#

whycq

2024-08-19 bae1ed5e1b1770a224cc9cc0bdd2aec6cd633ed7

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

@@ -5,6 +5,8 @@

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 +16,105 @@
import android.view.MotionEvent;
import android.view.View;
import android.widget.Button;
import android.widget.RelativeLayout;

import com.example.agvcontroller.action.ForwardBackAction;
import com.example.agvcontroller.action.HandInAction;
import com.example.agvcontroller.action.RotatopnLeftRight;
import com.example.agvcontroller.protocol.AgvAction;
import com.example.agvcontroller.protocol.ForceSwitchAction;
import com.example.agvcontroller.protocol2.PackagePart;
import com.example.agvcontroller.action.ForceSwitchAction;
import com.example.agvcontroller.action.HandOutAction;
import com.example.agvcontroller.socket.NettyServerHandler;
import com.example.agvcontroller.socket.SocketManager;
import com.example.agvcontroller.utils.DialogUtil;
import com.example.agvcontroller.utils.SnowflakeIdWorker;

import 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 bodySwitchBtn; // 底盘/货叉切换
    private Socket socket;
    private String AgvNo = "12";
    private RelativeLayout layout_bottom;
    private RelativeLayout layout_top;
    private RelativeLayout layout_single;
    private RelativeLayout layout_reset;


    SocketManager socketManager;

    private boolean isDowm = false;
    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 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
            if (isGoForward) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 10));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
//                handler.sendEmptyMessageDelayed(0, 100);
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isGoBackward) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) -10));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isRotatopnRight) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 10));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            if (isRotatopnLeft) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) -10));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
            }
            return false;
        }
@@ -62,45 +122,116 @@

    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);

        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);

        Intent intent = getIntent();
        clientId = intent.getStringExtra("message");
        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
        // 强制模式开关
//        forceSwitchBtn.setOnClickListener(new View.OnClickListener() {
//            @Override
//            public void onClick(View v) {
//                if (vibrator != null && vibrator.hasVibrator()) {
//                    vibrator.vibrate(500);
//                }
//                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
//                AgvAction agvAction = new AgvAction<>(HandOutAction.class)
//                        .setAgvNo(AgvNo)
//                        .setSerialNo(substring)
//                        .setVal(1)
//                        .bodySync((action) -> action.setPwd((short) 21));
//                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
//            }
//        });

        //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());
        // 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);
                }
                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
                } 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
                }





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

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

                    Object o = map.get(substring);

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

                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！");
                }
            }
        });
        stopBtn.setOnTouchListener(new CarTouchButton());
        goForwardBtn.setOnTouchListener(new CarTouchButton());
        goBackwardBtn.setOnTouchListener(new CarTouchButton());
        rotatopnLeftBtn.setOnTouchListener(new CarTouchButton());
        rotatopnRightBtn.setOnTouchListener(new CarTouchButton());

    }

@@ -108,20 +239,84 @@

        @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;
                }
            }
            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
    }