#

whycq

2024-08-16 5bdad72f5d5077ca875dd03cfdaafb3d7aba93da

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

@@ -6,6 +6,8 @@
import android.content.Context;
import android.content.Intent;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
import android.os.Vibrator;
import android.util.Log;
import android.view.KeyEvent;
@@ -13,62 +15,132 @@
import android.view.View;
import android.widget.Button;

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.socket.SocketTask;
import com.example.agvcontroller.utils.SnowflakeIdWorker;

import java.net.Socket;
import java.util.Arrays;
import java.sql.Time;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
import java.util.concurrent.TimeoutException;

import io.netty.buffer.ByteBuf;
import io.netty.buffer.Unpooled;
import io.netty.util.CharsetUtil;

public class MainActivity extends AppCompatActivity {

    public static final Map<String, Object> map = new ConcurrentHashMap();

    private RecyclerView recyclerView;
    private ItemAdapter itemAdapter;
    private List<Item> itemList;
    private Vibrator vibrator;
    private Button vibrateButton;
    private Button stopBtn;  // 急停按钮
    private Button forceSwitchBtn;  // 手自动强制开关
    private Button rotatopnRightBtn; // 右旋转
    private Button rotatopnLeftBtn;  // 左旋转
    private Button goForwardBtn;  // 前进
    private Button goBackwardBtn;  // 后退
    private Socket socket;

    SocketManager socketManager;

    private boolean isDowm = false;
    private boolean isOpen = false;




    private Handler handler = new Handler(new Handler.Callback() {
        @Override
        public boolean handleMessage(Message msg) {
            if (isDowm) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(ForceSwitchAction.class)
                        .setAgvNo("1")
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 21));

                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);

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

                while (System.currentTimeMillis() - timestamp < 5000) {

                    Object o = map.get(substring);

                    if (null != o) {
                        result = true;
                        map.remove(o);
                        break;
                    }
                }

                if (result) {
                    // alert ok
                } else {
                    throw new TimeoutException("超时");
                }

            }
            if (isOpen) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(ForceSwitchAction.class)
                        .setAgvNo("12")
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 21));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            return false;
        }
    });

    String clientId;
    NettyServerHandler nettyServerHandler;

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

        // 按钮震动
        vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
        vibrateButton = findViewById(R.id.btn_stop);
        stopBtn = findViewById(R.id.btn_stop);
        forceSwitchBtn = findViewById(R.id.btn_force_switch);
        goForwardBtn = findViewById(R.id.btn_go_forward);
        goBackwardBtn = findViewById(R.id.btn_go_backward);

        Intent intent = getIntent();
        //String clientId = intent.getStringExtra("message");
        clientId = intent.getStringExtra("message");
        Log.i("message1",clientId);
        // 初始化单轴使能
        byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 示例消息
        nettyServerHandler.sendMessageToClient(clientId, message2); // 发送消息到客户端

        //vibrateButton.setOnClickListener(new View.OnClickListener() {
        //    @Override
        //    public void onClick(View v) {
        //        if (vibrator != null && vibrator.hasVibrator()) {
        //            //vibrator.vibrate(500);
        //        }
        //
        //        //String clientId = "/192.168.4.188:63160";
        //        byte[] message1 = new byte[]{0x01, 0x02, 0x03, 0x04}; // 示例消息
        //        Log.i("message2",clientId);
        //        Log.i("message3", Arrays.toString(message1));
        //
        //        nettyServerHandler.sendMessageToClient(clientId, message1); // 发送消息到客户端
        //    }
        //});
        vibrateButton.setOnTouchListener(new CarTouchButton());
        // 进出手动模式
        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("12")
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 21));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });
        stopBtn.setOnTouchListener(new CarTouchButton());
        goForwardBtn.setOnTouchListener(new CarTouchButton());
        goBackwardBtn.setOnTouchListener(new CarTouchButton());

    }

@@ -76,21 +148,29 @@

        @Override
        public boolean onTouch(View view, MotionEvent motionEvent) {
            if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 示例消息
                nettyServerHandler.sendMessageToClient(clientId, message2); // 发送消息到客户端
            } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x07}; // 示例消息
                nettyServerHandler.sendMessageToClient(clientId, message2); // 发送消息到客户端
            if (view.getId() == R.id.btn_go_forward) {
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isDowm = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isDowm = false;
                }
            } else if (view.getId() == R.id.btn_go_backward) {
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isOpen = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isOpen = false;
                }
            }
            return false;
        }
    }

    @Override
    protected void onDestroy() {
        super.onDestroy();
        //SocketManager.getInstance().disconnect();

        //SocketManager.getInstance().stopServer();
        //socketManager.stopServer(); // 停止服务器
    }