AGV遥控器
parent: de127ac0 | 补丁 | 提交 | ignore whitespace
#
whycq
2025-01-16 6f1275502e0d7be1b919f9d6eb308436cc8958fa 
#
4个文件已修改
1 文件已重命名
335 ■■■■■ 已修改文件
app/src/main/java/com/example/agvcontroller/MainActivity.java 303 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_UP8.java 2 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
app/src/main/java/com/example/agvcontroller/protocol/PacBody.java 9 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java 16 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史
app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java 5 ●●●●● 补丁 | 查看 | 原始文档 | blame | 历史 
 app/src/main/java/com/example/agvcontroller/MainActivity.java


@@ -38,6 +38,7 @@


import com.example.agvcontroller.action.LoadResetAction;


import com.example.agvcontroller.action.RotatopnLeftRight;


import com.example.agvcontroller.action.SingleSwitchAction;


import com.example.agvcontroller.action.SingleSwitchRunAction;


import com.example.agvcontroller.protocol.AgvAction;


import com.example.agvcontroller.action.HandOutAction;


import com.example.agvcontroller.socket.NettyServerHandler;


@@ -140,19 +141,24 @@


    private boolean isGoBackward = false;


    private boolean isRotatopnRight = false;


    private boolean isRotatopnLeft = false;




    private boolean isFrontPaddleExtendBtn = false;


    private boolean isFrontPaddleCollectBtn = false;


    private boolean isBackPaddleExtendBtn = false;


    private boolean isBackPaddleCollectBtn = false;


    private boolean isRiseBtn = false;


    private boolean isDropBtn = false;


    private boolean isExtendForkBtn = false;


    private boolean isCollectForkBtn = false;


    private boolean isTurnLeftBtn = false;


    private boolean isTurnRightBtn = false;






    private boolean isFront1 = false;


    private boolean isBack1 = false;


    private boolean isFront2 = false;


    private boolean isBack2 = false;


    private boolean isFront3 = false;


    private boolean isBack3 = false;


    private boolean isFront4 = false;


    private boolean isBack4 = false;


    private boolean isFront5 = false;


    private boolean isBack5 = false;


    private boolean isFront6 = false;


    private boolean isBack6 = false;


    private boolean isFront7 = false;


    private boolean isBack7 = false;


    private boolean isFront8 = false;


    private boolean isBack8 = false;


    private boolean isFront9 = false;


    private boolean isBack9 = false;








@@ -161,8 +167,9 @@


    private Handler handler = new Handler(new Handler.Callback() {


        @Override


        public boolean handleMessage(Message msg) {


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


            short pwd = 0;


            if (isGoForward) {


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


@@ -172,7 +179,6 @@


                handler.sendEmptyMessageDelayed(0, 100);  //  100ms 后发送下一条消息


            }


            if (isGoBackward) {


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


@@ -182,7 +188,6 @@


                handler.sendEmptyMessageDelayed(0, 100);


            }


            if (isRotatopnRight) {


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


@@ -192,7 +197,6 @@


                handler.sendEmptyMessageDelayed(0, 100);


            }


            if (isRotatopnLeft) {


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


@@ -202,116 +206,24 @@


                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 (isRotatopnRight) {


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


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


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


                handler.sendEmptyMessageDelayed(0, 100);


            }


            if (isRotatopnLeft) {


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


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


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


                handler.sendEmptyMessageDelayed(0, 100);


            }


            return false;


        }


    });


@@ -525,7 +437,7 @@


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(1)


                            .bodySync((action) -> action.setPwd((short) 21));


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


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


                    extendWidth += 50;


                } else {


@@ -548,7 +460,7 @@


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(1)


                            .bodySync((action) -> action.setPwd((short) 21));


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


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


                    extendWidth -= 50;


                } else {


@@ -711,6 +623,7 @@


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


                    vibrator.vibrate(500);


                }


                boolean result = false;


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


                if (isAuto) {


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


@@ -719,6 +632,8 @@


                            .setVal(autoVal)


                            .bodySync((action) -> action.setPwd((short) 21));


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


                    result = true;


                    isAuto = !isAuto;


                } else {


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


                            .setAgvNo(AgvNo)


@@ -726,21 +641,23 @@


                            .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


@@ -881,15 +798,19 @@


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(5)


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


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


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


                    axleFrontBtn5.setVisibility(View.VISIBLE);


                    axleBackBtn5.setVisibility(View.VISIBLE);


                } else {


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


                            .setAgvNo(AgvNo)


                            .setSerialNo(substring)


                            .setVal(5)


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


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


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


                    axleFrontBtn5.setVisibility(View.GONE);


                    axleBackBtn5.setVisibility(View.GONE);


                }


            }


        });


@@ -999,23 +920,6 @@


        });






        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) {


@@ -1023,7 +927,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


@@ -1039,7 +943,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(1)


@@ -1055,7 +959,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(2)


@@ -1071,7 +975,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(2)


@@ -1087,7 +991,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(3)


@@ -1103,7 +1007,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(3)


@@ -1119,7 +1023,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(4)


@@ -1135,7 +1039,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(4)


@@ -1151,11 +1055,11 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(5)


                        .bodySync((action) -> action.setPwd((short) 100));


                        .bodySync((action) -> action.setPwd((short) 99));


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


            }


        });


@@ -1167,11 +1071,11 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(5)


                        .bodySync((action) -> action.setPwd((short) -100));


                        .bodySync((action) -> action.setPwd((short) -99));


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


            }


        });


@@ -1183,7 +1087,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(6)


@@ -1199,7 +1103,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(6)


@@ -1215,7 +1119,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(7)


@@ -1231,7 +1135,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(7)


@@ -1247,7 +1151,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(8)


@@ -1263,7 +1167,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(8)


@@ -1279,7 +1183,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(9)


@@ -1295,7 +1199,7 @@


                    vibrator.vibrate(500);


                }


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


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


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


                        .setAgvNo(AgvNo)


                        .setSerialNo(substring)


                        .setVal(9)


@@ -1311,16 +1215,25 @@


        rotatopnLeftBtn.setOnTouchListener(new CarTouchButton());


        rotatopnRightBtn.setOnTouchListener(new CarTouchButton());




//        frontPaddleExtendBtn.setOnTouchListener(new CarTouchButton());


//        frontPaddleCollectBtn.setOnTouchListener(new CarTouchButton());


//        backPaddleExtendBtn.setOnTouchListener(new CarTouchButton());


//        backPaddleCollectBtn.setOnTouchListener(new CarTouchButton());


//        riseBtn.setOnTouchListener(new CarTouchButton());


//        dropBtn.setOnTouchListener(new CarTouchButton());


//        extendForkBtn.setOnTouchListener(new CarTouchButton());


//        collectForkBtn.setOnTouchListener(new CarTouchButton());


//        turnLeftBtn.setOnTouchListener(new CarTouchButton());


//        turnRightBtn.setOnTouchListener(new CarTouchButton());


        axleFrontBtn1.setOnTouchListener(new CarTouchButton());


        axleBackBtn1.setOnTouchListener(new CarTouchButton());


        axleFrontBtn2.setOnTouchListener(new CarTouchButton());


        axleBackBtn2.setOnTouchListener(new CarTouchButton());


        axleFrontBtn3.setOnTouchListener(new CarTouchButton());


        axleBackBtn3.setOnTouchListener(new CarTouchButton());


        axleFrontBtn4.setOnTouchListener(new CarTouchButton());


        axleBackBtn4.setOnTouchListener(new CarTouchButton());


        axleFrontBtn5.setOnTouchListener(new CarTouchButton());


        axleBackBtn5.setOnTouchListener(new CarTouchButton());


        axleFrontBtn6.setOnTouchListener(new CarTouchButton());


        axleBackBtn6.setOnTouchListener(new CarTouchButton());


        axleFrontBtn7.setOnTouchListener(new CarTouchButton());


        axleBackBtn7.setOnTouchListener(new CarTouchButton());


        axleFrontBtn8.setOnTouchListener(new CarTouchButton());


        axleBackBtn8.setOnTouchListener(new CarTouchButton());


        axleFrontBtn9.setOnTouchListener(new CarTouchButton());


        axleBackBtn9.setOnTouchListener(new CarTouchButton());






    }




@@ -1328,7 +1241,6 @@




        @Override


        public boolean onTouch(View view, MotionEvent motionEvent) {




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


                // 前进


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


@@ -1337,7 +1249,6 @@


                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {


                    isGoForward = false;


                }




            } else if (view.getId() == R.id.btn_go_backward) {


                // 后退


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


@@ -1364,6 +1275,14 @@


                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {


                    isRotatopnRight = false;


                }


            } else if (view.getId() == R.id.btn_rotatopn_right) {


                // 轴动按钮


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


                    isRotatopnRight = true;


                    handler.sendEmptyMessage(0);


                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {


                    isRotatopnRight = false;


                }


            }








 app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_UP8.java


File was renamed from app/src/main/java/com/example/agvcontroller/protocol/AGV_F0_UP.java


@@ -3,7 +3,7 @@




import java.io.Serializable;




public class AGV_F0_UP implements IMessageBody, Serializable {


public class AGV_F0_UP8 implements IMessageBody, Serializable {




    private static final long serialVersionUID = 8403019742104020004L;






 app/src/main/java/com/example/agvcontroller/protocol/PacBody.java


@@ -30,9 +30,10 @@


        this.messageBody = messageBody;


    }




    @Override


    public String toString() {


        return ByteBufUtil.hexDump(content);


    }


//    @Override


//    public String toString() {


//        return "";


////        return ByteBufUtil.hexDump(content);


//    }




}




 app/src/main/java/com/example/agvcontroller/protocol/ProtocolEncoder.java


@@ -1,5 +1,6 @@


package com.example.agvcontroller.protocol;






import com.example.agvcontroller.socket.RadixTools;




import java.util.logging.Logger;


@@ -32,9 +33,11 @@


            out.writeBytes((ByteBuf) obj);




        } else if (obj instanceof byte[]){


            out.writeBytes((byte[]) obj);


//            out.writeBytes((byte[]) obj);






            out.writeBytes((byte[]) new byte[]{


                    0x0D, 0x0A


            });


        } else if (obj instanceof AgvAction<?>){






@@ -77,7 +80,7 @@




            //String uniqueNo = pac.getHeader().getUniqueNo();




            //byte[] uniquenoBytes = RadixTools.intToBytes(Integer.parseInt(pac.getHeader().getUniqueNo()));   // uniqueno


            byte[] uniquenoBytes = RadixTools.intToBytes(Integer.parseInt(pac.getHeader().getUniqueNo()));   // uniqueno






            int len = PackagePart.UNIQUENO.getLen()     // len


@@ -87,7 +90,7 @@




            out.writeByte(pac.getHeader().getStartSymbol())         // symbol


                    .writeShortLE(len)


                    //.writeBytes(Utils.reverse(uniquenoBytes))       // uniqueno


                    .writeBytes(Utils.reverse(uniquenoBytes))       // uniqueno


                    .writeIntLE((int) (System.currentTimeMillis() / 1000))   // timestamp


                    .writeByte(pac.getHeader().getProtocolType().getCode()) // type


                    .writeBytes(bodyBytes)                          // body


@@ -99,11 +102,6 @@




            out.writerIndex(out.readableBytes() - 2);


            out.writeShortLE(pac.getValidCode());






            if (systemProperties.isPrintPacLog()){


                //log.info("Agv [{}] 下行 [{}] >>> {}", uniqueNo, pac.getHeader().getProtocolType().getDes(), ByteBufUtil.hexDump(out).toUpperCase());


            }




        }






 app/src/main/java/com/example/agvcontroller/socket/NettyServerHandler.java


@@ -19,6 +19,7 @@


import com.example.agvcontroller.protocol.AGV_A1_DOWN;


import com.example.agvcontroller.protocol.AGV_F0_DOWN;


import com.example.agvcontroller.protocol.AGV_F0_UP;


import com.example.agvcontroller.protocol.AGV_F0_UP8;


import com.example.agvcontroller.protocol.AgvAction;


import com.example.agvcontroller.protocol.AgvPackage;


import com.example.agvcontroller.protocol.ProtocolType;


@@ -100,11 +101,15 @@


                break label;


            case DATA_WITHOUT_CODE_REPORT:


                AGV_13_UP agv_13_up = (AGV_13_UP) pac.getBody().getMessageBody();


                agvNo = pac.getHeader().getUniqueNo();


                channelMap.put(clientId, ctx.channel());


                EventBus.getDefault().post(new Item("",clientId,agvNo));


                break label;


            case LOGIN_REPORT:


                AGV_F0_UP agv_f0_up = (AGV_F0_UP) pac.getBody().getMessageBody();


                if (null != ackType) {


                    AgvPackage ackPac = AckMsgBuilder.ofSuccess(pac, ackType);


                    AGV_F0_DOWN agv_f0_down = (AGV_F0_DOWN) ackPac.getBody().getMessageBody();


                    ctx.writeAndFlush(ackPac);


                }


                agvNo = pac.getHeader().getUniqueNo();