package gecaoji; // 包声明 import java.awt.BasicStroke; // 引入基础描边类 import java.awt.Color; // 引入颜色类 import java.awt.Graphics2D; // 引入2D图形上下文 import java.awt.Stroke; // 引入描边接口 import java.awt.geom.Path2D; // 引入路径绘制类 import java.awt.geom.Point2D; // 引入二维点类 import java.util.ArrayList; // 引入动态数组 import java.util.List; // 引入列表接口 import lujing.Lunjingguihua; // 引入路径规划类 import org.locationtech.jts.geom.Coordinate; // 引入坐标类 import org.locationtech.jts.geom.GeometryFactory; // 引入几何工厂类 import org.locationtech.jts.geom.Polygon; // 引入多边形类 /** // 文档注释开头 * Helper class to parse and render planned mowing paths. // 辅助类说明 */ // 文档注释结尾 public final class lujingdraw { // 类定义，防止继承 // 马尔斯绿色 (RGB: 102, 205, 170) - 用于内缩边界（围边） private static final Color INNER_BOUNDARY_COLOR = new Color(102, 205, 170); // 提香红透明度70% (RGB: 210, 4, 45, alpha: 178) - 用于割草作业路径 private static final Color MOWING_PATH_COLOR = new Color(210, 4, 45, 178); // 蓝色 - 用于非作业移动路径 private static final Color TRAVEL_PATH_COLOR = new Color(0, 0, 255); // 虚线样式 - 用于非作业移动路径 private static final float[] DASH_PATTERN = {10.0f, 5.0f}; private static final Color START_POINT_COLOR = new Color(0, 0, 0, 220); // 起点箭头颜色 private static final Color END_POINT_COLOR = new Color(0, 0, 0, 220); // 终点箭头颜色 private lujingdraw() { // 私有构造防止实例化 } // 空实现 /** // 文档注释开始 * Parse the planned path string (semicolon-separated "x,y" pairs) into a list of points in meters. // 方法说明 */ // 文档注释结束 public static List parsePlannedPath(String plannedPath) { // 解析路径字符串 List points = new ArrayList<>(); // 存放解析后的点集 if (plannedPath == null) { // 判空 return points; // 返回空集合 } // if结束 String normalized = plannedPath.trim(); // 去除首尾空格 if (normalized.isEmpty() || "-1".equals(normalized)) { // 无效判断 return points; // 返回空集合 } // if结束 int commentIndex = normalized.indexOf('#'); // 查找注释符号 if (commentIndex >= 0) { // 找到注释 normalized = normalized.substring(0, commentIndex).trim(); // 截取注释前内容 } // if结束 if (normalized.isEmpty()) { // 再次判空 return points; // 返回空集合 } // if结束 String[] segments = normalized.split(";"); // 切分各段 for (String segment : segments) { // 遍历每段 if (segment == null) { // 判空 continue; // 跳过 } // if结束 String trimmed = segment.trim(); // 去除空格 if (trimmed.isEmpty()) { // 空段 continue; // 跳过 } // if结束 String[] parts = trimmed.split(","); // 切分坐标 if (parts.length < 2) { // 检查长度 continue; // 跳过 } // if结束 try { // 数值解析 double x = Double.parseDouble(parts[0].trim()); // 解析X坐标 double y = Double.parseDouble(parts[1].trim()); // 解析Y坐标 points.add(new Point2D.Double(x, y)); // 加入点集 } catch (NumberFormatException ignored) { // 捕获格式异常 // Ignore malformed coordinates // 忽略非法坐标 } // try结束 } // for结束 return points; // 返回结果 } // 方法结束 /** // 文档注释开始 * Draw the planned mowing path. // 绘制路径 */ // 文档注释结束 public static void drawPlannedPath(Graphics2D g2d, List path, double scale, double arrowScale) { // 绘制主方法 drawPlannedPath(g2d, path, scale, arrowScale, null, null, null, null, null); // 调用重载方法 } // 方法结束 /** // 文档注释开始 * Draw the planned mowing path with segment information. // 绘制路径（带段信息） * @param boundaryCoords 地块边界坐标字符串，用于绘制内缩边界 * @param mowingWidth 割草宽度（米），字符串格式 * @param safetyDistance 安全距离（米），字符串格式 * @param obstaclesCoords 障碍物坐标字符串 * @param mowingPattern 割草模式（"parallel"或"spiral"） */ // 文档注释结束 public static void drawPlannedPath(Graphics2D g2d, List path, double scale, double arrowScale, String boundaryCoords, String mowingWidth, String safetyDistance, String obstaclesCoords, String mowingPattern) { // 绘制主方法（重载） if (path == null || path.size() < 2) { // 判定点数 return; // 数据不足直接返回 } // if结束 Stroke previous = g2d.getStroke(); // 保存原描边 float strokeWidth = (float) (2.5 / Math.max(0.5, scale)); // 根据缩放计算线宽 // 1. 绘制内缩边界（围边）- 马尔斯绿色 if (boundaryCoords != null && !boundaryCoords.trim().isEmpty() && !"-1".equals(boundaryCoords.trim())) { drawInnerBoundary(g2d, boundaryCoords, safetyDistance, scale); } // 2. 尝试重新生成路径段以区分作业路径和移动路径 List segments = null; if (boundaryCoords != null && mowingWidth != null) { try { // 解析割草模式 String mode = "parallel"; // 默认平行模式 if (mowingPattern != null && !mowingPattern.trim().isEmpty()) { String pattern = mowingPattern.trim().toLowerCase(); if ("1".equals(pattern) || "spiral".equals(pattern) || "螺旋式".equals(pattern) || "螺旋".equals(pattern)) { mode = "spiral"; } else if ("parallel".equals(pattern) || "平行线".equals(pattern) || "平行".equals(pattern)) { mode = "parallel"; } } segments = Lunjingguihua.generatePathSegments( boundaryCoords, obstaclesCoords != null ? obstaclesCoords : "", mowingWidth, safetyDistance, mode ); } catch (Exception e) { // 如果重新生成失败，使用简单绘制方式 segments = null; } } // 3. 根据是否有段信息选择不同的绘制方式 if (segments != null && !segments.isEmpty()) { // 有段信息：分别绘制作业路径和移动路径 drawPathSegments(g2d, segments, scale, arrowScale); } else { // 无段信息：使用简单绘制方式（所有路径使用作业路径颜色） Path2D polyline = new Path2D.Double(); // 创建折线 boolean move = true; // 首段标记 for (Point2D.Double point : path) { // 遍历点集 if (move) { // 第一段 polyline.moveTo(point.x, point.y); // 移动到首点 move = false; // 更新标记 } else { // 后续段 polyline.lineTo(point.x, point.y); // 连线到下一点 } // if结束 } // for结束 g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); // 设置圆头圆角描边 g2d.setColor(MOWING_PATH_COLOR); // 设置作业路径颜色（提香红70%透明度） g2d.draw(polyline); // 绘制折线 Point2D.Double start = path.get(0); // 起点 Point2D.Double second = path.get(1); // 第二个点 Point2D.Double end = path.get(path.size() - 1); // 终点 Point2D.Double prev = path.get(path.size() - 2); // 倒数第二个点 drawArrowMarker(g2d, start, second, START_POINT_COLOR, scale, arrowScale); // 绘制起点箭头 drawArrowMarker(g2d, prev, end, END_POINT_COLOR, scale, arrowScale); // 绘制终点箭头 } g2d.setStroke(previous); // 恢复原描边 } // 方法结束 /** // 文档注释开始 * 绘制内缩边界（围边）- 马尔斯绿色 */ // 文档注释结束 private static void drawInnerBoundary(Graphics2D g2d, String boundaryCoords, String safetyDistanceStr, double scale) { try { List boundary = Lunjingguihua.parseCoordinates(boundaryCoords); if (boundary.size() < 4) { return; // 边界点不足 } // 解析安全距离 double safetyDistance = 0.2; // 默认0.2米 if (safetyDistanceStr != null && !safetyDistanceStr.trim().isEmpty()) { try { safetyDistance = Double.parseDouble(safetyDistanceStr.trim()); } catch (NumberFormatException e) { // 使用默认值 } } // 创建多边形并内缩 GeometryFactory gf = new GeometryFactory(); Polygon poly = gf.createPolygon(gf.createLinearRing(boundary.toArray(new Coordinate[0]))); if (!poly.isValid()) { poly = (Polygon) poly.buffer(0); } // 内缩生成安全边界 org.locationtech.jts.geom.Geometry innerBoundary = poly.buffer(-safetyDistance); if (innerBoundary == null || innerBoundary.isEmpty()) { return; } // 绘制内缩边界 g2d.setColor(INNER_BOUNDARY_COLOR); // 马尔斯绿色 float strokeWidth = (float) (3.0 / Math.max(0.5, scale)); g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); // 将JTS几何体转换为Path2D并绘制 Path2D.Double innerPath = geometryToPath2D(innerBoundary); if (innerPath != null) { g2d.draw(innerPath); } } catch (Exception e) { // 绘制失败时忽略，不影响其他路径绘制 } } // 方法结束 /** // 文档注释开始 * 将JTS几何体转换为Path2D */ // 文档注释结束 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; } // 方法结束 /** // 文档注释开始 * 将坐标环添加到Path2D */ // 文档注释结束 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(); } } // 方法结束 /** // 文档注释开始 * 绘制路径段（区分作业路径和移动路径） */ // 文档注释结束 private static void drawPathSegments(Graphics2D g2d, List 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(); // 分别绘制作业路径和移动路径 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) { // 作业路径 - 提香红70%透明度 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 { // 移动路径 - 蓝色虚线 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; } } // 绘制作业路径 if (mowingStarted) { g2d.setColor(MOWING_PATH_COLOR); // 提香红70%透明度 g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND)); g2d.draw(mowingPath); } // 绘制移动路径（虚线） if (travelStarted) { g2d.setColor(TRAVEL_PATH_COLOR); // 蓝色 g2d.setStroke(new BasicStroke(strokeWidth, BasicStroke.CAP_ROUND, BasicStroke.JOIN_ROUND, 0, DASH_PATTERN, 0)); g2d.draw(travelPath); } // 绘制起点和终点箭头 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); } // 方法结束 /** // 文档注释开始 * 比较两个坐标是否相同（容差） */ // 文档注释结束 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; } // 方法结束 private static void drawArrowMarker(Graphics2D g2d, Point2D.Double from, Point2D.Double to, Color color, double scale, double sizeScale) { // 绘制箭头辅助 if (from == null || to == null) { // 判空 return; // 数据不足返回 } // if结束 double dx = to.x - from.x; // 计算X增量 double dy = to.y - from.y; // 计算Y增量 double length = Math.hypot(dx, dy); // 计算向量长度 if (length == 0) { // 防止零长度 return; // 无方向返回 } // if结束 double arrowLength = Math.max(2.5, 5.5 / Math.max(0.5, scale)); // 计算箭头长度 double clampedScale = sizeScale > 0 ? sizeScale : 1.0; // 防止非法缩放 arrowLength *= 0.25 * clampedScale; // 缩小箭头至原来的一半 double arrowWidth = arrowLength * 0.45; // 计算箭头宽度 double ux = dx / length; // 单位向量X double uy = dy / length; // 单位向量Y double tipX = to.x; // 箭头尖端X double tipY = to.y; // 箭头尖端Y double baseX = tipX - ux * arrowLength; // 箭头底部X double baseY = tipY - uy * arrowLength; // 箭头底部Y double perpX = -uy; // 垂直向量X double perpY = ux; // 垂直向量Y double leftX = baseX + perpX * arrowWidth * 0.5; // 左侧点X double leftY = baseY + perpY * arrowWidth * 0.5; // 左侧点Y double rightX = baseX - perpX * arrowWidth * 0.5; // 右侧点X double rightY = baseY - perpY * arrowWidth * 0.5; // 右侧点Y Path2D arrow = new Path2D.Double(); // 创建箭头路径 arrow.moveTo(tipX, tipY); // 起点移动到尖端 arrow.lineTo(leftX, leftY); // 连到左侧 arrow.lineTo(rightX, rightY); // 连到右侧 arrow.closePath(); // 闭合形成三角形 g2d.setColor(color); // 设置颜色 g2d.fill(arrow); // 填充箭头 } // 方法结束 } // 类结束