feat:添加喷头移动路径算法测试类

src/main/java/com/qyft/ms/app/service/WebSocketService.java

@@ -20,7 +20,7 @@ public class WebSocketService {
     @PostConstruct
     public void init() {
         // 设置 WebSocketService 实例到 WebSocketServer
-        WebSocketServer.setWebSocketService(this);
+//        WebSocketServer.setWebSocketService(this);
     }
 
     // 新增方法：处理接收到的消息

src/main/java/com/qyft/ms/test/PathGenerator/MainFrame.java

@@ -0,0 +1,47 @@
+package com.qyft.ms.test.PathGenerator;
+
+import javax.swing.*;
+import java.awt.*;
+import java.util.List;
+
+/**
+ * 主窗口，包含main方法。创建面板PathPanel，加载进JFrame展示。
+ */
+public class MainFrame extends JFrame {
+
+    public static void main(String[] args) {
+        SwingUtilities.invokeLater(() -> {
+            MainFrame frame = new MainFrame();
+            frame.setVisible(true);
+        });
+    }
+
+    public MainFrame() {
+        super("Zigzag Path Demo (No Inner Classes)");
+
+        setDefaultCloseOperation(EXIT_ON_CLOSE);
+
+        // 1. 定义边界
+        int left = 0;
+        int right = 20;
+        int bottom = 0;
+        int top = 50;
+        int spacing = 2;
+
+        // 2. 生成路径（从“左上角”往下的水平之字形）
+        List<Point> path = PathGenerator.generatePathPoints(
+                left, right, bottom, top,
+                spacing,
+                PathGenerator.MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
+        );
+
+        // 3. 创建面板并设置大小
+        PathPanelJPanel panel = new PathPanelJPanel(left, right, bottom, top, path);
+        panel.setPreferredSize(new Dimension((right - left + 1) * 20,
+                (top - bottom + 1) * 20));
+        getContentPane().add(panel);
+
+        pack();
+        setLocationRelativeTo(null); // 居中显示
+    }
+}

src/main/java/com/qyft/ms/test/PathGenerator/PathGenerator.java

@@ -0,0 +1,208 @@
+package com.qyft.ms.test.PathGenerator;
+
+import java.awt.*;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 路径生成器：可选择水平之字形(从上往下) 或 垂直之字形(从左往右)，
+ * 并考虑画笔spacing，向内收缩以避免越出外部边界。
+ */
+public class PathGenerator {
+
+    /** 路径移动模式 */
+    public enum MoveMode {
+        /**
+         * 水平之字形，从上往下。
+         * 例如：先在(左上) -> (右上)，向下spacing -> (右下) -> (左下) -> ...
+         */
+        HORIZONTAL_ZIGZAG_TOP_DOWN,
+
+        /**
+         * 垂直之字形，从左往右。
+         * 例如：先在(左上)->(左下)，向右spacing->(右下)->(右上)-> ...
+         */
+        VERTICAL_ZIGZAG_LEFT_RIGHT
+    }
+
+    /**
+     * 在 [left, right] x [bottom, top] 范围内生成“之字形”路径，
+     * 并考虑画笔 spacing（内缩以防越界）。
+     *
+     * @param left    矩形左边界 (数学坐标: 左下角为原点)
+     * @param right   矩形右边界
+     * @param bottom  矩形下边界
+     * @param top     矩形上边界
+     * @param spacing 画笔粗细/间距 (>0)
+     * @param mode    HORIZONTAL_ZIGZAG_TOP_DOWN 或 VERTICAL_ZIGZAG_LEFT_RIGHT
+     * @return        之字形路径拐点列表 (每个拐点是 (x,y) 的int坐标)
+     */
+    public static List<Point> generatePathPoints(
+            int left,
+            int right,
+            int bottom,
+            int top,
+            int spacing,
+            MoveMode mode
+    ) {
+        // 基本校验
+        if (left >= right || bottom >= top) {
+            throw new IllegalArgumentException("无效矩形边界: left>=right 或 bottom>=top");
+        }
+        if (spacing <= 0) {
+            throw new IllegalArgumentException("spacing必须>0");
+        }
+
+        // 1) 内缩，以防画笔越界
+        int margin = spacing;  // 留出 spacing 宽度，可改成 spacing/2 (半个笔刷)
+        int effLeft   = left   + margin;
+        int effRight  = right  - margin;
+        int effBottom = bottom + margin;
+        int effTop    = top    - margin;
+
+        // 若收缩后无空间，则返回空集合
+        if (effLeft > effRight || effBottom > effTop) {
+            System.out.println("内缩后无有效空间，返回空路径");
+            return new ArrayList<>();
+        }
+
+        // 2) 根据mode选择不同的之字形算法
+        switch (mode) {
+            case HORIZONTAL_ZIGZAG_TOP_DOWN:
+                return generateHorizontalZigzagTopDown(
+                        effLeft, effRight, effBottom, effTop, spacing
+                );
+            case VERTICAL_ZIGZAG_LEFT_RIGHT:
+                return generateVerticalZigzagLeftRight(
+                        effLeft, effRight, effBottom, effTop, spacing
+                );
+            default:
+                // 预留给更多模式扩展
+                return new ArrayList<>();
+        }
+    }
+
+    /**
+     * [effLeft..effRight] x [effBottom..effTop] 区域内，
+     * 从(左上)开始水平之字形向下扫描。
+     *
+     * 流程：
+     *  1) 第1行： (effLeft, effTop) -> (effRight, effTop)
+     *  2) 下移 spacing
+     *  3) 第2行： (effRight, effTop - spacing) -> (effLeft, effTop - spacing)
+     *  4) 下移 spacing
+     *  重复，直到无法再下移。
+     */
+    private static List<Point> generateHorizontalZigzagTopDown(
+            int effLeft,
+            int effRight,
+            int effBottom,
+            int effTop,
+            int spacing
+    ) {
+        List<Point> result = new ArrayList<>();
+        int currentX = effLeft;
+        int currentY = effTop;
+        boolean goingRight = true;
+
+        // 起点
+        result.add(new Point(currentX, currentY));
+
+        while (true) {
+            // 水平移动到对侧
+            if (goingRight) {
+                currentX = effRight;
+            } else {
+                currentX = effLeft;
+            }
+            result.add(new Point(currentX, currentY));
+
+            // 往下移动 spacing
+            int nextY = currentY - spacing;
+            if (nextY < effBottom) {
+                break;  // 无法再往下
+            }
+            currentY = nextY;
+            result.add(new Point(currentX, currentY));
+
+            // 反转方向
+            goingRight = !goingRight;
+        }
+        return result;
+    }
+
+    /**
+     * [effLeft..effRight] x [effBottom..effTop] 区域内，
+     * 从(左上)开始垂直之字形向右扫描。
+     *
+     * 流程：
+     *  1) 第1列： (effLeft, effTop) -> (effLeft, effBottom)
+     *  2) 右移 spacing
+     *  3) 第2列： (effLeft+spacing, effBottom) -> (effLeft+spacing, effTop)
+     *  4) 右移 spacing
+     *  重复，直到无法再右移。
+     */
+    private static List<Point> generateVerticalZigzagLeftRight(
+            int effLeft,
+            int effRight,
+            int effBottom,
+            int effTop,
+            int spacing
+    ) {
+        List<Point> result = new ArrayList<>();
+        int currentX = effLeft;
+        int currentY = effTop;
+        boolean goingDown = true;  // 第一列先从上往下
+
+        // 起点
+        result.add(new Point(currentX, currentY));
+
+        while (true) {
+            // 垂直移动到对侧
+            if (goingDown) {
+                currentY = effBottom;
+            } else {
+                currentY = effTop;
+            }
+            result.add(new Point(currentX, currentY));
+
+            // 向右移动 spacing
+            int nextX = currentX + spacing;
+            if (nextX > effRight) {
+                break;  // 无法再右移
+            }
+            currentX = nextX;
+            result.add(new Point(currentX, currentY));
+
+            // 反转
+            goingDown = !goingDown;
+        }
+        return result;
+    }
+
+    // ============= 简单测试 =============
+    public static void main(String[] args) {
+        int left = 0, right = 10;
+        int bottom = 0, top = 6;
+        int spacing = 2;
+
+        // 1) 测试水平之字形(从上往下)
+        System.out.println("=== HORIZONTAL_ZIGZAG_TOP_DOWN ===");
+        List<Point> horizontalPath = generatePathPoints(
+                left, right, bottom, top, spacing, MoveMode.HORIZONTAL_ZIGZAG_TOP_DOWN
+        );
+        for (Point p : horizontalPath) {
+            System.out.println(p);
+        }
+
+        // 2) 测试垂直之字形(从左往右)
+        System.out.println("\n=== VERTICAL_ZIGZAG_LEFT_RIGHT ===");
+        List<Point> verticalPath = generatePathPoints(
+                left, right, bottom, top, spacing, MoveMode.VERTICAL_ZIGZAG_LEFT_RIGHT
+        );
+        for (Point p : verticalPath) {
+            System.out.println(p);
+        }
+    }
+}
+

src/main/java/com/qyft/ms/test/PathGenerator/PathPanelJPanel.java

@@ -0,0 +1,114 @@
+package com.qyft.ms.test.PathGenerator;
+
+import javax.swing.*;
+import java.awt.*;
+import java.util.List;
+
+/**
+ * 自定义面板：绘制网格和路径。
+ * 坐标系：数学上left..right, bottom..top；GUI需翻转y轴。
+ */
+public class PathPanelJPanel extends JPanel {
+
+    private final int left;
+    private final int right;
+    private final int bottom;
+    private final int top;
+    private final List<Point> pathPoints;
+
+    // 每单位1点对应多少像素，可自行调节
+    private static final int CELL_SIZE = 20;
+
+    public PathPanelJPanel(int left, int right, int bottom, int top, List<Point> pathPoints) {
+        this.left = left;
+        this.right = right;
+        this.bottom = bottom;
+        this.top = top;
+        this.pathPoints = pathPoints;
+    }
+
+    @Override
+    protected void paintComponent(Graphics g) {
+        super.paintComponent(g);
+
+        Graphics2D g2d = (Graphics2D) g.create();
+        g2d.setRenderingHint(RenderingHints.KEY_ANTIALIASING, RenderingHints.VALUE_ANTIALIAS_ON);
+
+        // 1) 画网格
+        drawGrid(g2d);
+        // 2) 画路径
+        drawPath(g2d);
+
+        g2d.dispose();
+    }
+
+    /** 绘制网格线和坐标标签 */
+    private void drawGrid(Graphics2D g2d) {
+        g2d.setColor(Color.LIGHT_GRAY);
+
+        // 画垂直线
+        for (int x = left; x <= right; x++) {
+            int px = worldToPanelX(x);
+            g2d.drawLine(px, worldToPanelY(bottom), px, worldToPanelY(top));
+        }
+        // 画水平线
+        for (int y = bottom; y <= top; y++) {
+            int py = worldToPanelY(y);
+            g2d.drawLine(worldToPanelX(left), py, worldToPanelX(right), py);
+        }
+
+        // 坐标文本标注（可选）
+//        g2d.setColor(Color.BLACK);
+//        for (int x = left; x <= right; x++) {
+//            for (int y = bottom; y <= top; y++) {
+//                int px = worldToPanelX(x) + 2;
+//                int py = worldToPanelY(y) - 2;
+//                g2d.drawString(x + "," + y, px, py);
+//            }
+//        }
+    }
+
+    /** 绘制之字形路径及每个拐点小圆，边绘制边输出坐标 */
+    private void drawPath(Graphics2D g2d) {
+        // 先用红色线段连接拐点
+        g2d.setColor(Color.RED);
+        g2d.setStroke(new BasicStroke(2f));
+
+        for (int i = 0; i < pathPoints.size() - 1; i++) {
+            Point p1 = pathPoints.get(i);
+            Point p2 = pathPoints.get(i + 1);
+
+            int x1 = worldToPanelX(p1.x);
+            int y1 = worldToPanelY(p1.y);
+            int x2 = worldToPanelX(p2.x);
+            int y2 = worldToPanelY(p2.y);
+
+            g2d.drawLine(x1, y1, x2, y2);
+        }
+
+        // 再用蓝色在拐点上画小圆点
+        g2d.setColor(Color.BLUE);
+        for (Point p : pathPoints) {
+            int cx = worldToPanelX(p.x);
+            int cy = worldToPanelY(p.y);
+
+            // 同时打印到控制台，说明“已经画到了这个点”
+            System.out.println("画点: (" + p.x + ", " + p.y + ")");
+
+            g2d.fillOval(cx - 4, cy - 4, 8, 8);
+        }
+    }
+
+    /** 坐标转换：世界X -> 面板像素X */
+    private int worldToPanelX(int worldX) {
+        return (worldX - left) * CELL_SIZE;
+    }
+
+    /** 坐标转换：世界Y -> 面板像素Y（翻转y） */
+    private int worldToPanelY(int worldY) {
+        // 矩形整体高度(像素)
+        int totalHeight = (top - bottom) * CELL_SIZE;
+        // 自下而上 -> GUI坐标需自上而下翻转
+        return totalHeight - (worldY - bottom) * CELL_SIZE;
+    }
+}