#

whycq

2025-01-16 6f1275502e0d7be1b919f9d6eb308436cc8958fa

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

@@ -1,10 +1,14 @@
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.Message;
@@ -14,47 +18,211 @@
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 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.protocol.ForceSwitchAction;
import com.example.agvcontroller.protocol2.PackagePart;
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 java.net.Socket;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;


public class MainActivity extends AppCompatActivity {

    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 Vibrator vibrator;
    private Button vibrateButton;
    private Button stopBtn;  // 急停按钮
//    private Button forceSwitchBtn;  // 手自动强制开关
    private Button rotatopnLeftBtn;  // 左旋转
    private Button rotatopnRightBtn; // 右旋转
    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 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;
    private RelativeLayout layout_reset;

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


    SocketManager socketManager;

    private boolean isDowm = false;

    //    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(0,3);

            AgvAction agvAction = new AgvAction<>(ForceSwitchAction.class)
                    .setAgvNo("1")
                    .setSerialNo(substring)
                    .setVal(1)
                    .bodySync((action) -> action.setPwd((short) 21));


            if (isDowm) {
                System.out.println(agvAction);
//                byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 示例消息
            String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
            short pwd = 0;
            if (isGoForward) {
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 50));
                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) {
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) -50));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isRotatopnRight) {
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 50));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isRotatopnLeft) {
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) -50 ));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }

            if (isRotatopnRight) {
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 50));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isRotatopnLeft) {
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) -50 ));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            return false;
        }
@@ -62,45 +230,1010 @@

    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);
        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);



        Intent intent = getIntent();
        clientId = intent.getStringExtra("message");
        clientId = intent.getStringExtra("ip");
        AgvNo = intent.getStringExtra("agvNo");
        Log.i("message1",clientId);
        // 初始化单轴使能
        int single = 9;
        int len = PackagePart.UNIQUENO.getLen()
                + PackagePart.TIMESTAMP.getLen()
                + PackagePart.COMMAND_MARK.getLen()
                + 16 + 1 + 1 + 1;
        for (int i = 0; i < single; i++) {

        }
        byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 示例消息
        nettyServerHandler.sendMessageToClient(clientId, message2); // 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
            }
        });

        //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());
        // 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() {
            @Override
            public void onClick(View v) {
                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)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .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)
                            .setSerialNo(substring)
                            .setVal(autoVal)
                            .bodySync((action) -> action.setPwd((short) 21));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    result = true;
                    isAuto = !isAuto;
                }


//                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
                    if (isAuto) {
                        modelSwitchBtn.setText("自动模式");
                        autoVal = 0;
//                        modelSwitchBtn.setBackgroundTintList(ColorStateList.valueOf(Color.RED));
                    } else {
                        autoVal = 1;
                        modelSwitchBtn.setText("手动模式");
                    }

                } else {
//                    throw new TimeoutException("超时");
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "请求应答超时！");
                }
            }
        });

        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) 0));
                    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) 1));
                    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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    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
                }
            }
        });

        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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    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
                }
            }
        });

        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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    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
                }
            }
        });

        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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    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
                }
            }
        });

        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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    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
                }
            }
        });

        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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    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
                }
            }
        });

        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) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    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
                }
            }
        });


        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());
        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());


    }

@@ -108,20 +1241,96 @@

        @Override
        public boolean onTouch(View view, MotionEvent motionEvent) {
            if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                isDowm = true;
                handler.sendEmptyMessage(0);
            } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                isDowm = false;
            if (view.getId() == R.id.btn_go_forward) {
                // 前进
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isGoForward = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isGoForward = false;
                }
            } else if (view.getId() == R.id.btn_go_backward) {
                // 后退
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isGoBackward = true;
                    handler.sendEmptyMessage(0);
                } 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) {
                    isRotatopnLeft = true;
                    handler.sendEmptyMessage(0);
                } 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) {
                    isRotatopnRight = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isRotatopnRight = false;
                }
            } else if (view.getId() == R.id.btn_rotatopn_right) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isRotatopnRight = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isRotatopnRight = 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
    protected void onDestroy() {
        super.onDestroy();
        //SocketManager.getInstance().disconnect();

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