AGV_Controller.git

			@@ -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;
			@@ -38,6 +36,7 @@
			import com.example.agvcontroller.action.LoadResetAction;
			import com.example.agvcontroller.action.RotatopnLeftRight;
			import com.example.agvcontroller.action.SingleSwitchAction;
			import com.example.agvcontroller.action.SingleSwitchRunAction;
			import com.example.agvcontroller.protocol.AgvAction;
			import com.example.agvcontroller.action.HandOutAction;
			import com.example.agvcontroller.socket.NettyServerHandler;
			@@ -140,19 +139,24 @@
			private boolean isGoBackward = false;
			private boolean isRotatopnRight = false;
			private boolean isRotatopnLeft = false;

			private boolean isFrontPaddleExtendBtn = false;
			private boolean isFrontPaddleCollectBtn = false;
			private boolean isBackPaddleExtendBtn = false;
			private boolean isBackPaddleCollectBtn = false;
			private boolean isRiseBtn = false;
			private boolean isDropBtn = false;
			private boolean isExtendForkBtn = false;
			private boolean isCollectForkBtn = false;
			private boolean isTurnLeftBtn = false;
			private boolean isTurnRightBtn = 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;



			@@ -161,18 +165,19 @@
			private Handler handler = new Handler(new Handler.Callback() {
			@Override
			public boolean handleMessage(Message msg) {
			String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
			if (isGoForward) {
			String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
			Log.d(TAG, "isGoForward: " + isGoForward);
			AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(1)
			.bodySync((action) -> action.setPwd((short) 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
			}
			if (isGoBackward) {
			String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
			AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			@@ -182,7 +187,6 @@
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isRotatopnRight) {
			String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
			AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			@@ -192,7 +196,6 @@
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isRotatopnLeft) {
			String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
			AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			@@ -202,127 +205,180 @@
			handler.sendEmptyMessageDelayed(0, 100);
			}

			// // 前拨杆伸
			// if (isFrontPaddleExtendBtn) {
			// 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
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			// // 前拨杆收
			// if (isFrontPaddleCollectBtn) {
			// 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
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			// // 后拨杆伸
			// if (isBackPaddleExtendBtn) {
			// 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
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			// // 后拨杆收
			// if (isBackPaddleCollectBtn) {
			// 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
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			// // 上升
			// if (isRiseBtn) {
			// 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) -10));
			// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			// // 下降
			// if (isDropBtn) {
			// 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) -10));
			// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			// // 伸叉
			// if (isExtendForkBtn) {
			// 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) -10));
			// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			// // 收叉
			// if (isCollectForkBtn) {
			// 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) -10));
			// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			// // 货叉左旋
			// if (isTurnLeftBtn) {
			// 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) -10));
			// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			// // 货叉右旋
			// if (isTurnRightBtn) {
			// 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) -10));
			// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			// handler.sendEmptyMessageDelayed(0, 100);
			// }
			if (isFront1) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(1)
			.bodySync((action) -> action.setPwd((short) 99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isBack1) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(1)
			.bodySync((action) -> action.setPwd((short) -99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isFront2) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(2)
			.bodySync((action) -> action.setPwd((short) 99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isBack2) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(2)
			.bodySync((action) -> action.setPwd((short) -99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isFront3) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(3)
			.bodySync((action) -> action.setPwd((short) 99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isBack3) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(3)
			.bodySync((action) -> action.setPwd((short) -99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isFront4) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(4)
			.bodySync((action) -> action.setPwd((short) 99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isBack4) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(4)
			.bodySync((action) -> action.setPwd((short) -99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isFront5) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(5)
			.bodySync((action) -> action.setPwd((short) 99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isBack5) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(5)
			.bodySync((action) -> action.setPwd((short) -99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isFront6) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(6)
			.bodySync((action) -> action.setPwd((short) 99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isBack6) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(6)
			.bodySync((action) -> action.setPwd((short) -99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isFront7) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(7)
			.bodySync((action) -> action.setPwd((short) 99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isBack7) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(7)
			.bodySync((action) -> action.setPwd((short) -99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isFront8) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(8)
			.bodySync((action) -> action.setPwd((short) 99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isBack8) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(8)
			.bodySync((action) -> action.setPwd((short) -99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isFront9) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(9)
			.bodySync((action) -> action.setPwd((short) 99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			if (isBack9) {
			AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(9)
			.bodySync((action) -> action.setPwd((short) -99));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			handler.sendEmptyMessageDelayed(0, 100);
			}
			return false;
			}
			});

			String clientId;
			static String 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);
			@@ -394,8 +450,14 @@


			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
			@@ -525,7 +587,7 @@
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(1)
			.bodySync((action) -> action.setPwd((short) 21));
			.bodySync((action) -> action.setPwd((short) extendWidth));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			extendWidth += 50;
			} else {
			@@ -548,7 +610,7 @@
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(1)
			.bodySync((action) -> action.setPwd((short) 21));
			.bodySync((action) -> action.setPwd((short) extendWidth));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端户端
			extendWidth -= 50;
			} else {
			@@ -711,6 +773,7 @@
			if (vibrator != null && vibrator.hasVibrator()) {
			vibrator.vibrate(500);
			}
			boolean result = false;
			String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
			if (isAuto) {
			AgvAction agvAction = new AgvAction<>(HandInAction.class)
			@@ -719,6 +782,8 @@
			.setVal(autoVal)
			.bodySync((action) -> action.setPwd((short) 21));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			result = true;
			isAuto = !isAuto;
			} else {
			AgvAction agvAction = new AgvAction<>(HandOutAction.class)
			.setAgvNo(AgvNo)
			@@ -726,21 +791,23 @@
			.setVal(autoVal)
			.bodySync((action) -> action.setPwd((short) 21));
			nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
			result = true;
			isAuto = !isAuto;
			}

			boolean result = false;
			long timestamp = System.currentTimeMillis();
			while (System.currentTimeMillis() - timestamp < 5000) {

			Object o = map.get(substring);

			if (null != o) {
			result = true;
			isAuto = !isAuto;
			map.remove(o);
			break;
			}
			}
			// long timestamp = System.currentTimeMillis();
			// while (System.currentTimeMillis() - timestamp < 5000) {
			//
			// Object o = map.get(substring);
			//
			// if (null != o) {
			// result = true;
			// isAuto = !isAuto;
			// map.remove(o);
			// break;
			// }
			// }

			if (result) {
			// alert ok 修改按钮样式名称
			@@ -773,7 +840,7 @@
			.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);
			@@ -782,7 +849,7 @@
			.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);
			@@ -803,15 +870,19 @@
			.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);
			}
			}
			});
			@@ -829,15 +900,19 @@
			.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);
			}
			}
			});
			@@ -855,15 +930,19 @@
			.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);
			}
			}
			});
			@@ -881,15 +960,19 @@
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(5)
			.bodySync((action) -> action.setPwd((short) 0));
			.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) 1));
			.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);
			}
			}
			});
			@@ -907,15 +990,19 @@
			.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);
			}
			}
			});
			@@ -933,15 +1020,19 @@
			.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);
			}
			}
			});
			@@ -959,15 +1050,19 @@
			.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);
			}
			}
			});
			@@ -985,324 +1080,23 @@
			.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);
			}
			}
			});


			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);

			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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(5)
			.bodySync((action) -> action.setPwd((short) 100));
			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<>(HandForkRotatopn.class)
			.setAgvNo(AgvNo)
			.setSerialNo(substring)
			.setVal(5)
			.bodySync((action) -> action.setPwd((short) -100));
			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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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<>(HandForkRotatopn.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());
			@@ -1311,16 +1105,25 @@
			rotatopnLeftBtn.setOnTouchListener(new CarTouchButton());
			rotatopnRightBtn.setOnTouchListener(new CarTouchButton());

			// frontPaddleExtendBtn.setOnTouchListener(new CarTouchButton());
			// frontPaddleCollectBtn.setOnTouchListener(new CarTouchButton());
			// backPaddleExtendBtn.setOnTouchListener(new CarTouchButton());
			// backPaddleCollectBtn.setOnTouchListener(new CarTouchButton());
			// riseBtn.setOnTouchListener(new CarTouchButton());
			// dropBtn.setOnTouchListener(new CarTouchButton());
			// extendForkBtn.setOnTouchListener(new CarTouchButton());
			// collectForkBtn.setOnTouchListener(new CarTouchButton());
			// turnLeftBtn.setOnTouchListener(new CarTouchButton());
			// turnRightBtn.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());


			}

			@@ -1328,7 +1131,6 @@

			@Override
			public boolean onTouch(View view, MotionEvent motionEvent) {

			if (view.getId() == R.id.btn_go_forward) {
			// 前进
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			@@ -1337,7 +1139,6 @@
			} 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) {
			@@ -1364,7 +1165,152 @@
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isRotatopnRight = false;
			}
			} else if (view.getId() == R.id.btn_axle_1_front) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isFront1 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isFront1 = false;
			}
			} else if (view.getId() == R.id.btn_axle_1_back) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isBack1 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isBack1 = false;
			}
			} else if (view.getId() == R.id.btn_axle_2_front) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isFront2 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isFront2 = false;
			}
			} else if (view.getId() == R.id.btn_axle_2_back) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isBack2 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isBack2 = false;
			}
			} else if (view.getId() == R.id.btn_axle_3_front) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isFront3 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isFront3 = false;
			}
			} else if (view.getId() == R.id.btn_axle_3_back) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isBack3 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isBack3 = false;
			}
			} else if (view.getId() == R.id.btn_axle_4_front) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isFront4 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isFront4 = false;
			}
			} else if (view.getId() == R.id.btn_axle_4_back) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isBack4 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isBack4 = false;
			}
			} else if (view.getId() == R.id.btn_axle_5_front) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isFront5 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isFront5 = false;
			}
			} else if (view.getId() == R.id.btn_axle_5_back) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isBack5 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isBack5 = false;
			}
			} else if (view.getId() == R.id.btn_axle_6_front) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isFront6 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isFront6 = false;
			}
			} else if (view.getId() == R.id.btn_axle_6_back) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isBack6 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isBack6 = false;
			}
			} else if (view.getId() == R.id.btn_axle_7_front) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isFront7 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isFront7 = false;
			}
			} else if (view.getId() == R.id.btn_axle_7_back) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isBack7 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isBack7 = false;
			}
			} else if (view.getId() == R.id.btn_axle_8_front) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isFront8 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isFront8 = false;
			}
			} else if (view.getId() == R.id.btn_axle_8_back) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isBack8 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isBack8 = false;
			}
			} else if (view.getId() == R.id.btn_axle_9_front) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isFront9 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isFront9 = false;
			}
			} else if (view.getId() == R.id.btn_axle_9_back) {
			// 轴动按钮
			if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
			isBack9 = true;
			handler.sendEmptyMessage(0);
			} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
			isBack9 = false;
			}
			}



			return false;
			@@ -1415,4 +1361,8 @@
			//SocketManager.getInstance().stopServer();
			//socketManager.stopServer(); // 停止服务器
			}

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