package com.example.agvcontroller;
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import androidx.appcompat.app.AppCompatActivity;
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import androidx.recyclerview.widget.RecyclerView;
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import android.content.Context;
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import android.content.Intent;
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import android.content.res.ColorStateList;
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import android.graphics.Color;
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import android.os.Bundle;
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import android.os.Handler;
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import android.os.Message;
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import android.os.Vibrator;
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import android.util.Log;
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import android.view.KeyEvent;
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import android.view.MotionEvent;
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import android.view.View;
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import android.widget.Button;
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import android.widget.RelativeLayout;
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import com.example.agvcontroller.action.AllResetAction;
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import com.example.agvcontroller.action.BackPaddle;
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import com.example.agvcontroller.action.CameraResetAction;
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import com.example.agvcontroller.action.ForkResetAction;
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import com.example.agvcontroller.action.ForwardBackAction;
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import com.example.agvcontroller.action.FrontPaddle;
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import com.example.agvcontroller.action.GyroResetAction;
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import com.example.agvcontroller.action.HandExtendCollect;
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import com.example.agvcontroller.action.HandForkRotatopn;
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import com.example.agvcontroller.action.HandInAction;
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import com.example.agvcontroller.action.HandLift;
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import com.example.agvcontroller.action.LiftResetAction;
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import com.example.agvcontroller.action.LoadResetAction;
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import com.example.agvcontroller.action.RotatopnLeftRight;
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import com.example.agvcontroller.protocol.AgvAction;
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import com.example.agvcontroller.action.HandOutAction;
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import com.example.agvcontroller.socket.NettyServerHandler;
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import com.example.agvcontroller.socket.SocketManager;
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import com.example.agvcontroller.utils.DialogUtil;
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import com.example.agvcontroller.utils.SnowflakeIdWorker;
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import java.net.Socket;
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import java.util.List;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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public class MainActivity extends AppCompatActivity {
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public static final Map<String, Object> map = new ConcurrentHashMap();
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public static final Map<String, Object> car_num = new ConcurrentHashMap();
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private RecyclerView recyclerView;
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private ItemAdapter itemAdapter;
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private List<Item> itemList;
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private Vibrator vibrator;
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private Button stopBtn; // 急停按钮
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// private Button forceSwitchBtn; // 手自动强制开关
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private Button rotatopnLeftBtn; // 左旋转
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private Button rotatopnRightBtn; // 右旋转
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private Button goForwardBtn; // 前进
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private Button goBackwardBtn; // 后退
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private Button modelSwitchBtn; // 进入、退出 手动
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private Button frontPaddleExtendBtn;
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private Button frontPaddleCollectBtn;
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private Button backPaddleExtendBtn;
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private Button backPaddleCollectBtn;
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private Button riseBtn;
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private Button dropBtn;
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private Button extendForkBtn;
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private Button collectForkBtn;
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private Button turnLeftBtn;
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private Button turnRightBtn;
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private Button cameraResetBtn;
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private Button loadResetBtn;
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private Button forkResetBtn;
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private Button gyroResetBtn;
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private Button liftResetBtn;
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private Button allResetBtn;
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private Button bodySwitchBtn; // 底盘/货叉切换
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private Socket socket;
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private String AgvNo = "12";
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private RelativeLayout layout_bottom;
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private RelativeLayout layout_top;
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private RelativeLayout layout_single;
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private RelativeLayout layout_reset;
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int liftHeight = 400;
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int extendWidth = -450;
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int angle = -91; // 7 度
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SocketManager socketManager;
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// 按钮长按事件
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private int autoVal = 1;
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private boolean isAuto = true;
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private boolean isGoForward = false;
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private boolean isGoBackward = false;
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private boolean isRotatopnRight = false;
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private boolean isRotatopnLeft = false;
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private boolean isFrontPaddleExtendBtn = false;
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private boolean isFrontPaddleCollectBtn = false;
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private boolean isBackPaddleExtendBtn = false;
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private boolean isBackPaddleCollectBtn = false;
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private boolean isRiseBtn = false;
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private boolean isDropBtn = false;
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private boolean isExtendForkBtn = false;
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private boolean isCollectForkBtn = false;
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private boolean isTurnLeftBtn = false;
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private boolean isTurnRightBtn = false;
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// 底盘前进、后退、左旋转、右旋转
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private Handler handler = new Handler(new Handler.Callback() {
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@Override
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public boolean handleMessage(Message msg) {
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if (isGoForward) {
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) 10));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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handler.sendEmptyMessageDelayed(0, 100); // 100ms 后发送下一条消息
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}
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if (isGoBackward) {
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) -10));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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handler.sendEmptyMessageDelayed(0, 100);
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}
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if (isRotatopnRight) {
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) 10));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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handler.sendEmptyMessageDelayed(0, 100);
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}
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if (isRotatopnLeft) {
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) -10));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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handler.sendEmptyMessageDelayed(0, 100);
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}
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// // 前拨杆伸
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// if (isFrontPaddleExtendBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) 1));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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// // 前拨杆收
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// if (isFrontPaddleCollectBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) 0));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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// // 后拨杆伸
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// if (isBackPaddleExtendBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(BackPaddle.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) 1));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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// // 后拨杆收
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// if (isBackPaddleCollectBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(BackPaddle.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) 0));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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// // 上升
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// if (isRiseBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(HandLift.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) -10));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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// // 下降
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// if (isDropBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(HandLift.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) -10));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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// // 伸叉
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// if (isExtendForkBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) -10));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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// // 收叉
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// if (isCollectForkBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) -10));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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// // 货叉左旋
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// if (isTurnLeftBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) -10));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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// // 货叉右旋
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// if (isTurnRightBtn) {
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// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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// AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
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// .setAgvNo(AgvNo)
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// .setSerialNo(substring)
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// .setVal(1)
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// .bodySync((action) -> action.setPwd((short) -10));
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// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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// handler.sendEmptyMessageDelayed(0, 100);
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// }
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return false;
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}
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});
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String clientId;
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NettyServerHandler nettyServerHandler;
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@Override
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protected void onCreate(Bundle savedInstanceState) {
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super.onCreate(savedInstanceState);
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setContentView(R.layout.activity_main);
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// 按钮震动
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vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
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stopBtn = findViewById(R.id.btn_stop);
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// forceSwitchBtn = findViewById(R.id.btn_force_switch);
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goForwardBtn = findViewById(R.id.btn_go_forward);
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goBackwardBtn = findViewById(R.id.btn_go_backward);
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rotatopnLeftBtn = findViewById(R.id.btn_rotatopn_left);
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rotatopnRightBtn = findViewById(R.id.btn_rotatopn_right);
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modelSwitchBtn = findViewById(R.id.btn_model_switch);
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frontPaddleExtendBtn = findViewById(R.id.btn_front_paddle_extend); // 前拨杆
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frontPaddleCollectBtn = findViewById(R.id.btn_front_paddle_collect); // 前拨杆
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backPaddleExtendBtn = findViewById(R.id.btn_back_paddle_extend); // 后拨杆
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backPaddleCollectBtn = findViewById(R.id.btn_back_paddle_collect); // 后拨杆
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riseBtn = findViewById(R.id.btn_rise);
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dropBtn = findViewById(R.id.btn_drop);
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extendForkBtn = findViewById(R.id.btn_extend_fork);
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collectForkBtn = findViewById(R.id.btn_collect_fork);
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turnLeftBtn = findViewById(R.id.btn_turn_left);
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turnRightBtn = findViewById(R.id.btn_turn_right);
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bodySwitchBtn = findViewById(R.id.btn_body_switch);
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layout_bottom = findViewById(R.id.layout_bottom);
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layout_top = findViewById(R.id.layout_top);
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layout_single = findViewById(R.id.layout_single);
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layout_reset = findViewById(R.id.layout_reset);
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cameraResetBtn = findViewById(R.id.btn_camera_reset);
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loadResetBtn = findViewById(R.id.btn_load_reset);
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forkResetBtn = findViewById(R.id.btn_fork_reset);
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gyroResetBtn = findViewById(R.id.btn_gyro_reset);
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liftResetBtn = findViewById(R.id.btn_lift_reset);
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allResetBtn = findViewById(R.id.btn_all_reset);
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Intent intent = getIntent();
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clientId = intent.getStringExtra("message");
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Log.i("message1",clientId);
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// 前拨杆伸出
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frontPaddleExtendBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) 1));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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}
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});
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// 前拨杆收起
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frontPaddleCollectBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) 0));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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}
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});
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// 后拨杆伸出
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backPaddleExtendBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(BackPaddle.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) 1));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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}
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});
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// 后拨杆收起
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backPaddleCollectBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(BackPaddle.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) 0));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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}
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});
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// 上升
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riseBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
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if (liftHeight <= 3200) {
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(HandLift.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) liftHeight));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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liftHeight += 100;
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} else {
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DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
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}
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}
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});
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// 下降
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dropBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
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if (liftHeight >= 400) {
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(HandLift.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) liftHeight));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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liftHeight -= 100;
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} else {
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DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最小值！");
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}
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}
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});
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// 伸出
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extendForkBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
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if (extendWidth <= 450) {
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) 21));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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extendWidth += 50;
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} else {
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DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
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}
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}
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});
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// 收叉
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collectForkBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
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if (extendWidth >= -450) {
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) 21));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端户端
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extendWidth -= 50;
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} else {
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DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
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}
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}
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});
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// 左旋
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turnLeftBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
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if (angle <= 91) {
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String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
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AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(1)
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.bodySync((action) -> action.setPwd((short) 21));
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nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
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angle += 7;
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} else {
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DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
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}
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}
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});
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// 右旋
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turnRightBtn.setOnClickListener(new View.OnClickListener() {
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@Override
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public void onClick(View v) {
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if (vibrator != null && vibrator.hasVibrator()) {
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vibrator.vibrate(500);
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}
|
if (angle >= -91) {
|
String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
|
AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
|
.setAgvNo(AgvNo)
|
.setSerialNo(substring)
|
.setVal(1)
|
.bodySync((action) -> action.setPwd((short) 21));
|
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
|
angle -= 7;
|
} else {
|
DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最小值！");
|
}
|
|
}
|
});
|
|
// 相机复位按钮
|
cameraResetBtn.setOnClickListener(new View.OnClickListener() {
|
@Override
|
public void onClick(View v) {
|
if (vibrator != null && vibrator.hasVibrator()) {
|
vibrator.vibrate(500);
|
}
|
String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
|
AgvAction agvAction = new AgvAction<>(CameraResetAction.class)
|
.setAgvNo(AgvNo)
|
.setSerialNo(substring)
|
.setVal(1)
|
.bodySync((action) -> action.setPwd((short) 1));
|
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
|
}
|
});
|
|
// 路径清除按钮
|
loadResetBtn.setOnClickListener(new View.OnClickListener() {
|
@Override
|
public void onClick(View v) {
|
if (vibrator != null && vibrator.hasVibrator()) {
|
vibrator.vibrate(500);
|
}
|
String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
|
AgvAction agvAction = new AgvAction<>(LoadResetAction.class)
|
.setAgvNo(AgvNo)
|
.setSerialNo(substring)
|
.setVal(1)
|
.bodySync((action) -> action.setPwd((short) 1));
|
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
|
}
|
});
|
|
// 货叉归零按钮
|
forkResetBtn.setOnClickListener(new View.OnClickListener() {
|
@Override
|
public void onClick(View v) {
|
if (vibrator != null && vibrator.hasVibrator()) {
|
vibrator.vibrate(500);
|
}
|
String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
|
AgvAction agvAction = new AgvAction<>(ForkResetAction.class)
|
.setAgvNo(AgvNo)
|
.setSerialNo(substring)
|
.setVal(1)
|
.bodySync((action) -> action.setPwd((short) 1));
|
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
|
}
|
});
|
|
// 陀螺仪复位按钮
|
gyroResetBtn.setOnClickListener(new View.OnClickListener() {
|
@Override
|
public void onClick(View v) {
|
if (vibrator != null && vibrator.hasVibrator()) {
|
vibrator.vibrate(500);
|
}
|
String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
|
AgvAction agvAction = new AgvAction<>(GyroResetAction.class)
|
.setAgvNo(AgvNo)
|
.setSerialNo(substring)
|
.setVal(1)
|
.bodySync((action) -> action.setPwd((short) 1));
|
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
|
}
|
});
|
|
// 升降归零按钮
|
liftResetBtn.setOnClickListener(new View.OnClickListener() {
|
@Override
|
public void onClick(View v) {
|
if (vibrator != null && vibrator.hasVibrator()) {
|
vibrator.vibrate(500);
|
}
|
String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
|
AgvAction agvAction = new AgvAction<>(LiftResetAction.class)
|
.setAgvNo(AgvNo)
|
.setSerialNo(substring)
|
.setVal(1)
|
.bodySync((action) -> action.setPwd((short) 1));
|
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
|
}
|
});
|
|
// 整机复位按钮
|
allResetBtn.setOnClickListener(new View.OnClickListener() {
|
@Override
|
public void onClick(View v) {
|
if (vibrator != null && vibrator.hasVibrator()) {
|
vibrator.vibrate(500);
|
}
|
String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
|
AgvAction agvAction = new AgvAction<>(AllResetAction.class)
|
.setAgvNo(AgvNo)
|
.setSerialNo(substring)
|
.setVal(1)
|
.bodySync((action) -> action.setPwd((short) 1));
|
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
|
}
|
});
|
|
// 手自动模式开关
|
modelSwitchBtn.setOnClickListener(new View.OnClickListener() {
|
@Override
|
public void onClick(View v) {
|
if (vibrator != null && vibrator.hasVibrator()) {
|
vibrator.vibrate(500);
|
}
|
String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
|
if (isAuto) {
|
AgvAction agvAction = new AgvAction<>(HandInAction.class)
|
.setAgvNo(AgvNo)
|
.setSerialNo(substring)
|
.setVal(autoVal)
|
.bodySync((action) -> action.setPwd((short) 21));
|
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
|
} else {
|
AgvAction agvAction = new AgvAction<>(HandOutAction.class)
|
.setAgvNo(AgvNo)
|
.setSerialNo(substring)
|
.setVal(autoVal)
|
.bodySync((action) -> action.setPwd((short) 21));
|
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
|
}
|
|
boolean result = false;
|
long timestamp = System.currentTimeMillis();
|
while (System.currentTimeMillis() - timestamp < 5000) {
|
|
Object o = map.get(substring);
|
|
if (null != o) {
|
result = true;
|
isAuto = !isAuto;
|
map.remove(o);
|
break;
|
}
|
}
|
|
if (result) {
|
// alert ok 修改按钮样式 名称
|
if (isAuto) {
|
modelSwitchBtn.setText("自动模式");
|
autoVal = 0;
|
// modelSwitchBtn.setBackgroundTintList(ColorStateList.valueOf(Color.RED));
|
} else {
|
autoVal = 1;
|
modelSwitchBtn.setText("手动模式");
|
}
|
|
} else {
|
// throw new TimeoutException("超时");
|
DialogUtil.showAlertDialog(MainActivity.this, "提示", "请求应答超时！");
|
}
|
}
|
});
|
|
// 点动按钮
|
stopBtn.setOnTouchListener(new CarTouchButton());
|
goForwardBtn.setOnTouchListener(new CarTouchButton());
|
goBackwardBtn.setOnTouchListener(new CarTouchButton());
|
rotatopnLeftBtn.setOnTouchListener(new CarTouchButton());
|
rotatopnRightBtn.setOnTouchListener(new CarTouchButton());
|
|
// frontPaddleExtendBtn.setOnTouchListener(new CarTouchButton());
|
// frontPaddleCollectBtn.setOnTouchListener(new CarTouchButton());
|
// backPaddleExtendBtn.setOnTouchListener(new CarTouchButton());
|
// backPaddleCollectBtn.setOnTouchListener(new CarTouchButton());
|
// riseBtn.setOnTouchListener(new CarTouchButton());
|
// dropBtn.setOnTouchListener(new CarTouchButton());
|
// extendForkBtn.setOnTouchListener(new CarTouchButton());
|
// collectForkBtn.setOnTouchListener(new CarTouchButton());
|
// turnLeftBtn.setOnTouchListener(new CarTouchButton());
|
// turnRightBtn.setOnTouchListener(new CarTouchButton());
|
|
}
|
|
private class CarTouchButton implements View.OnTouchListener {
|
|
@Override
|
public boolean onTouch(View view, MotionEvent motionEvent) {
|
|
if (view.getId() == R.id.btn_go_forward) {
|
// 前进
|
if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
|
isGoForward = true;
|
handler.sendEmptyMessage(0);
|
} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
|
isGoForward = false;
|
}
|
|
} else if (view.getId() == R.id.btn_go_backward) {
|
// 后退
|
if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
|
isGoBackward = true;
|
handler.sendEmptyMessage(0);
|
} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
|
isGoBackward = false;
|
}
|
|
} else if (view.getId() == R.id.btn_rotatopn_left) {
|
// 左旋转
|
if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
|
isRotatopnLeft = true;
|
handler.sendEmptyMessage(0);
|
} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
|
isRotatopnLeft = false;
|
}
|
|
} else if (view.getId() == R.id.btn_rotatopn_right) {
|
// 右旋转
|
if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
|
isRotatopnRight = true;
|
handler.sendEmptyMessage(0);
|
} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
|
isRotatopnRight = false;
|
}
|
}
|
|
|
return false;
|
|
}
|
}
|
|
private boolean isVisble = true;
|
|
// 货叉等按钮
|
public void switchover(View view) {
|
if (isVisble) {
|
layout_bottom.setVisibility(View.GONE);
|
layout_top.setVisibility(View.VISIBLE);
|
bodySwitchBtn.setText("货叉");
|
} else {
|
layout_bottom.setVisibility(View.VISIBLE);
|
layout_top.setVisibility(View.GONE);
|
bodySwitchBtn.setText("底盘");
|
}
|
isVisble = !isVisble;
|
|
layout_single.setVisibility(View.GONE);
|
layout_reset.setVisibility(View.GONE);
|
|
}
|
|
// 单轴使能按钮
|
public void switchSingle(View view) {
|
layout_bottom.setVisibility(View.GONE);
|
layout_top.setVisibility(View.GONE);
|
layout_single.setVisibility(View.VISIBLE);
|
layout_reset.setVisibility(View.GONE);
|
}
|
|
// 复位按钮
|
public void switchRest(View view) {
|
layout_bottom.setVisibility(View.GONE);
|
layout_top.setVisibility(View.GONE);
|
layout_single.setVisibility(View.GONE);
|
layout_reset.setVisibility(View.VISIBLE);
|
}
|
|
@Override
|
protected void onDestroy() {
|
super.onDestroy();
|
//SocketManager.getInstance().disconnect();
|
//SocketManager.getInstance().stopServer();
|
//socketManager.stopServer(); // 停止服务器
|
}
|
}
|
