Merge remote-tracking branch 'origin/master' into master

whycq

2025-01-04 fe9f146f29c677fc164b613a1b900e045366586f

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

@@ -67,6 +67,13 @@
    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 Button bodySwitchBtn; // 底盘/货叉切换
    private Socket socket;
@@ -75,6 +82,10 @@
    private RelativeLayout layout_top;
    private RelativeLayout layout_single;
    private RelativeLayout layout_reset;

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


    SocketManager socketManager;
@@ -103,6 +114,8 @@




    // 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) {
@@ -114,7 +127,7 @@
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 10));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);
                handler.sendEmptyMessageDelayed(0, 100);  //  100ms 后发送下一条消息
            }
            if (isGoBackward) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
@@ -147,116 +160,116 @@
                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) -10));
                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) -10));
                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) -10));
                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) -10));
                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);
            }
//            // 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);
//            }
            return false;
        }
    });
@@ -297,26 +310,325 @@
        layout_single = findViewById(R.id.layout_single);
        layout_reset = findViewById(R.id.layout_reset);


        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");
        Log.i("message1",clientId);

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

        // 前拨杆收起
        frontPaddleCollectBtn.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<>(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
            }
        });

        // 后拨杆伸出
        backPaddleExtendBtn.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<>(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
            }
        });

        // 后拨杆收起
        backPaddleCollectBtn.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<>(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
            }
        });

        // 上升
        riseBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                if (liftHeight <= 3200) {
                    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) liftHeight));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    liftHeight += 100;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
                }

            }
        });

        // 下降
        dropBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }

                if (liftHeight >= 400) {
                    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) liftHeight));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                    liftHeight -= 100;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最小值！");
                }
            }
        });

        // 伸出
        extendForkBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                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
                    extendWidth += 50;
                } else {
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "已超最大值！");
                }

            }
        });

        // 收叉
        collectForkBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
                if (vibrator != null && vibrator.hasVibrator()) {
                    vibrator.vibrate(500);
                }
                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
        turnLeftBtn.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", "已超最大值！");
                }
            }
        });

        // 右旋
        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<>(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
            }
        });

        // 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<>(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
            }
        });

        // 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<>(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
            }
        });

        // 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<>(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
            }
        });

        // 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<>(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
            }
        });

        // 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<>(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
            }
        });

        // 手自动模式开关
        modelSwitchBtn.setOnClickListener(new View.OnClickListener() {
@@ -342,14 +654,8 @@
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                }





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

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

                    Object o = map.get(substring);
@@ -379,22 +685,24 @@
                }
            }
        });

        // 点动按钮
        stopBtn.setOnTouchListener(new CarTouchButton());
        goForwardBtn.setOnTouchListener(new CarTouchButton());
        goBackwardBtn.setOnTouchListener(new CarTouchButton());
        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());
//        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());

    }

@@ -438,88 +746,9 @@
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    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;

        }