From 6f1275502e0d7be1b919f9d6eb308436cc8958fa Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期四, 16 一月 2025 09:22:01 +0800
Subject: [PATCH] #

---
 app/src/main/java/com/example/agvcontroller/MainActivity.java |  303 ++++++++++++++++++--------------------------------
 1 files changed, 111 insertions(+), 192 deletions(-)

diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index 7b34b4c..5e68826 100644
--- a/app/src/main/java/com/example/agvcontroller/MainActivity.java
+++ b/app/src/main/java/com/example/agvcontroller/MainActivity.java
@@ -38,6 +38,7 @@
 import com.example.agvcontroller.action.LoadResetAction;
 import com.example.agvcontroller.action.RotatopnLeftRight;
 import com.example.agvcontroller.action.SingleSwitchAction;
+import com.example.agvcontroller.action.SingleSwitchRunAction;
 import com.example.agvcontroller.protocol.AgvAction;
 import com.example.agvcontroller.action.HandOutAction;
 import com.example.agvcontroller.socket.NettyServerHandler;
@@ -140,19 +141,24 @@
     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;
-
-
+    private boolean isFront1 = false;
+    private boolean isBack1 = false;
+    private boolean isFront2 = false;
+    private boolean isBack2 = false;
+    private boolean isFront3 = false;
+    private boolean isBack3 = false;
+    private boolean isFront4 = false;
+    private boolean isBack4 = false;
+    private boolean isFront5 = false;
+    private boolean isBack5 = false;
+    private boolean isFront6 = false;
+    private boolean isBack6 = false;
+    private boolean isFront7 = false;
+    private boolean isBack7 = false;
+    private boolean isFront8 = false;
+    private boolean isBack8 = false;
+    private boolean isFront9 = false;
+    private boolean isBack9 = false;
 
 
 
@@ -161,8 +167,9 @@
     private Handler handler = new Handler(new Handler.Callback() {
         @Override
         public boolean handleMessage(Message msg) {
+            String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+            short pwd = 0;
             if (isGoForward) {
-                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                 AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
@@ -172,7 +179,6 @@
                 handler.sendEmptyMessageDelayed(0, 100);  //  100ms 鍚庡彂閫佷笅涓�鏉℃秷鎭�
             }
             if (isGoBackward) {
-                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                 AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
@@ -182,7 +188,6 @@
                 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)
@@ -192,7 +197,6 @@
                 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)
@@ -202,116 +206,24 @@
                 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);
-//            }
+            if (isRotatopnRight) {
+                AgvAction agvAction = new AgvAction<>(RotatopnLeftRight.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(1)
+                        .bodySync((action) -> action.setPwd((short) 50));
+                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)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(1)
+                        .bodySync((action) -> action.setPwd((short) -50 ));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                handler.sendEmptyMessageDelayed(0, 100);
+            }
             return false;
         }
     });
@@ -525,7 +437,7 @@
                             .setAgvNo(AgvNo)
                             .setSerialNo(substring)
                             .setVal(1)
-                            .bodySync((action) -> action.setPwd((short) 21));
+                            .bodySync((action) -> action.setPwd((short) extendWidth));
                     nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
                     extendWidth += 50;
                 } else {
@@ -548,7 +460,7 @@
                             .setAgvNo(AgvNo)
                             .setSerialNo(substring)
                             .setVal(1)
-                            .bodySync((action) -> action.setPwd((short) 21));
+                            .bodySync((action) -> action.setPwd((short) extendWidth));
                     nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔埛绔�
                     extendWidth -= 50;
                 } else {
@@ -711,6 +623,7 @@
                 if (vibrator != null && vibrator.hasVibrator()) {
                     vibrator.vibrate(500);
                 }
+                boolean result = false;
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
                 if (isAuto) {
                     AgvAction agvAction = new AgvAction<>(HandInAction.class)
@@ -719,6 +632,8 @@
                             .setVal(autoVal)
                             .bodySync((action) -> action.setPwd((short) 21));
                     nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                    result = true;
+                    isAuto = !isAuto;
                 } else {
                     AgvAction agvAction = new AgvAction<>(HandOutAction.class)
                             .setAgvNo(AgvNo)
@@ -726,21 +641,23 @@
                             .setVal(autoVal)
                             .bodySync((action) -> action.setPwd((short) 21));
                     nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                    result = true;
+                    isAuto = !isAuto;
                 }
 
-                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;
-                    }
-                }
+//                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
@@ -881,15 +798,19 @@
                             .setAgvNo(AgvNo)
                             .setSerialNo(substring)
                             .setVal(5)
-                            .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�
+                    axleFrontBtn5.setVisibility(View.VISIBLE);
+                    axleBackBtn5.setVisibility(View.VISIBLE);
                 } else {
                     AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
                             .setAgvNo(AgvNo)
                             .setSerialNo(substring)
                             .setVal(5)
-                            .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�
+                    axleFrontBtn5.setVisibility(View.GONE);
+                    axleBackBtn5.setVisibility(View.GONE);
                 }
             }
         });
@@ -999,23 +920,6 @@
         });
 
 
-        axleFrontBtn2 =findViewById(R.id.btn_axle_2_front);
-        axleBackBtn2 =findViewById(R.id.btn_axle_2_back);
-        axleFrontBtn3 =findViewById(R.id.btn_axle_3_front);
-        axleBackBtn3 =findViewById(R.id.btn_axle_3_back);
-        axleFrontBtn4 =findViewById(R.id.btn_axle_4_front);
-        axleBackBtn4 =findViewById(R.id.btn_axle_4_back);
-        axleFrontBtn5 =findViewById(R.id.btn_axle_5_front);
-        axleBackBtn5 =findViewById(R.id.btn_axle_5_back);
-        axleFrontBtn6 =findViewById(R.id.btn_axle_6_front);
-        axleBackBtn6 =findViewById(R.id.btn_axle_6_back);
-        axleFrontBtn7 =findViewById(R.id.btn_axle_7_front);
-        axleBackBtn7 =findViewById(R.id.btn_axle_7_back);
-        axleFrontBtn8 =findViewById(R.id.btn_axle_8_front);
-        axleBackBtn8 =findViewById(R.id.btn_axle_8_back);
-        axleFrontBtn9 =findViewById(R.id.btn_axle_9_front);
-        axleBackBtn9 =findViewById(R.id.btn_axle_9_back);
-
         axleFrontBtn1.setOnClickListener(new View.OnClickListener(){
             @Override
             public void onClick(View v) {
@@ -1023,7 +927,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(1)
@@ -1039,7 +943,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(1)
@@ -1055,7 +959,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(2)
@@ -1071,7 +975,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(2)
@@ -1087,7 +991,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(3)
@@ -1103,7 +1007,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(3)
@@ -1119,7 +1023,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(4)
@@ -1135,7 +1039,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(4)
@@ -1151,11 +1055,11 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(5)
-                        .bodySync((action) -> action.setPwd((short) 100));
+                        .bodySync((action) -> action.setPwd((short) 99));
                 nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
             }
         });
@@ -1167,11 +1071,11 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(5)
-                        .bodySync((action) -> action.setPwd((short) -100));
+                        .bodySync((action) -> action.setPwd((short) -99));
                 nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
             }
         });
@@ -1183,7 +1087,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(6)
@@ -1199,7 +1103,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(6)
@@ -1215,7 +1119,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(7)
@@ -1231,7 +1135,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(7)
@@ -1247,7 +1151,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(8)
@@ -1263,7 +1167,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(8)
@@ -1279,7 +1183,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(9)
@@ -1295,7 +1199,7 @@
                     vibrator.vibrate(500);
                 }
                 String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
                         .setAgvNo(AgvNo)
                         .setSerialNo(substring)
                         .setVal(9)
@@ -1311,16 +1215,25 @@
         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());
+        axleFrontBtn1.setOnTouchListener(new CarTouchButton());
+        axleBackBtn1.setOnTouchListener(new CarTouchButton());
+        axleFrontBtn2.setOnTouchListener(new CarTouchButton());
+        axleBackBtn2.setOnTouchListener(new CarTouchButton());
+        axleFrontBtn3.setOnTouchListener(new CarTouchButton());
+        axleBackBtn3.setOnTouchListener(new CarTouchButton());
+        axleFrontBtn4.setOnTouchListener(new CarTouchButton());
+        axleBackBtn4.setOnTouchListener(new CarTouchButton());
+        axleFrontBtn5.setOnTouchListener(new CarTouchButton());
+        axleBackBtn5.setOnTouchListener(new CarTouchButton());
+        axleFrontBtn6.setOnTouchListener(new CarTouchButton());
+        axleBackBtn6.setOnTouchListener(new CarTouchButton());
+        axleFrontBtn7.setOnTouchListener(new CarTouchButton());
+        axleBackBtn7.setOnTouchListener(new CarTouchButton());
+        axleFrontBtn8.setOnTouchListener(new CarTouchButton());
+        axleBackBtn8.setOnTouchListener(new CarTouchButton());
+        axleFrontBtn9.setOnTouchListener(new CarTouchButton());
+        axleBackBtn9.setOnTouchListener(new CarTouchButton());
+
 
     }
 
@@ -1328,7 +1241,6 @@
 
         @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) {
@@ -1337,7 +1249,6 @@
                 } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                     isGoForward = false;
                 }
-
             } else if (view.getId() == R.id.btn_go_backward) {
                 // 鍚庨��
                 if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
@@ -1364,6 +1275,14 @@
                 } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
                     isRotatopnRight = false;
                 }
+            } else if (view.getId() == R.id.btn_rotatopn_right) {
+                // 杞村姩鎸夐挳
+                if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+                    isRotatopnRight = true;
+                    handler.sendEmptyMessage(0);
+                } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+                    isRotatopnRight = false;
+                }
             }
 
 

--
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