#

whycq

2025-02-06 17bb52d9337328323f5f8d2a806cf4f445673b4a

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

@@ -1,14 +1,15 @@
package com.example.agvcontroller;

import static android.content.ContentValues.TAG;

import androidx.appcompat.app.AppCompatActivity;
import androidx.recyclerview.widget.RecyclerView;

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;
@@ -16,19 +17,41 @@
import android.view.MotionEvent;
import android.view.View;
import android.widget.Button;
import android.widget.CompoundButton;
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;
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.action.SingleSwitchAction;
import com.example.agvcontroller.action.SingleSwitchRunAction;
import com.example.agvcontroller.protocol.AgvAction;
import com.example.agvcontroller.action.ForceSwitchAction;
import com.example.agvcontroller.action.HandOutAction;
import com.example.agvcontroller.socket.NettyServerHandler;
import com.example.agvcontroller.socket.SocketManager;
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;
@@ -39,9 +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
@@ -50,74 +77,326 @@
    private Button goForwardBtn;  // 前进
    private Button goBackwardBtn;  // 后退
    private Button modelSwitchBtn;  // 进入、退出 手动

    private Button frontPaddleExtendBtn;
    private Button frontPaddleCollectBtn;
    private Button backPaddleExtendBtn;
    private Button backPaddleCollectBtn;
    private Button riseBtn;
    private Button dropBtn;
    private Button extendForkBtn;
    private Button collectForkBtn;
    private Button turnLeftBtn;
    private Button turnRightBtn;

    private Button cameraResetBtn;
    private Button loadResetBtn;
    private Button forkResetBtn;
    private Button gyroResetBtn;
    private Button liftResetBtn;
    private Button allResetBtn;

    private Switch switchBtn1;  // 单轴使能
    private Switch switchBtn2;  // 单轴使能
    private Switch switchBtn3;  // 单轴使能
    private Switch switchBtn4;  // 单轴使能
    private Switch switchBtn5;  // 单轴使能
    private Switch switchBtn6;  // 单轴使能
    private Switch switchBtn7;  // 单轴使能
    private Switch switchBtn8;  // 单轴使能
    private Switch switchBtn9;  // 单轴使能

    private Button axleFrontBtn1;
    private Button axleBackBtn1;
    private Button axleFrontBtn2;
    private Button axleBackBtn2;
    private Button axleFrontBtn3;
    private Button axleBackBtn3;
    private Button axleFrontBtn4;
    private Button axleBackBtn4;
    private Button axleFrontBtn5;
    private Button axleBackBtn5;
    private Button axleFrontBtn6;
    private Button axleBackBtn6;
    private Button axleFrontBtn7;
    private Button axleBackBtn7;
    private Button axleFrontBtn8;
    private Button axleBackBtn8;
    private Button axleFrontBtn9;
    private Button axleBackBtn9;

    private Button viewAllLogsButton;



    private Button bodySwitchBtn; // 底盘/货叉切换
    private Socket socket;
    private String AgvNo = "12";

    private RelativeLayout layout_bottom;
    private RelativeLayout layout_top;
    private GridLayout layout_single;
    private RelativeLayout layout_reset;

    int liftHeight = 400;
    int extendWidth = -450;
    int angle = -91;  // 7 度


    SocketManager socketManager;


    //    按钮长按事件
    private int autoVal = 1;
    private boolean isAuto = true;
    private boolean isGoForward = false;
    private boolean isGoBackward = false;
    private boolean isRotatopnRight = false;
    private boolean isRotatopnLeft = false;
    private boolean isFront1 = false;
    private boolean isBack1 = false;
    private boolean isFront2 = false;
    private boolean isBack2 = false;
    private boolean isFront3 = false;
    private boolean isBack3 = false;
    private boolean isFront4 = false;
    private boolean isBack4 = false;
    private boolean isFront5 = false;
    private boolean isBack5 = false;
    private boolean isFront6 = false;
    private boolean isBack6 = false;
    private boolean isFront7 = false;
    private boolean isBack7 = false;
    private boolean isFront8 = false;
    private boolean isBack8 = false;
    private boolean isFront9 = false;
    private boolean isBack9 = false;




    // 底盘前进、后退、左旋转、右旋转
    private Handler handler = new Handler(new Handler.Callback() {
        @Override
        public boolean handleMessage(Message msg) {
            String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
            if (isGoForward) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                Log.d(TAG, "isGoForward: " + isGoForward);
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 10));
                        .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);
                handler.sendEmptyMessageDelayed(0, 100);  //  100ms 后发送下一条消息
            }
            if (isGoBackward) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .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);
            }
            if (isRotatopnRight) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
                        .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);
            }
            if (isRotatopnLeft) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
                        .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);
            }

            if (isFront1) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack1) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .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);
@@ -125,30 +404,409 @@
//        forceSwitchBtn = findViewById(R.id.btn_force_switch);
        goForwardBtn = findViewById(R.id.btn_go_forward);
        goBackwardBtn = findViewById(R.id.btn_go_backward);
        rotatopnLeftBtn = findViewById(R.id.btn_go_backward);
        rotatopnRightBtn = findViewById(R.id.btn_go_forward);
        rotatopnLeftBtn = findViewById(R.id.btn_rotatopn_left);
        rotatopnRightBtn = findViewById(R.id.btn_rotatopn_right);
        modelSwitchBtn = findViewById(R.id.btn_model_switch);

        frontPaddleExtendBtn = findViewById(R.id.btn_front_paddle_extend); // 前拨杆
        frontPaddleCollectBtn = findViewById(R.id.btn_front_paddle_collect); // 前拨杆
        backPaddleExtendBtn = findViewById(R.id.btn_back_paddle_extend); // 后拨杆
        backPaddleCollectBtn = findViewById(R.id.btn_back_paddle_collect); // 后拨杆
        riseBtn = findViewById(R.id.btn_rise);
        dropBtn = findViewById(R.id.btn_drop);
        extendForkBtn = findViewById(R.id.btn_extend_fork);
        collectForkBtn = findViewById(R.id.btn_collect_fork);
        turnLeftBtn = findViewById(R.id.btn_turn_left);
        turnRightBtn = findViewById(R.id.btn_turn_right);

        bodySwitchBtn = findViewById(R.id.btn_body_switch);

        layout_bottom = findViewById(R.id.layout_bottom);
        layout_top = findViewById(R.id.layout_top);
        layout_single = findViewById(R.id.layout_single);
        layout_reset = findViewById(R.id.layout_reset);

        switchBtn1 = findViewById(R.id.switch1);
        switchBtn2 = findViewById(R.id.switch2);
        switchBtn3 = findViewById(R.id.switch3);
        switchBtn4 = findViewById(R.id.switch4);
        switchBtn5 = findViewById(R.id.switch5);
        switchBtn6 = findViewById(R.id.switch6);
        switchBtn7 = findViewById(R.id.switch7);
        switchBtn8 = findViewById(R.id.switch8);
        switchBtn9 = findViewById(R.id.switch9);

        axleFrontBtn1 =findViewById(R.id.btn_axle_1_front);
        axleBackBtn1 =findViewById(R.id.btn_axle_1_back);
        axleFrontBtn2 =findViewById(R.id.btn_axle_2_front);
        axleBackBtn2 =findViewById(R.id.btn_axle_2_back);
        axleFrontBtn3 =findViewById(R.id.btn_axle_3_front);
        axleBackBtn3 =findViewById(R.id.btn_axle_3_back);
        axleFrontBtn4 =findViewById(R.id.btn_axle_4_front);
        axleBackBtn4 =findViewById(R.id.btn_axle_4_back);
        axleFrontBtn5 =findViewById(R.id.btn_axle_5_front);
        axleBackBtn5 =findViewById(R.id.btn_axle_5_back);
        axleFrontBtn6 =findViewById(R.id.btn_axle_6_front);
        axleBackBtn6 =findViewById(R.id.btn_axle_6_back);
        axleFrontBtn7 =findViewById(R.id.btn_axle_7_front);
        axleBackBtn7 =findViewById(R.id.btn_axle_7_back);
        axleFrontBtn8 =findViewById(R.id.btn_axle_8_front);
        axleBackBtn8 =findViewById(R.id.btn_axle_8_back);
        axleFrontBtn9 =findViewById(R.id.btn_axle_9_front);
        axleBackBtn9 =findViewById(R.id.btn_axle_9_back);




        cameraResetBtn = findViewById(R.id.btn_camera_reset);
        loadResetBtn = findViewById(R.id.btn_load_reset);
        forkResetBtn = findViewById(R.id.btn_fork_reset);
        gyroResetBtn = findViewById(R.id.btn_gyro_reset);
        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("message");
        if (intent != null) {
            AGVCar car = (AGVCar) intent.getSerializableExtra("item");
            clientId = car.getClientId();
            AgvNo = car.getAgvNo();
        }

        Log.i("message1",clientId);

        // 强制模式开关
//        forceSwitchBtn.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<>(HandOutAction.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
//            }
//        });
        // 前拨杆伸出
        frontPaddleExtendBtn.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<>(FrontPaddle.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
            }
        });

        // 前拨杆收起
        frontPaddleCollectBtn.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<>(FrontPaddle.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 0));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        // 后拨杆伸出
        backPaddleExtendBtn.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<>(BackPaddle.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
            }
        });

        // 后拨杆收起
        backPaddleCollectBtn.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<>(BackPaddle.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 0));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        // 上升
        riseBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                if (liftHeight <= 3200) {
                    String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                    AgvAction agvAction = new AgvAction<>(HandLift.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) liftHeight));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    liftHeight += 100;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
                }

            }
        });

        // 下降
        dropBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }

                if (liftHeight >= 400) {
                    String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                    AgvAction agvAction = new AgvAction<>(HandLift.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) liftHeight));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    liftHeight -= 100;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最小值！");
                }
            }
        });

        // 伸出
        extendForkBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                if (extendWidth <= 450) {
                    String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                    AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) extendWidth));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    extendWidth += 50;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
                }

            }
        });

        // 收叉
        collectForkBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                if (extendWidth >= -450) {
                    String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                    AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) extendWidth));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端户端
                    extendWidth -= 50;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
                }
            }
        });

        // 左旋
        turnLeftBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                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", "已超最大值！");
                }
            }
        });

        // 右旋
        turnRightBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                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() {
@@ -157,6 +815,7 @@
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                boolean result = false;
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                if (isAuto) {
                    AgvAction agvAction = new AgvAction<>(HandInAction.class)
@@ -165,6 +824,8 @@
                            .setVal(autoVal)
                            .bodySync((action) -> action.setPwd((short) 21));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    result = true;
                    isAuto = !isAuto;
                } else {
                    AgvAction agvAction = new AgvAction<>(HandOutAction.class)
                            .setAgvNo(AgvNo)
@@ -172,27 +833,23 @@
                            .setVal(autoVal)
                            .bodySync((action) -> action.setPwd((short) 21));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    result = true;
                    isAuto = !isAuto;
                }





                boolean result = false;
                long timestamp = System.currentTimeMillis();

                Log.i("substring",substring);
                while (System.currentTimeMillis() - timestamp < 5000) {

                    Object o = map.get(substring);

                    if (null != o) {
                        result = true;
                        isAuto = !isAuto;
                        map.remove(o);
                        break;
                    }
                }
//                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
@@ -211,13 +868,325 @@
                }
            }
        });

        switchBtn1.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.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
                    axleFrontBtn1.setVisibility(View.VISIBLE);
                    axleBackBtn1.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(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);
                }
            }
        });

        switchBtn2.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(2)
                            .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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn2.setVisibility(View.GONE);
                    axleBackBtn2.setVisibility(View.GONE);
                }
            }
        });

        switchBtn3.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(3)
                            .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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn3.setVisibility(View.GONE);
                    axleBackBtn3.setVisibility(View.GONE);
                }
            }
        });

        switchBtn4.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(4)
                            .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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn4.setVisibility(View.GONE);
                    axleBackBtn4.setVisibility(View.GONE);
                }
            }
        });

        switchBtn5.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(5)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn5.setVisibility(View.VISIBLE);
                    axleBackBtn5.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(5)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn5.setVisibility(View.GONE);
                    axleBackBtn5.setVisibility(View.GONE);
                }
            }
        });

        switchBtn6.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(6)
                            .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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn6.setVisibility(View.GONE);
                    axleBackBtn6.setVisibility(View.GONE);
                }
            }
        });

        switchBtn7.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(7)
                            .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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn7.setVisibility(View.GONE);
                    axleBackBtn7.setVisibility(View.GONE);
                }
            }
        });

        switchBtn8.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(8)
                            .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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn8.setVisibility(View.GONE);
                    axleBackBtn8.setVisibility(View.GONE);
                }
            }
        });

        switchBtn9.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(9)
                            .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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn9.setVisibility(View.GONE);
                    axleBackBtn9.setVisibility(View.GONE);
                }
            }
        });


        // 点动按钮
        stopBtn.setOnTouchListener(new CarTouchButton());
        goForwardBtn.setOnTouchListener(new CarTouchButton());
        goBackwardBtn.setOnTouchListener(new CarTouchButton());
        rotatopnLeftBtn.setOnTouchListener(new CarTouchButton());
        rotatopnRightBtn.setOnTouchListener(new CarTouchButton());

        axleFrontBtn1.setOnTouchListener(new CarTouchButton());
        axleBackBtn1.setOnTouchListener(new CarTouchButton());
        axleFrontBtn2.setOnTouchListener(new CarTouchButton());
        axleBackBtn2.setOnTouchListener(new CarTouchButton());
        axleFrontBtn3.setOnTouchListener(new CarTouchButton());
        axleBackBtn3.setOnTouchListener(new CarTouchButton());
        axleFrontBtn4.setOnTouchListener(new CarTouchButton());
        axleBackBtn4.setOnTouchListener(new CarTouchButton());
        axleFrontBtn5.setOnTouchListener(new CarTouchButton());
        axleBackBtn5.setOnTouchListener(new CarTouchButton());
        axleFrontBtn6.setOnTouchListener(new CarTouchButton());
        axleBackBtn6.setOnTouchListener(new CarTouchButton());
        axleFrontBtn7.setOnTouchListener(new CarTouchButton());
        axleBackBtn7.setOnTouchListener(new CarTouchButton());
        axleFrontBtn8.setOnTouchListener(new CarTouchButton());
        axleBackBtn8.setOnTouchListener(new CarTouchButton());
        axleFrontBtn9.setOnTouchListener(new CarTouchButton());
        axleBackBtn9.setOnTouchListener(new CarTouchButton());


    }

    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 {

@@ -239,6 +1208,7 @@
                } 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) {
@@ -247,6 +1217,7 @@
                } 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) {
@@ -255,9 +1226,193 @@
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isRotatopnRight = false;
                }
            } else if (view.getId() == R.id.btn_axle_1_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront1 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    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;

        }
    }

    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
@@ -266,5 +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);
    }
}