#

whycq

2024-08-17 d5722c5a50829df634f96bff131fb8cc01f6a17c

#

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

@@ -5,6 +5,8 @@

import android.content.Context;
import android.content.Intent;
import android.content.res.ColorStateList;
import android.graphics.Color;
import android.os.Bundle;
import android.os.Handler;
import android.os.Message;
@@ -15,6 +17,9 @@
import android.view.View;
import android.widget.Button;

import com.example.agvcontroller.action.ForwardBackAction;
import com.example.agvcontroller.action.HandInAction;
import com.example.agvcontroller.action.RotatopnLeftRight;
import com.example.agvcontroller.protocol.AgvAction;
import com.example.agvcontroller.action.ForceSwitchAction;
import com.example.agvcontroller.action.HandOutAction;
@@ -32,24 +37,29 @@
public class MainActivity extends AppCompatActivity {

    public static final Map<String, Object> map = new ConcurrentHashMap();
    public static final Map<String, Object> car_num = new ConcurrentHashMap();

    private RecyclerView recyclerView;
    private ItemAdapter itemAdapter;
    private List<Item> itemList;
    private Vibrator vibrator;
    private Button stopBtn;  // 急停按钮
    private Button forceSwitchBtn;  // 手自动强制开关
    private Button rotatopnRightBtn; // 右旋转
//    private Button forceSwitchBtn;  // 手自动强制开关
    private Button rotatopnLeftBtn;  // 左旋转
    private Button rotatopnRightBtn; // 右旋转
    private Button goForwardBtn;  // 前进
    private Button goBackwardBtn;  // 后退
    private Button modelSwitchBtn;  // 进入、退出 手动
    private Socket socket;

    private String AgvNo = "12";
    SocketManager socketManager;

    private boolean isDowm = false;
    private boolean isOpen = false;
    private int autoVal = 1;
    private boolean isAuto = true;
    private boolean isGoForward = false;
    private boolean isGoBackward = false;
    private boolean isRotatopnRight = false;
    private boolean isRotatopnLeft = false;



@@ -57,27 +67,43 @@
    private Handler handler = new Handler(new Handler.Callback() {
        @Override
        public boolean handleMessage(Message msg) {
            if (isDowm) {
            if (isGoForward) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(ForceSwitchAction.class)
                        .setAgvNo("1")
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 21));

                        .bodySync((action) -> action.setPwd((short) 10));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                handler.sendEmptyMessageDelayed(0, 100);



            }
            if (isOpen) {
            if (isGoBackward) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(ForceSwitchAction.class)
                        .setAgvNo("12")
                AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                        .setAgvNo(AgvNo)
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 21));
                        .bodySync((action) -> action.setPwd((short) -10));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                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)
                        .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 (isRotatopnLeft) {
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.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);
            }
@@ -96,9 +122,11 @@
        // 按钮震动
        vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
        stopBtn = findViewById(R.id.btn_stop);
        forceSwitchBtn = findViewById(R.id.btn_force_switch);
//        forceSwitchBtn = findViewById(R.id.btn_force_switch);
        goForwardBtn = findViewById(R.id.btn_go_forward);
        goBackwardBtn = findViewById(R.id.btn_go_backward);
        rotatopnLeftBtn = findViewById(R.id.btn_go_backward);
        rotatopnRightBtn = findViewById(R.id.btn_go_forward);
        modelSwitchBtn = findViewById(R.id.btn_model_switch);

        Intent intent = getIntent();
@@ -106,23 +134,23 @@
        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("12")
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 21));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
            }
        });
//        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
//            }
//        });

        // 强制模式开关
        // 手自动模式开关
        modelSwitchBtn.setOnClickListener(new View.OnClickListener() {
            @Override
            public void onClick(View v) {
@@ -130,24 +158,37 @@
                    vibrator.vibrate(500);
                }
                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                AgvAction agvAction = new AgvAction<>(HandOutAction.class)
                        .setAgvNo("12")
                        .setSerialNo(substring)
                        .setVal(1)
                        .bodySync((action) -> action.setPwd((short) 21));
                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                if (isAuto) {
                    AgvAction agvAction = new AgvAction<>(HandInAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(autoVal)
                            .bodySync((action) -> action.setPwd((short) 21));
                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 发送消息到客户端
                } else {
                    AgvAction agvAction = new AgvAction<>(HandOutAction.class)
                            .setAgvNo(AgvNo)
                            .setSerialNo(substring)
                            .setVal(autoVal)
                            .bodySync((action) -> action.setPwd((short) 21));
                    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 < 20000) {
                while (System.currentTimeMillis() - timestamp < 5000) {

                    Object o = map.get(substring);

                    if (null != o) {
                        result = true;
                        isAuto = !isAuto;
                        map.remove(o);
                        break;
                    }
@@ -155,7 +196,15 @@

                if (result) {
                    // alert ok  修改按钮样式 名称
                    modelSwitchBtn.setText("自动模式");
                    if (isAuto) {
                        modelSwitchBtn.setText("自动模式");
                        autoVal = 0;
//                        modelSwitchBtn.setBackgroundTintList(ColorStateList.valueOf(Color.RED));
                    } else {
                        autoVal = 1;
                        modelSwitchBtn.setText("手动模式");
                    }

                } else {
//                    throw new TimeoutException("超时");
                    DialogUtil.showAlertDialog(MainActivity.this, "提示", "请求应答超时！");
@@ -165,6 +214,8 @@
        stopBtn.setOnTouchListener(new CarTouchButton());
        goForwardBtn.setOnTouchListener(new CarTouchButton());
        goBackwardBtn.setOnTouchListener(new CarTouchButton());
        rotatopnLeftBtn.setOnTouchListener(new CarTouchButton());
        rotatopnRightBtn.setOnTouchListener(new CarTouchButton());

    }

@@ -173,18 +224,36 @@
        @Override
        public boolean onTouch(View view, MotionEvent motionEvent) {
            if (view.getId() == R.id.btn_go_forward) {
                // 前进
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isDowm = true;
                    isGoForward = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isDowm = false;
                    isGoForward = false;
                }
            } else if (view.getId() == R.id.btn_go_backward) {
                // 后退
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isOpen = true;
                    isGoBackward = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isOpen = false;
                    isGoBackward = false;
                }
            } else if (view.getId() == R.id.btn_rotatopn_left) {
                // 左旋转
                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
                    isRotatopnLeft = true;
                    handler.sendEmptyMessage(0);
                } 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) {
                    isRotatopnRight = true;
                    handler.sendEmptyMessage(0);
                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                    isRotatopnRight = false;
                }
            }
            return false;

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

@@ -52,7 +52,7 @@
            }
        });
        socketManager = new SocketManager();
        socketManager.startServer(8081);
        socketManager.startServer(8022);
    }

    @Subscribe(threadMode = ThreadMode.MAIN)

 app/src/main/java/com/example/agvcontroller/action/ForwardBackAction.java

New file
@@ -0,0 +1,32 @@
package com.example.agvcontroller.action;

import com.example.agvcontroller.protocol.IActionBody;
import com.example.agvcontroller.socket.RadixTools;

import java.io.Serializable;

public class ForwardBackAction implements IActionBody, Serializable {

    private static final long serialVersionUID = -3250235107705010316L;

    private Short pwd;

    @Override
    public byte[] writeToBytes() {
        byte[] bytes = RadixTools.shortToByte(pwd);
        return bytes;
    }

    @Override
    public void readFromBytes(byte[] messageBodyBytes) {

    }

    public Short getPwd() {
        return pwd;
    }

    public void setPwd(Short pwd) {
        this.pwd = pwd;
    }
}

 app/src/main/java/com/example/agvcontroller/action/RotatopnLeftRight.java

New file
@@ -0,0 +1,32 @@
package com.example.agvcontroller.action;

import com.example.agvcontroller.protocol.IActionBody;
import com.example.agvcontroller.socket.RadixTools;

import java.io.Serializable;

public class RotatopnLeftRight implements IActionBody, Serializable {

    private static final long serialVersionUID = -3250235107705010316L;

    private Short pwd;

    @Override
    public byte[] writeToBytes() {
        byte[] bytes = RadixTools.shortToByte(pwd);
        return bytes;
    }

    @Override
    public void readFromBytes(byte[] messageBodyBytes) {

    }

    public Short getPwd() {
        return pwd;
    }

    public void setPwd(Short pwd) {
        this.pwd = pwd;
    }
}

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

@@ -2,8 +2,10 @@

import com.example.agvcontroller.action.ForceStopAction;
import com.example.agvcontroller.action.ForceSwitchAction;
import com.example.agvcontroller.action.ForwardBackAction;
import com.example.agvcontroller.action.HandInAction;
import com.example.agvcontroller.action.HandOutAction;
import com.example.agvcontroller.action.RotatopnLeftRight;
import com.example.agvcontroller.action.SingleSwitchAction;
import com.example.agvcontroller.action.SingleSwitchRunAction;

@@ -20,6 +22,12 @@
    SINGLE_SWITCH_RUN(0x8C  , "强制单轴点动", SingleSwitchRunAction.class),

    FORCE_STOP(0xF0, "急停", ForceStopAction.class),

    FORWARD_BACK(0x81, "点动前进（后退）", ForwardBackAction.class),

    ROTATOPN_LEFT_RIGHT(0x82, "点动旋转（底盘）", RotatopnLeftRight.class),


    ;

    public int cmdCode;

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

@@ -23,7 +23,7 @@
            android:layout_height="100sp"
            android:layout_margin="30sp"
            android:text="STOP"
            android:textSize="20sp"
            android:textSize="18sp"
            android:layout_centerInParent="true"
            android:backgroundTint="#F62727" />

@@ -54,30 +54,30 @@
            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_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"
            android:layout_height="wrap_content"
            android:text="左旋转"
            android:layout_marginRight="20sp"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
@@ -89,46 +89,46 @@
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="右旋转"
            android:layout_marginLeft="20sp"
            android:layout_marginRight="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentLeft="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_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" />
<!--        <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" />-->

        <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_left"
            android:layout_alignBottom="@+id/btn_go_backward"
            android:backgroundTint="#2196F3" />
<!--        <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" />-->

    </RelativeLayout>
<!--    <LinearLayout-->
@@ -162,24 +162,7 @@
                android:backgroundTint="#2196F3" />
        </LinearLayout>

        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_force_switch"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="开启强制"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3" />
        </LinearLayout>


        <LinearLayout
            android:layout_width="0dp"
@@ -206,10 +189,10 @@
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_function_switch"
                android:id="@+id/btn_body_switch"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="功能切换"
                android:text="底盘"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
@@ -219,6 +202,63 @@
                android:backgroundTint="#2196F3" />
        </LinearLayout>

        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_reset"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="复位"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3" />
        </LinearLayout>

<!--        <LinearLayout-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="match_parent"-->
<!--            android:layout_weight="1"-->
<!--            android:gravity="center">-->
<!--            <com.google.android.material.button.MaterialButton-->
<!--                android:layout_width="wrap_content"-->
<!--                android:layout_height="40dp"-->
<!--                android:text="功能切换"-->
<!--                android:layout_centerHorizontal="true"-->
<!--                app:cornerRadius="5dp"-->
<!--                android:paddingLeft="10dp"-->
<!--                android:paddingRight="10dp"-->
<!--                android:minWidth="10dp"-->
<!--                android:textSize="10sp"-->
<!--                android:backgroundTint="#2196F3" />-->
<!--        </LinearLayout>-->


        <!--        <LinearLayout-->
        <!--            android:layout_width="0dp"-->
        <!--            android:layout_height="match_parent"-->
        <!--            android:layout_weight="1"-->
        <!--            android:gravity="center">-->
        <!--            <com.google.android.material.button.MaterialButton-->
        <!--                android:id="@+id/btn_force_switch"-->
        <!--                android:layout_width="wrap_content"-->
        <!--                android:layout_height="40dp"-->
        <!--                android:text="开启强制"-->
        <!--                android:layout_centerHorizontal="true"-->
        <!--                app:cornerRadius="5dp"-->
        <!--                android:paddingLeft="10dp"-->
        <!--                android:paddingRight="10dp"-->
        <!--                android:minWidth="10dp"-->
        <!--                android:textSize="10sp"-->
        <!--                android:backgroundTint="#2196F3" />-->
        <!--        </LinearLayout>-->

    </LinearLayout>