From f784463ab019c1113cf0b31a249e8802b07a57fa Mon Sep 17 00:00:00 2001
From: 张世豪 <979909237@qq.com>
Date: 星期二, 16 十二月 2025 15:26:15 +0800
Subject: [PATCH] 保存地图最后位置
---
src/zhuye/MapRenderer.java | 1356 ++++++++++++++++++++++++++++++++++++++++++++++------------
1 files changed, 1,064 insertions(+), 292 deletions(-)
diff --git a/src/zhuye/MapRenderer.java b/src/zhuye/MapRenderer.java
index 9cb5475..8406d2b 100644
--- a/src/zhuye/MapRenderer.java
+++ b/src/zhuye/MapRenderer.java
@@ -6,35 +6,45 @@
import java.awt.FontMetrics;
import java.awt.geom.AffineTransform;
import java.awt.geom.Ellipse2D;
+import java.awt.geom.Path2D;
import java.awt.geom.Point2D;
import java.awt.geom.Rectangle2D;
import java.math.BigDecimal;
-import java.text.SimpleDateFormat;
+import java.util.ArrayDeque;
import java.util.ArrayList;
import java.util.Collections;
-import java.util.Date;
+import java.util.Deque;
import java.util.LinkedHashSet;
import java.util.List;
import java.util.Locale;
import java.util.Set;
+import set.Setsys;
import gecaoji.Device;
import gecaoji.Gecaoji;
+import gecaoji.GecaojiMeg;
+import gecaoji.gecaolunjing;
+import gecaoji.lujingdraw;
import dikuai.Dikuaiguanli;
import dikuai.Dikuai;
import zhangaiwu.Obstacledraw;
import zhangaiwu.Obstacledge;
import zhangaiwu.yulanzhangaiwu;
+import yaokong.Control03;
/**
* 鍦板浘娓叉煋鍣� - 璐熻矗鍧愭爣绯荤粯鍒躲�佽鍥惧彉鎹㈢瓑鍔熻兘
*/
public class MapRenderer {
// 瑙嗗浘鍙樻崲鍙傛暟
- private double scale = 1.0;
+ private static final double DEFAULT_SCALE = 20.0; // 榛樿缂╂斁姣斾緥
+ private double scale = DEFAULT_SCALE;
private double translateX = 0.0;
private double translateY = 0.0;
private Point lastDragPoint;
- private Point mousePoint;
+ private static final double MIN_SCALE = 0.05d;
+ private static final double MAX_SCALE = 50.0d;
+ private static final double SCALE_EPSILON = 1e-6d;
+ private static final String MAP_SCALE_PROPERTY = "mapScale"; // 灞炴�ф枃浠朵腑鐨勯敭鍚�
// 涓婚棰滆壊
private final Color THEME_COLOR = new Color(46, 139, 87);
@@ -42,16 +52,17 @@
private static final Color GRASS_FILL_COLOR = new Color(144, 238, 144, 120);
private static final Color GRASS_BORDER_COLOR = new Color(60, 179, 113);
private static final Color BOUNDARY_POINT_COLOR = new Color(128, 0, 128);
- private static final Color BOUNDARY_LABEL_COLOR = Color.BLACK;
private static final Color CIRCLE_SAMPLE_COLOR = new Color(220, 20, 60, 230);
private static final double CIRCLE_SAMPLE_SIZE = 0.54d;
private static final double BOUNDARY_POINT_MERGE_THRESHOLD = 0.05;
- private static final SimpleDateFormat TIMESTAMP_FORMAT = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+ private static final double BOUNDARY_CONTAINS_TOLERANCE = 0.05;
+ private static final double PREVIEW_BOUNDARY_MARKER_SCALE = 0.25d;
// 缁勪欢寮曠敤
private JPanel visualizationPanel;
private List<Point2D.Double> currentBoundary;
private Rectangle2D.Double boundaryBounds;
+ private Path2D.Double currentBoundaryPath;
private List<Point2D.Double> currentPlannedPath;
private Rectangle2D.Double plannedPathBounds;
private List<Obstacledge.Obstacle> currentObstacles;
@@ -60,28 +71,107 @@
private String currentObstacleLandNumber;
private String boundaryName;
private boolean boundaryPointsVisible;
+ private double boundaryPointSizeScale = 1.0d;
+ private boolean previewSizingEnabled;
private String currentBoundaryLandNumber;
private boolean dragInProgress;
private final Gecaoji mower;
private final Timer mowerUpdateTimer;
- private JDialog mowerInfoDialog;
- private Timer mowerInfoRefreshTimer;
- private JLabel mowerNumberValueLabel;
- private JLabel realtimeXValueLabel;
- private JLabel realtimeYValueLabel;
- private JLabel positioningStatusValueLabel;
- private JLabel satelliteCountValueLabel;
- private JLabel realtimeSpeedValueLabel;
- private JLabel headingValueLabel;
- private JLabel updateTimeValueLabel;
+ private final GecaojiMeg mowerInfoManager;
private CircleCaptureOverlay circleCaptureOverlay;
private final List<double[]> circleSampleMarkers = new ArrayList<>();
+ private final List<Point2D.Double> realtimeMowingTrack = new ArrayList<>();
+ private final Deque<tuowei.TrailSample> idleMowerTrail = new ArrayDeque<>();
+ private final List<Point2D.Double> handheldBoundaryPreview = new ArrayList<>();
+ private double boundaryPreviewMarkerScale = 1.0d;
+ private boolean realtimeTrackRecording;
+ private String realtimeTrackLandNumber;
+ private double mowerEffectiveWidthMeters;
+ private double defaultMowerWidthMeters;
+ private double totalLandAreaSqMeters;
+ private double trackLengthMeters;
+ private double completedMowingAreaSqMeters;
+ private double mowingCompletionRatio;
+ private long lastTrackPersistTimeMillis;
+ private boolean trackDirty;
+ private boolean handheldBoundaryPreviewActive;
+ private boolean pendingTrackBreak = true;
+ private boolean idleTrailSuppressed;
+ private Path2D.Double realtimeBoundaryPathCache;
+ private String realtimeBoundaryPathLand;
+
+ private static final double TRACK_SAMPLE_MIN_DISTANCE_METERS = 0.2d;
+ private static final double TRACK_DUPLICATE_TOLERANCE_METERS = 1e-3d;
+ private static final long TRACK_PERSIST_INTERVAL_MS = 5_000L;
+ public static final int DEFAULT_IDLE_TRAIL_DURATION_SECONDS = 60;
+ private static final double IDLE_TRAIL_SAMPLE_DISTANCE_METERS = 0.05d;
+ private long idleTrailDurationMs = DEFAULT_IDLE_TRAIL_DURATION_SECONDS * 1_000L;
+ private static final double ZOOM_STEP_FACTOR = 1.2d;
public MapRenderer(JPanel visualizationPanel) {
this.visualizationPanel = visualizationPanel;
this.mower = new Gecaoji();
this.mowerUpdateTimer = createMowerTimer();
+ this.mowerInfoManager = new GecaojiMeg(visualizationPanel, mower);
setupMouseListeners();
+ // 浠庨厤缃枃浠惰鍙栦笂娆′繚瀛樼殑缂╂斁姣斾緥鍜岃鍥句腑蹇冨潗鏍�
+ loadViewSettingsFromProperties();
+ }
+
+ /**
+ * 浠庨厤缃枃浠惰鍙栫缉鏀炬瘮渚嬪拰瑙嗗浘涓績鍧愭爣
+ */
+ private void loadViewSettingsFromProperties() {
+ // 鍔犺浇缂╂斁姣斾緥
+ String scaleValue = Setsys.getPropertyValue(MAP_SCALE_PROPERTY);
+ if (scaleValue != null && !scaleValue.trim().isEmpty()) {
+ try {
+ double savedScale = Double.parseDouble(scaleValue.trim());
+ // 楠岃瘉缂╂斁姣斾緥鏄惁鍦ㄦ湁鏁堣寖鍥村唴
+ if (savedScale >= MIN_SCALE && savedScale <= MAX_SCALE) {
+ scale = savedScale;
+ } else {
+ scale = DEFAULT_SCALE;
+ }
+ } catch (NumberFormatException e) {
+ // 濡傛灉瑙ｆ瀽澶辫触锛屼娇鐢ㄩ粯璁ゅ��
+ scale = DEFAULT_SCALE;
+ }
+ } else {
+ // 濡傛灉娌℃湁淇濆瓨鐨勫�硷紝浣跨敤榛樿鍊�
+ scale = DEFAULT_SCALE;
+ }
+
+ // 鍔犺浇瑙嗗浘涓績鍧愭爣
+ String viewCenterXValue = Setsys.getPropertyValue("viewCenterX");
+ String viewCenterYValue = Setsys.getPropertyValue("viewCenterY");
+ if (viewCenterXValue != null && !viewCenterXValue.trim().isEmpty()) {
+ try {
+ translateX = Double.parseDouble(viewCenterXValue.trim());
+ } catch (NumberFormatException e) {
+ translateX = 0.0;
+ }
+ } else {
+ translateX = 0.0;
+ }
+ if (viewCenterYValue != null && !viewCenterYValue.trim().isEmpty()) {
+ try {
+ translateY = Double.parseDouble(viewCenterYValue.trim());
+ } catch (NumberFormatException e) {
+ translateY = 0.0;
+ }
+ } else {
+ translateY = 0.0;
+ }
+ }
+
+ /**
+ * 淇濆瓨缂╂斁姣斾緥鍒伴厤缃枃浠�
+ */
+ private void saveScaleToProperties() {
+ Setsys setsys = new Setsys();
+ // 淇濈暀2浣嶅皬鏁�
+ setsys.updateProperty(MAP_SCALE_PROPERTY, String.format("%.2f", scale));
}
/**
@@ -90,10 +180,10 @@
private void setupMouseListeners() {
// 榧犳爣婊氳疆缂╂斁
visualizationPanel.addMouseWheelListener(e -> {
- mousePoint = e.getPoint();
+ Point referencePoint = e.getPoint();
int notches = e.getWheelRotation();
- double zoomFactor = notches < 0 ? 1.2 : 1/1.2;
- zoomAtPoint(zoomFactor);
+ double zoomFactor = notches < 0 ? ZOOM_STEP_FACTOR : 1 / ZOOM_STEP_FACTOR;
+ zoomAtPoint(referencePoint, zoomFactor);
});
// 榧犳爣鎷栨嫿绉诲姩
@@ -143,18 +233,16 @@
visualizationPanel.repaint();
}
}
-
- public void mouseMoved(MouseEvent e) {
- // 鏇存柊榧犳爣浣嶇疆鐢ㄤ簬鏄剧ず鍧愭爣
- mousePoint = e.getPoint();
- visualizationPanel.repaint();
- }
});
}
private Timer createMowerTimer() {
Timer timer = new Timer(300, e -> {
mower.refreshFromDevice();
+ updateIdleMowerTrail();
+ if (realtimeTrackRecording) {
+ captureRealtimeTrackPoint();
+ }
if (visualizationPanel != null) {
visualizationPanel.repaint();
}
@@ -168,34 +256,71 @@
/**
* 鍩轰簬榧犳爣浣嶇疆鐨勭缉鏀�
*/
- private void zoomAtPoint(double zoomFactor) {
- if (mousePoint == null) return;
-
- // 璁＄畻榧犳爣浣嶇疆鍦ㄤ笘鐣屽潗鏍囩郴涓殑鍧愭爣
- double worldX = (mousePoint.x - visualizationPanel.getWidth()/2) / scale - translateX;
- double worldY = (mousePoint.y - visualizationPanel.getHeight()/2) / scale - translateY;
+ private void zoomAtPoint(Point referencePoint, double zoomFactor) {
+ if (visualizationPanel == null) {
+ return;
+ }
+ if (referencePoint == null) {
+ referencePoint = new Point(visualizationPanel.getWidth() / 2, visualizationPanel.getHeight() / 2);
+ }
- scale *= zoomFactor;
- scale = Math.max(0.05, Math.min(scale, 50.0)); // 闄愬埗缂╂斁鑼冨洿锛屽厑璁告渶澶氱缉灏忚嚦鍘熷鐨�1/20
-
- // 璁＄畻缂╂斁鍚庡悓涓�榧犳爣浣嶇疆鍦ㄤ笘鐣屽潗鏍囩郴涓殑鏂板潗鏍�
- double newWorldX = (mousePoint.x - visualizationPanel.getWidth()/2) / scale - translateX;
- double newWorldY = (mousePoint.y - visualizationPanel.getHeight()/2) / scale - translateY;
-
- // 璋冩暣骞崇Щ閲忥紝浣块紶鏍囨寚鍚戠殑涓栫晫鍧愭爣淇濇寔涓嶅彉
+ double panelCenterX = visualizationPanel.getWidth() / 2.0;
+ double panelCenterY = visualizationPanel.getHeight() / 2.0;
+
+ double worldX = (referencePoint.x - panelCenterX) / scale - translateX;
+ double worldY = (referencePoint.y - panelCenterY) / scale - translateY;
+
+ scale *= zoomFactor;
+ scale = Math.max(MIN_SCALE, Math.min(scale, MAX_SCALE)); // 闄愬埗缂╂斁鑼冨洿锛屽厑璁告渶澶氱缉灏忚嚦鍘熷鐨�1/20
+
+ double newWorldX = (referencePoint.x - panelCenterX) / scale - translateX;
+ double newWorldY = (referencePoint.y - panelCenterY) / scale - translateY;
+
translateX += (newWorldX - worldX);
translateY += (newWorldY - worldY);
-
+
+ // 淇濆瓨缂╂斁姣斾緥鍒伴厤缃枃浠�
+ saveScaleToProperties();
visualizationPanel.repaint();
}
+
+ public void zoomInFromCenter() {
+ zoomAtPoint(null, ZOOM_STEP_FACTOR);
+ }
+
+ public void zoomOutFromCenter() {
+ zoomAtPoint(null, 1 / ZOOM_STEP_FACTOR);
+ }
+
+ public boolean canZoomIn() {
+ return scale < MAX_SCALE - SCALE_EPSILON;
+ }
+
+ public boolean canZoomOut() {
+ return scale > MIN_SCALE + SCALE_EPSILON;
+ }
+
+ public double getScale() {
+ return scale;
+ }
+
+ public double getMaxScale() {
+ return MAX_SCALE;
+ }
+
+ public double getMinScale() {
+ return MIN_SCALE;
+ }
/**
* 閲嶇疆瑙嗗浘
*/
public void resetView() {
- scale = 1.0;
+ scale = DEFAULT_SCALE;
translateX = 0.0;
translateY = 0.0;
+ // 淇濆瓨缂╂斁姣斾緥鍒伴厤缃枃浠�
+ saveScaleToProperties();
visualizationPanel.repaint();
}
@@ -239,21 +364,32 @@
drawCircleCaptureOverlay(g2d, circleCaptureOverlay, scale);
}
+ adddikuaiyulan.drawPreview(g2d, handheldBoundaryPreview, scale, handheldBoundaryPreviewActive, boundaryPreviewMarkerScale);
+
if (hasPlannedPath) {
drawCurrentPlannedPath(g2d);
}
if (boundaryPointsVisible && hasBoundary) {
+ double markerScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
pointandnumber.drawBoundaryPoints(
g2d,
currentBoundary,
scale,
BOUNDARY_POINT_MERGE_THRESHOLD,
BOUNDARY_POINT_COLOR,
- BOUNDARY_LABEL_COLOR
+ markerScale
);
}
+ if (shouldRenderIdleTrail()) {
+ tuowei.draw(g2d, idleMowerTrail, scale);
+ }
+
+ if (!realtimeMowingTrack.isEmpty()) {
+ drawRealtimeMowingCoverage(g2d);
+ }
+
drawMower(g2d);
// 鎭㈠鍘熷鍙樻崲
@@ -269,7 +405,7 @@
private void drawCoordinateSystem(Graphics2D g2d) {
// 缁樺埗鍘熺偣 - 绾㈣壊瀹炲績灏忓渾鍦�
g2d.setColor(Color.RED);
- g2d.fillOval(-1, -1, 2, 2);
+ g2d.fill(new Ellipse2D.Double(-0.5d, -0.5d, 1d, 1d));
}
@@ -281,6 +417,578 @@
mower.draw(g2d, scale);
}
+ private void drawRealtimeMowingCoverage(Graphics2D g2d) {
+ if (realtimeMowingTrack == null || realtimeMowingTrack.size() < 2) {
+ return;
+ }
+
+ Path2D.Double boundaryPath = getRealtimeBoundaryPath();
+ double effectiveWidth = getEffectiveMowerWidthMeters();
+ gecaolunjing.draw(g2d, realtimeMowingTrack, effectiveWidth, boundaryPath);
+ }
+
+ private Path2D.Double getRealtimeBoundaryPath() {
+ if (realtimeTrackLandNumber == null) {
+ return null;
+ }
+
+ if (currentBoundaryLandNumber != null && realtimeTrackLandNumber.equals(currentBoundaryLandNumber)) {
+ if (currentBoundaryPath == null) {
+ currentBoundaryPath = buildBoundaryPath(currentBoundary);
+ }
+ return currentBoundaryPath;
+ }
+
+ if (realtimeBoundaryPathCache != null && realtimeTrackLandNumber.equals(realtimeBoundaryPathLand)) {
+ return realtimeBoundaryPathCache;
+ }
+
+ Dikuai dikuai = Dikuai.getDikuai(realtimeTrackLandNumber);
+ if (dikuai == null) {
+ realtimeBoundaryPathCache = null;
+ realtimeBoundaryPathLand = null;
+ return null;
+ }
+
+ String normalized = normalizeValue(dikuai.getBoundaryCoordinates());
+ if (normalized == null) {
+ realtimeBoundaryPathCache = null;
+ realtimeBoundaryPathLand = null;
+ return null;
+ }
+
+ List<Point2D.Double> parsed = parseBoundary(normalized);
+ if (parsed.size() < 3) {
+ realtimeBoundaryPathCache = null;
+ realtimeBoundaryPathLand = null;
+ return null;
+ }
+
+ realtimeBoundaryPathCache = buildBoundaryPath(parsed);
+ realtimeBoundaryPathLand = realtimeTrackLandNumber;
+ return realtimeBoundaryPathCache;
+ }
+
+ private boolean shouldRenderIdleTrail() {
+ return !idleTrailSuppressed
+ && !realtimeTrackRecording
+ && !handheldBoundaryPreviewActive
+ && idleMowerTrail.size() >= 2;
+ }
+
+ private void captureRealtimeTrackPoint() {
+ if (!realtimeTrackRecording) {
+ return;
+ }
+ if (realtimeTrackLandNumber == null || visualizationPanel == null) {
+ pendingTrackBreak = true;
+ return;
+ }
+ Device device = Device.getGecaoji();
+ if (device == null) {
+ pendingTrackBreak = true;
+ return;
+ }
+
+ String fixQuality = device.getPositioningStatus();
+ if (!isHighPrecisionFix(fixQuality)) {
+ pendingTrackBreak = true;
+ return;
+ }
+ Point2D.Double position = mower.getPosition();
+ if (position == null || !Double.isFinite(position.x) || !Double.isFinite(position.y)) {
+ pendingTrackBreak = true;
+ return;
+ }
+
+ if (!isPointInsideActiveBoundary(position)) {
+ pendingTrackBreak = true;
+ return;
+ }
+
+ Point2D.Double candidate = new Point2D.Double(position.x, position.y);
+ Point2D.Double lastPoint = realtimeMowingTrack.isEmpty() ? null : realtimeMowingTrack.get(realtimeMowingTrack.size() - 1);
+ double distance = Double.NaN;
+ if (lastPoint != null) {
+ double dx = candidate.x - lastPoint.x;
+ double dy = candidate.y - lastPoint.y;
+ distance = Math.hypot(dx, dy);
+ if (distance <= TRACK_DUPLICATE_TOLERANCE_METERS) {
+ return;
+ }
+ if (distance < TRACK_SAMPLE_MIN_DISTANCE_METERS) {
+ return;
+ }
+ }
+
+ realtimeMowingTrack.add(candidate);
+ if (!pendingTrackBreak && lastPoint != null && Double.isFinite(distance)) {
+ trackLengthMeters += distance;
+ }
+
+ updateCompletionMetrics();
+ trackDirty = true;
+ maybePersistRealtimeTrack(false);
+ pendingTrackBreak = false;
+ }
+
+ private void updateIdleMowerTrail() {
+ long now = System.currentTimeMillis();
+ pruneIdleMowerTrail(now);
+
+ if (idleTrailSuppressed || realtimeTrackRecording) {
+ if (!idleMowerTrail.isEmpty()) {
+ clearIdleMowerTrail();
+ }
+ return;
+ }
+
+ Device device = Device.getGecaoji();
+ if (device == null) {
+ return;
+ }
+ // 浣跨敤鏇村鏉剧殑瀹氫綅鐘舵�佸垽鏂紝鍏佽鐘舵��1鍜�4鏄剧ず鎷栧熬
+ if (!isValidFixForTrail(device.getPositioningStatus())) {
+ return;
+ }
+
+ Point2D.Double position = mower.getPosition();
+ if (position == null || !Double.isFinite(position.x) || !Double.isFinite(position.y)) {
+ return;
+ }
+
+ tuowei.TrailSample lastSample = idleMowerTrail.peekLast();
+ if (lastSample != null) {
+ Point2D.Double lastPoint = lastSample.getPoint();
+ double dx = position.x - lastPoint.x;
+ double dy = position.y - lastPoint.y;
+ if (Math.hypot(dx, dy) < IDLE_TRAIL_SAMPLE_DISTANCE_METERS) {
+ return;
+ }
+ }
+
+ idleMowerTrail.addLast(new tuowei.TrailSample(now, new Point2D.Double(position.x, position.y)));
+ pruneIdleMowerTrail(now);
+ }
+
+ /**
+ * 寮哄埗鏇存柊鎷栧熬锛堢敤浜庢敹鍒�$GNGGA鏁版嵁鏃剁珛鍗虫洿鏂帮級
+ * 杩欎釜鏂规硶浼氬埛鏂癿ower浣嶇疆骞剁珛鍗虫坊鍔犲埌鎷栧熬
+ */
+ public void forceUpdateIdleMowerTrail() {
+ long now = System.currentTimeMillis();
+ pruneIdleMowerTrail(now);
+
+ if (idleTrailSuppressed || realtimeTrackRecording) {
+ if (!idleMowerTrail.isEmpty()) {
+ clearIdleMowerTrail();
+ }
+ return;
+ }
+
+ Device device = Device.getGecaoji();
+ if (device == null) {
+ return;
+ }
+ // 浣跨敤鏇村鏉剧殑瀹氫綅鐘舵�佸垽鏂紝鍏佽鐘舵��1鍜�4鏄剧ず鎷栧熬
+ if (!isValidFixForTrail(device.getPositioningStatus())) {
+ return;
+ }
+
+ // 鍒锋柊mower浣嶇疆锛屼娇鐢ㄦ渶鏂扮殑Device鏁版嵁
+ mower.refreshFromDevice();
+ Point2D.Double position = mower.getPosition();
+ if (position == null || !Double.isFinite(position.x) || !Double.isFinite(position.y)) {
+ return;
+ }
+
+ tuowei.TrailSample lastSample = idleMowerTrail.peekLast();
+ if (lastSample != null) {
+ Point2D.Double lastPoint = lastSample.getPoint();
+ double dx = position.x - lastPoint.x;
+ double dy = position.y - lastPoint.y;
+ if (Math.hypot(dx, dy) < IDLE_TRAIL_SAMPLE_DISTANCE_METERS) {
+ return;
+ }
+ }
+
+ idleMowerTrail.addLast(new tuowei.TrailSample(now, new Point2D.Double(position.x, position.y)));
+ pruneIdleMowerTrail(now);
+
+ // 绔嬪嵆閲嶇粯锛岀‘淇濇嫋灏惧強鏃舵樉绀�
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ private void pruneIdleMowerTrail(long now) {
+ if (idleMowerTrail.isEmpty()) {
+ return;
+ }
+ long cutoff = now - idleTrailDurationMs;
+ boolean modified = false;
+ while (!idleMowerTrail.isEmpty() && idleMowerTrail.peekFirst().getTimestamp() < cutoff) {
+ idleMowerTrail.removeFirst();
+ modified = true;
+ }
+ if (modified && visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ private void clearIdleMowerTrail() {
+ if (idleMowerTrail.isEmpty()) {
+ return;
+ }
+ idleMowerTrail.clear();
+ if (visualizationPanel != null) {
+ visualizationPanel.repaint();
+ }
+ }
+
+ private void updateCompletionMetrics() {
+ double widthMeters = getEffectiveMowerWidthMeters();
+ if (widthMeters > 0 && trackLengthMeters > 0) {
+ completedMowingAreaSqMeters = trackLengthMeters * widthMeters;
+ } else {
+ completedMowingAreaSqMeters = 0.0;
+ }
+
+ if (totalLandAreaSqMeters > 0 && completedMowingAreaSqMeters >= 0) {
+ mowingCompletionRatio = Math.max(0.0, Math.min(1.0, completedMowingAreaSqMeters / totalLandAreaSqMeters));
+ } else {
+ mowingCompletionRatio = 0.0;
+ }
+ }
+
+ private void maybePersistRealtimeTrack(boolean force) {
+ if (!trackDirty) {
+ return;
+ }
+ long now = System.currentTimeMillis();
+ if (!force && (now - lastTrackPersistTimeMillis) < TRACK_PERSIST_INTERVAL_MS) {
+ return;
+ }
+ persistRealtimeTrack();
+ }
+
+ private void persistRealtimeTrack() {
+ if (realtimeTrackLandNumber == null) {
+ trackDirty = false;
+ return;
+ }
+ String serialized = serializeRealtimeTrack();
+ String storedValue = (serialized == null || serialized.isEmpty()) ? "-1" : serialized;
+ boolean updated = Dikuai.updateField(realtimeTrackLandNumber, "mowingTrack", storedValue);
+ if (updated) {
+ Dikuai dikuai = Dikuai.getDikuai(realtimeTrackLandNumber);
+ if (dikuai != null) {
+ dikuai.setMowingTrack(storedValue);
+ }
+ Dikuai.saveToProperties();
+ trackDirty = false;
+ lastTrackPersistTimeMillis = System.currentTimeMillis();
+ }
+ }
+
+ private String serializeRealtimeTrack() {
+ if (realtimeMowingTrack.isEmpty()) {
+ return "";
+ }
+ StringBuilder builder = new StringBuilder();
+ for (Point2D.Double point : realtimeMowingTrack) {
+ if (point == null) {
+ continue;
+ }
+ if (builder.length() > 0) {
+ builder.append(';');
+ }
+ builder.append(formatTrackCoordinate(point.x)).append(',').append(formatTrackCoordinate(point.y));
+ }
+ return builder.toString();
+ }
+
+ private String formatTrackCoordinate(double value) {
+ if (!Double.isFinite(value)) {
+ return "0";
+ }
+ return String.format(Locale.US, "%.3f", value);
+ }
+
+ private double getEffectiveMowerWidthMeters() {
+ if (mowerEffectiveWidthMeters > 0) {
+ return mowerEffectiveWidthMeters;
+ }
+ if (defaultMowerWidthMeters > 0) {
+ return defaultMowerWidthMeters;
+ }
+ return 0.0;
+ }
+
+ public void applyLandMetadata(Dikuai dikuai) {
+ String landNumber = normalizeValue(dikuai != null ? dikuai.getLandNumber() : null);
+ totalLandAreaSqMeters = parseLandAreaSqMeters(dikuai != null ? dikuai.getLandArea() : null);
+ defaultMowerWidthMeters = parseMowerWidthMeters(dikuai != null ? dikuai.getMowingWidth() : null);
+
+ // 鑻ュ綋鍓嶆湭褰曞埗鎴栧垏鎹㈠湴鍧楋紝鍒欐洿鏂版湁鏁堝壊鑽夊搴�
+ if (!realtimeTrackRecording || !equalsLand(landNumber, realtimeTrackLandNumber)) {
+ mowerEffectiveWidthMeters = defaultMowerWidthMeters;
+ }
+
+ loadRealtimeTrack(landNumber, dikuai != null ? dikuai.getMowingTrack() : null);
+ visualizationPanel.repaint();
+ }
+
+ public void startRealtimeTrackRecording(String landNumber, double widthMeters) {
+ String normalizedLand = normalizeValue(landNumber);
+ if (normalizedLand == null) {
+ return;
+ }
+
+ if (!equalsLand(normalizedLand, realtimeTrackLandNumber)) {
+ Dikuai dikuai = Dikuai.getDikuai(normalizedLand);
+ totalLandAreaSqMeters = parseLandAreaSqMeters(dikuai != null ? dikuai.getLandArea() : null);
+ defaultMowerWidthMeters = parseMowerWidthMeters(dikuai != null ? dikuai.getMowingWidth() : null);
+ loadRealtimeTrack(normalizedLand, dikuai != null ? dikuai.getMowingTrack() : null);
+ }
+
+ if (widthMeters > 0) {
+ mowerEffectiveWidthMeters = widthMeters;
+ } else if (mowerEffectiveWidthMeters <= 0) {
+ mowerEffectiveWidthMeters = defaultMowerWidthMeters;
+ }
+
+ idleTrailSuppressed = true;
+ clearIdleMowerTrail();
+
+ realtimeTrackLandNumber = normalizedLand;
+ realtimeTrackRecording = true;
+ pendingTrackBreak = true;
+ captureRealtimeTrackPoint();
+ }
+
+ public void pauseRealtimeTrackRecording() {
+ realtimeTrackRecording = false;
+ pendingTrackBreak = true;
+ idleTrailSuppressed = false;
+ maybePersistRealtimeTrack(true);
+ }
+
+ public void stopRealtimeTrackRecording() {
+ realtimeTrackRecording = false;
+ pendingTrackBreak = true;
+ idleTrailSuppressed = false;
+ maybePersistRealtimeTrack(true);
+ }
+
+ public void forceRealtimeTrackSnapshot() {
+ if (!realtimeTrackRecording) {
+ return;
+ }
+ captureRealtimeTrackPoint();
+ }
+
+ public void clearRealtimeTrack() {
+ realtimeTrackRecording = false;
+ realtimeMowingTrack.clear();
+ trackLengthMeters = 0.0;
+ completedMowingAreaSqMeters = 0.0;
+ mowingCompletionRatio = 0.0;
+ trackDirty = true;
+ pendingTrackBreak = true;
+ idleTrailSuppressed = false;
+ maybePersistRealtimeTrack(true);
+ visualizationPanel.repaint();
+ }
+
+ public void clearIdleTrail() {
+ clearIdleMowerTrail();
+ }
+
+ public void setIdleTrailDurationSeconds(int seconds) {
+ int sanitized = seconds;
+ if (sanitized < 5 || sanitized > 600) {
+ sanitized = DEFAULT_IDLE_TRAIL_DURATION_SECONDS;
+ }
+ idleTrailDurationMs = sanitized * 1_000L;
+ pruneIdleMowerTrail(System.currentTimeMillis());
+ }
+
+ public int getIdleTrailDurationSeconds() {
+ long seconds = idleTrailDurationMs / 1_000L;
+ if (seconds <= 0L) {
+ return DEFAULT_IDLE_TRAIL_DURATION_SECONDS;
+ }
+ if (seconds > Integer.MAX_VALUE) {
+ return DEFAULT_IDLE_TRAIL_DURATION_SECONDS;
+ }
+ return (int) seconds;
+ }
+
+ public double getMowingCompletionRatio() {
+ if (!isMowerInsideSelectedBoundary()) {
+ return 0.0;
+ }
+ return mowingCompletionRatio;
+ }
+
+ public double getCompletedMowingAreaSqMeters() {
+ if (!isMowerInsideSelectedBoundary()) {
+ return 0.0;
+ }
+ return completedMowingAreaSqMeters;
+ }
+
+ public double getTotalLandAreaSqMeters() {
+ return totalLandAreaSqMeters;
+ }
+
+ public double getTrackLengthMeters() {
+ return trackLengthMeters;
+ }
+
+ private boolean isMowerInsideSelectedBoundary() {
+ Point2D.Double position = mower.getPosition();
+ if (position == null) {
+ return false;
+ }
+ return isPointInsideActiveBoundary(position);
+ }
+
+ public void flushRealtimeTrack() {
+ maybePersistRealtimeTrack(true);
+ }
+
+ private void loadRealtimeTrack(String landNumber, String trackData) {
+ realtimeTrackRecording = false;
+ realtimeTrackLandNumber = landNumber;
+ realtimeMowingTrack.clear();
+ trackLengthMeters = 0.0;
+ completedMowingAreaSqMeters = 0.0;
+ mowingCompletionRatio = 0.0;
+ trackDirty = false;
+ lastTrackPersistTimeMillis = 0L;
+ pendingTrackBreak = true;
+ realtimeBoundaryPathCache = null;
+ realtimeBoundaryPathLand = null;
+
+ String trimmed = normalizeValue(trackData);
+ if (trimmed == null || trimmed.isEmpty()) {
+ updateCompletionMetrics();
+ return;
+ }
+
+ String[] segments = trimmed.split(";");
+ Path2D.Double boundaryPath = getRealtimeBoundaryPath();
+ Point2D.Double lastPoint = null;
+ for (String segment : segments) {
+ if (segment == null || segment.trim().isEmpty()) {
+ continue;
+ }
+ String[] parts = segment.trim().split(",");
+ if (parts.length < 2) {
+ continue;
+ }
+ try {
+ double x = Double.parseDouble(parts[0].trim());
+ double y = Double.parseDouble(parts[1].trim());
+ if (!Double.isFinite(x) || !Double.isFinite(y)) {
+ continue;
+ }
+ Point2D.Double current = new Point2D.Double(x, y);
+ if (boundaryPath != null && !isPointInsideBoundary(current, boundaryPath)) {
+ continue;
+ }
+ if (lastPoint != null) {
+ double dx = current.x - lastPoint.x;
+ double dy = current.y - lastPoint.y;
+ double distance = Math.hypot(dx, dy);
+ if (distance <= TRACK_DUPLICATE_TOLERANCE_METERS) {
+ continue;
+ }
+ if (distance < TRACK_SAMPLE_MIN_DISTANCE_METERS) {
+ continue;
+ }
+ trackLengthMeters += distance;
+ }
+ realtimeMowingTrack.add(current);
+ lastPoint = current;
+ } catch (NumberFormatException ignored) {
+ // 璺宠繃寮傚父鏉＄洰
+ }
+ }
+
+ updateCompletionMetrics();
+ }
+
+ private double parseLandAreaSqMeters(String raw) {
+ if (raw == null) {
+ return 0.0;
+ }
+ String trimmed = raw.trim();
+ if (trimmed.isEmpty() || "-1".equals(trimmed)) {
+ return 0.0;
+ }
+ try {
+ double area = Double.parseDouble(trimmed);
+ return area > 0 ? area : 0.0;
+ } catch (NumberFormatException ex) {
+ return 0.0;
+ }
+ }
+
+ private double parseMowerWidthMeters(String raw) {
+ if (raw == null) {
+ return 0.0;
+ }
+ String sanitized = raw.trim().toLowerCase(Locale.ROOT);
+ if (sanitized.isEmpty() || "-1".equals(sanitized)) {
+ return 0.0;
+ }
+ sanitized = sanitized.replace("鍘樼背", "cm");
+ sanitized = sanitized.replace("鍏垎", "cm");
+ sanitized = sanitized.replace("绫�", "m");
+ sanitized = sanitized.replace("cm", "");
+ sanitized = sanitized.replace("m", "");
+ sanitized = sanitized.trim();
+ if (sanitized.isEmpty()) {
+ return 0.0;
+ }
+ try {
+ double value = Double.parseDouble(sanitized);
+ if (value <= 0) {
+ return 0.0;
+ }
+ if (value > 10) {
+ return value / 100.0; // 瑙嗕负鍘樼背
+ }
+ return value;
+ } catch (NumberFormatException ex) {
+ return 0.0;
+ }
+ }
+
+ private String normalizeValue(String value) {
+ if (value == null) {
+ return null;
+ }
+ String trimmed = value.trim();
+ if (trimmed.isEmpty() || "-1".equals(trimmed)) {
+ return null;
+ }
+ return trimmed;
+ }
+
+ private boolean equalsLand(String a, String b) {
+ if (a == null && b == null) {
+ return true;
+ }
+ if (a == null || b == null) {
+ return false;
+ }
+ return a.equals(b);
+ }
+
private boolean handleMowerClick(Point screenPoint) {
if (!mower.hasValidPosition()) {
return false;
@@ -314,7 +1022,8 @@
}
private void drawCurrentPlannedPath(Graphics2D g2d) {
- lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale);
+ double arrowScale = previewSizingEnabled ? 0.5d : 1.0d;
+ lujingdraw.drawPlannedPath(g2d, currentPlannedPath, scale, arrowScale);
}
private void drawCircleSampleMarkers(Graphics2D g2d, List<double[]> markers, double scale) {
@@ -448,217 +1157,9 @@
}
}
- private void showMowerInfo() {
- Device device = Device.getGecaoji();
- if (device == null) {
- JOptionPane.showMessageDialog(
- visualizationPanel,
- "鏃犺澶囨暟鎹�",
- "鍓茶崏鏈轰俊鎭�",
- JOptionPane.INFORMATION_MESSAGE
- );
- return;
- }
-
- ensureMowerInfoDialog();
- updateMowerInfoLabels();
- positionMowerDialog();
- if (!mowerInfoDialog.isVisible()) {
- mowerInfoDialog.setVisible(true);
- } else {
- mowerInfoDialog.toFront();
- }
- startMowerInfoTimer();
- }
-
- private void ensureMowerInfoDialog() {
- if (mowerInfoDialog != null) {
- return;
- }
-
- Window owner = SwingUtilities.getWindowAncestor(visualizationPanel);
- JDialog dialog = new JDialog(owner, "鍓茶崏鏈轰俊鎭�", Dialog.ModalityType.MODELESS);
- dialog.setDefaultCloseOperation(WindowConstants.DISPOSE_ON_CLOSE);
-
- JPanel content = new JPanel(new BorderLayout(0, 12));
- content.setBorder(BorderFactory.createEmptyBorder(16, 20, 16, 20));
-
- JPanel grid = new JPanel(new GridLayout(0, 2, 12, 8));
-
- grid.add(new JLabel("璁惧缂栧彿锛�"));
- mowerNumberValueLabel = createValueLabel();
- grid.add(mowerNumberValueLabel);
-
- grid.add(new JLabel("瀹炴椂X鍧愭爣锛�"));
- realtimeXValueLabel = createValueLabel();
- grid.add(realtimeXValueLabel);
-
- grid.add(new JLabel("瀹炴椂Y鍧愭爣锛�"));
- realtimeYValueLabel = createValueLabel();
- grid.add(realtimeYValueLabel);
-
- grid.add(new JLabel("瀹氫綅璐ㄩ噺锛�"));
- positioningStatusValueLabel = createValueLabel();
- grid.add(positioningStatusValueLabel);
-
- grid.add(new JLabel("鍗槦棰楁暟锛�"));
- satelliteCountValueLabel = createValueLabel();
- grid.add(satelliteCountValueLabel);
-
- grid.add(new JLabel("琛岄┒閫熷害锛�"));
- realtimeSpeedValueLabel = createValueLabel();
- grid.add(realtimeSpeedValueLabel);
-
- grid.add(new JLabel("杩愬姩鑸悜锛�"));
- headingValueLabel = createValueLabel();
- grid.add(headingValueLabel);
-
- grid.add(new JLabel("鏇存柊鏃堕棿锛�"));
- updateTimeValueLabel = createValueLabel();
- grid.add(updateTimeValueLabel);
-
- content.add(grid, BorderLayout.CENTER);
-
- JButton closeButton = new JButton("鍏抽棴");
- closeButton.addActionListener(e -> dialog.dispose());
- JPanel buttonPanel = new JPanel(new FlowLayout(FlowLayout.RIGHT));
- buttonPanel.add(closeButton);
- content.add(buttonPanel, BorderLayout.SOUTH);
-
- dialog.setContentPane(content);
- dialog.pack();
- dialog.setResizable(false);
- dialog.addWindowListener(new WindowAdapter() {
- @Override
- public void windowClosed(WindowEvent e) {
- stopMowerInfoTimer();
- resetMowerInfoLabels();
- mowerInfoDialog = null;
- }
- });
-
- mowerInfoDialog = dialog;
- }
-
- private void positionMowerDialog() {
- if (mowerInfoDialog == null || visualizationPanel == null) {
- return;
- }
- int panelWidth = visualizationPanel.getWidth();
- int panelHeight = visualizationPanel.getHeight();
- int dialogHeight = mowerInfoDialog.getHeight();
- if (dialogHeight <= 0) {
- dialogHeight = mowerInfoDialog.getPreferredSize().height;
- }
- if (panelWidth > 0) {
- mowerInfoDialog.setSize(panelWidth, dialogHeight);
- }
-
- try {
- Point panelOnScreen = visualizationPanel.getLocationOnScreen();
- int dialogWidth = mowerInfoDialog.getWidth();
- int targetX = panelOnScreen.x + (panelWidth - dialogWidth) / 2;
- int targetY = panelOnScreen.y + panelHeight / 3 - dialogHeight / 2;
- mowerInfoDialog.setLocation(targetX, targetY);
- } catch (IllegalComponentStateException ex) {
- // component not yet showing; ignore positioning
- }
- }
-
- private JLabel createValueLabel() {
- JLabel label = new JLabel("--");
- label.setHorizontalAlignment(SwingConstants.LEFT);
- return label;
- }
-
- private void startMowerInfoTimer() {
- if (mowerInfoRefreshTimer == null) {
- mowerInfoRefreshTimer = new Timer(1000, e -> updateMowerInfoLabels());
- mowerInfoRefreshTimer.setRepeats(true);
- }
- if (!mowerInfoRefreshTimer.isRunning()) {
- mowerInfoRefreshTimer.start();
- }
- }
-
- private void stopMowerInfoTimer() {
- if (mowerInfoRefreshTimer != null) {
- mowerInfoRefreshTimer.stop();
- mowerInfoRefreshTimer = null;
- }
- }
-
- private void resetMowerInfoLabels() {
- mowerNumberValueLabel = null;
- realtimeXValueLabel = null;
- realtimeYValueLabel = null;
- positioningStatusValueLabel = null;
- satelliteCountValueLabel = null;
- realtimeSpeedValueLabel = null;
- headingValueLabel = null;
- updateTimeValueLabel = null;
- }
-
- private void updateMowerInfoLabels() {
- if (mowerNumberValueLabel == null) {
- return;
- }
-
- Device device = Device.getGecaoji();
- if (device == null) {
- setMowerInfoLabels("--");
- return;
- }
-
- mower.refreshFromDevice();
-
- mowerNumberValueLabel.setText(formatDeviceValue(device.getMowerNumber()));
- realtimeXValueLabel.setText(formatDeviceValue(device.getRealtimeX()));
- realtimeYValueLabel.setText(formatDeviceValue(device.getRealtimeY()));
- positioningStatusValueLabel.setText(formatDeviceValue(device.getPositioningStatus()));
- satelliteCountValueLabel.setText(formatDeviceValue(device.getSatelliteCount()));
- realtimeSpeedValueLabel.setText(formatDeviceValue(device.getRealtimeSpeed()));
- headingValueLabel.setText(formatDeviceValue(device.getHeading()));
- updateTimeValueLabel.setText(formatTimestamp(device.getGupdateTime()));
- }
-
- private void setMowerInfoLabels(String value) {
- if (mowerNumberValueLabel != null) mowerNumberValueLabel.setText(value);
- if (realtimeXValueLabel != null) realtimeXValueLabel.setText(value);
- if (realtimeYValueLabel != null) realtimeYValueLabel.setText(value);
- if (positioningStatusValueLabel != null) positioningStatusValueLabel.setText(value);
- if (satelliteCountValueLabel != null) satelliteCountValueLabel.setText(value);
- if (realtimeSpeedValueLabel != null) realtimeSpeedValueLabel.setText(value);
- if (headingValueLabel != null) headingValueLabel.setText(value);
- if (updateTimeValueLabel != null) updateTimeValueLabel.setText(value);
- }
-
- private String sanitizeDeviceValue(String value) {
- if (value == null) {
- return null;
- }
- String trimmed = value.trim();
- if (trimmed.isEmpty() || "-1".equals(trimmed)) {
- return null;
- }
- return trimmed;
- }
-
- private String formatDeviceValue(String value) {
- String sanitized = sanitizeDeviceValue(value);
- return sanitized == null ? "--" : sanitized;
- }
-
- private String formatTimestamp(String value) {
- String sanitized = sanitizeDeviceValue(value);
- if (sanitized == null) {
- return "--";
- }
- try {
- long millis = Long.parseLong(sanitized);
- return TIMESTAMP_FORMAT.format(new Date(millis));
- } catch (NumberFormatException ex) {
- return sanitized;
+ public void showMowerInfo() {
+ if (mowerInfoManager != null) {
+ mowerInfoManager.showMowerInfo();
}
}
@@ -711,7 +1212,11 @@
private double computeSelectionThresholdPixels() {
double scaleFactor = Math.max(0.5, scale);
- double markerDiameterWorld = Math.max(1.0, (10.0 / scaleFactor) * 0.2);
+ double diameterScale = boundaryPointSizeScale * (previewSizingEnabled ? PREVIEW_BOUNDARY_MARKER_SCALE : 1.0d);
+ if (!Double.isFinite(diameterScale) || diameterScale <= 0.0d) {
+ diameterScale = 1.0d;
+ }
+ double markerDiameterWorld = Math.max(1.0, (10.0 / scaleFactor) * 0.2 * diameterScale);
double markerDiameterPixels = markerDiameterWorld * scale;
return Math.max(8.0, markerDiameterPixels * 1.5);
}
@@ -751,6 +1256,7 @@
if (updated.size() < 2) {
currentBoundary = null;
+ currentBoundaryPath = null;
boundaryBounds = null;
boundaryPointsVisible = false;
Dikuaiguanli.updateBoundaryPointVisibility(currentBoundaryLandNumber, false);
@@ -758,10 +1264,12 @@
adjustViewAfterBoundaryReset();
} else {
currentBoundary = updated;
+ rebuildBoundaryPath();
boundaryBounds = computeBounds(updated);
Dikuaiguanli.updateBoundaryPointVisibility(currentBoundaryLandNumber, boundaryPointsVisible);
visualizationPanel.repaint();
}
+ pendingTrackBreak = true;
}
private boolean persistBoundaryChanges(List<Point2D.Double> updatedBoundary) {
@@ -823,6 +1331,101 @@
return Math.hypot(dx, dy) <= BOUNDARY_POINT_MERGE_THRESHOLD;
}
+ private boolean isHighPrecisionFix(String fixQuality) {
+ if (fixQuality == null) {
+ return false;
+ }
+ String trimmed = fixQuality.trim();
+ if (trimmed.isEmpty()) {
+ return false;
+ }
+ if ("4".equals(trimmed)) {
+ return true;
+ }
+ try {
+ double value = Double.parseDouble(trimmed);
+ return Math.abs(value - 4.0d) < 1e-6;
+ } catch (NumberFormatException ex) {
+ return false;
+ }
+ }
+
+ /**
+ * 鍒ゆ柇瀹氫綅鐘舵�佹槸鍚︽湁鏁堬紝鍙敤浜庢樉绀烘嫋灏�
+ * 鎺ュ彈鐘舵��1锛堝崟鐐瑰畾浣嶏級銆�2锛堢爜宸垎锛夈��3锛堟棤鏁圥PS锛夈��4锛堝浐瀹氳В锛夈��5锛堟诞鐐硅В锛�
+ */
+ private boolean isValidFixForTrail(String fixQuality) {
+ if (fixQuality == null) {
+ return false;
+ }
+ String trimmed = fixQuality.trim();
+ if (trimmed.isEmpty()) {
+ return false;
+ }
+ // 鎺ュ彈鐘舵��1,2,3,4,5锛堝彧瑕佷笉鏄�0鎴栨棤鏁堢姸鎬侊級
+ if ("1".equals(trimmed) || "2".equals(trimmed) || "3".equals(trimmed) ||
+ "4".equals(trimmed) || "5".equals(trimmed)) {
+ return true;
+ }
+ try {
+ double value = Double.parseDouble(trimmed);
+ // 鎺ュ彈1.0, 2.0, 3.0, 4.0, 5.0锛堝彧瑕佷笉鏄�0锛�
+ return value >= 1.0 && value <= 5.0;
+ } catch (NumberFormatException ex) {
+ return false;
+ }
+ }
+
+ private boolean isPointInsideActiveBoundary(Point2D.Double point) {
+ if (point == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
+ return false;
+ }
+ if (realtimeTrackLandNumber == null) {
+ return false;
+ }
+ Path2D.Double path = getRealtimeBoundaryPath();
+ return isPointInsideBoundary(point, path);
+ }
+
+ private boolean isPointInsideBoundary(Point2D.Double point, Path2D.Double path) {
+ if (point == null || path == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
+ return false;
+ }
+ if (path.contains(point.x, point.y)) {
+ return true;
+ }
+ double size = BOUNDARY_CONTAINS_TOLERANCE * 2.0;
+ return path.intersects(point.x - BOUNDARY_CONTAINS_TOLERANCE, point.y - BOUNDARY_CONTAINS_TOLERANCE, size, size);
+ }
+
+ private void rebuildBoundaryPath() {
+ currentBoundaryPath = buildBoundaryPath(currentBoundary);
+ }
+
+ private Path2D.Double buildBoundaryPath(List<Point2D.Double> boundary) {
+ if (boundary == null || boundary.size() < 3) {
+ return null;
+ }
+ Path2D.Double path = new Path2D.Double();
+ boolean started = false;
+ for (Point2D.Double point : boundary) {
+ if (point == null || !Double.isFinite(point.x) || !Double.isFinite(point.y)) {
+ continue;
+ }
+ if (!started) {
+ path.moveTo(point.x, point.y);
+ started = true;
+ } else {
+ path.lineTo(point.x, point.y);
+ }
+ }
+ if (!started) {
+ return null;
+ }
+ path.closePath();
+ return path;
+ }
+
/**
* 缁樺埗瑙嗗浘淇℃伅
@@ -830,30 +1433,34 @@
private void drawViewInfo(Graphics2D g2d) {
g2d.setColor(new Color(80, 80, 80));
g2d.setFont(new Font("寰蒋闆呴粦", Font.PLAIN, 11));
-
- // 鍙樉绀虹缉鏀炬瘮渚嬶紝鍘绘帀骞崇Щ淇℃伅
- String info = String.format("缂╂斁: %.2fx", scale);
- g2d.drawString(info, 15, visualizationPanel.getHeight() - 15);
-
- if (mousePoint != null) {
- // 璁＄畻榧犳爣浣嶇疆鍦ㄤ笘鐣屽潗鏍囩郴涓殑鍧愭爣
- double worldX = (mousePoint.x - visualizationPanel.getWidth()/2) / scale - translateX;
- double worldY = (mousePoint.y - visualizationPanel.getHeight()/2) / scale - translateY;
-
- String mouseCoord = String.format("鍧愭爣: (%.1f, %.1f)m", worldX, worldY);
- g2d.drawString(mouseCoord, visualizationPanel.getWidth() - 150, visualizationPanel.getHeight() - 15);
+
+ // 鍦ㄥ湴鍥鹃《閮ㄥ乏渚ф樉绀洪仴鎺ф憞鏉嗗搴旈�熷害锛堣嫢闈為浂锛�
+ try {
+ int forward = Control03.getCurrentForwardSpeed();
+ int steer = Control03.getCurrentSteeringSpeed();
+ if (forward != 0 || steer != 0) {
+ String speedInfo = String.format("琛岃繘:%d 杞悜:%d", forward, steer);
+ // 鑳屾櫙鍗婇�忔槑鐭╁舰澧炲己鍙鎬�
+ FontMetrics fm = g2d.getFontMetrics();
+ int padding = 6;
+ int w = fm.stringWidth(speedInfo) + padding * 2;
+ int h = fm.getHeight() + padding;
+ int x = 12;
+ int y = 12;
+ Color bg = new Color(255, 255, 255, 180);
+ g2d.setColor(bg);
+ g2d.fillRoundRect(x, y, w, h, 8, 8);
+ g2d.setColor(new Color(120, 120, 120));
+ g2d.drawString(speedInfo, x + padding, y + fm.getAscent() + (padding/2));
+ }
+ } catch (Throwable t) {
+ // 涓嶅簲闃诲娓叉煋锛岄潤榛樺鐞嗕换浣曞紓甯�
}
-
- // 鍘绘帀鎿嶄綔鎻愮ず锛�"婊氳疆缂╂斁 | 鎷栨嫿绉诲姩 | 鍙抽敭閲嶇疆"
- // String tips = "婊氳疆缂╂斁 | 鎷栨嫿绉诲姩 | 鍙抽敭閲嶇疆";
- // g2d.drawString(tips, visualizationPanel.getWidth() - 200, 30);
- }
-
- /**
- * 鑾峰彇褰撳墠缂╂斁姣斾緥
- */
- public double getScale() {
- return scale;
+
+ // 淇濈暀搴曢儴鐨勭缉鏀炬瘮渚嬩俊鎭�
+ String info = String.format("缂╂斁: %.2fx", scale);
+ g2d.setColor(new Color(80, 80, 80));
+ g2d.drawString(info, 15, visualizationPanel.getHeight() - 15);
}
/**
@@ -874,7 +1481,15 @@
* 璁剧疆瑙嗗浘鍙樻崲鍙傛暟锛堢敤浜庣▼搴忓寲鎺у埗锛�
*/
public void setViewTransform(double scale, double translateX, double translateY) {
- this.scale = scale;
+ // 闄愬埗缂╂斁鑼冨洿
+ scale = Math.max(MIN_SCALE, Math.min(scale, MAX_SCALE));
+ // 濡傛灉缂╂斁姣斾緥鏀瑰彉浜嗭紝淇濆瓨鍒伴厤缃枃浠�
+ if (Math.abs(this.scale - scale) > SCALE_EPSILON) {
+ this.scale = scale;
+ saveScaleToProperties();
+ } else {
+ this.scale = scale;
+ }
this.translateX = translateX;
this.translateY = translateY;
visualizationPanel.repaint();
@@ -883,6 +1498,8 @@
public void setCurrentBoundary(String boundaryCoordinates, String landNumber, String landName) {
this.boundaryName = landName;
this.currentBoundaryLandNumber = landNumber;
+ this.realtimeBoundaryPathCache = null;
+ this.realtimeBoundaryPathLand = null;
if (boundaryCoordinates == null) {
clearBoundaryData();
@@ -904,8 +1521,10 @@
return;
}
- currentBoundary = parsed;
- boundaryBounds = computeBounds(parsed);
+ currentBoundary = parsed;
+ rebuildBoundaryPath();
+ pendingTrackBreak = true;
+ boundaryBounds = computeBounds(parsed);
Rectangle2D.Double bounds = boundaryBounds;
SwingUtilities.invokeLater(() -> {
@@ -916,10 +1535,14 @@
private void clearBoundaryData() {
currentBoundary = null;
+ currentBoundaryPath = null;
boundaryBounds = null;
boundaryName = null;
boundaryPointsVisible = false;
currentBoundaryLandNumber = null;
+ pendingTrackBreak = true;
+ realtimeBoundaryPathCache = null;
+ realtimeBoundaryPathLand = null;
}
public void setCurrentObstacles(String obstaclesData, String landNumber) {
@@ -1230,6 +1853,9 @@
return coords;
}
+ // Remove wrapper characters like parentheses that are used when persisting payloads
+ sanitized = sanitized.replace("(", "").replace(")", "");
+
String[] pairs = sanitized.split(";");
for (String pair : pairs) {
if (pair == null) {
@@ -1239,6 +1865,10 @@
if (trimmed.isEmpty()) {
continue;
}
+ trimmed = trimmed.replace("(", "").replace(")", "");
+ if (trimmed.isEmpty()) {
+ continue;
+ }
String[] parts = trimmed.split(",");
if (parts.length < 2) {
continue;
@@ -1400,6 +2030,102 @@
visualizationPanel.repaint();
}
+ public void setBoundaryPointSizeScale(double sizeScale) {
+ double normalized = (Double.isFinite(sizeScale) && sizeScale > 0.0d) ? sizeScale : 1.0d;
+ if (Math.abs(boundaryPointSizeScale - normalized) < 1e-6) {
+ return;
+ }
+ boundaryPointSizeScale = normalized;
+ if (visualizationPanel == null) {
+ return;
+ }
+ if (SwingUtilities.isEventDispatchThread()) {
+ visualizationPanel.repaint();
+ } else {
+ SwingUtilities.invokeLater(visualizationPanel::repaint);
+ }
+ }
+
+ public void setPathPreviewSizingEnabled(boolean enabled) {
+ previewSizingEnabled = enabled;
+ if (visualizationPanel == null) {
+ return;
+ }
+ if (SwingUtilities.isEventDispatchThread()) {
+ visualizationPanel.repaint();
+ } else {
+ SwingUtilities.invokeLater(visualizationPanel::repaint);
+ }
+ }
+
+ public void setBoundaryPreviewMarkerScale(double markerScale) {
+ double normalized = Double.isFinite(markerScale) && markerScale > 0.0d ? markerScale : 1.0d;
+ if (Math.abs(boundaryPreviewMarkerScale - normalized) < 1e-6) {
+ return;
+ }
+ boundaryPreviewMarkerScale = normalized;
+ if (visualizationPanel == null) {
+ return;
+ }
+ if (SwingUtilities.isEventDispatchThread()) {
+ visualizationPanel.repaint();
+ } else {
+ SwingUtilities.invokeLater(visualizationPanel::repaint);
+ }
+ }
+
+ public boolean setHandheldMowerIconActive(boolean handheldActive) {
+ if (mower == null) {
+ return false;
+ }
+ boolean changed = mower.useHandheldIcon(handheldActive);
+ if (changed && visualizationPanel != null) {
+ if (SwingUtilities.isEventDispatchThread()) {
+ visualizationPanel.repaint();
+ } else {
+ SwingUtilities.invokeLater(visualizationPanel::repaint);
+ }
+ }
+ return changed;
+ }
+
+ public void beginHandheldBoundaryPreview() {
+ handheldBoundaryPreviewActive = true;
+ handheldBoundaryPreview.clear();
+ visualizationPanel.repaint();
+ }
+
+ public void addHandheldBoundaryPoint(double x, double y) {
+ if (!Double.isFinite(x) || !Double.isFinite(y)) {
+ return;
+ }
+ if (!handheldBoundaryPreviewActive) {
+ beginHandheldBoundaryPreview();
+ }
+ Point2D.Double last = handheldBoundaryPreview.isEmpty() ? null : handheldBoundaryPreview.get(handheldBoundaryPreview.size() - 1);
+ if (last != null) {
+ double dx = x - last.x;
+ double dy = y - last.y;
+ if (Math.hypot(dx, dy) < 1e-6) {
+ visualizationPanel.repaint();
+ return;
+ }
+ }
+ handheldBoundaryPreview.add(new Point2D.Double(x, y));
+ visualizationPanel.repaint();
+ }
+
+ public void clearHandheldBoundaryPreview() {
+ handheldBoundaryPreviewActive = false;
+ handheldBoundaryPreview.clear();
+ boundaryPreviewMarkerScale = 1.0d;
+ visualizationPanel.repaint();
+ }
+
+ public List<Point2D.Double> getHandheldBoundaryPreviewPoints() {
+ return new ArrayList<>(handheldBoundaryPreview);
+ }
+
private List<Point2D.Double> parseBoundary(String boundaryCoordinates) {
List<Point2D.Double> points = new ArrayList<>();
String[] entries = boundaryCoordinates.split(";");
@@ -1448,8 +2174,10 @@
return;
}
- double width = Math.max(bounds.width, 1);
- double height = Math.max(bounds.height, 1);
+ Rectangle2D.Double targetBounds = includeMowerInBounds(bounds);
+
+ double width = Math.max(targetBounds.width, 1);
+ double height = Math.max(targetBounds.height, 1);
double targetWidth = width * 1.2;
double targetHeight = height * 1.2;
@@ -1461,18 +2189,62 @@
newScale = Math.max(0.05, Math.min(newScale, 50.0));
this.scale = newScale;
- this.translateX = -bounds.getCenterX();
- this.translateY = -bounds.getCenterY();
+ this.translateX = -targetBounds.getCenterX();
+ this.translateY = -targetBounds.getCenterY();
+ }
+
+ // Keep the mower marker inside the viewport whenever the camera refits to scene bounds.
+ private Rectangle2D.Double includeMowerInBounds(Rectangle2D.Double bounds) {
+ Rectangle2D.Double expanded = new Rectangle2D.Double(
+ bounds.x,
+ bounds.y,
+ Math.max(0.0, bounds.width),
+ Math.max(0.0, bounds.height)
+ );
+
+ if (mower == null || !mower.hasValidPosition()) {
+ return expanded;
+ }
+
+ Point2D.Double mowerPosition = mower.getPosition();
+ if (mowerPosition == null
+ || !Double.isFinite(mowerPosition.x)
+ || !Double.isFinite(mowerPosition.y)) {
+ return expanded;
+ }
+
+ double minX = Math.min(expanded.x, mowerPosition.x);
+ double minY = Math.min(expanded.y, mowerPosition.y);
+ double maxX = Math.max(expanded.x + expanded.width, mowerPosition.x);
+ double maxY = Math.max(expanded.y + expanded.height, mowerPosition.y);
+
+ expanded.x = minX;
+ expanded.y = minY;
+ expanded.width = Math.max(0.0, maxX - minX);
+ expanded.height = Math.max(0.0, maxY - minY);
+
+ return expanded;
}
public void dispose() {
mowerUpdateTimer.stop();
- stopMowerInfoTimer();
- if (mowerInfoDialog != null) {
- mowerInfoDialog.dispose();
- mowerInfoDialog = null;
- }
- resetMowerInfoLabels();
+ mowerInfoManager.dispose();
+ }
+
+ /**
+ * 鑾峰彇褰撳墠杈圭晫鐐瑰垪琛�
+ * @return 褰撳墠杈圭晫鐐瑰垪琛紝濡傛灉娌℃湁杈圭晫鍒欒繑鍥瀗ull
+ */
+ public List<Point2D.Double> getCurrentBoundary() {
+ return currentBoundary;
+ }
+
+ /**
+ * 鑾峰彇鍓茶崏鏈哄疄渚�
+ * @return 鍓茶崏鏈哄疄渚�
+ */
+ public Gecaoji getMower() {
+ return mower;
}
}
\ No newline at end of file
--
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