From 7881cef5c3dcea8e6037101db2c3eeb2fd3ba5da Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期六, 27 十二月 2025 23:42:36 +0800
Subject: [PATCH] 1211
---
src/lujing/MowingPathGenerationPage.java | 153 +++++++++++++++++++++++++++++++++------------------
1 files changed, 99 insertions(+), 54 deletions(-)
diff --git a/src/lujing/MowingPathGenerationPage.java b/src/lujing/MowingPathGenerationPage.java
index 77c496c..d30bc1f 100644
--- a/src/lujing/MowingPathGenerationPage.java
+++ b/src/lujing/MowingPathGenerationPage.java
@@ -140,8 +140,21 @@
contentPanel.add(createTextAreaSection(obstacleTitle, obstacleArea));
// 鍓茶崏瀹藉害
- widthField = createInfoTextField(widthValue != null ? widthValue : "", true);
- contentPanel.add(createTextFieldSection("鍓茶崏瀹藉害 (cm)", widthField));
+ String displayWidth = "";
+ if (widthValue != null && !widthValue.trim().isEmpty() && !"-1".equals(widthValue.trim())) {
+ try {
+ double val = Double.parseDouble(widthValue.trim());
+ // 绠�鍗曠殑鍚彂寮忚浆鎹細濡傛灉鍊煎ぇ浜�5锛屽亣璁炬槸鍘樼背锛岃浆鎹负绫�
+ if (val > 5) {
+ val = val / 100.0;
+ }
+ displayWidth = String.format(Locale.US, "%.2f", val);
+ } catch (NumberFormatException e) {
+ displayWidth = widthValue;
+ }
+ }
+ widthField = createInfoTextField(displayWidth, true);
+ contentPanel.add(createTextFieldSection("鍓茶崏瀹藉害 (m)", widthField));
// 鍓茶崏瀹夊叏璺濈锛堝彧璇绘樉绀猴級
// 浼樺厛浠嶥ikuai瀵硅薄鑾峰彇锛屽鏋淒ikuai涓病鏈夛紝鍐嶄粠Device鑾峰彇
@@ -223,9 +236,9 @@
String sanitizedWidth = sanitizeWidthString(widthField.getText());
if (sanitizedWidth != null) {
try {
- double widthCm = Double.parseDouble(sanitizedWidth);
- widthField.setText(formatWidthForStorage(widthCm));
- sanitizedWidth = formatWidthForStorage(widthCm);
+ double widthMeters = Double.parseDouble(sanitizedWidth);
+ widthField.setText(formatWidthForStorage(widthMeters));
+ sanitizedWidth = formatWidthForStorage(widthMeters);
} catch (NumberFormatException ex) {
widthField.setText(sanitizedWidth);
}
@@ -407,25 +420,25 @@
String rawWidthInput = widthField.getText() != null ? widthField.getText().trim() : "";
String widthSanitized = sanitizeWidthString(widthField.getText());
if (widthSanitized == null) {
- String message = rawWidthInput.isEmpty() ? "璇峰厛璁剧疆鍓茶崏瀹藉害(cm)" : "鍓茶崏瀹藉害鏍煎紡涓嶆纭�";
+ String message = rawWidthInput.isEmpty() ? "璇峰厛璁剧疆鍓茶崏瀹藉害(m)" : "鍓茶崏瀹藉害鏍煎紡涓嶆纭�";
JOptionPane.showMessageDialog(this, message, "鎻愮ず", JOptionPane.WARNING_MESSAGE);
return;
}
- double widthCm;
+ double widthMeters;
try {
- widthCm = Double.parseDouble(widthSanitized);
+ widthMeters = Double.parseDouble(widthSanitized);
} catch (NumberFormatException ex) {
JOptionPane.showMessageDialog(this, "鍓茶崏瀹藉害鏍煎紡涓嶆纭�", "鎻愮ず", JOptionPane.WARNING_MESSAGE);
return;
}
- if (widthCm <= 0) {
+ if (widthMeters <= 0) {
JOptionPane.showMessageDialog(this, "鍓茶崏瀹藉害蹇呴』澶т簬0", "鎻愮ず", JOptionPane.WARNING_MESSAGE);
return;
}
- String widthNormalized = formatWidthForStorage(widthCm);
+ String widthNormalized = formatWidthForStorage(widthMeters);
widthField.setText(widthNormalized);
String pathNormalized = normalizeCoordinateInput(pathArea.getText());
@@ -518,15 +531,15 @@
String widthStr = sanitizeWidthString(widthCmInput);
if (widthStr == null) {
if (showMessages) {
- String message = rawWidth.isEmpty() ? "璇峰厛璁剧疆鍓茶崏瀹藉害(cm)" : "鍓茶崏瀹藉害鏍煎紡涓嶆纭�";
+ String message = rawWidth.isEmpty() ? "璇峰厛璁剧疆鍓茶崏瀹藉害(m)" : "鍓茶崏瀹藉害鏍煎紡涓嶆纭�";
JOptionPane.showMessageDialog(parentComponent, message, "鎻愮ず", JOptionPane.WARNING_MESSAGE);
}
return null;
}
- double widthCm;
+ double widthVal;
try {
- widthCm = Double.parseDouble(widthStr);
+ widthVal = Double.parseDouble(widthStr);
} catch (NumberFormatException ex) {
if (showMessages) {
JOptionPane.showMessageDialog(parentComponent, "鍓茶崏瀹藉害鏍煎紡涓嶆纭�",
@@ -535,7 +548,7 @@
return null;
}
- if (widthCm <= 0) {
+ if (widthVal <= 0) {
if (showMessages) {
JOptionPane.showMessageDialog(parentComponent, "鍓茶崏瀹藉害蹇呴』澶т簬0",
"鎻愮ず", JOptionPane.WARNING_MESSAGE);
@@ -543,7 +556,7 @@
return null;
}
- double widthMeters = widthCm / 100.0d;
+ double widthMeters = widthVal;
String plannerWidth = BigDecimal.valueOf(widthMeters)
.setScale(3, RoundingMode.HALF_UP)
.stripTrailingZeros()
@@ -596,12 +609,14 @@
// 鏃犻殰纰嶇墿鐨勬儏鍐�
if (grassType == 1) {
// 鍑稿舰鍦板潡锛屾棤闅滅鐗� -> 璋冪敤 AoxinglujingNoObstacle
+ System.out.println("璋冪敤绠楁硶: 鍑稿舰鏃犻殰纰嶇墿, 绫诲悕: AoxinglujingNoObstacle");
List<AoxinglujingNoObstacle.PathSegment> segments =
AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
generated = formatAoxingPathSegments(segments);
} else if (grassType == 2) {
// 寮傚舰鍦板潡锛屾棤闅滅鐗� -> 璋冪敤 YixinglujingNoObstacle
// 璋冪敤 YixinglujingNoObstacle.planPath 鑾峰彇璺緞娈靛垪琛�
+ System.out.println("璋冪敤绠楁硶: 寮傚舰鏃犻殰纰嶇墿, 绫诲悕: YixinglujingNoObstacle");
List<YixinglujingNoObstacle.PathSegment> segments =
YixinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
// 鏍煎紡鍖栬矾寰勬鍒楄〃涓哄瓧绗︿覆
@@ -612,6 +627,7 @@
JOptionPane.showMessageDialog(parentComponent, "鏃犳硶鍒ゆ柇鍦板潡绫诲瀷锛屽皾璇曟寜鍑稿舰鍦板潡澶勭悊",
"鎻愮ず", JOptionPane.WARNING_MESSAGE);
}
+ System.out.println("璋冪敤绠楁硶: 鏃犳硶鍒ゆ柇绫诲瀷(榛樿鍑稿舰鏃犻殰纰嶇墿), 绫诲悕: AoxinglujingNoObstacle");
List<AoxinglujingNoObstacle.PathSegment> segments =
AoxinglujingNoObstacle.planPath(boundary, plannerWidth, safetyMarginStr);
generated = formatAoxingPathSegments(segments);
@@ -621,12 +637,14 @@
if (grassType == 1) {
// 鍑稿舰鍦板潡锛屾湁闅滅鐗� -> 璋冪敤 AoxinglujingHaveObstacel
// 浼犲叆鍙傛暟锛歜oundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
+ System.out.println("璋冪敤绠楁硶: 鍑稿舰鏈夐殰纰嶇墿, 绫诲悕: AoxinglujingHaveObstacel");
List<AoxinglujingHaveObstacel.PathSegment> segments =
AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
generated = formatAoxingHaveObstaclePathSegments(segments);
} else if (grassType == 2) {
// 寮傚舰鍦板潡锛屾湁闅滅鐗� -> 璋冪敤 YixinglujingHaveObstacel
// 浼犲叆鍙傛暟锛歜oundary(A), obstacles(B), plannerWidth(C), safetyMarginStr(D)
+ System.out.println("璋冪敤绠楁硶: 寮傚舰鏈夐殰纰嶇墿, 绫诲悕: YixinglujingHaveObstacel");
List<YixinglujingHaveObstacel.PathSegment> segments =
YixinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
generated = formatYixingHaveObstaclePathSegments(segments);
@@ -636,6 +654,7 @@
JOptionPane.showMessageDialog(parentComponent, "鏃犳硶鍒ゆ柇鍦板潡绫诲瀷锛屽皾璇曟寜鍑稿舰鍦板潡澶勭悊",
"鎻愮ず", JOptionPane.WARNING_MESSAGE);
}
+ System.out.println("璋冪敤绠楁硶: 鏃犳硶鍒ゆ柇绫诲瀷(榛樿鍑稿舰鏈夐殰纰嶇墿), 绫诲悕: AoxinglujingHaveObstacel");
List<AoxinglujingHaveObstacel.PathSegment> segments =
AoxinglujingHaveObstacel.planPath(boundary, obstacles, plannerWidth, safetyMarginStr);
generated = formatAoxingHaveObstaclePathSegments(segments);
@@ -717,18 +736,20 @@
return "";
}
StringBuilder sb = new StringBuilder();
- AoxinglujingNoObstacle.Point last = null;
- for (AoxinglujingNoObstacle.PathSegment segment : segments) {
- // 鍙坊鍔犲壊鑽夊伐浣滄锛岃烦杩囪繃娓℃
- if (segment.isMowing) {
- // 濡傛灉璧风偣涓庝笂涓�涓粓鐐逛笉鍚岋紝娣诲姞璧风偣
- if (last == null || !equals2D(last, segment.start)) {
- appendPoint(sb, segment.start);
- }
- // 娣诲姞缁堢偣
- appendPoint(sb, segment.end);
- last = segment.end;
+ AoxinglujingNoObstacle.Point lastEnd = null;
+ boolean firstWritten = false;
+ for (AoxinglujingNoObstacle.PathSegment s : segments) {
+ if (!firstWritten) {
+ appendPoint(sb, s.start);
+ firstWritten = true;
+ lastEnd = s.start;
+ } else if (lastEnd == null || !equals2D(lastEnd, s.start)) {
+ // 闈炶繛缁锛屽紑濮嬫柊鐨勫瓙璺緞
+ appendPoint(sb, s.start);
+ lastEnd = s.start;
}
+ appendPointWithType(sb, s.end, s.isMowing);
+ lastEnd = s.end;
}
return sb.toString();
}
@@ -741,18 +762,20 @@
return "";
}
StringBuilder sb = new StringBuilder();
- YixinglujingNoObstacle.Point last = null;
- for (YixinglujingNoObstacle.PathSegment segment : segments) {
- // 鍙坊鍔犲壊鑽夊伐浣滄锛岃烦杩囪繃娓℃
- if (segment.isMowing) {
- // 濡傛灉璧风偣涓庝笂涓�涓粓鐐逛笉鍚岋紝娣诲姞璧风偣
- if (last == null || !equalsYixingPoint(last, segment.start)) {
- appendYixingPoint(sb, segment.start);
- }
- // 娣诲姞缁堢偣
- appendYixingPoint(sb, segment.end);
- last = segment.end;
+ YixinglujingNoObstacle.Point lastEnd = null;
+ boolean firstWritten = false;
+ for (YixinglujingNoObstacle.PathSegment s : segments) {
+ if (!firstWritten) {
+ appendYixingPoint(sb, s.start);
+ firstWritten = true;
+ lastEnd = s.start;
+ } else if (lastEnd == null || !equalsYixingPoint(lastEnd, s.start)) {
+ // 闈炶繛缁锛屽紑濮嬫柊鐨勫瓙璺緞
+ appendYixingPoint(sb, s.start);
+ lastEnd = s.start;
}
+ appendYixingPointWithType(sb, s.end, s.isMowing);
+ lastEnd = s.end;
}
return sb.toString();
}
@@ -789,15 +812,19 @@
return "";
}
StringBuilder sb = new StringBuilder();
- YixinglujingHaveObstacel.Point last = null;
- for (YixinglujingHaveObstacel.PathSegment segment : segments) {
- // 濡傛灉鏄涓�娈碉紝鎴栬�呭綋鍓嶆璧风偣涓庝笂涓�娈电粓鐐逛笉杩炵画锛屽垯娣诲姞璧风偣
- if (last == null || !equalsYixingHaveObstaclePoint(last, segment.start)) {
- appendYixingHaveObstaclePoint(sb, segment.start);
+ YixinglujingHaveObstacel.Point lastEnd = null;
+ boolean firstWritten = false;
+ for (YixinglujingHaveObstacel.PathSegment s : segments) {
+ if (!firstWritten) {
+ appendYixingHaveObstaclePoint(sb, s.start);
+ firstWritten = true;
+ lastEnd = s.start;
+ } else if (lastEnd == null || !equalsYixingHaveObstaclePoint(lastEnd, s.start)) {
+ appendYixingHaveObstaclePoint(sb, s.start);
+ lastEnd = s.start;
}
- // 娣诲姞缁堢偣
- appendYixingHaveObstaclePoint(sb, segment.end);
- last = segment.end;
+ appendYixingHaveObstaclePointWithType(sb, s.end, s.isMowing);
+ lastEnd = s.end;
}
return sb.toString();
}
@@ -812,7 +839,14 @@
if (sb.length() > 0) {
sb.append(";");
}
- sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
+ sb.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
+ }
+
+ private void appendYixingHaveObstaclePointWithType(StringBuilder sb, YixinglujingHaveObstacel.Point point, boolean isMowing) {
+ if (sb.length() > 0) {
+ sb.append(";");
+ }
+ sb.append(String.format(Locale.US, "%.2f,%.2f,%s", point.x, point.y, isMowing ? "M" : "T"));
}
/**
@@ -833,7 +867,14 @@
if (sb.length() > 0) {
sb.append(";");
}
- sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
+ sb.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
+ }
+
+ private void appendPointWithType(StringBuilder sb, AoxinglujingNoObstacle.Point point, boolean isMowing) {
+ if (sb.length() > 0) {
+ sb.append(";");
+ }
+ sb.append(String.format(Locale.US, "%.2f,%.2f,%s", point.x, point.y, isMowing ? "M" : "T"));
}
/**
@@ -854,7 +895,14 @@
if (sb.length() > 0) {
sb.append(";");
}
- sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
+ sb.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
+ }
+
+ private void appendYixingPointWithType(StringBuilder sb, YixinglujingNoObstacle.Point point, boolean isMowing) {
+ if (sb.length() > 0) {
+ sb.append(";");
+ }
+ sb.append(String.format(Locale.US, "%.2f,%.2f,%s", point.x, point.y, isMowing ? "M" : "T"));
}
/**
@@ -875,7 +923,7 @@
if (sb.length() > 0) {
sb.append(";");
}
- sb.append(String.format(Locale.US, "%.6f,%.6f", point.x, point.y));
+ sb.append(String.format(Locale.US, "%.2f,%.2f", point.x, point.y));
}
// ========== UI杈呭姪鏂规硶 ==========
@@ -1081,11 +1129,8 @@
return cleaned.isEmpty() ? null : cleaned;
}
- private String formatWidthForStorage(double widthCm) {
- return BigDecimal.valueOf(widthCm)
- .setScale(2, RoundingMode.HALF_UP)
- .stripTrailingZeros()
- .toPlainString();
+ private String formatWidthForStorage(double widthVal) {
+ return String.format(Locale.US, "%.2f", widthVal);
}
private String formatMowingPatternForDialog(String patternValue) {
--
Gitblit v1.10.0