#

whycq

2024-08-19 bae1ed5e1b1770a224cc9cc0bdd2aec6cd633ed7

#

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

@@ -16,6 +16,7 @@
import android.view.MotionEvent;
import android.view.View;
import android.widget.Button;
import android.widget.RelativeLayout;

import com.example.agvcontroller.action.ForwardBackAction;
import com.example.agvcontroller.action.HandInAction;
@@ -50,8 +51,16 @@
    private Button goForwardBtn;  // 前进
    private Button goBackwardBtn;  // 后退
    private Button modelSwitchBtn;  // 进入、退出 手动

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


    SocketManager socketManager;

    private int autoVal = 1;
@@ -128,6 +137,13 @@
        rotatopnLeftBtn = findViewById(R.id.btn_rotatopn_left);
        rotatopnRightBtn = findViewById(R.id.btn_rotatopn_right);
        modelSwitchBtn = findViewById(R.id.btn_model_switch);

        bodySwitchBtn = findViewById(R.id.btn_body_switch);

        layout_bottom = findViewById(R.id.layout_bottom);
        layout_top = findViewById(R.id.layout_top);
        layout_single = findViewById(R.id.layout_single);
        layout_reset = findViewById(R.id.layout_reset);

        Intent intent = getIntent();
        clientId = intent.getStringExtra("message");
@@ -261,6 +277,42 @@
        }
    }

    private boolean isVisble = true;

    // 货叉等按钮
    public void switchover(View view) {
        if (isVisble) {
            layout_bottom.setVisibility(View.GONE);
            layout_top.setVisibility(View.VISIBLE);
            bodySwitchBtn.setText("货叉");
        } else {
            layout_bottom.setVisibility(View.VISIBLE);
            layout_top.setVisibility(View.GONE);
            bodySwitchBtn.setText("底盘");
        }
        isVisble = !isVisble;

        layout_single.setVisibility(View.GONE);
        layout_reset.setVisibility(View.GONE);

    }

    // 单轴使能按钮
    public void switchSingle(View view) {
        layout_bottom.setVisibility(View.GONE);
        layout_top.setVisibility(View.GONE);
        layout_single.setVisibility(View.VISIBLE);
        layout_reset.setVisibility(View.GONE);
    }

    // 复位按钮
    public void switchRest(View view) {
        layout_bottom.setVisibility(View.GONE);
        layout_top.setVisibility(View.GONE);
        layout_single.setVisibility(View.GONE);
        layout_reset.setVisibility(View.VISIBLE);
    }

    @Override
    protected void onDestroy() {
        super.onDestroy();

 app/src/main/res/layout/activity_main.xml

@@ -13,7 +13,11 @@
        android:layout_height="0dp"
        android:layout_weight="4">
    </LinearLayout>

    <!--    ****************  底盘  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_bottom"
        android:visibility="gone"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6">
@@ -54,22 +58,6 @@
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_up"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:text="上升"-->
<!--            android:layout_marginRight="20sp"-->
<!--            android:layout_centerVertical="true"-->
<!--            android:layout_alignParentRight="true"-->
<!--            app:cornerRadius="5dp"-->
<!--            android:paddingLeft="10dp"-->
<!--            android:paddingRight="10dp"-->
<!--            android:minWidth="10dp"-->
<!--            android:layout_alignLeft="@+id/btn_rotatopn_left"-->
<!--            android:layout_alignBottom="@+id/btn_go_backward"-->
<!--            android:backgroundTint="#2196F3" />-->

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_rotatopn_left"
            android:layout_width="wrap_content"
@@ -98,45 +86,389 @@
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_extend_fork"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:text="伸叉"-->
<!--            android:layout_marginLeft="20sp"-->
<!--            android:layout_centerVertical="true"-->
<!--            android:layout_alignParentLeft="true"-->
<!--            app:cornerRadius="5dp"-->
<!--            android:paddingLeft="10dp"-->
<!--            android:paddingRight="10dp"-->
<!--            android:minWidth="10dp"-->
<!--            android:layout_alignLeft="@+id/btn_rotatopn_left"-->
<!--            android:layout_alignBottom="@+id/btn_go_forward"-->
<!--            android:backgroundTint="#2196F3" />-->
    </RelativeLayout>

<!--        <com.google.android.material.button.MaterialButton-->
<!--            android:id="@+id/btn_collect_fork"-->
<!--            android:layout_width="wrap_content"-->
<!--            android:layout_height="wrap_content"-->
<!--            android:text="收叉"-->
<!--            android:layout_marginLeft="20sp"-->
<!--            android:layout_centerVertical="true"-->
<!--            android:layout_alignParentLeft="true"-->
<!--            app:cornerRadius="5dp"-->
<!--            android:paddingLeft="10dp"-->
<!--            android:paddingRight="10dp"-->
<!--            android:minWidth="10dp"-->
<!--            android:layout_alignLeft="@+id/btn_rotatopn_right"-->
<!--            android:layout_alignBottom="@+id/btn_go_backward"-->
<!--            android:backgroundTint="#2196F3" />-->
    <!--    ****************  货叉  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_top"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:visibility="visible">

        <Button
            android:id="@+id/btn_stop2"
            android:layout_width="100sp"
            android:layout_height="100sp"
            android:layout_centerInParent="true"
            android:layout_margin="30sp"
            android:backgroundTint="#F62727"
            android:text="STOP"
            android:textSize="18sp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_extend_fork"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_centerHorizontal="true"
            android:layout_marginTop="10sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="伸叉"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_collect_fork"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignParentBottom="true"
            android:layout_centerHorizontal="true"
            android:layout_marginBottom="10sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="收叉"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_rise"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_front_paddle_extend"
            android:layout_alignBottom="@+id/btn_turn_left"
            android:layout_centerVertical="true"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="上升"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_drop"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_front_paddle_extend"
            android:layout_alignBottom="@+id/btn_collect_fork"
            android:layout_marginTop="-24dp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="下降"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_turn_right"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignBottom="@+id/btn_collect_fork"
            android:layout_alignParentRight="true"
            android:layout_centerVertical="true"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="右旋"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_turn_left"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignTop="@+id/btn_stop2"
            android:layout_alignParentRight="true"
            android:layout_marginTop="70dp"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="左旋"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_back_paddle_extend"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            android:layout_alignBottom="@+id/btn_extend_fork"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="后拨杆伸出"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_back_paddle_collect"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            android:layout_alignBottom="@+id/btn_front_paddle_collect"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="后拨杆收起"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_front_paddle_extend"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentLeft="true"
            android:layout_alignBottom="@+id/btn_extend_fork"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="前拨杆伸出"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_front_paddle_collect"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignTop="@+id/btn_stop2"
            android:layout_alignParentLeft="true"
            android:layout_marginTop="-24dp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="前拨杆收起"

            app:cornerRadius="5dp" />


    </RelativeLayout>
<!--    <LinearLayout-->
<!--        android:layout_width="match_parent"-->
<!--        android:layout_height="0dp"-->
<!--        android:layout_weight="6">-->
<!--        -->
<!--    </LinearLayout>-->

    <!--    ****************  单轴  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_single"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:visibility="gone">

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_1"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignParentLeft="true"
            android:layout_marginTop="10sp"
            android:layout_marginLeft="20sp"
            android:backgroundTint="#2196F3"
            android:text="轴 - 1"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_2"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_5"
            android:layout_marginTop="10sp"
            android:backgroundTint="#2196F3"
            android:text="轴 - 2"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_3"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignParentRight="true"
            android:layout_marginRight="20sp"
            android:layout_marginTop="10sp"
            android:backgroundTint="#2196F3"
            android:text="轴 - 3"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_4"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_1"
            android:layout_alignBottom="@+id/btn_single_5"
            android:backgroundTint="#2196F3"
            android:text="轴 - 4"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_5"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_centerInParent="true"
            android:backgroundTint="#2196F3"
            android:text="轴 - 5"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_6"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_3"
            android:layout_alignBottom="@+id/btn_single_5"
            android:backgroundTint="#2196F3"
            android:text="轴 - 6"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_7"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_1"
            android:layout_alignBottom="@+id/btn_single_8"
            android:backgroundTint="#2196F3"
            android:text="轴 - 7"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_8"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignParentBottom="true"
            android:layout_marginBottom="20sp"
            android:layout_alignLeft="@+id/btn_single_5"
            android:layout_marginTop="10sp"
            android:backgroundTint="#2196F3"
            android:text="轴 - 8"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_9"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_3"
            android:layout_alignBottom="@+id/btn_single_8"
            android:backgroundTint="#2196F3"
            android:text="轴 - 9"
            app:cornerRadius="5dp" />

    </RelativeLayout>

    <!--    ****************  复位  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_reset"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:visibility="gone">

        <Button
            android:id="@+id/btn_stop3"
            android:layout_width="100sp"
            android:layout_height="100sp"
            android:layout_centerInParent="true"
            android:layout_margin="30sp"
            android:backgroundTint="#F62727"
            android:text="STOP"
            android:textSize="18sp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_camera_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="相机复位"
            android:layout_marginLeft="20sp"
            android:layout_marginTop="20sp"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_load_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="清除路径"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_fork_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="货叉归零"
            android:layout_marginLeft="20sp"
            android:layout_marginBottom="20sp"
            android:layout_alignParentBottom="true"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_gyro_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="陀螺仪复位"
            android:layout_marginRight="20sp"
            android:layout_marginTop="20sp"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_lift_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="升降归零"
            android:layout_marginRight="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_all_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="整机复位"
            android:layout_marginRight="20sp"
            android:layout_alignParentRight="true"
            android:layout_alignParentBottom="true"
            android:layout_marginBottom="20sp"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

    </RelativeLayout>

    <!--    ****************  底部  ****************    -->
    <LinearLayout
        android:background="#334455"
        android:layout_width="match_parent"
@@ -179,6 +511,7 @@
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:onClick="switchSingle"
                android:textSize="10sp"
                android:backgroundTint="#2196F3" />
        </LinearLayout>
@@ -199,6 +532,7 @@
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:onClick="switchover"
                android:backgroundTint="#2196F3" />
        </LinearLayout>

@@ -218,6 +552,7 @@
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:onClick="switchRest"
                android:backgroundTint="#2196F3" />
        </LinearLayout>