From 318bd727e2fe02e4f541dfe943f77606af41d509 Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期四, 06 二月 2025 14:30:11 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/MainActivity.java | 822 +++++++++++++++++++++++++++++++++++-----------------------
1 files changed, 498 insertions(+), 324 deletions(-)
diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index 5e68826..33187b5 100644
--- a/app/src/main/java/com/example/agvcontroller/MainActivity.java
+++ b/app/src/main/java/com/example/agvcontroller/MainActivity.java
@@ -7,10 +7,9 @@
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.Looper;
import android.os.Message;
import android.os.Vibrator;
import android.util.Log;
@@ -22,6 +21,7 @@
import android.widget.GridLayout;
import android.widget.RelativeLayout;
import android.widget.Switch;
+import android.widget.TextView;
import com.example.agvcontroller.action.AllResetAction;
import com.example.agvcontroller.action.BackPaddle;
@@ -46,7 +46,12 @@
import com.example.agvcontroller.utils.DialogUtil;
import com.example.agvcontroller.utils.SnowflakeIdWorker;
+import org.greenrobot.eventbus.EventBus;
+import org.greenrobot.eventbus.Subscribe;
+import org.greenrobot.eventbus.ThreadMode;
+
import java.net.Socket;
+import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
@@ -57,9 +62,24 @@
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 static TextView recentLogTextView;
+ private static Handler mainHandler;
+ private static List<String> logList = AGVApplication.getLogList();
+ private static final int MAX_RECENT_LOGS = 10; // 鏈�澶氭樉绀� 10 鏉℃渶鏂版棩蹇�
+
+ private static TextView agvBattery;
+ private static TextView agvNo;
+ private static TextView agvStatus;
+ private static TextView agvPositionId;
+ private static TextView agvPositionX;
+ private static TextView agvPositionY;
+ private static TextView agvForkHeight;
+ private static TextView agvForkExtend;
+ private static TextView agvForkAngle;
+ private static TextView agvError;
+
+
+
private Vibrator vibrator;
private Button stopBtn; // 鎬ュ仠鎸夐挳
// private Button forceSwitchBtn; // 鎵嬭嚜鍔ㄥ己鍒跺紑鍏�
@@ -116,11 +136,13 @@
private Button axleFrontBtn9;
private Button axleBackBtn9;
+ private Button viewAllLogsButton;
+
private Button bodySwitchBtn; // 搴曠洏/璐у弶鍒囨崲
private Socket socket;
- private String AgvNo = "1";
+
private RelativeLayout layout_bottom;
private RelativeLayout layout_top;
private GridLayout layout_single;
@@ -168,13 +190,14 @@
@Override
public boolean handleMessage(Message msg) {
String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
- short pwd = 0;
if (isGoForward) {
+ Log.d(TAG, "isGoForward: " + isGoForward);
AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
.bodySync((action) -> action.setPwd((short) 50));
+ Log.d(TAG, "isGoForward: " + clientId);
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
handler.sendEmptyMessageDelayed(0, 100); // 100ms 鍚庡彂閫佷笅涓�鏉℃秷鎭�
}
@@ -206,35 +229,196 @@
handler.sendEmptyMessageDelayed(0, 100);
}
- if (isRotatopnRight) {
- AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
+ if (isFront1) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
- .bodySync((action) -> action.setPwd((short) 50));
+ .bodySync((action) -> action.setPwd((short) 99));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
handler.sendEmptyMessageDelayed(0, 100);
}
- if (isRotatopnLeft) {
- AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
+ if (isBack1) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
- .bodySync((action) -> action.setPwd((short) -50 ));
+ .bodySync((action) -> action.setPwd((short) -99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isFront2) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(2)
+ .bodySync((action) -> action.setPwd((short) 99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isBack2) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(2)
+ .bodySync((action) -> action.setPwd((short) -99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isFront3) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(3)
+ .bodySync((action) -> action.setPwd((short) 99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isBack3) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(3)
+ .bodySync((action) -> action.setPwd((short) -99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isFront4) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(4)
+ .bodySync((action) -> action.setPwd((short) 99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isBack4) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(4)
+ .bodySync((action) -> action.setPwd((short) -99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isFront5) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(5)
+ .bodySync((action) -> action.setPwd((short) 99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isBack5) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(5)
+ .bodySync((action) -> action.setPwd((short) -99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isFront6) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(6)
+ .bodySync((action) -> action.setPwd((short) 99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isBack6) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(6)
+ .bodySync((action) -> action.setPwd((short) -99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isFront7) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(7)
+ .bodySync((action) -> action.setPwd((short) 99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isBack7) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(7)
+ .bodySync((action) -> action.setPwd((short) -99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isFront8) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(8)
+ .bodySync((action) -> action.setPwd((short) 99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isBack8) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(8)
+ .bodySync((action) -> action.setPwd((short) -99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isFront9) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(9)
+ .bodySync((action) -> action.setPwd((short) 99));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+ if (isBack9) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(9)
+ .bodySync((action) -> action.setPwd((short) -99));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
handler.sendEmptyMessageDelayed(0, 100);
}
return false;
}
});
-
- String clientId;
+ static String AgvNo = "1";
+ static String clientId;
NettyServerHandler nettyServerHandler;
+
+
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
+
+ agvBattery = findViewById(R.id.agv_battery);
+ agvNo = findViewById(R.id.agv_no);
+ agvStatus = findViewById(R.id.agv_status);
+ agvPositionId = findViewById(R.id.agv_position_id);
+ agvPositionX = findViewById(R.id.agv_position_x);
+ agvPositionY = findViewById(R.id.agv_position_y);
+ agvForkHeight = findViewById(R.id.agv_position_height);
+ agvForkExtend = findViewById(R.id.agv_ford);
+ agvForkAngle = findViewById(R.id.agv_ratio);
+ agvError = findViewById(R.id.agv_error);
+
+
+
+
// 鎸夐挳闇囧姩
vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
@@ -303,11 +487,41 @@
liftResetBtn = findViewById(R.id.btn_lift_reset);
allResetBtn = findViewById(R.id.btn_all_reset);
+ viewAllLogsButton = findViewById(R.id.view_all_logs_button);
+ recentLogTextView = findViewById(R.id.recent_log_text_view);
+ mainHandler = new Handler(Looper.getMainLooper());
+
+ // 鍒濆鍖栨棩蹇楁樉绀�
+ updateRecentLogTextView();
+
+ // 鍚姩涓�涓畾鏃朵换鍔℃潵瀹氭湡妫�鏌ユ棩蹇楀垪琛ㄧ殑鍙樺寲
+ handler.postDelayed(new Runnable() {
+ @Override
+ public void run() {
+ updateLogDisplay();
+ handler.postDelayed(this, 1000); // 姣忕妫�鏌ヤ竴娆�
+ }
+ }, 100);
+
+ // 娉ㄥ唽 EventBus
+ EventBus.getDefault().register(this);
+
+ // 璁剧疆鏌ョ湅鍏ㄩ儴鏃ュ織鎸夐挳鐨勭偣鍑讳簨浠�
+ viewAllLogsButton.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ showAllLogsActivity();
+ }
+ });
Intent intent = getIntent();
- clientId = intent.getStringExtra("ip");
- AgvNo = intent.getStringExtra("agvNo");
+ if (intent != null) {
+ AGVCar car = (AGVCar) intent.getSerializableExtra("item");
+ clientId = car.getClientId();
+ AgvNo = car.getAgvNo();
+ }
+
Log.i("message1",clientId);
// 鍓嶆嫧鏉嗕几鍑�
@@ -690,7 +904,7 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
- .bodySync((action) -> action.setPwd((short) 0));
+ .bodySync((action) -> action.setPwd((short) 1));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
axleFrontBtn1.setVisibility(View.VISIBLE);
axleBackBtn1.setVisibility(View.VISIBLE);
@@ -699,7 +913,7 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
- .bodySync((action) -> action.setPwd((short) 1));
+ .bodySync((action) -> action.setPwd((short) 0));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
axleFrontBtn1.setVisibility(View.GONE);
axleBackBtn1.setVisibility(View.GONE);
@@ -720,15 +934,19 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(2)
- .bodySync((action) -> action.setPwd((short) 0));
+ .bodySync((action) -> action.setPwd((short) 1));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn2.setVisibility(View.VISIBLE);
+ axleBackBtn2.setVisibility(View.VISIBLE);
} else {
AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(2)
- .bodySync((action) -> action.setPwd((short) 1));
+ .bodySync((action) -> action.setPwd((short) 0));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn2.setVisibility(View.GONE);
+ axleBackBtn2.setVisibility(View.GONE);
}
}
});
@@ -746,15 +964,19 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(3)
- .bodySync((action) -> action.setPwd((short) 0));
+ .bodySync((action) -> action.setPwd((short) 1));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn3.setVisibility(View.VISIBLE);
+ axleBackBtn3.setVisibility(View.VISIBLE);
} else {
AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(3)
- .bodySync((action) -> action.setPwd((short) 1));
+ .bodySync((action) -> action.setPwd((short) 0));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn3.setVisibility(View.GONE);
+ axleBackBtn3.setVisibility(View.GONE);
}
}
});
@@ -772,15 +994,19 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(4)
- .bodySync((action) -> action.setPwd((short) 0));
+ .bodySync((action) -> action.setPwd((short) 1));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn4.setVisibility(View.VISIBLE);
+ axleBackBtn4.setVisibility(View.VISIBLE);
} else {
AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(4)
- .bodySync((action) -> action.setPwd((short) 1));
+ .bodySync((action) -> action.setPwd((short) 0));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn4.setVisibility(View.GONE);
+ axleBackBtn4.setVisibility(View.GONE);
}
}
});
@@ -828,15 +1054,19 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(6)
- .bodySync((action) -> action.setPwd((short) 0));
+ .bodySync((action) -> action.setPwd((short) 1));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn6.setVisibility(View.VISIBLE);
+ axleBackBtn6.setVisibility(View.VISIBLE);
} else {
AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(6)
- .bodySync((action) -> action.setPwd((short) 1));
+ .bodySync((action) -> action.setPwd((short) 0));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn6.setVisibility(View.GONE);
+ axleBackBtn6.setVisibility(View.GONE);
}
}
});
@@ -854,15 +1084,19 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(7)
- .bodySync((action) -> action.setPwd((short) 0));
+ .bodySync((action) -> action.setPwd((short) 1));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn7.setVisibility(View.VISIBLE);
+ axleBackBtn7.setVisibility(View.VISIBLE);
} else {
AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(7)
- .bodySync((action) -> action.setPwd((short) 1));
+ .bodySync((action) -> action.setPwd((short) 0));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn7.setVisibility(View.GONE);
+ axleBackBtn7.setVisibility(View.GONE);
}
}
});
@@ -880,15 +1114,19 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(8)
- .bodySync((action) -> action.setPwd((short) 0));
+ .bodySync((action) -> action.setPwd((short) 1));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn8.setVisibility(View.VISIBLE);
+ axleBackBtn8.setVisibility(View.VISIBLE);
} else {
AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(8)
- .bodySync((action) -> action.setPwd((short) 1));
+ .bodySync((action) -> action.setPwd((short) 0));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn8.setVisibility(View.GONE);
+ axleBackBtn8.setVisibility(View.GONE);
}
}
});
@@ -906,307 +1144,23 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(9)
- .bodySync((action) -> action.setPwd((short) 0));
+ .bodySync((action) -> action.setPwd((short) 1));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn9.setVisibility(View.VISIBLE);
+ axleBackBtn9.setVisibility(View.VISIBLE);
} else {
AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(9)
- .bodySync((action) -> action.setPwd((short) 1));
+ .bodySync((action) -> action.setPwd((short) 0));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn9.setVisibility(View.GONE);
+ axleBackBtn9.setVisibility(View.GONE);
}
}
});
-
- axleFrontBtn1.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(1)
- .bodySync((action) -> action.setPwd((short) 100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleBackBtn1.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(1)
- .bodySync((action) -> action.setPwd((short) -100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleFrontBtn2.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(2)
- .bodySync((action) -> action.setPwd((short) 100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleBackBtn2.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(2)
- .bodySync((action) -> action.setPwd((short) -100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleFrontBtn3.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(3)
- .bodySync((action) -> action.setPwd((short) 100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleBackBtn3.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(3)
- .bodySync((action) -> action.setPwd((short) -100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleFrontBtn4.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(4)
- .bodySync((action) -> action.setPwd((short) 100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleBackBtn4.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(4)
- .bodySync((action) -> action.setPwd((short) -100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleFrontBtn5.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(5)
- .bodySync((action) -> action.setPwd((short) 99));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleBackBtn5.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(5)
- .bodySync((action) -> action.setPwd((short) -99));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleFrontBtn6.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(6)
- .bodySync((action) -> action.setPwd((short) 100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleBackBtn6.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(6)
- .bodySync((action) -> action.setPwd((short) -100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleFrontBtn7.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(7)
- .bodySync((action) -> action.setPwd((short) 100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleBackBtn7.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(7)
- .bodySync((action) -> action.setPwd((short) -100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleFrontBtn8.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(8)
- .bodySync((action) -> action.setPwd((short) 100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleBackBtn8.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(8)
- .bodySync((action) -> action.setPwd((short) -100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleFrontBtn9.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(9)
- .bodySync((action) -> action.setPwd((short) 100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
-
- axleBackBtn9.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<>(SingleSwitchRunAction.class)
- .setAgvNo(AgvNo)
- .setSerialNo(substring)
- .setVal(9)
- .bodySync((action) -> action.setPwd((short) -100));
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- }
- });
// 鐐瑰姩鎸夐挳
stopBtn.setOnTouchListener(new CarTouchButton());
@@ -1236,6 +1190,25 @@
}
+
+ private void updateLogDisplay() {
+ // 鑾峰彇鏈�鏂扮殑鏃ュ織鍒楄〃
+ List<String> logs = AGVApplication.getLogList();
+ // 鑾峰彇鏈�鍚庝袱鏉℃棩蹇�
+ int size = logs.size();
+ if (size == 0) {
+ recentLogTextView.setText("");
+ } else if (size == 1) {
+ recentLogTextView.setText(logs.get(0));
+ } else {
+ String logText = logs.get(size - 2) + "\n" + // 鑾峰彇鍊掓暟绗簩鏉℃棩蹇�
+ logs.get(size - 1); // 鑾峰彇鏈�鍚庝竴鏉℃棩蹇�
+ // 鏇存柊 TextView 鐨勬樉绀哄唴瀹�
+ Log.d("logs", "updateLogDisplay: " + logText);
+ recentLogTextView.setText(logText);
+ }
+ }
+
private class CarTouchButton implements View.OnTouchListener {
@@ -1275,15 +1248,152 @@
} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
isRotatopnRight = false;
}
- } else if (view.getId() == R.id.btn_rotatopn_right) {
+ } else if (view.getId() == R.id.btn_axle_1_front) {
// 杞村姩鎸夐挳
if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
- isRotatopnRight = true;
+ isFront1 = true;
handler.sendEmptyMessage(0);
} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
- isRotatopnRight = false;
+ isFront1 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_1_back) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isBack1 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isBack1 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_2_front) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isFront2 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isFront2 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_2_back) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isBack2 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isBack2 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_3_front) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isFront3 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isFront3 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_3_back) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isBack3 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isBack3 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_4_front) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isFront4 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isFront4 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_4_back) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isBack4 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isBack4 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_5_front) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isFront5 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isFront5 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_5_back) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isBack5 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isBack5 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_6_front) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isFront6 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isFront6 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_6_back) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isBack6 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isBack6 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_7_front) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isFront7 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isFront7 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_7_back) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isBack7 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isBack7 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_8_front) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isFront8 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isFront8 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_8_back) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isBack8 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isBack8 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_9_front) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isFront9 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isFront9 = false;
+ }
+ } else if (view.getId() == R.id.btn_axle_9_back) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isBack9 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isBack9 = false;
}
}
+
return false;
@@ -1333,5 +1443,69 @@
//SocketManager.getInstance().disconnect();
//SocketManager.getInstance().stopServer();
//socketManager.stopServer(); // 鍋滄鏈嶅姟鍣�
+ // 绉婚櫎瀹氭椂浠诲姟锛岄伩鍏嶅唴瀛樻硠婕�
+ handler.removeCallbacksAndMessages(null);
+ }
+
+
+
+
+
+
+
+
+
+ public static void upClient(AGVCar agvCar) {
+ clientId = agvCar.getClientId();
+ AgvNo = agvCar.getAgvNo();
+ agvNo.setText("AGV缂栧彿锛�" + AgvNo);
+ agvBattery.setText("鐢甸噺锛�" + agvCar.getBattery() + "%");
+ agvStatus.setText("AGV鐘舵�侊細" + agvCar.getStatus());
+ agvPositionId.setText("ID锛�" + agvCar.getPositionID());
+ agvPositionX.setText("(X)锛�" + agvCar.getPositionX());
+ agvPositionY.setText("(Y)锛�" + agvCar.getPositionY());
+ agvForkHeight.setText("褰撳墠楂樺害锛�" + agvCar.getForkHeight() + "mm");
+ agvForkExtend.setText("璐у弶浼稿嚭璺濈锛�" + agvCar.getForkExtend() + "mm");
+ agvForkAngle.setText("璐у弶鏃嬭浆瑙掑害锛�" + agvCar.getForkAngle() + "掳");
+ agvError.setText("AGV鏁呴殰锛�" + agvCar.getAgvError());
+// updateAgvBatteryText("鐢甸噺锛�" + agvCar.getBattery() + "%");
+ }
+
+ private static void updateAgvBatteryText(String batteryLevel) {
+ if (agvBattery != null) {
+ agvBattery.setText(batteryLevel);
+ }
+ }
+
+ // EventBus 璁㈤槄鏂规硶锛氭帴鏀舵棩蹇楀瓧绗︿覆
+ @Subscribe(threadMode = ThreadMode.MAIN)
+ public void onLogMessageReceived(String logMessage) {
+ addLog(logMessage);
+ }
+ // 鏂规硶锛氭洿鏂版渶杩戠殑鏃ュ織鏄剧ず
+ public static void updateRecentLogTextView() {
+ mainHandler.post(new Runnable() {
+ @Override
+ public void run() {
+ StringBuilder logBuilder = new StringBuilder();
+ int start = Math.max(0, logList.size() - MAX_RECENT_LOGS);
+ for (int i = start; i < logList.size(); i++) {
+ logBuilder.append(logList.get(i)).append("\n");
+ }
+ recentLogTextView.setText(logBuilder.toString());
+ }
+ });
+ }
+ // 闈欐�佹柟娉曪細娣诲姞鏃ュ織
+ public static void addLog(String log) {
+ logList.add(log);
+ updateRecentLogTextView();
+ }
+
+ // 鏂规硶锛氬惎鍔� LogActivity 骞朵紶閫掓棩蹇楁暟鎹�
+ private void showAllLogsActivity() {
+ Intent intent = new Intent(this, LogActivity.class);
+ intent.putStringArrayListExtra("log_list", new ArrayList<>(logList));
+ startActivity(intent);
}
}
\ No newline at end of file
--
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