From de127ac0c4b4803cce8a037c8d93840eeb192186 Mon Sep 17 00:00:00 2001
From: whycq <913841844@qq.com>
Date: 星期一, 13 一月 2025 13:02:34 +0800
Subject: [PATCH] #

---
 app/src/main/java/com/example/agvcontroller/protocol/HandleCmdType.java |    4 
 app/src/main/java/com/example/agvcontroller/MainActivity.java           |  613 ++++++++++++++++++++++++
 app/src/main/res/layout/activity_main.xml                               |  835 ++++++++++++++++++++++++--------
 3 files changed, 1,236 insertions(+), 216 deletions(-)

diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index eda4c32..7b34b4c 100644
--- a/app/src/main/java/com/example/agvcontroller/MainActivity.java
+++ b/app/src/main/java/com/example/agvcontroller/MainActivity.java
@@ -1,5 +1,7 @@
 package com.example.agvcontroller;
 
+import static android.content.ContentValues.TAG;
+
 import androidx.appcompat.app.AppCompatActivity;
 import androidx.recyclerview.widget.RecyclerView;
 
@@ -16,7 +18,10 @@
 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 com.example.agvcontroller.action.AllResetAction;
 import com.example.agvcontroller.action.BackPaddle;
@@ -32,6 +37,7 @@
 import com.example.agvcontroller.action.LiftResetAction;
 import com.example.agvcontroller.action.LoadResetAction;
 import com.example.agvcontroller.action.RotatopnLeftRight;
+import com.example.agvcontroller.action.SingleSwitchAction;
 import com.example.agvcontroller.protocol.AgvAction;
 import com.example.agvcontroller.action.HandOutAction;
 import com.example.agvcontroller.socket.NettyServerHandler;
@@ -80,13 +86,43 @@
     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 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;
@@ -315,6 +351,37 @@
         layout_top = findViewById(R.id.layout_top);
         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);
@@ -693,6 +760,550 @@
             }
         });
 
+        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) 0));
+                    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) 1));
+                    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) 0));
+                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                } else {
+                    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�
+                }
+            }
+        });
+
+        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) 0));
+                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                } else {
+                    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�
+                }
+            }
+        });
+
+        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) 0));
+                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                } else {
+                    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�
+                }
+            }
+        });
+
+        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) 0));
+                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                } else {
+                    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�
+                }
+            }
+        });
+
+        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) 0));
+                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                } else {
+                    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�
+                }
+            }
+        });
+
+        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) 0));
+                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                } else {
+                    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�
+                }
+            }
+        });
+
+        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) 0));
+                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                } else {
+                    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�
+                }
+            }
+        });
+
+        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) 0));
+                    nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+                } else {
+                    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�
+                }
+            }
+        });
+
+
+        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) {
+                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) 100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleBackBtn1.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(1)
+                        .bodySync((action) -> action.setPwd((short) -100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleFrontBtn2.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(2)
+                        .bodySync((action) -> action.setPwd((short) 100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleBackBtn2.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(2)
+                        .bodySync((action) -> action.setPwd((short) -100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleFrontBtn3.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(3)
+                        .bodySync((action) -> action.setPwd((short) 100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleBackBtn3.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(3)
+                        .bodySync((action) -> action.setPwd((short) -100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleFrontBtn4.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(4)
+                        .bodySync((action) -> action.setPwd((short) 100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleBackBtn4.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(4)
+                        .bodySync((action) -> action.setPwd((short) -100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleFrontBtn5.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(5)
+                        .bodySync((action) -> action.setPwd((short) 100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleBackBtn5.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(5)
+                        .bodySync((action) -> action.setPwd((short) -100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleFrontBtn6.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(6)
+                        .bodySync((action) -> action.setPwd((short) 100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleBackBtn6.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(6)
+                        .bodySync((action) -> action.setPwd((short) -100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleFrontBtn7.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(7)
+                        .bodySync((action) -> action.setPwd((short) 100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleBackBtn7.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(7)
+                        .bodySync((action) -> action.setPwd((short) -100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleFrontBtn8.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(8)
+                        .bodySync((action) -> action.setPwd((short) 100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleBackBtn8.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(8)
+                        .bodySync((action) -> action.setPwd((short) -100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleFrontBtn9.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(9)
+                        .bodySync((action) -> action.setPwd((short) 100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
+        axleBackBtn9.setOnClickListener(new View.OnClickListener(){
+            @Override
+            public void onClick(View v) {
+                if (vibrator != null && vibrator.hasVibrator()) {
+                    vibrator.vibrate(500);
+                }
+                String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+                AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+                        .setAgvNo(AgvNo)
+                        .setSerialNo(substring)
+                        .setVal(9)
+                        .bodySync((action) -> action.setPwd((short) -100));
+                nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+            }
+        });
+
         // 鐐瑰姩鎸夐挳
         stopBtn.setOnTouchListener(new CarTouchButton());
         goForwardBtn.setOnTouchListener(new CarTouchButton());
diff --git a/app/src/main/java/com/example/agvcontroller/protocol/HandleCmdType.java b/app/src/main/java/com/example/agvcontroller/protocol/HandleCmdType.java
index 291998d..1bb507d 100644
--- a/app/src/main/java/com/example/agvcontroller/protocol/HandleCmdType.java
+++ b/app/src/main/java/com/example/agvcontroller/protocol/HandleCmdType.java
@@ -22,7 +22,7 @@
 
 public enum HandleCmdType {
 
-    HAND_OUT(0x00, "閫�鍑烘墜鍔ㄦā寮�", HandOutAction.class),
+    HAND_OUT(0x02, "閫�鍑烘墜鍔ㄦā寮�", HandOutAction.class),
 
     HAND_IN(0x01, "杩涘叆鎵嬪姩妯″紡", HandInAction.class),
 
@@ -30,7 +30,7 @@
 
     SINGLE_SWITCH(0x8C  , "鍗曡酱浣胯兘", SingleSwitchAction.class),
 
-    SINGLE_SWITCH_RUN(0x8C  , "寮哄埗鍗曡酱鐐瑰姩", SingleSwitchRunAction.class),
+    SINGLE_SWITCH_RUN(0x8D  , "寮哄埗鍗曡酱鐐瑰姩", SingleSwitchRunAction.class),
 
     FORCE_STOP(0xF0, "鎬ュ仠", ForceStopAction.class),
 
diff --git a/app/src/main/res/layout/activity_main.xml b/app/src/main/res/layout/activity_main.xml
index ccb3535..ca2b410 100644
--- a/app/src/main/res/layout/activity_main.xml
+++ b/app/src/main/res/layout/activity_main.xml
@@ -260,107 +260,516 @@
     </RelativeLayout>
 
     <!--    ****************  鍗曡酱  ****************    -->
-    <RelativeLayout
+
+    <GridLayout
         android:id="@+id/layout_single"
+        android:visibility="gone"
         android:layout_width="match_parent"
         android:layout_height="0dp"
         android:layout_weight="6"
-        android:visibility="gone">
+        android:rowCount="3"
+        android:columnCount="3">
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btn_single_1"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_alignParentLeft="true"
-            android:layout_marginTop="10sp"
-            android:layout_marginLeft="20sp"
-            android:backgroundTint="#2196F3"
-            android:text="杞� - 1"
-            app:cornerRadius="5dp" />
+        <LinearLayout
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            android:layout_rowWeight="1"
+            android:layout_columnWeight="1"
+            android:orientation="vertical"
+            android:gravity="center">
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_1_front"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="姝h浆"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_1_back"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="鍙嶈浆"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <Switch
+                android:id="@+id/switch1"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="宸﹁疆浣胯兘"
+                android:textSize="12sp"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                />
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btn_single_2"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_alignLeft="@+id/btn_single_5"
-            android:layout_marginTop="10sp"
-            android:backgroundTint="#2196F3"
-            android:text="杞� - 2"
-            app:cornerRadius="5dp" />
+        </LinearLayout>
+        <LinearLayout
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            android:layout_rowWeight="1"
+            android:layout_columnWeight="1"
+            android:orientation="vertical"
+            android:gravity="center">
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_2_front"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="姝h浆"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_2_back"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="鍙嶈浆"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <Switch
+                android:id="@+id/switch2"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="鍙宠疆浣胯兘"
+                android:textSize="12sp"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                />
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btn_single_3"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_alignParentRight="true"
-            android:layout_marginRight="20sp"
-            android:layout_marginTop="10sp"
-            android:backgroundTint="#2196F3"
-            android:text="杞� - 3"
-            app:cornerRadius="5dp" />
+        </LinearLayout>
+        <LinearLayout
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            android:layout_rowWeight="1"
+            android:layout_columnWeight="1"
+            android:orientation="vertical"
+            android:gravity="center">
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_3_front"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="涓婂崌"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_3_back"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="涓嬮檷"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <Switch
+                android:id="@+id/switch3"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="鍗囬檷浣胯兘"
+                android:textSize="12sp"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                />
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btn_single_4"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_alignLeft="@+id/btn_single_1"
-            android:layout_alignBottom="@+id/btn_single_5"
-            android:backgroundTint="#2196F3"
-            android:text="杞� - 4"
-            app:cornerRadius="5dp" />
+        </LinearLayout>
+        <LinearLayout
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            android:layout_rowWeight="1"
+            android:layout_columnWeight="1"
+            android:orientation="vertical"
+            android:gravity="center">
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_4_front"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="姝e悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_4_back"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="鍙嶅悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <Switch
+                android:id="@+id/switch4"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="璐у弶鍥炶浆浣胯兘"
+                android:textSize="12sp"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                />
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btn_single_5"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_centerInParent="true"
-            android:backgroundTint="#2196F3"
-            android:text="杞� - 5"
-            app:cornerRadius="5dp" />
+        </LinearLayout>
+        <LinearLayout
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            android:layout_rowWeight="1"
+            android:layout_columnWeight="1"
+            android:orientation="vertical"
+            android:gravity="center">
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_5_front"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="浼稿嚭"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_5_back"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="鍥炵缉"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <Switch
+                android:id="@+id/switch5"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="璐у弶浼哥缉浣胯兘"
+                android:textSize="12sp"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                />
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btn_single_6"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_alignLeft="@+id/btn_single_3"
-            android:layout_alignBottom="@+id/btn_single_5"
-            android:backgroundTint="#2196F3"
-            android:text="杞� - 6"
-            app:cornerRadius="5dp" />
+        </LinearLayout>
+        <LinearLayout
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            android:layout_rowWeight="1"
+            android:layout_columnWeight="1"
+            android:orientation="vertical"
+            android:gravity="center">
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_6_front"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="姝e悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_6_back"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="鍙嶅悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <Switch
+                android:id="@+id/switch6"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="鎷ㄦ寚浣胯兘1"
+                android:textSize="12sp"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                />
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btn_single_7"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_alignLeft="@+id/btn_single_1"
-            android:layout_alignBottom="@+id/btn_single_8"
-            android:backgroundTint="#2196F3"
-            android:text="杞� - 7"
-            app:cornerRadius="5dp" />
+        </LinearLayout>
+        <LinearLayout
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            android:layout_rowWeight="1"
+            android:layout_columnWeight="1"
+            android:orientation="vertical"
+            android:gravity="center">
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_7_front"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="姝e悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_7_back"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="鍙嶅悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <Switch
+                android:id="@+id/switch7"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="鎷ㄦ寚浣胯兘2"
+                android:textSize="12sp"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                />
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btn_single_8"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_alignParentBottom="true"
-            android:layout_marginBottom="20sp"
-            android:layout_alignLeft="@+id/btn_single_5"
-            android:layout_marginTop="10sp"
-            android:backgroundTint="#2196F3"
-            android:text="杞� - 8"
-            app:cornerRadius="5dp" />
+        </LinearLayout>
+        <LinearLayout
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            android:layout_rowWeight="1"
+            android:layout_columnWeight="1"
+            android:orientation="vertical"
+            android:gravity="center">
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_8_front"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="姝e悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_8_back"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="鍙嶅悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <Switch
+                android:id="@+id/switch8"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="鎷ㄦ寚浣胯兘3"
+                android:textSize="12sp"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                />
 
-        <com.google.android.material.button.MaterialButton
-            android:id="@+id/btn_single_9"
-            android:layout_width="wrap_content"
-            android:layout_height="wrap_content"
-            android:layout_alignLeft="@+id/btn_single_3"
-            android:layout_alignBottom="@+id/btn_single_8"
-            android:backgroundTint="#2196F3"
-            android:text="杞� - 9"
-            app:cornerRadius="5dp" />
+        </LinearLayout>
+        <LinearLayout
+            android:layout_width="0dp"
+            android:layout_height="0dp"
+            android:layout_rowWeight="1"
+            android:layout_columnWeight="1"
+            android:orientation="vertical"
+            android:gravity="center">
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_9_front"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="姝e悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <com.google.android.material.button.MaterialButton
+                android:id="@+id/btn_axle_9_back"
+                android:layout_width="wrap_content"
+                android:layout_height="40dp"
+                android:text="鍙嶅悜"
+                android:layout_centerHorizontal="true"
+                app:cornerRadius="5dp"
+                android:paddingLeft="10dp"
+                android:paddingRight="10dp"
+                android:minWidth="10dp"
+                android:textSize="10sp"
+                android:backgroundTint="#2196F3"
+                android:layout_marginBottom="10sp"
+                android:visibility="gone"/>
+            <Switch
+                android:id="@+id/switch9"
+                android:layout_width="wrap_content"
+                android:layout_height="wrap_content"
+                android:text="鎷ㄦ寚浣胯兘4"
+                android:textSize="12sp"
+                android:layout_alignParentBottom="true"
+                android:layout_centerHorizontal="true"
+                />
 
-    </RelativeLayout>
+        </LinearLayout>
+    </GridLayout>
+
+
+
+<!--        <com.google.android.material.button.MaterialButton-->
+<!--            android:id="@+id/btn_single_2"-->
+<!--            android:layout_width="wrap_content"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_alignLeft="@+id/btn_single_5"-->
+<!--            android:layout_marginTop="10sp"-->
+<!--            android:backgroundTint="#2196F3"-->
+<!--            android:text="杞� - 2"-->
+<!--            app:cornerRadius="5dp" />-->
+
+<!--        <com.google.android.material.button.MaterialButton-->
+<!--            android:id="@+id/btn_single_3"-->
+<!--            android:layout_width="wrap_content"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_alignParentRight="true"-->
+<!--            android:layout_marginRight="20sp"-->
+<!--            android:layout_marginTop="10sp"-->
+<!--            android:backgroundTint="#2196F3"-->
+<!--            android:text="杞� - 3"-->
+<!--            app:cornerRadius="5dp" />-->
+
+<!--        <com.google.android.material.button.MaterialButton-->
+<!--            android:id="@+id/btn_single_4"-->
+<!--            android:layout_width="wrap_content"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_alignLeft="@+id/btn_single_1"-->
+<!--            android:layout_alignBottom="@+id/btn_single_5"-->
+<!--            android:backgroundTint="#2196F3"-->
+<!--            android:text="杞� - 4"-->
+<!--            app:cornerRadius="5dp" />-->
+
+<!--        <com.google.android.material.button.MaterialButton-->
+<!--            android:id="@+id/btn_single_5"-->
+<!--            android:layout_width="wrap_content"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_centerInParent="true"-->
+<!--            android:backgroundTint="#2196F3"-->
+<!--            android:text="杞� - 5"-->
+<!--            app:cornerRadius="5dp" />-->
+
+<!--        <com.google.android.material.button.MaterialButton-->
+<!--            android:id="@+id/btn_single_6"-->
+<!--            android:layout_width="wrap_content"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_alignLeft="@+id/btn_single_3"-->
+<!--            android:layout_alignBottom="@+id/btn_single_5"-->
+<!--            android:backgroundTint="#2196F3"-->
+<!--            android:text="杞� - 6"-->
+<!--            app:cornerRadius="5dp" />-->
+
+<!--        <com.google.android.material.button.MaterialButton-->
+<!--            android:id="@+id/btn_single_7"-->
+<!--            android:layout_width="wrap_content"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_alignLeft="@+id/btn_single_1"-->
+<!--            android:layout_alignBottom="@+id/btn_single_8"-->
+<!--            android:backgroundTint="#2196F3"-->
+<!--            android:text="杞� - 7"-->
+<!--            app:cornerRadius="5dp" />-->
+
+<!--        <com.google.android.material.button.MaterialButton-->
+<!--            android:id="@+id/btn_single_8"-->
+<!--            android:layout_width="wrap_content"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_alignParentBottom="true"-->
+<!--            android:layout_marginBottom="20sp"-->
+<!--            android:layout_alignLeft="@+id/btn_single_5"-->
+<!--            android:layout_marginTop="10sp"-->
+<!--            android:backgroundTint="#2196F3"-->
+<!--            android:text="杞� - 8"-->
+<!--            app:cornerRadius="5dp" />-->
+
+<!--        <com.google.android.material.button.MaterialButton-->
+<!--            android:id="@+id/btn_single_9"-->
+<!--            android:layout_width="wrap_content"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_alignLeft="@+id/btn_single_3"-->
+<!--            android:layout_alignBottom="@+id/btn_single_8"-->
+<!--            android:backgroundTint="#2196F3"-->
+<!--            android:text="杞� - 9"-->
+<!--            app:cornerRadius="5dp" />-->
+
 
     <!--    ****************  澶嶄綅  ****************    -->
     <RelativeLayout
@@ -480,145 +889,145 @@
         android:padding="5dp">
 
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_1_front"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍓嶈繘"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_1_front"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍓嶈繘"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_1_back"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍚庨��"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_1_back"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍚庨��"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_2_front"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="宸︽棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_2_front"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="宸︽棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_2_back"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍙虫棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_2_back"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍙虫棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_3_front"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="宸︽棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_3_front"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="宸︽棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_3_back"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍙虫棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_3_back"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍙虫棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_4_front"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="宸︽棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_4_front"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="宸︽棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_4_back"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍙虫棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_4_back"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍙虫棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_5_front"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="宸︽棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_5_front"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="宸︽棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_5_back"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍙虫棆杞�"/>
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_6_front"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="宸︽棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_5_back"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍙虫棆杞�"/>-->
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_6_front"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="宸︽棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_6_back"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍙虫棆杞�"/>
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_7_front"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="宸︽棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_6_back"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍙虫棆杞�"/>-->
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_7_front"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="宸︽棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_7_back"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍙虫棆杞�"/>
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_8_front"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="宸︽棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_7_back"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍙虫棆杞�"/>-->
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_8_front"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="宸︽棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_8_back"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍙虫棆杞�"/>
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_9_front"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="宸︽棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_8_back"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍙虫棆杞�"/>-->
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_9_front"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="宸︽棆杞�"/>-->
 
-        <com.example.customBtn.CustomBtn
-            android:id="@+id/btn_axle_9_back"
-            android:layout_width="0dp"
-            android:layout_height="wrap_content"
-            android:layout_columnWeight="1"
-            style="@style/CustomButtonStyle"
-            android:text="鍙虫棆杞�"/>
+<!--        <com.example.customBtn.CustomBtn-->
+<!--            android:id="@+id/btn_axle_9_back"-->
+<!--            android:layout_width="0dp"-->
+<!--            android:layout_height="wrap_content"-->
+<!--            android:layout_columnWeight="1"-->
+<!--            style="@style/CustomButtonStyle"-->
+<!--            android:text="鍙虫棆杞�"/>-->
 
     </GridLayout>
 

--
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