From 43a88998d2402b016f990b9dd221365b9454f86e Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期一, 19 八月 2024 22:21:31 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/MainActivity.java | 670 +++++++++++++++++++++++++++++++++++++++++++++++++++----
1 files changed, 618 insertions(+), 52 deletions(-)
diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index b08e87c..dff8a4c 100644
--- a/app/src/main/java/com/example/agvcontroller/MainActivity.java
+++ b/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;
@@ -14,42 +16,93 @@
import android.view.MotionEvent;
import android.view.View;
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;
+import com.example.agvcontroller.utils.DialogUtil;
import com.example.agvcontroller.utils.SnowflakeIdWorker;
import java.net.Socket;
-import java.sql.Time;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
-import java.util.concurrent.TimeoutException;
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; // 鎬ュ仠鎸夐挳
- private Button forceSwitchBtn; // 鎵嬭嚜鍔ㄥ己鍒跺紑鍏�
- private Button rotatopnRightBtn; // 鍙虫棆杞�
+// private Button forceSwitchBtn; // 鎵嬭嚜鍔ㄥ己鍒跺紑鍏�
private Button rotatopnLeftBtn; // 宸︽棆杞�
+ private Button rotatopnRightBtn; // 鍙虫棆杞�
private Button goForwardBtn; // 鍓嶈繘
private Button goBackwardBtn; // 鍚庨��
+ private Button modelSwitchBtn; // 杩涘叆銆侀��鍑� 鎵嬪姩
+
+ 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; // 搴曠洏/璐у弶鍒囨崲
private Socket socket;
+ private String AgvNo = "12";
+ private RelativeLayout layout_bottom;
+ private RelativeLayout layout_top;
+ private RelativeLayout layout_single;
+ private RelativeLayout layout_reset;
+
+ int liftHeight = 400;
+ int extendWidth = 0;
+
SocketManager socketManager;
- private boolean isDowm = false;
- private boolean isOpen = false;
+
+ // 鎸夐挳闀挎寜浜嬩欢
+ 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;
+
+
@@ -57,48 +110,157 @@
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));
-
- nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- handler.sendEmptyMessageDelayed(0, 100);
-
- boolean result = false;
- long timestamp = System.currentTimeMillis();
-
- while (System.currentTimeMillis() - timestamp < 5000) {
-
- Object o = map.get(substring);
-
- if (null != o) {
- result = true;
- map.remove(o);
- break;
- }
- }
-
- if (result) {
- // alert ok
- } else {
- throw new TimeoutException("瓒呮椂");
- }
-
- }
- if (isOpen) {
- String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
- AgvAction agvAction = new AgvAction<>(ForceSwitchAction.class)
- .setAgvNo("12")
- .setSerialNo(substring)
- .setVal(1)
- .bodySync((action) -> action.setPwd((short) 21));
+ .bodySync((action) -> action.setPwd((short) 10));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
handler.sendEmptyMessageDelayed(0, 100);
}
+ if (isGoBackward) {
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) -10));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ 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); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ 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); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ handler.sendEmptyMessageDelayed(0, 100);
+ }
+
+// // 鍓嶆嫧鏉嗕几
+// if (isFrontPaddleExtendBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) 1));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 鍓嶆嫧鏉嗘敹
+// if (isFrontPaddleCollectBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) 0));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 鍚庢嫧鏉嗕几
+// if (isBackPaddleExtendBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(BackPaddle.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) 1));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 鍚庢嫧鏉嗘敹
+// if (isBackPaddleCollectBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(BackPaddle.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) 0));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 涓婂崌
+// 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); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 涓嬮檷
+// 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); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 浼稿弶
+// 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); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 鏀跺弶
+// 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); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 璐у弶宸︽棆
+// 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); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 璐у弶鍙虫棆
+// 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); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
return false;
}
});
@@ -114,33 +276,296 @@
// 鎸夐挳闇囧姩
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_rotatopn_left);
+ rotatopnRightBtn = findViewById(R.id.btn_rotatopn_right);
+ modelSwitchBtn = findViewById(R.id.btn_model_switch);
+
+ frontPaddleExtendBtn = findViewById(R.id.btn_front_paddle_extend); // 鍓嶆嫧鏉�
+ frontPaddleCollectBtn = findViewById(R.id.btn_front_paddle_collect); // 鍓嶆嫧鏉�
+ backPaddleExtendBtn = findViewById(R.id.btn_back_paddle_extend); // 鍚庢嫧鏉�
+ backPaddleCollectBtn = findViewById(R.id.btn_back_paddle_collect); // 鍚庢嫧鏉�
+ 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);
+
+ 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");
Log.i("message1",clientId);
- // 杩涘嚭鎵嬪姩妯″紡
- forceSwitchBtn.setOnClickListener(new View.OnClickListener() {
+ // 鍓嶆嫧鏉嗕几鍑�
+ frontPaddleExtendBtn.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")
+ AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 1));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 鍓嶆嫧鏉嗘敹璧�
+ frontPaddleCollectBtn.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<>(FrontPaddle.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 鍚庢嫧鏉嗕几鍑�
+ backPaddleExtendBtn.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<>(BackPaddle.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 1));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 鍚庢嫧鏉嗘敹璧�
+ backPaddleCollectBtn.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<>(BackPaddle.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 涓婂崌
+ riseBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ if (liftHeight >= 3200) {
+ 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) liftHeight));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ liftHeight += 100;
+ } else {
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "宸茶秴鏈�澶у�硷紒");
+ }
+
+ }
+ });
+
+ // 涓嬮檷
+ dropBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+
+ if (liftHeight >= 400) {
+ 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) liftHeight));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ liftHeight -= 100;
+ } else {
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "宸茶秴鏈�灏忓�硷紒");
+ }
+ }
+ });
+
+ // 浼稿嚭
+ extendForkBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ if (liftHeight >= 3200) {
+ 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) 21));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ liftHeight += 100;
+ } else {
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "宸茶秴鏈�澶у�硷紒");
+ }
+
+ }
+ });
+
+ // 鏀惰捣
+ frontPaddleExtendBtn.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<>(HandExtendCollect.class)
+ .setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
.bodySync((action) -> action.setPwd((short) 21));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
}
});
+
+ // 宸︽棆
+ frontPaddleExtendBtn.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<>(HandForkRotatopn.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 21));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 鍙虫棆
+ frontPaddleExtendBtn.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<>(HandForkRotatopn.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 21));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 鎵嬭嚜鍔ㄦā寮忓紑鍏�
+ modelSwitchBtn.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);
+ if (isAuto) {
+ AgvAction agvAction = new AgvAction<>(HandInAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(autoVal)
+ .bodySync((action) -> action.setPwd((short) 21));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ } else {
+ AgvAction agvAction = new AgvAction<>(HandOutAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(autoVal)
+ .bodySync((action) -> action.setPwd((short) 21));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+
+ boolean result = false;
+ long timestamp = System.currentTimeMillis();
+ while (System.currentTimeMillis() - timestamp < 5000) {
+
+ Object o = map.get(substring);
+
+ if (null != o) {
+ result = true;
+ isAuto = !isAuto;
+ map.remove(o);
+ break;
+ }
+ }
+
+ if (result) {
+ // alert ok 淇敼鎸夐挳鏍峰紡 鍚嶇О
+ if (isAuto) {
+ modelSwitchBtn.setText("鑷姩妯″紡");
+ autoVal = 0;
+// modelSwitchBtn.setBackgroundTintList(ColorStateList.valueOf(Color.RED));
+ } else {
+ autoVal = 1;
+ modelSwitchBtn.setText("鎵嬪姩妯″紡");
+ }
+
+ } else {
+// throw new TimeoutException("瓒呮椂");
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "璇锋眰搴旂瓟瓒呮椂锛�");
+ }
+ }
+ });
+
+ // 鐐瑰姩鎸夐挳
stopBtn.setOnTouchListener(new CarTouchButton());
goForwardBtn.setOnTouchListener(new CarTouchButton());
goBackwardBtn.setOnTouchListener(new CarTouchButton());
+ 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());
}
@@ -148,25 +573,166 @@
@Override
public boolean onTouch(View view, MotionEvent motionEvent) {
+
if (view.getId() == R.id.btn_go_forward) {
+ // 鍓嶈繘
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) {
+ // 鍚庨��
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) {
+ // 宸︽棆杞�
+ 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) {
+ // 鍙虫棆杞�
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isRotatopnRight = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ isRotatopnRight = false;
}
}
+// else if (view.getId() == R.id.btn_front_paddle_extend) {
+// // 鍓嶆嫧鏉嗕几鍑�
+// 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) {
+// // 鍓嶆嫧鏉嗘敹璧�
+// 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) {
+// // 鍚庢嫧鏉嗕几鍑�
+// 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) {
+// // 鍚庢嫧鏉嗘敹璧�
+// 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) {
+// // 涓婂崌
+// 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) {
+// // 涓嬮檷
+// 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) {
+// // 浼稿弶
+// 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) {
+// // 鏀跺弶
+// 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) {
+// // 宸︽棆杞�
+// 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) {
+// // 宸︽棆杞�
+// if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+// isTurnRightBtn = true;
+// handler.sendEmptyMessage(0);
+// } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+// isTurnRightBtn = false;
+// }
+// }
+
return false;
+
}
}
+ private boolean isVisble = true;
+
+ // 璐у弶绛夋寜閽�
+ public void switchover(View view) {
+ if (isVisble) {
+ layout_bottom.setVisibility(View.GONE);
+ layout_top.setVisibility(View.VISIBLE);
+ bodySwitchBtn.setText("璐у弶");
+ } else {
+ layout_bottom.setVisibility(View.VISIBLE);
+ layout_top.setVisibility(View.GONE);
+ bodySwitchBtn.setText("搴曠洏");
+ }
+ isVisble = !isVisble;
+
+ layout_single.setVisibility(View.GONE);
+ layout_reset.setVisibility(View.GONE);
+
+ }
+
+ // 鍗曡酱浣胯兘鎸夐挳
+ 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);
+ }
+
+ // 澶嶄綅鎸夐挳
+ 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();
--
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