From d5722c5a50829df634f96bff131fb8cc01f6a17c Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期六, 17 八月 2024 16:27:57 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/MainActivity.java | 244 ++++++++++++++++++++++++++++++++++++++----------
1 files changed, 193 insertions(+), 51 deletions(-)
diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index 6bda580..b77dcb1 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;
@@ -15,46 +17,95 @@
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.protocol.ForceSwitchAction;
-import com.example.agvcontroller.protocol2.PackagePart;
+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.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
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 vibrateButton;
+ private Button stopBtn; // 鎬ュ仠鎸夐挳
+// 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 Socket socket;
-
+ private String AgvNo = "12";
SocketManager socketManager;
- private boolean isDowm = 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;
+
+
+
+
private Handler handler = new Handler(new Handler.Callback() {
@Override
public boolean handleMessage(Message msg) {
- String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,3);
-
- AgvAction agvAction = new AgvAction<>(ForceSwitchAction.class)
- .setAgvNo("1")
- .setSerialNo(substring)
- .setVal(1)
- .bodySync((action) -> action.setPwd((short) 21));
-
-
- if (isDowm) {
- System.out.println(agvAction);
-// byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 绀轰緥娑堟伅
+ if (isGoForward) {
+ 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);
+ 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);
}
return false;
}
@@ -62,45 +113,109 @@
String clientId;
NettyServerHandler nettyServerHandler;
+
@Override
protected void onCreate(Bundle savedInstanceState) {
super.onCreate(savedInstanceState);
setContentView(R.layout.activity_main);
+ // 鎸夐挳闇囧姩
vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
- vibrateButton = findViewById(R.id.btn_stop);
+ stopBtn = findViewById(R.id.btn_stop);
+// 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();
clientId = intent.getStringExtra("message");
Log.i("message1",clientId);
- // 鍒濆鍖栧崟杞翠娇鑳�
- int single = 9;
- int len = PackagePart.UNIQUENO.getLen()
- + PackagePart.TIMESTAMP.getLen()
- + PackagePart.COMMAND_MARK.getLen()
- + 16 + 1 + 1 + 1;
- for (int i = 0; i < single; i++) {
- }
- byte[] message2 = new byte[]{0x01, 0x02, 0x03, 0x06}; // 绀轰緥娑堟伅
- nettyServerHandler.sendMessageToClient(clientId, message2); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ // 寮哄埗妯″紡寮�鍏�
+// 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); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// }
+// });
- //vibrateButton.setOnClickListener(new View.OnClickListener() {
- // @Override
- // public void onClick(View v) {
- // if (vibrator != null && vibrator.hasVibrator()) {
- // //vibrator.vibrate(500);
- // }
- //
- // //String clientId = "/192.168.4.188:63160";
- // byte[] message1 = new byte[]{0x01, 0x02, 0x03, 0x04}; // 绀轰緥娑堟伅
- // Log.i("message2",clientId);
- // Log.i("message3", Arrays.toString(message1));
- //
- // nettyServerHandler.sendMessageToClient(clientId, message1); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- // }
- //});
- vibrateButton.setOnTouchListener(new CarTouchButton());
+ // 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();
+
+ Log.i("substring",substring);
+ 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�");
+ }
+ }
+ });
+ stopBtn.setOnTouchListener(new CarTouchButton());
+ goForwardBtn.setOnTouchListener(new CarTouchButton());
+ goBackwardBtn.setOnTouchListener(new CarTouchButton());
+ rotatopnLeftBtn.setOnTouchListener(new CarTouchButton());
+ rotatopnRightBtn.setOnTouchListener(new CarTouchButton());
}
@@ -108,20 +223,47 @@
@Override
public boolean onTouch(View view, MotionEvent motionEvent) {
- if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
- isDowm = true;
- handler.sendEmptyMessage(0);
- } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
- isDowm = false;
+ if (view.getId() == R.id.btn_go_forward) {
+ // 鍓嶈繘
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isGoForward = true;
+ handler.sendEmptyMessage(0);
+ } 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) {
+ isGoBackward = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ 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;
+ }
}
return false;
}
}
+
@Override
protected void onDestroy() {
super.onDestroy();
//SocketManager.getInstance().disconnect();
-
//SocketManager.getInstance().stopServer();
//socketManager.stopServer(); // 鍋滄鏈嶅姟鍣�
}
--
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