angle);
- for (double ox : obsX) {
- if (ox > xBoundaryMin && ox < xBoundaryMax) splitPoints.add(ox);
+ for (double ox : obs.getIntersectionsX(y, angle)) {
+ if (ox > xMin + EPSILON && ox < xMax - EPSILON) splits.add(ox);
}
}
- Collections.sort(splitPoints);
+ Collections.sort(splits);
- // 鏋勫缓鏈夋晥娈�
- List<LineRange> validRanges = new ArrayList<>();
- for (int i = 0; i < splitPoints.size() - 1; i++) {
- double midX = (splitPoints.get(i) + splitPoints.get(i + 1)) / 2.0;
- Point midPoint = rotatePoint(new Point(midX, y), angle);
-
- boolean insideAnyObstacle = false;
- for (Obstacle obs : obstacles) {
- if (obs.isInside(midPoint)) {
- insideAnyObstacle = true;
- break;
- }
- }
- if (!insideAnyObstacle) {
- validRanges.add(new LineRange(splitPoints.get(i), splitPoints.get(i+1)));
+ // 鏋勫缓鏈鍊欓�夋
+ List<Double[]> rowSegments = new ArrayList<>();
+ for (int i = 0; i < splits.size() - 1; i++) {
+ double s = splits.get(i), e = splits.get(i+1);
+ Point mid = rotatePoint(new Point((s + e) / 2.0, y), angle);
+ if (!isPointInAnyObstacle(mid, obstacles)) {
+ rowSegments.add(new Double[]{s, e});
}
}
- // 鏍规嵁褰撳墠鏈濆悜鎺掑簭鏈夋晥娈�
+ // 鏍规嵁褰撳墠S鍨嬫柟鍚戞帓搴�
if (!leftToRight) {
- Collections.reverse(validRanges);
- for (LineRange range : validRanges) {
- double temp = range.start;
- range.start = range.end;
- range.end = temp;
- }
+ Collections.reverse(rowSegments);
+ for (Double[] seg : rowSegments) { double t = seg[0]; seg[0] = seg[1]; seg[1] = t; }
}
- // 杩炴帴璺緞
- for (LineRange range : validRanges) {
- Point pStart = rotatePoint(new Point(range.start, y), angle);
- Point pEnd = rotatePoint(new Point(range.end, y), angle);
+ // 鎵ц杩炴帴锛氬己鍒舵鏌� currentPos 鍒版瘡涓�娈佃捣鐐圭殑璺濈
+ for (Double[] seg : rowSegments) {
+ Point p1 = rotatePoint(new Point(seg[0], y), angle);
+ Point p2 = rotatePoint(new Point(seg[1], y), angle);
- if (Math.hypot(currentPos.x - pStart.x, currentPos.y - pStart.y) > 0.01) {
- result.add(new PathSegment(currentPos, pStart, false));
+ // 鏍稿績淇锛氭棤璁哄杩戯紝鍙涓嶆槸鍚屼竴鐐癸紝灏卞缓绔嬭櫄绾胯繛鎺ワ紝纭繚璺緞娴佽浆
+ if (dist(currentPos, p1) > 0.001) {
+ result.add(new PathSegment(currentPos, p1, false));
}
- result.add(new PathSegment(pStart, pEnd, true));
- currentPos = pEnd;
+ result.add(new PathSegment(p1, p2, true));
+ currentPos = p2;
}
leftToRight = !leftToRight;
}
return result;
}
- private static class LineRange {
- double start, end;
- LineRange(double s, double e) { this.start = s; this.end = e; }
+ private static boolean isPointInAnyObstacle(Point p, List<Obstacle> obstacles) {
+ for (Obstacle obs : obstacles) if (obs.isInside(p)) return true;
+ return false;
}
- // --- 闅滅鐗╄В鏋愪笌澶氳竟褰㈠鎵� ---
+ private static double dist(Point p1, Point p2) {
+ return Math.hypot(p1.x - p2.x, p1.y - p2.y);
+ }
+
+ // --- 杈呭姪宸ュ叿 (瑙ｆ瀽涓庡彉鎹�) ---
private static List<Obstacle> parseObstacles(String obsStr, double margin) {
List<Obstacle> list = new ArrayList<>();
- if (obsStr == null || obsStr.trim().isEmpty()) return list;
-
+ if (obsStr == null || obsStr.isEmpty()) return list;
for (String part : obsStr.split("\\$")) {
List<Point> pts = parseCoords(part);
if (pts.size() == 2) {
- double r = Math.hypot(pts.get(0).x - pts.get(1).x, pts.get(0).y - pts.get(1).y);
+ double r = dist(pts.get(0), pts.get(1));
list.add(new CircleObstacle(pts.get(0), r + margin));
} else if (pts.size() > 2) {
ensureCCW(pts);
@@ -220,39 +196,26 @@
}
private static List<Point> expandPolygon(List<Point> poly, double margin) {
- List<Point> result = new ArrayList<>();
+ List<Point> res = new ArrayList<>();
int n = poly.size();
for (int i = 0; i < n; i++) {
- Point pPrev = poly.get((i - 1 + n) % n);
- Point pCurr = poly.get(i);
- Point pNext = poly.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);
-
- // 璁＄畻澶栨硶绾�
+ Point p1 = poly.get((i - 1 + n) % n), p2 = poly.get(i), p3 = poly.get((i + 1) % n);
+ double d1x = p2.x - p1.x, d1y = p2.y - p1.y;
+ double d2x = p3.x - p2.x, d2y = p3.y - p2.y;
+ double l1 = Math.hypot(d1x, d1y), l2 = Math.hypot(d2x, d2y);
double n1x = d1y / l1, n1y = -d1x / l1;
double n2x = d2y / l2, n2y = -d2x / l2;
-
double bx = n1x + n2x, by = n1y + n2y;
double bLen = Math.hypot(bx, by);
if (bLen < EPSILON) { bx = n1x; by = n1y; } else { bx /= bLen; by /= bLen; }
-
- double cosHalf = n1x * bx + n1y * by;
- double d = margin / Math.max(cosHalf, 0.1);
- // 闄愬埗鏈�澶у鎵╋紝闃叉灏栬鐣稿彉
- d = Math.min(d, margin * 3);
- result.add(new Point(pCurr.x + bx * d, pCurr.y + by * d));
+ double d = margin / Math.max(n1x * bx + n1y * by, 0.1);
+ res.add(new Point(p2.x + bx * Math.min(d, margin * 2), p2.y + by * Math.min(d, margin * 2)));
}
- return result;
+ return res;
}
- // --- 鍩虹宸ュ叿绫绘柟娉� ---
private static List<Point> parseCoords(String s) {
List<Point> list = new ArrayList<>();
- if(s == null || s.isEmpty()) return list;
for (String p : s.split(";")) {
String[] xy = p.split(",");
if (xy.length >= 2) list.add(new Point(Double.parseDouble(xy[0]), Double.parseDouble(xy[1])));
@@ -269,55 +232,42 @@
if (s > 0) Collections.reverse(poly);
}
- private static List<Point> shrinkPolygon(List<Point> polygon, double margin) {
- List<Point> result = new ArrayList<>();
- int n = polygon.size();
+ private static List<Point> shrinkPolygon(List<Point> poly, double margin) {
+ List<Point> res = new ArrayList<>();
+ int n = poly.size();
for (int i = 0; i < n; i++) {
- Point pPrev = polygon.get((i - 1 + n) % n);
- Point pCurr = polygon.get(i);
- Point pNext = polygon.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);
+ Point p1 = poly.get((i - 1 + n) % n), p2 = poly.get(i), p3 = poly.get((i + 1) % n);
+ double d1x = p2.x - p1.x, d1y = p2.y - p1.y;
+ double d2x = p3.x - p2.x, d2y = p3.y - p2.y;
+ double l1 = Math.hypot(d1x, d1y), l2 = Math.hypot(d2x, d2y);
double n1x = -d1y / l1, n1y = d1x / l1;
double n2x = -d2y / l2, n2y = d2x / l2;
double bx = n1x + n2x, by = n1y + n2y;
double bLen = Math.hypot(bx, by);
if (bLen < EPSILON) { bx = n1x; by = n1y; } else { bx /= bLen; by /= bLen; }
- double cosHalf = n1x * bx + n1y * by;
- double d = margin / Math.max(cosHalf, 0.1);
- result.add(new Point(pCurr.x + bx * d, pCurr.y + by * d));
+ double d = margin / Math.max(n1x * bx + n1y * by, 0.1);
+ res.add(new Point(p2.x + bx * d, p2.y + by * d));
}
- return result;
+ return res;
}
- private static double findOptimalScanAngle(List<Point> polygon) {
+ private static double findOptimalScanAngle(List<Point> poly) {
double minH = Double.MAX_VALUE, bestA = 0;
- for (int i = 0; i < polygon.size(); i++) {
- Point p1 = polygon.get(i), p2 = polygon.get((i + 1) % polygon.size());
- double angle = Math.atan2(p2.y - p1.y, p2.x - p1.x);
- double h = calculatePolygonHeightAtAngle(polygon, angle);
- if (h < minH) { minH = h; bestA = angle; }
+ for (int i = 0; i < poly.size(); i++) {
+ Point p1 = poly.get(i), p2 = poly.get((i + 1) % poly.size());
+ double a = Math.atan2(p2.y - p1.y, p2.x - p1.x);
+ double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
+ double s = Math.sin(-a), c = Math.cos(-a);
+ for (Point p : poly) { double ry = p.x * s + p.y * c; minY = Math.min(minY, ry); maxY = Math.max(maxY, ry); }
+ if (maxY - minY < minH) { minH = maxY - minY; bestA = a; }
}
return bestA;
}
- private static double calculatePolygonHeightAtAngle(List<Point> poly, double angle) {
- double minY = Double.MAX_VALUE, maxY = -Double.MAX_VALUE;
- double sin = Math.sin(-angle), cos = Math.cos(-angle);
- for (Point p : poly) {
- double ry = p.x * sin + p.y * cos;
- minY = Math.min(minY, ry); maxY = Math.max(maxY, ry);
- }
- return maxY - minY;
- }
-
private static List<Double> getXIntersections(List<Point> rotatedPoly, double y) {
List<Double> xInts = new ArrayList<>();
- int n = rotatedPoly.size();
- for (int i = 0; i < n; i++) {
- Point p1 = rotatedPoly.get(i), p2 = rotatedPoly.get((i + 1) % n);
+ for (int i = 0; i < rotatedPoly.size(); i++) {
+ Point p1 = rotatedPoly.get(i), p2 = rotatedPoly.get((i + 1) % rotatedPoly.size());
if ((p1.y <= y && p2.y > y) || (p2.y <= y && p1.y > y)) {
xInts.add(p1.x + (y - p1.y) * (p2.x - p1.x) / (p2.y - p1.y));
}
@@ -325,36 +275,35 @@
return xInts;
}
- private static Point getFirstScanStartPoint(List<Point> polygon, double angle, double width) {
- List<Point> rotated = rotatePolygon(polygon, -angle);
+ private static Point getFirstScanStartPoint(List<Point> poly, double angle, double width) {
+ List<Point> rot = rotatePolygon(poly, -angle);
double minY = Double.MAX_VALUE;
- for (Point p : rotated) minY = Math.min(minY, p.y);
- double startY = minY + width + EPSILON;
- List<Double> xInts = getXIntersections(rotated, startY);
- if (xInts.isEmpty()) return polygon.get(0);
- Collections.sort(xInts);
- return rotatePoint(new Point(xInts.get(0), startY), angle);
+ for (Point p : rot) minY = Math.min(minY, p.y);
+ double sy = minY + width + EPSILON;
+ List<Double> x = getXIntersections(rot, sy);
+ Collections.sort(x);
+ return rotatePoint(new Point(x.isEmpty() ? 0 : x.get(0), sy), angle);
}
- private static List<Point> alignBoundaryToStart(List<Point> polygon, Point target) {
- int bestIdx = 0; double minDist = Double.MAX_VALUE;
- for (int i = 0; i < polygon.size(); i++) {
- double d = Math.hypot(polygon.get(i).x - target.x, polygon.get(i).y - target.y);
- if (d < minDist) { minDist = d; bestIdx = i; }
+ private static List<Point> alignBoundaryToStart(List<Point> poly, Point target) {
+ int idx = 0; double minD = Double.MAX_VALUE;
+ for (int i = 0; i < poly.size(); i++) {
+ double d = dist(poly.get(i), target);
+ if (d < minD) { minD = d; idx = i; }
}
- List<Point> aligned = new ArrayList<>();
- for (int i = 0; i < polygon.size(); i++) aligned.add(polygon.get((bestIdx + i) % polygon.size()));
- return aligned;
+ List<Point> res = new ArrayList<>();
+ for (int i = 0; i < poly.size(); i++) res.add(poly.get((idx + i) % poly.size()));
+ return res;
}
- private static Point rotatePoint(Point p, double angle) {
- double c = Math.cos(angle), s = Math.sin(angle);
+ private static Point rotatePoint(Point p, double a) {
+ double c = Math.cos(a), s = Math.sin(a);
return new Point(p.x * c - p.y * s, p.x * s + p.y * c);
}
- private static List<Point> rotatePolygon(List<Point> poly, double angle) {
+ private static List<Point> rotatePolygon(List<Point> poly, double a) {
List<Point> res = new ArrayList<>();
- for (Point p : poly) res.add(rotatePoint(p, angle));
+ for (Point p : poly) res.add(rotatePoint(p, a));
return res;
}
}
\ No newline at end of file
diff --git a/src/lujing/MowingPathGenerationPage.java b/src/lujing/MowingPathGenerationPage.java
index 554c30c..853c9ce 100644
--- a/src/lujing/MowingPathGenerationPage.java
+++ b/src/lujing/MowingPathGenerationPage.java
@@ -449,6 +449,15 @@
JOptionPane.showMessageDialog(this, "璇峰厛鐢熸垚鍓茶崏璺緞", "鎻愮ず", JOptionPane.INFORMATION_MESSAGE);
return;
}
+
+ // 鏇存柊褰撳墠鍦板潡瀵硅薄鐨勫睘鎬�
+ if (dikuai != null) {
+ dikuai.setBaseStationCoordinates(baseStationNormalized);
+ dikuai.setBoundaryCoordinates(boundaryNormalized);
+ dikuai.setMowingWidth(widthNormalized);
+ dikuai.setPlannedPath(pathNormalized);
+ dikuai.setObstacleCoordinates(obstacleNormalized);
+ }
// 璋冪敤鍥炶皟淇濆瓨鏁版嵁
if (saveCallback != null) {
--
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