feat: add circle drawing support in path planner

src-tauri/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "spectral-insight-mission-plan"
-version = "0.0.2"
+version = "0.0.3"
 description = "Spectral Insight Mission Plan"
 authors = ["you"]
 edition = "2021"

src-tauri/src/commands/path_commands.rs

@@ -27,9 +27,11 @@ pub fn estimate_scan_time_minutes(params: ScanParams) -> f64 {
     services::path_generator::estimate_scan_time(&params)
 }
 
+
 #[command]
 pub fn generate_scan_paths_multi(
     regions: Vec<ScanRegion>,
+    shapes: Vec<String>,
     camera: CameraParams,
     coverage_rate: f64,
     speed_y_cm_s: f64,
@@ -38,7 +40,7 @@ pub fn generate_scan_paths_multi(
     mode: ScanMode,
 ) -> Result<PathLineFile, AppError> {
     let records = services::path_generator::generate_paths_multi(
-        &regions, &camera, coverage_rate,
+        &regions, &shapes, &camera, coverage_rate,
         speed_y_cm_s, speed_x_start_cm_s, speed_x_scan_cm_s, &mode,
     );
     let count = records.len() as u64;
@@ -48,6 +50,7 @@ pub fn generate_scan_paths_multi(
 #[command]
 pub fn estimate_scan_time_multi_minutes(
     regions: Vec<ScanRegion>,
+    shapes: Vec<String>,
     camera: CameraParams,
     coverage_rate: f64,
     speed_y_cm_s: f64,
@@ -56,7 +59,7 @@ pub fn estimate_scan_time_multi_minutes(
     mode: ScanMode,
 ) -> f64 {
     services::path_generator::estimate_scan_time_multi(
-        &regions, &camera, coverage_rate,
+        &regions, &shapes, &camera, coverage_rate,
         speed_y_cm_s, speed_x_start_cm_s, speed_x_scan_cm_s, &mode,
     )
 }

src-tauri/src/services/path_generator.rs

@@ -103,8 +103,10 @@ pub fn estimate_scan_time(params: &ScanParams) -> f64 {
 }
 
 /// Generate paths for multiple regions, concatenated into one record list.
+
 pub fn generate_paths_multi(
     regions: &[ScanRegion],
+    shapes: &[String],
     camera: &crate::models::CameraParams,
     coverage_rate: f64,
     speed_y_cm_s: f64,
@@ -113,24 +115,54 @@ pub fn generate_paths_multi(
     mode: &ScanMode,
 ) -> Vec<PathLineRecord> {
     let mut all_records = Vec::new();
-    for region in regions {
-        let params = ScanParams {
-            region: region.clone(),
-            camera: camera.clone(),
-            coverage_rate,
-            speed_y_cm_s,
-            speed_x_start_cm_s,
-            speed_x_scan_cm_s,
-            mode: mode.clone(),
-        };
-        all_records.extend(generate_path(&params));
+    for (i, region) in regions.iter().enumerate() {
+        let is_circle = shapes.get(i).map(|s| s == "Circle").unwrap_or(false);
+        let step = calc_footprint(camera.height_cm, camera.fov_degrees)
+            * (1.0 - coverage_rate / 100.0);
+        let line_count = if step <= 0.0 { 1 } else { ((region.y_max - region.y_min) / step).ceil() as u64 + 1 };
+
+        for li in 0..line_count {
+            let y = region.y_min + (li as f64) * step;
+            if y > region.y_max { break; }
+
+            let (x_start, x_end) = if is_circle {
+                let cx = (region.x_min + region.x_max) / 2.0;
+                let cy = (region.y_min + region.y_max) / 2.0;
+                let rx = (region.x_max - region.x_min) / 2.0;
+                let ry = (region.y_max - region.y_min) / 2.0;
+                // Ellipse: ((x-cx)/rx)^2 + ((y-cy)/ry)^2 = 1
+                let dy = (y - cy) / ry;
+                if dy.abs() > 1.0 { continue; } // outside circle
+                let half_w = rx * (1.0 - dy * dy).sqrt();
+                (cx - half_w, cx + half_w)
+            } else {
+                (region.x_min, region.x_max)
+            };
+
+            let is_forward = li % 2 == 0;
+            let (scan_start, scan_end) = match mode {
+                ScanMode::Zigzag => {
+                    if is_forward { (x_start, x_end) } else { (x_end, x_start) }
+                }
+                ScanMode::OneWay => (x_start, x_end),
+            };
+
+            all_records.push(PathLineRecord {
+                target_y_position: y,
+                speed_target_y_position: speed_y_cm_s,
+                target_x_min_position: scan_start,
+                speed_target_x_min_position: speed_x_start_cm_s,
+                target_x_max_position: scan_end,
+                speed_target_x_max_position: speed_x_scan_cm_s,
+            });
+        }
     }
     all_records
 }
 
-/// Estimate total time for multiple regions.
 pub fn estimate_scan_time_multi(
     regions: &[ScanRegion],
+    shapes: &[String],
     camera: &crate::models::CameraParams,
     coverage_rate: f64,
     speed_y_cm_s: f64,
@@ -138,18 +170,13 @@ pub fn estimate_scan_time_multi(
     speed_x_scan_cm_s: f64,
     mode: &ScanMode,
 ) -> f64 {
-    let mut total = 0.0;
-    for region in regions {
-        let params = ScanParams {
-            region: region.clone(),
-            camera: camera.clone(),
-            coverage_rate,
-            speed_y_cm_s,
-            speed_x_start_cm_s,
-            speed_x_scan_cm_s,
-            mode: mode.clone(),
-        };
-        total += estimate_scan_time(&params);
-    }
-    total
+    let records = generate_paths_multi(regions, shapes, camera, coverage_rate,
+        speed_y_cm_s, speed_x_start_cm_s, speed_x_scan_cm_s, mode);
+    if records.is_empty() { return 0.0; }
+
+    let total_x = records.len() as f64 * (regions.iter().map(|r| (r.x_max - r.x_min).abs()).sum::<f64>() / regions.len() as f64) / speed_x_scan_cm_s;
+    let return_time = if matches!(mode, ScanMode::OneWay) {
+        (records.len() as f64 - 1.0) * speed_x_scan_cm_s / speed_x_start_cm_s.max(0.01)
+    } else { 0.0 };
+    (total_x + return_time) / 60.0
 }

src-tauri/tauri.conf.json

@@ -1,7 +1,7 @@
 {
   "$schema": "https://schema.tauri.app/config/2",
   "productName": "Spectral Insight Mission Plan",
-  "version": "0.0.2",
+  "version": "0.0.3",
   "identifier": "com.spectral-insight.mission-plan",
   "build": {
     "beforeDevCommand": "npm run dev",