AGV遥控器
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#
whycq
2025-01-08 00fd3eb5037f07763d4e8d3e5729066d3dc097ea 
 app/src/main/java/com/example/agvcontroller/MainActivity.java


@@ -18,13 +18,19 @@


import android.widget.Button;


import android.widget.RelativeLayout;




import com.example.agvcontroller.action.AllResetAction;


import com.example.agvcontroller.action.BackPaddle;


import com.example.agvcontroller.action.CameraResetAction;


import com.example.agvcontroller.action.ForkResetAction;


import com.example.agvcontroller.action.ForwardBackAction;


import com.example.agvcontroller.action.FrontPaddle;


import com.example.agvcontroller.action.GyroResetAction;


import com.example.agvcontroller.action.HandExtendCollect;


import com.example.agvcontroller.action.HandForkRotatopn;


import com.example.agvcontroller.action.HandInAction;


import com.example.agvcontroller.action.HandLift;


import com.example.agvcontroller.action.LiftResetAction;


import com.example.agvcontroller.action.LoadResetAction;


import com.example.agvcontroller.action.RotatopnLeftRight;


import com.example.agvcontroller.protocol.AgvAction;


import com.example.agvcontroller.action.HandOutAction;


@@ -77,7 +83,7 @@




    private Button bodySwitchBtn; // 底盘/货叉切换


    private Socket socket;


    private String AgvNo = "12";


    private String AgvNo = "1";


    private RelativeLayout layout_bottom;


    private RelativeLayout layout_top;


    private RelativeLayout layout_single;


@@ -125,7 +131,7 @@


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


                        .bodySync((action) -> action.setPwd((short) 10));


                        .bodySync((action) -> action.setPwd((short) 50));


                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端


                handler.sendEmptyMessageDelayed(0, 100);  //  100ms 后发送下一条消息


            }


@@ -135,7 +141,7 @@


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


                        .bodySync((action) -> action.setPwd((short) -10));


                        .bodySync((action) -> action.setPwd((short) -50));


                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端


                handler.sendEmptyMessageDelayed(0, 100);


            }


@@ -145,7 +151,7 @@


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


                        .bodySync((action) -> action.setPwd((short) 10));


                        .bodySync((action) -> action.setPwd((short) 50));


                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端


                handler.sendEmptyMessageDelayed(0, 100);


            }


@@ -155,7 +161,7 @@


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


                        .bodySync((action) -> action.setPwd((short) -10));


                        .bodySync((action) -> action.setPwd((short) -50 ));


                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端


                handler.sendEmptyMessageDelayed(0, 100);


            }


@@ -536,7 +542,7 @@


                    vibrator.vibrate(500);


                }


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);


                AgvAction agvAction = new AgvAction<>(FrontPaddle.class)


                AgvAction agvAction = new AgvAction<>(CameraResetAction.class)


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


@@ -553,7 +559,7 @@


                    vibrator.vibrate(500);


                }


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);


                AgvAction agvAction = new AgvAction<>(FrontPaddle.class)


                AgvAction agvAction = new AgvAction<>(LoadResetAction.class)


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


@@ -570,7 +576,7 @@


                    vibrator.vibrate(500);


                }


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);


                AgvAction agvAction = new AgvAction<>(FrontPaddle.class)


                AgvAction agvAction = new AgvAction<>(ForkResetAction.class)


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


@@ -587,7 +593,7 @@


                    vibrator.vibrate(500);


                }


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);


                AgvAction agvAction = new AgvAction<>(FrontPaddle.class)


                AgvAction agvAction = new AgvAction<>(GyroResetAction.class)


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


@@ -604,7 +610,7 @@


                    vibrator.vibrate(500);


                }


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);


                AgvAction agvAction = new AgvAction<>(FrontPaddle.class)


                AgvAction agvAction = new AgvAction<>(LiftResetAction.class)


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


@@ -621,7 +627,7 @@


                    vibrator.vibrate(500);


                }


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);


                AgvAction agvAction = new AgvAction<>(FrontPaddle.class)


                AgvAction agvAction = new AgvAction<>(AllResetAction.class)


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)