#

whycq

2025-02-06 17bb52d9337328323f5f8d2a806cf4f445673b4a

 app/src/main/java/com/example/agvcontroller/MainActivity.java

@@ -7,10 +7,9 @@

import android.content.Context;
import android.content.Intent;
import android.content.res.ColorStateList;
import android.graphics.Color;
import android.os.Bundle;
import android.os.Handler;
import android.os.Looper;
import android.os.Message;
import android.os.Vibrator;
import android.util.Log;
@@ -22,6 +21,7 @@
import android.widget.GridLayout;
import android.widget.RelativeLayout;
import android.widget.Switch;
import android.widget.TextView;

import com.example.agvcontroller.action.AllResetAction;
import com.example.agvcontroller.action.BackPaddle;
@@ -46,7 +46,12 @@
import com.example.agvcontroller.utils.DialogUtil;
import com.example.agvcontroller.utils.SnowflakeIdWorker;

import org.greenrobot.eventbus.EventBus;
import org.greenrobot.eventbus.Subscribe;
import org.greenrobot.eventbus.ThreadMode;

import java.net.Socket;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
@@ -57,9 +62,13 @@
    public static final Map<String, Object> map = new ConcurrentHashMap();
    public static final Map<String, Object> car_num = new ConcurrentHashMap();

    private RecyclerView recyclerView;
    private ItemAdapter itemAdapter;
    private List<Item> itemList;
    private static TextView recentLogTextView;
    private static Handler mainHandler;
    private static List<String> logList = AGVApplication.getLogList();
    private static final int MAX_RECENT_LOGS = 10; // 最多显示 10 条最新日志

    private static TextView agvBattery;

    private Vibrator vibrator;
    private Button stopBtn;  // 急停按钮
//    private Button forceSwitchBtn;  // 手自动强制开关
@@ -116,11 +125,13 @@
    private Button axleFrontBtn9;
    private Button axleBackBtn9;

    private Button viewAllLogsButton;



    private Button bodySwitchBtn; // 底盘/货叉切换
    private Socket socket;
    private String AgvNo = "1";

    private RelativeLayout layout_bottom;
    private RelativeLayout layout_top;
    private GridLayout layout_single;
@@ -168,13 +179,14 @@
        @Override
        public boolean handleMessage(Message msg) {
            String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
            short pwd = 0;
            if (isGoForward) {
                Log.d(TAG, "isGoForward: " + isGoForward);
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 50));
                Log.d(TAG, "isGoForward: " + clientId);
                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
            }
@@ -206,35 +218,185 @@
                handler.sendEmptyMessageDelayed(0, 100);
            }

            if (isRotatopnRight) {
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
            if (isFront1) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 50));
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isRotatopnLeft) {
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
            if (isBack1) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) -50 ));
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront2) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(2)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack2) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(2)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront3) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(3)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack3) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(3)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront4) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(4)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack4) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(4)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront5) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(5)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack5) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(5)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront6) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(6)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack6) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(6)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront7) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(7)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack7) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(7)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront8) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(8)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack8) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(8)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront9) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(9)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack9) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(9)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            return false;
        }
    });

    String clientId;
    static String AgvNo = "1";
    static String clientId;
    NettyServerHandler nettyServerHandler;



    @Override
    protected void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        agvBattery = findViewById(R.id.agv_battery);



        // 按钮震动
        vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
@@ -303,11 +465,41 @@
        liftResetBtn = findViewById(R.id.btn_lift_reset);
        allResetBtn = findViewById(R.id.btn_all_reset);

        viewAllLogsButton = findViewById(R.id.view_all_logs_button);
        recentLogTextView = findViewById(R.id.recent_log_text_view);
        mainHandler = new Handler(Looper.getMainLooper());

        // 初始化日志显示
        updateRecentLogTextView();

        // 启动一个定时任务来定期检查日志列表的变化
        handler.postDelayed(new Runnable() {
            @Override
            public void run() {
                updateLogDisplay();
                handler.postDelayed(this, 1000); // 每秒检查一次
            }
        }, 100);

        // 注册 EventBus
        EventBus.getDefault().register(this);

        // 设置查看全部日志按钮的点击事件
        viewAllLogsButton.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                showAllLogsActivity();
            }
        });


        Intent intent = getIntent();
        clientId = intent.getStringExtra("ip");
        AgvNo = intent.getStringExtra("agvNo");
        if (intent != null) {
            AGVCar car = (AGVCar) intent.getSerializableExtra("item");
            clientId = car.getClientId();
            AgvNo = car.getAgvNo();
        }

        Log.i("message1",clientId);

        // 前拨杆伸出
@@ -690,7 +882,7 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn1.setVisibility(View.VISIBLE);
                    axleBackBtn1.setVisibility(View.VISIBLE);
@@ -699,7 +891,7 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn1.setVisibility(View.GONE);
                    axleBackBtn1.setVisibility(View.GONE);
@@ -720,15 +912,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(2)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn2.setVisibility(View.VISIBLE);
                    axleBackBtn2.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(2)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn2.setVisibility(View.GONE);
                    axleBackBtn2.setVisibility(View.GONE);
                }
            }
        });
@@ -746,15 +942,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(3)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn3.setVisibility(View.VISIBLE);
                    axleBackBtn3.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(3)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn3.setVisibility(View.GONE);
                    axleBackBtn3.setVisibility(View.GONE);
                }
            }
        });
@@ -772,15 +972,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(4)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn4.setVisibility(View.VISIBLE);
                    axleBackBtn4.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(4)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn4.setVisibility(View.GONE);
                    axleBackBtn4.setVisibility(View.GONE);
                }
            }
        });
@@ -828,15 +1032,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(6)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn6.setVisibility(View.VISIBLE);
                    axleBackBtn6.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(6)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn6.setVisibility(View.GONE);
                    axleBackBtn6.setVisibility(View.GONE);
                }
            }
        });
@@ -854,15 +1062,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(7)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn7.setVisibility(View.VISIBLE);
                    axleBackBtn7.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(7)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn7.setVisibility(View.GONE);
                    axleBackBtn7.setVisibility(View.GONE);
                }
            }
        });
@@ -880,15 +1092,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(8)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn8.setVisibility(View.VISIBLE);
                    axleBackBtn8.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(8)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn8.setVisibility(View.GONE);
                    axleBackBtn8.setVisibility(View.GONE);
                }
            }
        });
@@ -906,307 +1122,23 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(9)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn9.setVisibility(View.VISIBLE);
                    axleBackBtn9.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(9)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn9.setVisibility(View.GONE);
                    axleBackBtn9.setVisibility(View.GONE);
                }
            }
        });


        axleFrontBtn1.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn1.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn2.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(2)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn2.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(2)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn3.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(3)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn3.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(3)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn4.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(4)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn4.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(4)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn5.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(5)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn5.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(5)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn6.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(6)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn6.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(6)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn7.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(7)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn7.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(7)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn8.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(8)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn8.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(8)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn9.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(9)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn9.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<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(9)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        // 点动按钮
        stopBtn.setOnTouchListener(new CarTouchButton());
@@ -1236,6 +1168,25 @@


    }

    private void updateLogDisplay() {
        // 获取最新的日志列表
        List<String> logs = AGVApplication.getLogList();
        // 获取最后两条日志
        int size = logs.size();
        if (size == 0) {
            recentLogTextView.setText("");
        } else if (size == 1) {
            recentLogTextView.setText(logs.get(0));
        } else {
            String logText = logs.get(size - 2) + "\n" + // 获取倒数第二条日志
                    logs.get(size - 1); // 获取最后一条日志
            // 更新 TextView 的显示内容
            Log.d("logs", "updateLogDisplay: " + logText);
            recentLogTextView.setText(logText);
        }
    }


    private class CarTouchButton implements View.OnTouchListener {

@@ -1275,15 +1226,152 @@
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isRotatopnRight = false;
                }
            } else if (view.getId() == R.id.btn_rotatopn_right) {
            } else if (view.getId() == R.id.btn_axle_1_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isRotatopnRight = true;
                    isFront1 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isRotatopnRight = false;
                    isFront1 = false;
                }
            } else if (view.getId() == R.id.btn_axle_1_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack1 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack1 = false;
                }
            } else if (view.getId() == R.id.btn_axle_2_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront2 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront2 = false;
                }
            } else if (view.getId() == R.id.btn_axle_2_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack2 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack2 = false;
                }
            } else if (view.getId() == R.id.btn_axle_3_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront3 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront3 = false;
                }
            } else if (view.getId() == R.id.btn_axle_3_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack3 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack3 = false;
                }
            } else if (view.getId() == R.id.btn_axle_4_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront4 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront4 = false;
                }
            } else if (view.getId() == R.id.btn_axle_4_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack4 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack4 = false;
                }
            } else if (view.getId() == R.id.btn_axle_5_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront5 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront5 = false;
                }
            } else if (view.getId() == R.id.btn_axle_5_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack5 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack5 = false;
                }
            } else if (view.getId() == R.id.btn_axle_6_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront6 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront6 = false;
                }
            } else if (view.getId() == R.id.btn_axle_6_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack6 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack6 = false;
                }
            } else if (view.getId() == R.id.btn_axle_7_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront7 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront7 = false;
                }
            } else if (view.getId() == R.id.btn_axle_7_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack7 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack7 = false;
                }
            } else if (view.getId() == R.id.btn_axle_8_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront8 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront8 = false;
                }
            } else if (view.getId() == R.id.btn_axle_8_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack8 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack8 = false;
                }
            } else if (view.getId() == R.id.btn_axle_9_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront9 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront9 = false;
                }
            } else if (view.getId() == R.id.btn_axle_9_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack9 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack9 = false;
                }
            }



            return false;
@@ -1333,5 +1421,52 @@
        //SocketManager.getInstance().disconnect();
        //SocketManager.getInstance().stopServer();
        //socketManager.stopServer(); // 停止服务器
        // 移除定时任务，避免内存泄漏
        handler.removeCallbacksAndMessages(null);
    }

    public static void upClient(AGVCar agvCar) {
        clientId = agvCar.getClientId();
        AgvNo = agvCar.getAgvNo();
        agvBattery.setText("电量：" + agvCar.getBattery() + "%");
//        updateAgvBatteryText("电量：" + agvCar.getBattery() + "%");
    }

    private static void updateAgvBatteryText(String batteryLevel) {
        if (agvBattery != null) {
            agvBattery.setText(batteryLevel);
        }
    }

    // EventBus 订阅方法：接收日志字符串
    @Subscribe(threadMode = ThreadMode.MAIN)
    public void onLogMessageReceived(String logMessage) {
        addLog(logMessage);
    }
    // 方法：更新最近的日志显示
    public static void updateRecentLogTextView() {
        mainHandler.post(new Runnable() {
            @Override
            public void run() {
                StringBuilder logBuilder = new StringBuilder();
                int start = Math.max(0, logList.size() - MAX_RECENT_LOGS);
                for (int i = start; i < logList.size(); i++) {
                    logBuilder.append(logList.get(i)).append("\n");
                }
                recentLogTextView.setText(logBuilder.toString());
            }
        });
    }
    // 静态方法：添加日志
    public static void addLog(String log) {
        logList.add(log);
        updateRecentLogTextView();
    }

    // 方法：启动 LogActivity 并传递日志数据
    private void showAllLogsActivity() {
        Intent intent = new Intent(this, LogActivity.class);
        intent.putStringArrayListExtra("log_list", new ArrayList<>(logList));
        startActivity(intent);
    }
}