AGV遥控器
blame | 历史 | 补丁 | 提交 | 提交对比 | ignore whitespace
#
whycq
2025-02-07 dd170bf880918ce00a1df68e8a3c621ada9b5820 
 app/src/main/java/com/example/agvcontroller/MainActivity.java


@@ -1,14 +1,15 @@


package com.example.agvcontroller;




import static android.content.ContentValues.TAG;




import androidx.appcompat.app.AppCompatActivity;


import androidx.recyclerview.widget.RecyclerView;




import android.content.Context;


import android.content.Intent;


import android.content.res.ColorStateList;


import android.graphics.Color;


import android.os.Bundle;


import android.os.Handler;


import android.os.Looper;


import android.os.Message;


import android.os.Vibrator;


import android.util.Log;


@@ -16,7 +17,11 @@


import android.view.MotionEvent;


import android.view.View;


import android.widget.Button;


import android.widget.CompoundButton;


import android.widget.GridLayout;


import android.widget.RelativeLayout;


import android.widget.Switch;


import android.widget.TextView;




import com.example.agvcontroller.action.AllResetAction;


import com.example.agvcontroller.action.BackPaddle;


@@ -31,7 +36,10 @@


import com.example.agvcontroller.action.HandLift;


import com.example.agvcontroller.action.LiftResetAction;


import com.example.agvcontroller.action.LoadResetAction;


import com.example.agvcontroller.action.LoginReset;


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;


@@ -39,7 +47,12 @@


import com.example.agvcontroller.utils.DialogUtil;


import com.example.agvcontroller.utils.SnowflakeIdWorker;




import org.greenrobot.eventbus.EventBus;


import org.greenrobot.eventbus.Subscribe;


import org.greenrobot.eventbus.ThreadMode;




import java.net.Socket;


import java.util.ArrayList;


import java.util.List;


import java.util.Map;


import java.util.concurrent.ConcurrentHashMap;


@@ -50,9 +63,26 @@


    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 static TextView recentLogTextView;


    private static Handler mainHandler;


    private static List<String> logList = AGVApplication.getLogList();


    private static final int MAX_RECENT_LOGS = 10; // 最多显示 10 条最新日志




    private static TextView agvBattery;


    private static TextView agvSocket;


    private static TextView agvNo;


    private static TextView agvStatus;


    private static TextView agvPositionId;


    private static TextView agvPositionX;


    private static TextView agvPositionY;


    private static TextView agvForkHeight;


    private static TextView agvForkExtend;


    private static TextView agvForkAngle;


    private static TextView agvError;


    private Button reLogin;








    private Vibrator vibrator;


    private Button stopBtn;  // 急停按钮


//    private Button forceSwitchBtn;  // 手自动强制开关


@@ -80,13 +110,45 @@


    private Button liftResetBtn;


    private Button allResetBtn;




    private Switch switchBtn1;  // 单轴使能


    private Switch switchBtn2;  // 单轴使能


    private Switch switchBtn3;  // 单轴使能


    private Switch switchBtn4;  // 单轴使能


    private Switch switchBtn5;  // 单轴使能


    private Switch switchBtn6;  // 单轴使能


    private Switch switchBtn7;  // 单轴使能


    private Switch switchBtn8;  // 单轴使能


    private Switch switchBtn9;  // 单轴使能




    private Button axleFrontBtn1;


    private Button axleBackBtn1;


    private Button axleFrontBtn2;


    private Button axleBackBtn2;


    private Button axleFrontBtn3;


    private Button axleBackBtn3;


    private Button axleFrontBtn4;


    private Button axleBackBtn4;


    private Button axleFrontBtn5;


    private Button axleBackBtn5;


    private Button axleFrontBtn6;


    private Button axleBackBtn6;


    private Button axleFrontBtn7;


    private Button axleBackBtn7;


    private Button axleFrontBtn8;


    private Button axleBackBtn8;


    private Button axleFrontBtn9;


    private Button axleBackBtn9;




    private Button viewAllLogsButton;








    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 GridLayout layout_single;


    private RelativeLayout layout_reset;




    int liftHeight = 400;


@@ -104,19 +166,24 @@


    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;








@@ -125,168 +192,239 @@


    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) 10));


                        .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)


                        .setVal(1)


                        .bodySync((action) -> action.setPwd((short) -10));


                        .bodySync((action) -> action.setPwd((short) -50));


                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));


                        .bodySync((action) -> action.setPwd((short) 50));


                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));


                        .bodySync((action) -> action.setPwd((short) -50 ));


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


                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 AgvNo = "1";


    static String clientId;


    NettyServerHandler nettyServerHandler;








    @Override


    protected void onCreate(Bundle savedInstanceState) {


        super.onCreate(savedInstanceState);


        setContentView(R.layout.activity_main);




        agvBattery = findViewById(R.id.agv_battery);


        agvSocket = findViewById(R.id.socket);


        agvNo = findViewById(R.id.agv_no);


        agvStatus = findViewById(R.id.agv_status);


        agvPositionId = findViewById(R.id.agv_position_id);


        agvPositionX = findViewById(R.id.agv_position_x);


        agvPositionY = findViewById(R.id.agv_position_y);


        agvForkHeight = findViewById(R.id.agv_position_height);


        agvForkExtend = findViewById(R.id.agv_ford);


        agvForkAngle = findViewById(R.id.agv_ratio);


        agvError = findViewById(R.id.agv_error);


        reLogin = findViewById(R.id.relogin_button);














        // 按钮震动


        vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);


@@ -316,6 +454,37 @@


        layout_single = findViewById(R.id.layout_single);


        layout_reset = findViewById(R.id.layout_reset);




        switchBtn1 = findViewById(R.id.switch1);


        switchBtn2 = findViewById(R.id.switch2);


        switchBtn3 = findViewById(R.id.switch3);


        switchBtn4 = findViewById(R.id.switch4);


        switchBtn5 = findViewById(R.id.switch5);


        switchBtn6 = findViewById(R.id.switch6);


        switchBtn7 = findViewById(R.id.switch7);


        switchBtn8 = findViewById(R.id.switch8);


        switchBtn9 = findViewById(R.id.switch9);




        axleFrontBtn1 =findViewById(R.id.btn_axle_1_front);


        axleBackBtn1 =findViewById(R.id.btn_axle_1_back);


        axleFrontBtn2 =findViewById(R.id.btn_axle_2_front);


        axleBackBtn2 =findViewById(R.id.btn_axle_2_back);


        axleFrontBtn3 =findViewById(R.id.btn_axle_3_front);


        axleBackBtn3 =findViewById(R.id.btn_axle_3_back);


        axleFrontBtn4 =findViewById(R.id.btn_axle_4_front);


        axleBackBtn4 =findViewById(R.id.btn_axle_4_back);


        axleFrontBtn5 =findViewById(R.id.btn_axle_5_front);


        axleBackBtn5 =findViewById(R.id.btn_axle_5_back);


        axleFrontBtn6 =findViewById(R.id.btn_axle_6_front);


        axleBackBtn6 =findViewById(R.id.btn_axle_6_back);


        axleFrontBtn7 =findViewById(R.id.btn_axle_7_front);


        axleBackBtn7 =findViewById(R.id.btn_axle_7_back);


        axleFrontBtn8 =findViewById(R.id.btn_axle_8_front);


        axleBackBtn8 =findViewById(R.id.btn_axle_8_back);


        axleFrontBtn9 =findViewById(R.id.btn_axle_9_front);


        axleBackBtn9 =findViewById(R.id.btn_axle_9_back);










        cameraResetBtn = findViewById(R.id.btn_camera_reset);


        loadResetBtn = findViewById(R.id.btn_load_reset);


@@ -324,12 +493,55 @@


        liftResetBtn = findViewById(R.id.btn_lift_reset);


        allResetBtn = findViewById(R.id.btn_all_reset);




        viewAllLogsButton = findViewById(R.id.view_all_logs_button);


        recentLogTextView = findViewById(R.id.recent_log_text_view);


        mainHandler = new Handler(Looper.getMainLooper());




        // 初始化日志显示


        updateRecentLogTextView();




        // 启动一个定时任务来定期检查日志列表的变化


        handler.postDelayed(new Runnable() {


            @Override


            public void run() {


                updateLogDisplay();


                handler.postDelayed(this, 1000); // 每秒检查一次


            }


        }, 100);




        // 注册 EventBus


        EventBus.getDefault().register(this);




        // 设置查看全部日志按钮的点击事件


        viewAllLogsButton.setOnClickListener(new View.OnClickListener() {


            @Override


            public void onClick(View v) {


                showAllLogsActivity();


            }


        });






        Intent intent = getIntent();


        clientId = intent.getStringExtra("message");


        if (intent != null) {


            AGVCar car = (AGVCar) intent.getSerializableExtra("item");


            clientId = car.getClientId();


            AgvNo = car.getAgvNo();


        }




        Log.i("message1",clientId);




        reLogin.setOnClickListener(new View.OnClickListener() {


            @Override


            public void onClick(View v) {


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);


                AgvAction agvAction = new AgvAction<>(LoginReset.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


            }


        });


        // 前拨杆伸出


        frontPaddleExtendBtn.setOnClickListener(new View.OnClickListener() {


            @Override


@@ -457,7 +669,7 @@


                            .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 {


@@ -480,7 +692,7 @@


                            .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 {


@@ -643,6 +855,7 @@


                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)


@@ -651,6 +864,8 @@


                            .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)


@@ -658,21 +873,23 @@


                            .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


@@ -692,6 +909,277 @@


            }


        });




        switchBtn1.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {


            @Override


            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {


                if (vibrator != null && vibrator.hasVibrator()) {


                    vibrator.vibrate(500);


                }


                Log.d(TAG, "onCheckedChanged: " + isChecked);


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);


                if (isChecked) {


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(1)


                            .bodySync((action) -> action.setPwd((short) 1));


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


                    axleFrontBtn1.setVisibility(View.VISIBLE);


                    axleBackBtn1.setVisibility(View.VISIBLE);


                } else {


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(1)


                            .bodySync((action) -> action.setPwd((short) 0));


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


                    axleFrontBtn1.setVisibility(View.GONE);


                    axleBackBtn1.setVisibility(View.GONE);


                }


            }


        });




        switchBtn2.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {


            @Override


            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {


                Log.d(TAG, "onCheckedChanged: " + isChecked);


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);


                if (isChecked) {


                    if (vibrator != null && vibrator.hasVibrator()) {


                        vibrator.vibrate(500);


                    }


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(2)


                            .bodySync((action) -> action.setPwd((short) 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) 0));


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


                    axleFrontBtn2.setVisibility(View.GONE);


                    axleBackBtn2.setVisibility(View.GONE);


                }


            }


        });




        switchBtn3.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {


            @Override


            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {


                Log.d(TAG, "onCheckedChanged: " + isChecked);


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);


                if (isChecked) {


                    if (vibrator != null && vibrator.hasVibrator()) {


                        vibrator.vibrate(500);


                    }


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(3)


                            .bodySync((action) -> action.setPwd((short) 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) 0));


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


                    axleFrontBtn3.setVisibility(View.GONE);


                    axleBackBtn3.setVisibility(View.GONE);


                }


            }


        });




        switchBtn4.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {


            @Override


            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {


                Log.d(TAG, "onCheckedChanged: " + isChecked);


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);


                if (isChecked) {


                    if (vibrator != null && vibrator.hasVibrator()) {


                        vibrator.vibrate(500);


                    }


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(4)


                            .bodySync((action) -> action.setPwd((short) 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) 0));


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


                    axleFrontBtn4.setVisibility(View.GONE);


                    axleBackBtn4.setVisibility(View.GONE);


                }


            }


        });




        switchBtn5.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {


            @Override


            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {


                Log.d(TAG, "onCheckedChanged: " + isChecked);


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);


                if (isChecked) {


                    if (vibrator != null && vibrator.hasVibrator()) {


                        vibrator.vibrate(500);


                    }


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(5)


                            .bodySync((action) -> action.setPwd((short) 1));


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


                    axleFrontBtn5.setVisibility(View.VISIBLE);


                    axleBackBtn5.setVisibility(View.VISIBLE);


                } else {


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(5)


                            .bodySync((action) -> action.setPwd((short) 0));


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


                    axleFrontBtn5.setVisibility(View.GONE);


                    axleBackBtn5.setVisibility(View.GONE);


                }


            }


        });




        switchBtn6.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {


            @Override


            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {


                Log.d(TAG, "onCheckedChanged: " + isChecked);


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);


                if (isChecked) {


                    if (vibrator != null && vibrator.hasVibrator()) {


                        vibrator.vibrate(500);


                    }


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(6)


                            .bodySync((action) -> action.setPwd((short) 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) 0));


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


                    axleFrontBtn6.setVisibility(View.GONE);


                    axleBackBtn6.setVisibility(View.GONE);


                }


            }


        });




        switchBtn7.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {


            @Override


            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {


                Log.d(TAG, "onCheckedChanged: " + isChecked);


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);


                if (isChecked) {


                    if (vibrator != null && vibrator.hasVibrator()) {


                        vibrator.vibrate(500);


                    }


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(7)


                            .bodySync((action) -> action.setPwd((short) 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) 0));


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


                    axleFrontBtn7.setVisibility(View.GONE);


                    axleBackBtn7.setVisibility(View.GONE);


                }


            }


        });




        switchBtn8.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {


            @Override


            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {


                Log.d(TAG, "onCheckedChanged: " + isChecked);


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);


                if (isChecked) {


                    if (vibrator != null && vibrator.hasVibrator()) {


                        vibrator.vibrate(500);


                    }


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(8)


                            .bodySync((action) -> action.setPwd((short) 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) 0));


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


                    axleFrontBtn8.setVisibility(View.GONE);


                    axleBackBtn8.setVisibility(View.GONE);


                }


            }


        });




        switchBtn9.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {


            @Override


            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {


                Log.d(TAG, "onCheckedChanged: " + isChecked);


                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);


                if (isChecked) {


                    if (vibrator != null && vibrator.hasVibrator()) {


                        vibrator.vibrate(500);


                    }


                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(9)


                            .bodySync((action) -> action.setPwd((short) 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) 0));


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


                    axleFrontBtn9.setVisibility(View.GONE);


                    axleBackBtn9.setVisibility(View.GONE);


                }


            }


        });






        // 点动按钮


        stopBtn.setOnTouchListener(new CarTouchButton());


        goForwardBtn.setOnTouchListener(new CarTouchButton());


@@ -699,24 +1187,51 @@


        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());






    }




    private void updateLogDisplay() {


        // 获取最新的日志列表


        List<String> logs = AGVApplication.getLogList();


        // 获取最后两条日志


        int size = logs.size();


        if (size == 0) {


            recentLogTextView.setText("");


        } else if (size == 1) {


            recentLogTextView.setText(logs.get(0));


        } else {


            String logText = logs.get(size - 2) + "\n" + // 获取倒数第二条日志


                    logs.get(size - 1); // 获取最后一条日志


            // 更新 TextView 的显示内容


            Log.d("logs", "updateLogDisplay: " + logText);


            recentLogTextView.setText(logText);


        }


    }






    private class CarTouchButton implements View.OnTouchListener {




        @Override


        public boolean onTouch(View view, MotionEvent motionEvent) {




            if (view.getId() == R.id.btn_go_forward) {


                // 前进


                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {


@@ -725,7 +1240,6 @@


                } 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) {


@@ -752,7 +1266,152 @@


                } 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;


@@ -802,5 +1461,70 @@


        //SocketManager.getInstance().disconnect();


        //SocketManager.getInstance().stopServer();


        //socketManager.stopServer(); // 停止服务器


        // 移除定时任务，避免内存泄漏


        handler.removeCallbacksAndMessages(null);


    }




















    public static void upClient(AGVCar agvCar) {


        clientId = agvCar.getClientId();


        AgvNo = agvCar.getAgvNo();


        agvNo.setText("AGV编号：" + AgvNo);


        agvBattery.setText("电量：" + agvCar.getBattery() + "%");


        agvSocket.setText(agvCar.getStatus() == 1 ? "已连接" : "未连接");


        agvStatus.setText("AGV状态：" + agvCar.getStatus());


        agvPositionId.setText("ID：" + agvCar.getPositionID());


        agvPositionX.setText("(X)：" + agvCar.getPositionX());


        agvPositionY.setText("(Y)：" + agvCar.getPositionY());


        agvForkHeight.setText("当前高度：" + agvCar.getForkHeight() + "mm");


        agvForkExtend.setText("货叉伸出距离：" + agvCar.getForkExtend() + "mm");


        agvForkAngle.setText("货叉旋转角度：" + agvCar.getForkAngle() + "°");


        agvError.setText("AGV故障：" + agvCar.getAgvError());


//        updateAgvBatteryText("电量：" + agvCar.getBattery() + "%");


    }




    private static void updateAgvBatteryText(String batteryLevel) {


        if (agvBattery != null) {


            agvBattery.setText(batteryLevel);


        }


    }




    // EventBus 订阅方法：接收日志字符串


    @Subscribe(threadMode = ThreadMode.MAIN)


    public void onLogMessageReceived(String logMessage) {


        addLog(logMessage);


    }


    // 方法：更新最近的日志显示


    public static void updateRecentLogTextView() {


        mainHandler.post(new Runnable() {


            @Override


            public void run() {


                StringBuilder logBuilder = new StringBuilder();


                int start = Math.max(0, logList.size() - MAX_RECENT_LOGS);


                for (int i = start; i < logList.size(); i++) {


                    logBuilder.append(logList.get(i)).append("\n");


                }


                recentLogTextView.setText(logBuilder.toString());


            }


        });


    }


    // 静态方法：添加日志


    public static void addLog(String log) {


        logList.add(log);


        updateRecentLogTextView();


    }




    // 方法：启动 LogActivity 并传递日志数据


    private void showAllLogsActivity() {


        Intent intent = new Intent(this, LogActivity.class);


        intent.putStringArrayListExtra("log_list", new ArrayList<>(logList));


        startActivity(intent);


    }


}