#

whycq

2024-08-19 a5519c76cb177d22ed5d001410132e430664c877

#

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

@@ -18,11 +18,15 @@
import android.widget.Button;
import android.widget.RelativeLayout;

import com.example.agvcontroller.action.BackPaddle;
import com.example.agvcontroller.action.ForwardBackAction;
import com.example.agvcontroller.action.FrontPaddle;
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.RotatopnLeftRight;
import com.example.agvcontroller.protocol.AgvAction;
import com.example.agvcontroller.action.ForceSwitchAction;
import com.example.agvcontroller.action.HandOutAction;
import com.example.agvcontroller.socket.NettyServerHandler;
import com.example.agvcontroller.socket.SocketManager;
@@ -52,6 +56,18 @@
    private Button goBackwardBtn;  // 后退
    private Button modelSwitchBtn;  // 进入、退出 手动

    private Button frontPaddleExtendBtn;
    private Button frontPaddleCollectBtn;
    private Button backPaddleExtendBtn;
    private Button backPaddleCollectBtn;
    private Button riseBtn;
    private Button dropBtn;
    private Button extendForkBtn;
    private Button collectForkBtn;
    private Button turnLeftBtn;
    private Button turnRightBtn;


    private Button bodySwitchBtn; // 底盘/货叉切换
    private Socket socket;
    private String AgvNo = "12";
@@ -63,12 +79,26 @@

    SocketManager socketManager;


    //    按钮长按事件
    private int autoVal = 1;
    private boolean isAuto = true;
    private boolean isGoForward = false;
    private boolean isGoBackward = false;
    private boolean isRotatopnRight = false;
    private boolean isRotatopnLeft = false;

    private 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;




@@ -116,6 +146,117 @@
                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) -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);
            }
            return false;
        }
    });
@@ -137,6 +278,17 @@
        rotatopnLeftBtn = findViewById(R.id.btn_rotatopn_left);
        rotatopnRightBtn = findViewById(R.id.btn_rotatopn_right);
        modelSwitchBtn = findViewById(R.id.btn_model_switch);

        frontPaddleExtendBtn = findViewById(R.id.btn_front_paddle_extend); // 前拨杆
        frontPaddleCollectBtn = findViewById(R.id.btn_front_paddle_collect); // 前拨杆
        backPaddleExtendBtn = findViewById(R.id.btn_back_paddle_extend); // 后拨杆
        backPaddleCollectBtn = findViewById(R.id.btn_back_paddle_collect); // 后拨杆
        riseBtn = findViewById(R.id.btn_rise);
        dropBtn = findViewById(R.id.btn_drop);
        extendForkBtn = findViewById(R.id.btn_extend_fork);
        collectForkBtn = findViewById(R.id.btn_collect_fork);
        turnLeftBtn = findViewById(R.id.btn_turn_left);
        turnRightBtn = findViewById(R.id.btn_turn_right);

        bodySwitchBtn = findViewById(R.id.btn_body_switch);

@@ -233,12 +385,24 @@
        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());

    }

    private class CarTouchButton implements View.OnTouchListener {

        @Override
        public boolean onTouch(View view, MotionEvent motionEvent) {

            if (view.getId() == R.id.btn_go_forward) {
                // 前进
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
@@ -247,6 +411,7 @@
                } 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) {
@@ -255,6 +420,7 @@
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isGoBackward = false;
                }

            } else if (view.getId() == R.id.btn_rotatopn_left) {
                // 左旋转
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
@@ -263,6 +429,7 @@
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isRotatopnLeft = false;
                }

            } else if (view.getId() == R.id.btn_rotatopn_right) {
                // 右旋转
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
@@ -271,7 +438,88 @@
                } 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;

        }

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

@@ -36,11 +36,11 @@

    HAND_FORK_ROTATOPN(0x87, "手动控制货叉旋转", HandForkRotatopn.class),

    HAND_EXTEND_COLLECT(0x88, "手动控制货叉旋转", HandExtendCollect.class),
    HAND_EXTEND_COLLECT(0x88, "手动控制伸缩", HandExtendCollect.class),

    FRONT_PADDLE(0x89, "手动控制货叉旋转", FrontPaddle.class),
    FRONT_PADDLE(0x89, "手动控制前拨杆", FrontPaddle.class),

    BACK_PADDLE(0x8A, "手动控制货叉旋转", BackPaddle.class),
    BACK_PADDLE(0x8A, "手动控制后拨杆", BackPaddle.class),


    ;