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.ForwardBackAction;
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import com.example.agvcontroller.action.HandInAction;
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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.ForceSwitchAction;
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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 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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SocketManager socketManager;
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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 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);
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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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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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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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Intent intent = getIntent();
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clientId = intent.getStringExtra("message");
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Log.i("message1",clientId);
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// 强制模式开关
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// forceSwitchBtn.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<>(HandOutAction.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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// }
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// });
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// 手自动模式开关
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modelSwitchBtn.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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if (isAuto) {
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AgvAction agvAction = new AgvAction<>(HandInAction.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(autoVal)
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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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} else {
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AgvAction agvAction = new AgvAction<>(HandOutAction.class)
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.setAgvNo(AgvNo)
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.setSerialNo(substring)
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.setVal(autoVal)
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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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}
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boolean result = false;
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long timestamp = System.currentTimeMillis();
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Log.i("substring",substring);
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while (System.currentTimeMillis() - timestamp < 5000) {
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Object o = map.get(substring);
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if (null != o) {
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result = true;
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isAuto = !isAuto;
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map.remove(o);
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break;
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}
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}
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if (result) {
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// alert ok 修改按钮样式 名称
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if (isAuto) {
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modelSwitchBtn.setText("自动模式");
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autoVal = 0;
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// modelSwitchBtn.setBackgroundTintList(ColorStateList.valueOf(Color.RED));
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} else {
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autoVal = 1;
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modelSwitchBtn.setText("手动模式");
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}
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} else {
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// throw new TimeoutException("超时");
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DialogUtil.showAlertDialog(MainActivity.this, "提示", "请求应答超时！");
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}
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}
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});
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stopBtn.setOnTouchListener(new CarTouchButton());
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goForwardBtn.setOnTouchListener(new CarTouchButton());
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goBackwardBtn.setOnTouchListener(new CarTouchButton());
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rotatopnLeftBtn.setOnTouchListener(new CarTouchButton());
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rotatopnRightBtn.setOnTouchListener(new CarTouchButton());
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}
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private class CarTouchButton implements View.OnTouchListener {
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@Override
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public boolean onTouch(View view, MotionEvent motionEvent) {
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if (view.getId() == R.id.btn_go_forward) {
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// 前进
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if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
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isGoForward = true;
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handler.sendEmptyMessage(0);
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} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
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isGoForward = false;
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}
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} else if (view.getId() == R.id.btn_go_backward) {
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// 后退
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if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
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isGoBackward = true;
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handler.sendEmptyMessage(0);
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} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
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isGoBackward = false;
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}
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} else if (view.getId() == R.id.btn_rotatopn_left) {
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// 左旋转
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if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
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isRotatopnLeft = true;
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handler.sendEmptyMessage(0);
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} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
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isRotatopnLeft = false;
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}
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} else if (view.getId() == R.id.btn_rotatopn_right) {
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// 右旋转
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if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
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isRotatopnRight = true;
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handler.sendEmptyMessage(0);
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} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
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isRotatopnRight = false;
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}
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}
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return false;
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}
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}
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private boolean isVisble = true;
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// 货叉等按钮
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public void switchover(View view) {
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if (isVisble) {
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layout_bottom.setVisibility(View.GONE);
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layout_top.setVisibility(View.VISIBLE);
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bodySwitchBtn.setText("货叉");
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} else {
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layout_bottom.setVisibility(View.VISIBLE);
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layout_top.setVisibility(View.GONE);
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bodySwitchBtn.setText("底盘");
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}
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isVisble = !isVisble;
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layout_single.setVisibility(View.GONE);
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layout_reset.setVisibility(View.GONE);
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}
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// 单轴使能按钮
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public void switchSingle(View view) {
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layout_bottom.setVisibility(View.GONE);
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layout_top.setVisibility(View.GONE);
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layout_single.setVisibility(View.VISIBLE);
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layout_reset.setVisibility(View.GONE);
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}
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// 复位按钮
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public void switchRest(View view) {
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layout_bottom.setVisibility(View.GONE);
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layout_top.setVisibility(View.GONE);
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layout_single.setVisibility(View.GONE);
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layout_reset.setVisibility(View.VISIBLE);
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}
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@Override
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protected void onDestroy() {
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super.onDestroy();
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//SocketManager.getInstance().disconnect();
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//SocketManager.getInstance().stopServer();
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//socketManager.stopServer(); // 停止服务器
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}
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}
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