#

whycq

2025-01-13 de127ac0c4b4803cce8a037c8d93840eeb192186

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

@@ -1,5 +1,7 @@
package com.example.agvcontroller;

import static android.content.ContentValues.TAG;

import androidx.appcompat.app.AppCompatActivity;
import androidx.recyclerview.widget.RecyclerView;

@@ -16,16 +18,26 @@
import android.view.MotionEvent;
import android.view.View;
import android.widget.Button;
import android.widget.CompoundButton;
import android.widget.GridLayout;
import android.widget.RelativeLayout;
import android.widget.Switch;

import com.example.agvcontroller.action.AllResetAction;
import com.example.agvcontroller.action.BackPaddle;
import com.example.agvcontroller.action.CameraResetAction;
import com.example.agvcontroller.action.ForkResetAction;
import com.example.agvcontroller.action.ForwardBackAction;
import com.example.agvcontroller.action.FrontPaddle;
import com.example.agvcontroller.action.GyroResetAction;
import com.example.agvcontroller.action.HandExtendCollect;
import com.example.agvcontroller.action.HandForkRotatopn;
import com.example.agvcontroller.action.HandInAction;
import com.example.agvcontroller.action.HandLift;
import com.example.agvcontroller.action.LiftResetAction;
import com.example.agvcontroller.action.LoadResetAction;
import com.example.agvcontroller.action.RotatopnLeftRight;
import com.example.agvcontroller.action.SingleSwitchAction;
import com.example.agvcontroller.protocol.AgvAction;
import com.example.agvcontroller.action.HandOutAction;
import com.example.agvcontroller.socket.NettyServerHandler;
@@ -67,17 +79,55 @@
    private Button turnLeftBtn;
    private Button turnRightBtn;

    private Button cameraResetBtn;
    private Button loadResetBtn;
    private Button forkResetBtn;
    private Button gyroResetBtn;
    private Button liftResetBtn;
    private Button allResetBtn;

    private Switch switchBtn1;  // 单轴使能
    private Switch switchBtn2;  // 单轴使能
    private Switch switchBtn3;  // 单轴使能
    private Switch switchBtn4;  // 单轴使能
    private Switch switchBtn5;  // 单轴使能
    private Switch switchBtn6;  // 单轴使能
    private Switch switchBtn7;  // 单轴使能
    private Switch switchBtn8;  // 单轴使能
    private Switch switchBtn9;  // 单轴使能

    private Button axleFrontBtn1;
    private Button axleBackBtn1;
    private Button axleFrontBtn2;
    private Button axleBackBtn2;
    private Button axleFrontBtn3;
    private Button axleBackBtn3;
    private Button axleFrontBtn4;
    private Button axleBackBtn4;
    private Button axleFrontBtn5;
    private Button axleBackBtn5;
    private Button axleFrontBtn6;
    private Button axleBackBtn6;
    private Button axleFrontBtn7;
    private Button axleBackBtn7;
    private Button axleFrontBtn8;
    private Button axleBackBtn8;
    private Button axleFrontBtn9;
    private Button axleBackBtn9;



    private Button bodySwitchBtn; // 底盘/货叉切换
    private Socket socket;
    private String AgvNo = "12";
    private String AgvNo = "1";
    private RelativeLayout layout_bottom;
    private RelativeLayout layout_top;
    private RelativeLayout layout_single;
    private GridLayout layout_single;
    private RelativeLayout layout_reset;

    int liftHeight = 400;
    int extendWidth = 0;
    int extendWidth = -450;
    int angle = -91;  // 7 度


    SocketManager socketManager;
@@ -107,6 +157,7 @@



    // 底盘前进、后退、左旋转、右旋转
    private Handler handler = new Handler(new Handler.Callback() {
        @Override
        public boolean handleMessage(Message msg) {
@@ -116,9 +167,9 @@
                        .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);
                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);
@@ -126,7 +177,7 @@
                        .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);
            }
@@ -136,7 +187,7 @@
                        .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);
            }
@@ -146,7 +197,7 @@
                        .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);
            }
@@ -301,8 +352,50 @@
        layout_single = findViewById(R.id.layout_single);
        layout_reset = findViewById(R.id.layout_reset);

        switchBtn1 = findViewById(R.id.switch1);
        switchBtn2 = findViewById(R.id.switch2);
        switchBtn3 = findViewById(R.id.switch3);
        switchBtn4 = findViewById(R.id.switch4);
        switchBtn5 = findViewById(R.id.switch5);
        switchBtn6 = findViewById(R.id.switch6);
        switchBtn7 = findViewById(R.id.switch7);
        switchBtn8 = findViewById(R.id.switch8);
        switchBtn9 = findViewById(R.id.switch9);

        axleFrontBtn1 =findViewById(R.id.btn_axle_1_front);
        axleBackBtn1 =findViewById(R.id.btn_axle_1_back);
        axleFrontBtn2 =findViewById(R.id.btn_axle_2_front);
        axleBackBtn2 =findViewById(R.id.btn_axle_2_back);
        axleFrontBtn3 =findViewById(R.id.btn_axle_3_front);
        axleBackBtn3 =findViewById(R.id.btn_axle_3_back);
        axleFrontBtn4 =findViewById(R.id.btn_axle_4_front);
        axleBackBtn4 =findViewById(R.id.btn_axle_4_back);
        axleFrontBtn5 =findViewById(R.id.btn_axle_5_front);
        axleBackBtn5 =findViewById(R.id.btn_axle_5_back);
        axleFrontBtn6 =findViewById(R.id.btn_axle_6_front);
        axleBackBtn6 =findViewById(R.id.btn_axle_6_back);
        axleFrontBtn7 =findViewById(R.id.btn_axle_7_front);
        axleBackBtn7 =findViewById(R.id.btn_axle_7_back);
        axleFrontBtn8 =findViewById(R.id.btn_axle_8_front);
        axleBackBtn8 =findViewById(R.id.btn_axle_8_back);
        axleFrontBtn9 =findViewById(R.id.btn_axle_9_front);
        axleBackBtn9 =findViewById(R.id.btn_axle_9_back);




        cameraResetBtn = findViewById(R.id.btn_camera_reset);
        loadResetBtn = findViewById(R.id.btn_load_reset);
        forkResetBtn = findViewById(R.id.btn_fork_reset);
        gyroResetBtn = findViewById(R.id.btn_gyro_reset);
        liftResetBtn = findViewById(R.id.btn_lift_reset);
        allResetBtn = findViewById(R.id.btn_all_reset);



        Intent intent = getIntent();
        clientId = intent.getStringExtra("message");
        clientId = intent.getStringExtra("ip");
        AgvNo = intent.getStringExtra("agvNo");
        Log.i("message1",clientId);

        // 前拨杆伸出
@@ -380,7 +473,7 @@
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                if (liftHeight >= 3200) {
                if (liftHeight <= 3200) {
                    String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                    AgvAction agvAction = new AgvAction<>(HandLift.class)
                            .setAgvNo(AgvNo)
@@ -426,7 +519,7 @@
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                if (liftHeight >= 3200) {
                if (extendWidth <= 450) {
                    String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                    AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
                            .setAgvNo(AgvNo)
@@ -434,7 +527,7 @@
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 21));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    liftHeight += 100;
                    extendWidth += 50;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
                }
@@ -442,53 +535,171 @@
            }
        });

        // 收起
        frontPaddleExtendBtn.setOnClickListener(new View.OnClickListener() {
        // 收叉
        collectForkBtn.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<>(HandExtendCollect.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
                if (extendWidth >= -450) {
                    String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                    AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 21));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端户端
                    extendWidth -= 50;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
                }
            }
        });

        // 左旋
        frontPaddleExtendBtn.setOnClickListener(new View.OnClickListener() {
        turnLeftBtn.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) 21));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                if (angle <= 91) {
                    String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                    AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 21));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    angle += 7;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
                }
            }
        });

        // 右旋
        frontPaddleExtendBtn.setOnClickListener(new View.OnClickListener() {
        turnRightBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                if (angle >= -91) {
                    String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                    AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 21));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    angle -= 7;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最小值！");
                }

            }
        });

        // 相机复位按钮
        cameraResetBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
                AgvAction agvAction = new AgvAction<>(CameraResetAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 21));
                        .bodySync((action) -> action.setPwd((short) 1));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

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

        // 货叉归零按钮
        forkResetBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(ForkResetAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 1));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

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

        // 升降归零按钮
        liftResetBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(LiftResetAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 1));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });

        // 整机复位按钮
        allResetBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(AllResetAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 1));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });
@@ -546,6 +757,550 @@
//                    throw new TimeoutException("超时");
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "请求应答超时！");
                }
            }
        });

        switchBtn1.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn1.setVisibility(View.VISIBLE);
                    axleBackBtn1.setVisibility(View.VISIBLE);
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(1)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    axleFrontBtn1.setVisibility(View.GONE);
                    axleBackBtn1.setVisibility(View.GONE);
                }
            }
        });

        switchBtn2.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(2)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(2)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                }
            }
        });

        switchBtn3.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(3)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(3)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                }
            }
        });

        switchBtn4.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(4)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(4)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                }
            }
        });

        switchBtn5.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(5)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(5)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                }
            }
        });

        switchBtn6.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(6)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(6)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                }
            }
        });

        switchBtn7.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(7)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(7)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                }
            }
        });

        switchBtn8.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(8)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(8)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                }
            }
        });

        switchBtn9.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
            @Override
            public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
                Log.d(TAG, "onCheckedChanged: " + isChecked);
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
                if (isChecked) {
                    if (vibrator != null && vibrator.hasVibrator()) {
                        vibrator.vibrate(500);
                    }
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(9)
                            .bodySync((action) -> action.setPwd((short) 0));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(9)
                            .bodySync((action) -> action.setPwd((short) 1));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                }
            }
        });


        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
            }
        });

@@ -610,87 +1365,7 @@
                    isRotatopnRight = false;
                }
            }
//            else if (view.getId() == R.id.btn_front_paddle_extend) {
//                // 前拨杆伸出
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isFrontPaddleExtendBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isFrontPaddleExtendBtn = false;
//                }
//            } else if (view.getId() == R.id.btn_front_paddle_collect) {
//                // 前拨杆收起
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isFrontPaddleCollectBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isFrontPaddleCollectBtn = false;
//                }
//            } else if (view.getId() == R.id.btn_back_paddle_extend) {
//                // 后拨杆伸出
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isBackPaddleExtendBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isBackPaddleExtendBtn = false;
//                }
//            } else if (view.getId() == R.id.btn_back_paddle_collect) {
//                // 后拨杆收起
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isBackPaddleCollectBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isBackPaddleCollectBtn = false;
//                }
//            } else if (view.getId() == R.id.btn_rise) {
//                // 上升
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isRiseBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isRiseBtn = false;
//                }
//            } else if (view.getId() == R.id.btn_drop) {
//                // 下降
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isDropBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isDropBtn = false;
//                }
//            } else if (view.getId() == R.id.btn_extend_fork) {
//                // 伸叉
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isExtendForkBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isExtendForkBtn = false;
//                }
//            } else if (view.getId() == R.id.btn_collect_fork) {
//                // 收叉
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isCollectForkBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isCollectForkBtn = false;
//                }
//            } else if (view.getId() == R.id.btn_turn_left) {
//                // 左旋转
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isTurnLeftBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isTurnLeftBtn = false;
//                }
//            } else if (view.getId() == R.id.btn_turn_right) {
//                // 左旋转
//                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
//                    isTurnRightBtn = true;
//                    handler.sendEmptyMessage(0);
//                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
//                    isTurnRightBtn = false;
//                }
//            }


            return false;