From dd170bf880918ce00a1df68e8a3c621ada9b5820 Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期五, 07 二月 2025 13:54:30 +0800
Subject: [PATCH] #
---
app/src/main/java/com/example/agvcontroller/MainActivity.java | 1050 +++++++++++++++++++++++++++++++++++++++++++++++++---------
1 files changed, 887 insertions(+), 163 deletions(-)
diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index 3fb66dc..0c45dd5 100644
--- a/app/src/main/java/com/example/agvcontroller/MainActivity.java
+++ b/app/src/main/java/com/example/agvcontroller/MainActivity.java
@@ -1,14 +1,15 @@
package com.example.agvcontroller;
+import static android.content.ContentValues.TAG;
+
import androidx.appcompat.app.AppCompatActivity;
import androidx.recyclerview.widget.RecyclerView;
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;
@@ -16,7 +17,11 @@
import android.view.MotionEvent;
import android.view.View;
import android.widget.Button;
+import android.widget.CompoundButton;
+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;
@@ -31,7 +36,10 @@
import com.example.agvcontroller.action.HandLift;
import com.example.agvcontroller.action.LiftResetAction;
import com.example.agvcontroller.action.LoadResetAction;
+import com.example.agvcontroller.action.LoginReset;
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;
@@ -39,7 +47,12 @@
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;
@@ -50,9 +63,26 @@
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 agvSocket;
+ 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 Button reLogin;
+
+
+
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�
@@ -80,13 +110,45 @@
private Button liftResetBtn;
private Button allResetBtn;
+ private Switch switchBtn1; // 鍗曡酱浣胯兘
+ private Switch switchBtn2; // 鍗曡酱浣胯兘
+ private Switch switchBtn3; // 鍗曡酱浣胯兘
+ private Switch switchBtn4; // 鍗曡酱浣胯兘
+ private Switch switchBtn5; // 鍗曡酱浣胯兘
+ private Switch switchBtn6; // 鍗曡酱浣胯兘
+ private Switch switchBtn7; // 鍗曡酱浣胯兘
+ private Switch switchBtn8; // 鍗曡酱浣胯兘
+ private Switch switchBtn9; // 鍗曡酱浣胯兘
+
+ private Button axleFrontBtn1;
+ private Button axleBackBtn1;
+ private Button axleFrontBtn2;
+ private Button axleBackBtn2;
+ private Button axleFrontBtn3;
+ private Button axleBackBtn3;
+ private Button axleFrontBtn4;
+ private Button axleBackBtn4;
+ private Button axleFrontBtn5;
+ private Button axleBackBtn5;
+ private Button axleFrontBtn6;
+ private Button axleBackBtn6;
+ private Button axleFrontBtn7;
+ private Button axleBackBtn7;
+ private Button axleFrontBtn8;
+ private Button axleBackBtn8;
+ 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 RelativeLayout layout_single;
+ private GridLayout layout_single;
private RelativeLayout layout_reset;
int liftHeight = 400;
@@ -104,19 +166,24 @@
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;
@@ -125,18 +192,19 @@
private Handler handler = new Handler(new Handler.Callback() {
@Override
public boolean handleMessage(Message msg) {
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
if (isGoForward) {
- String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ 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�
}
if (isGoBackward) {
- String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
AgvAction agvAction = new AgvAction<>(ForwardBackAction.class)
.setAgvNo(AgvNo)
.setSerialNo(substring)
@@ -146,7 +214,6 @@
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)
@@ -156,7 +223,6 @@
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)
@@ -166,127 +232,199 @@
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 (isFront1) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .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 (isBack1) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchRunAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .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);
+ agvSocket = findViewById(R.id.socket);
+ 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);
+ reLogin = findViewById(R.id.relogin_button);
+
+
+
+
+
// 鎸夐挳闇囧姩
vibrator = (Vibrator) getSystemService(Context.VIBRATOR_SERVICE);
@@ -316,6 +454,37 @@
layout_single = findViewById(R.id.layout_single);
layout_reset = findViewById(R.id.layout_reset);
+ switchBtn1 = findViewById(R.id.switch1);
+ switchBtn2 = findViewById(R.id.switch2);
+ switchBtn3 = findViewById(R.id.switch3);
+ switchBtn4 = findViewById(R.id.switch4);
+ switchBtn5 = findViewById(R.id.switch5);
+ switchBtn6 = findViewById(R.id.switch6);
+ switchBtn7 = findViewById(R.id.switch7);
+ switchBtn8 = findViewById(R.id.switch8);
+ switchBtn9 = findViewById(R.id.switch9);
+
+ axleFrontBtn1 =findViewById(R.id.btn_axle_1_front);
+ axleBackBtn1 =findViewById(R.id.btn_axle_1_back);
+ 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);
+
+
+
cameraResetBtn = findViewById(R.id.btn_camera_reset);
loadResetBtn = findViewById(R.id.btn_load_reset);
@@ -324,12 +493,55 @@
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("message");
+ if (intent != null) {
+ AGVCar car = (AGVCar) intent.getSerializableExtra("item");
+ clientId = car.getClientId();
+ AgvNo = car.getAgvNo();
+ }
+
Log.i("message1",clientId);
+ reLogin.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(LoginReset.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�
+ }
+ });
// 鍓嶆嫧鏉嗕几鍑�
frontPaddleExtendBtn.setOnClickListener(new View.OnClickListener() {
@Override
@@ -457,7 +669,7 @@
.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 {
@@ -480,7 +692,7 @@
.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 {
@@ -643,6 +855,7 @@
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)
@@ -651,6 +864,8 @@
.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)
@@ -658,21 +873,23 @@
.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
@@ -692,6 +909,277 @@
}
});
+ switchBtn1.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ Log.d(TAG, "onCheckedChanged: " + isChecked);
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
+ if (isChecked) {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.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�
+ axleFrontBtn1.setVisibility(View.VISIBLE);
+ axleBackBtn1.setVisibility(View.VISIBLE);
+ } else {
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.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�
+ axleFrontBtn1.setVisibility(View.GONE);
+ axleBackBtn1.setVisibility(View.GONE);
+ }
+ }
+ });
+
+ switchBtn2.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+ Log.d(TAG, "onCheckedChanged: " + isChecked);
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
+ if (isChecked) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(2)
+ .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) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn2.setVisibility(View.GONE);
+ axleBackBtn2.setVisibility(View.GONE);
+ }
+ }
+ });
+
+ switchBtn3.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+ Log.d(TAG, "onCheckedChanged: " + isChecked);
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
+ if (isChecked) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(3)
+ .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) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn3.setVisibility(View.GONE);
+ axleBackBtn3.setVisibility(View.GONE);
+ }
+ }
+ });
+
+ switchBtn4.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+ Log.d(TAG, "onCheckedChanged: " + isChecked);
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
+ if (isChecked) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(4)
+ .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) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn4.setVisibility(View.GONE);
+ axleBackBtn4.setVisibility(View.GONE);
+ }
+ }
+ });
+
+ switchBtn5.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+ Log.d(TAG, "onCheckedChanged: " + isChecked);
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
+ if (isChecked) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(5)
+ .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) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn5.setVisibility(View.GONE);
+ axleBackBtn5.setVisibility(View.GONE);
+ }
+ }
+ });
+
+ switchBtn6.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+ Log.d(TAG, "onCheckedChanged: " + isChecked);
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
+ if (isChecked) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(6)
+ .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) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn6.setVisibility(View.GONE);
+ axleBackBtn6.setVisibility(View.GONE);
+ }
+ }
+ });
+
+ switchBtn7.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+ Log.d(TAG, "onCheckedChanged: " + isChecked);
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
+ if (isChecked) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(7)
+ .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) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn7.setVisibility(View.GONE);
+ axleBackBtn7.setVisibility(View.GONE);
+ }
+ }
+ });
+
+ switchBtn8.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+ Log.d(TAG, "onCheckedChanged: " + isChecked);
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
+ if (isChecked) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(8)
+ .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) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn8.setVisibility(View.GONE);
+ axleBackBtn8.setVisibility(View.GONE);
+ }
+ }
+ });
+
+ switchBtn9.setOnCheckedChangeListener(new CompoundButton.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(CompoundButton buttonView, boolean isChecked) {
+ Log.d(TAG, "onCheckedChanged: " + isChecked);
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0, 16);
+ if (isChecked) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ AgvAction agvAction = new AgvAction<>(SingleSwitchAction.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(9)
+ .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) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ axleFrontBtn9.setVisibility(View.GONE);
+ axleBackBtn9.setVisibility(View.GONE);
+ }
+ }
+ });
+
+
// 鐐瑰姩鎸夐挳
stopBtn.setOnTouchListener(new CarTouchButton());
goForwardBtn.setOnTouchListener(new CarTouchButton());
@@ -699,24 +1187,51 @@
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());
+
}
+
+ 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 {
@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) {
@@ -725,7 +1240,6 @@
} 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) {
@@ -752,7 +1266,152 @@
} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
isRotatopnRight = false;
}
+ } else if (view.getId() == R.id.btn_axle_1_front) {
+ // 杞村姩鎸夐挳
+ if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
+ isFront1 = true;
+ handler.sendEmptyMessage(0);
+ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
+ 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;
@@ -802,5 +1461,70 @@
//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() + "%");
+ agvSocket.setText(agvCar.getStatus() == 1 ? "宸茶繛鎺�" : "鏈繛鎺�");
+ 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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