#

whycq

2025-01-21 9c414520fd00319683a0021bb512f5003aff2800

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

@@ -7,8 +7,6 @@

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;
@@ -57,9 +55,6 @@
    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 stopBtn;  // 急停按钮
//    private Button forceSwitchBtn;  // 手自动强制开关
@@ -168,13 +163,14 @@
        @Override
        public boolean handleMessage(Message msg) {
            String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
            short pwd = 0;
            if (isGoForward) {
                Log.d(TAG, "isGoForward: " + isGoForward);
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 50));
                Log.d(TAG, "isGoForward: " + clientId);
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);  //  100ms 后发送下一条消息
            }
@@ -206,21 +202,165 @@
                handler.sendEmptyMessageDelayed(0, 100);
            }

            if (isRotatopnRight) {
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
            if (isFront1) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 50));
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isRotatopnLeft) {
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
            if (isBack1) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) -50 ));
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront2) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(2)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack2) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(2)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront3) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(3)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack3) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(3)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront4) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(4)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack4) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(4)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront5) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(5)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack5) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(5)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront6) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(6)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack6) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(6)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront7) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(7)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack7) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(7)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront8) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(8)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack8) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(8)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isFront9) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(9)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isBack9) {
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(9)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
@@ -228,13 +368,14 @@
        }
    });

    String clientId;
    static 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);
@@ -306,8 +447,14 @@


        Intent intent = getIntent();
        clientId = intent.getStringExtra("ip");
        AgvNo = intent.getStringExtra("agvNo");
        if (intent != null) {
            String newClientId = intent.getStringExtra("clientId");
            if (newClientId != null) {
                clientId = newClientId;
                AgvNo = intent.getStringExtra("agvNo");
            }
        }

        Log.i("message1",clientId);

        // 前拨杆伸出
@@ -690,7 +837,7 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn1.setVisibility(View.VISIBLE);
                    axleBackBtn1.setVisibility(View.VISIBLE);
@@ -699,7 +846,7 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn1.setVisibility(View.GONE);
                    axleBackBtn1.setVisibility(View.GONE);
@@ -720,15 +867,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(2)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn2.setVisibility(View.VISIBLE);
                    axleBackBtn2.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(2)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn2.setVisibility(View.GONE);
                    axleBackBtn2.setVisibility(View.GONE);
                }
            }
        });
@@ -746,15 +897,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(3)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn3.setVisibility(View.VISIBLE);
                    axleBackBtn3.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(3)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn3.setVisibility(View.GONE);
                    axleBackBtn3.setVisibility(View.GONE);
                }
            }
        });
@@ -772,15 +927,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(4)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn4.setVisibility(View.VISIBLE);
                    axleBackBtn4.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(4)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn4.setVisibility(View.GONE);
                    axleBackBtn4.setVisibility(View.GONE);
                }
            }
        });
@@ -828,15 +987,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(6)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn6.setVisibility(View.VISIBLE);
                    axleBackBtn6.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(6)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn6.setVisibility(View.GONE);
                    axleBackBtn6.setVisibility(View.GONE);
                }
            }
        });
@@ -854,15 +1017,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(7)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn7.setVisibility(View.VISIBLE);
                    axleBackBtn7.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(7)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn7.setVisibility(View.GONE);
                    axleBackBtn7.setVisibility(View.GONE);
                }
            }
        });
@@ -880,15 +1047,19 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(8)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn8.setVisibility(View.VISIBLE);
                    axleBackBtn8.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(8)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn8.setVisibility(View.GONE);
                    axleBackBtn8.setVisibility(View.GONE);
                }
            }
        });
@@ -906,307 +1077,23 @@
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(9)
                            .bodySync((action) -> action.setPwd((short) 0));
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn9.setVisibility(View.VISIBLE);
                    axleBackBtn9.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(9)
                            .bodySync((action) -> action.setPwd((short) 1));
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn9.setVisibility(View.GONE);
                    axleBackBtn9.setVisibility(View.GONE);
                }
            }
        });


        axleFrontBtn1.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn1.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn2.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(2)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn2.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(2)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn3.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(3)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn3.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(3)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn4.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(4)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn4.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(4)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn5.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(5)
                        .bodySync((action) -> action.setPwd((short) 99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn5.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(5)
                        .bodySync((action) -> action.setPwd((short) -99));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn6.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(6)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn6.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(6)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn7.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(7)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn7.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(7)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn8.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(8)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn8.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(8)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleFrontBtn9.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(9)
                        .bodySync((action) -> action.setPwd((short) 100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        axleBackBtn9.setOnClickListener(new View.OnClickListener(){
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(9)
                        .bodySync((action) -> action.setPwd((short) -100));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        // 点动按钮
        stopBtn.setOnTouchListener(new CarTouchButton());
@@ -1275,15 +1162,152 @@
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isRotatopnRight = false;
                }
            } else if (view.getId() == R.id.btn_rotatopn_right) {
            } else if (view.getId() == R.id.btn_axle_1_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isRotatopnRight = true;
                    isFront1 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isRotatopnRight = false;
                    isFront1 = false;
                }
            } else if (view.getId() == R.id.btn_axle_1_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack1 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack1 = false;
                }
            } else if (view.getId() == R.id.btn_axle_2_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront2 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront2 = false;
                }
            } else if (view.getId() == R.id.btn_axle_2_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack2 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack2 = false;
                }
            } else if (view.getId() == R.id.btn_axle_3_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront3 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront3 = false;
                }
            } else if (view.getId() == R.id.btn_axle_3_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack3 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack3 = false;
                }
            } else if (view.getId() == R.id.btn_axle_4_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront4 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront4 = false;
                }
            } else if (view.getId() == R.id.btn_axle_4_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack4 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack4 = false;
                }
            } else if (view.getId() == R.id.btn_axle_5_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront5 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront5 = false;
                }
            } else if (view.getId() == R.id.btn_axle_5_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack5 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack5 = false;
                }
            } else if (view.getId() == R.id.btn_axle_6_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront6 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront6 = false;
                }
            } else if (view.getId() == R.id.btn_axle_6_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack6 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack6 = false;
                }
            } else if (view.getId() == R.id.btn_axle_7_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront7 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront7 = false;
                }
            } else if (view.getId() == R.id.btn_axle_7_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack7 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack7 = false;
                }
            } else if (view.getId() == R.id.btn_axle_8_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront8 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront8 = false;
                }
            } else if (view.getId() == R.id.btn_axle_8_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack8 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack8 = false;
                }
            } else if (view.getId() == R.id.btn_axle_9_front) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isFront9 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isFront9 = false;
                }
            } else if (view.getId() == R.id.btn_axle_9_back) {
                // 轴动按钮
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isBack9 = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isBack9 = false;
                }
            }



            return false;
@@ -1334,4 +1358,8 @@
        //SocketManager.getInstance().stopServer();
        //socketManager.stopServer(); // 停止服务器
    }

    public static void upClient(String newClientId) {
        clientId = newClientId;
    }
}