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/MainActivity.java | 1212 ++++++++++++++++++++++++++++++++++++++++++++++++++++++++-
1 files changed, 1,180 insertions(+), 32 deletions(-)
diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java
index b77dcb1..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;
@@ -16,12 +18,27 @@
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;
+import com.example.agvcontroller.action.CameraResetAction;
+import com.example.agvcontroller.action.ForkResetAction;
import com.example.agvcontroller.action.ForwardBackAction;
+import com.example.agvcontroller.action.FrontPaddle;
+import com.example.agvcontroller.action.GyroResetAction;
+import com.example.agvcontroller.action.HandExtendCollect;
+import com.example.agvcontroller.action.HandForkRotatopn;
import com.example.agvcontroller.action.HandInAction;
+import com.example.agvcontroller.action.HandLift;
+import com.example.agvcontroller.action.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.ForceSwitchAction;
import com.example.agvcontroller.action.HandOutAction;
import com.example.agvcontroller.socket.NettyServerHandler;
import com.example.agvcontroller.socket.SocketManager;
@@ -50,10 +67,73 @@
private Button goForwardBtn; // 鍓嶈繘
private Button goBackwardBtn; // 鍚庨��
private Button modelSwitchBtn; // 杩涘叆銆侀��鍑� 鎵嬪姩
+
+ private Button frontPaddleExtendBtn;
+ private Button frontPaddleCollectBtn;
+ private Button backPaddleExtendBtn;
+ private Button backPaddleCollectBtn;
+ private Button riseBtn;
+ private Button dropBtn;
+ private Button extendForkBtn;
+ private Button collectForkBtn;
+ private Button turnLeftBtn;
+ private Button turnRightBtn;
+
+ private Button cameraResetBtn;
+ private Button loadResetBtn;
+ private Button forkResetBtn;
+ private Button gyroResetBtn;
+ 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 = "12";
+ private String AgvNo = "1";
+ private RelativeLayout layout_bottom;
+ private RelativeLayout layout_top;
+ private GridLayout layout_single;
+ private RelativeLayout layout_reset;
+
+ int liftHeight = 400;
+ int extendWidth = -450;
+ int angle = -91; // 7 搴�
+
+
SocketManager socketManager;
+
+ // 鎸夐挳闀挎寜浜嬩欢
private int autoVal = 1;
private boolean isAuto = true;
private boolean isGoForward = false;
@@ -61,9 +141,23 @@
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;
+
+
+
+ // 搴曠洏鍓嶈繘銆佸悗閫�銆佸乏鏃嬭浆銆佸彸鏃嬭浆
private Handler handler = new Handler(new Handler.Callback() {
@Override
public boolean handleMessage(Message msg) {
@@ -73,9 +167,9 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
- .bodySync((action) -> action.setPwd((short) 10));
+ .bodySync((action) -> action.setPwd((short) 50));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
- handler.sendEmptyMessageDelayed(0, 100);
+ 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);
@@ -83,7 +177,7 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
- .bodySync((action) -> action.setPwd((short) -10));
+ .bodySync((action) -> action.setPwd((short) -50));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
handler.sendEmptyMessageDelayed(0, 100);
}
@@ -93,7 +187,7 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
- .bodySync((action) -> action.setPwd((short) 10));
+ .bodySync((action) -> action.setPwd((short) 50));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
handler.sendEmptyMessageDelayed(0, 100);
}
@@ -103,10 +197,121 @@
.setAgvNo(AgvNo)
.setSerialNo(substring)
.setVal(1)
- .bodySync((action) -> action.setPwd((short) -10));
+ .bodySync((action) -> action.setPwd((short) -50 ));
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
handler.sendEmptyMessageDelayed(0, 100);
}
+
+// // 鍓嶆嫧鏉嗕几
+// if (isFrontPaddleExtendBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) 1));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 鍓嶆嫧鏉嗘敹
+// if (isFrontPaddleCollectBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) 0));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 鍚庢嫧鏉嗕几
+// if (isBackPaddleExtendBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(BackPaddle.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) 1));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 鍚庢嫧鏉嗘敹
+// if (isBackPaddleCollectBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(BackPaddle.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) 0));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 涓婂崌
+// if (isRiseBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(HandLift.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) -10));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 涓嬮檷
+// if (isDropBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(HandLift.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) -10));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 浼稿弶
+// if (isExtendForkBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) -10));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 鏀跺弶
+// if (isCollectForkBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) -10));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 璐у弶宸︽棆
+// if (isTurnLeftBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) -10));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
+// // 璐у弶鍙虫棆
+// if (isTurnRightBtn) {
+// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+// AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+// .setAgvNo(AgvNo)
+// .setSerialNo(substring)
+// .setVal(1)
+// .bodySync((action) -> action.setPwd((short) -10));
+// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+// handler.sendEmptyMessageDelayed(0, 100);
+// }
return false;
}
});
@@ -125,30 +330,379 @@
// forceSwitchBtn = findViewById(R.id.btn_force_switch);
goForwardBtn = findViewById(R.id.btn_go_forward);
goBackwardBtn = findViewById(R.id.btn_go_backward);
- rotatopnLeftBtn = findViewById(R.id.btn_go_backward);
- rotatopnRightBtn = findViewById(R.id.btn_go_forward);
+ rotatopnLeftBtn = findViewById(R.id.btn_rotatopn_left);
+ rotatopnRightBtn = findViewById(R.id.btn_rotatopn_right);
modelSwitchBtn = findViewById(R.id.btn_model_switch);
+ frontPaddleExtendBtn = findViewById(R.id.btn_front_paddle_extend); // 鍓嶆嫧鏉�
+ frontPaddleCollectBtn = findViewById(R.id.btn_front_paddle_collect); // 鍓嶆嫧鏉�
+ backPaddleExtendBtn = findViewById(R.id.btn_back_paddle_extend); // 鍚庢嫧鏉�
+ backPaddleCollectBtn = findViewById(R.id.btn_back_paddle_collect); // 鍚庢嫧鏉�
+ riseBtn = findViewById(R.id.btn_rise);
+ dropBtn = findViewById(R.id.btn_drop);
+ extendForkBtn = findViewById(R.id.btn_extend_fork);
+ collectForkBtn = findViewById(R.id.btn_collect_fork);
+ turnLeftBtn = findViewById(R.id.btn_turn_left);
+ turnRightBtn = findViewById(R.id.btn_turn_right);
+
+ bodySwitchBtn = findViewById(R.id.btn_body_switch);
+
+ layout_bottom = findViewById(R.id.layout_bottom);
+ layout_top = findViewById(R.id.layout_top);
+ layout_single = findViewById(R.id.layout_single);
+ layout_reset = findViewById(R.id.layout_reset);
+
+ 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);
+ forkResetBtn = findViewById(R.id.btn_fork_reset);
+ gyroResetBtn = findViewById(R.id.btn_gyro_reset);
+ liftResetBtn = findViewById(R.id.btn_lift_reset);
+ allResetBtn = findViewById(R.id.btn_all_reset);
+
+
+
Intent intent = getIntent();
- clientId = intent.getStringExtra("message");
+ clientId = intent.getStringExtra("ip");
+ AgvNo = intent.getStringExtra("agvNo");
Log.i("message1",clientId);
- // 寮哄埗妯″紡寮�鍏�
-// forceSwitchBtn.setOnClickListener(new View.OnClickListener() {
-// @Override
-// public void onClick(View v) {
-// if (vibrator != null && vibrator.hasVibrator()) {
-// vibrator.vibrate(500);
-// }
-// String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
-// AgvAction agvAction = new AgvAction<>(HandOutAction.class)
-// .setAgvNo(AgvNo)
-// .setSerialNo(substring)
-// .setVal(1)
-// .bodySync((action) -> action.setPwd((short) 21));
-// nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
-// }
-// });
+ // 鍓嶆嫧鏉嗕几鍑�
+ frontPaddleExtendBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 1));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 鍓嶆嫧鏉嗘敹璧�
+ frontPaddleCollectBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(FrontPaddle.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 鍚庢嫧鏉嗕几鍑�
+ backPaddleExtendBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(BackPaddle.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 1));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 鍚庢嫧鏉嗘敹璧�
+ backPaddleCollectBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(BackPaddle.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 0));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ }
+ });
+
+ // 涓婂崌
+ riseBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ if (liftHeight <= 3200) {
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(HandLift.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) liftHeight));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ liftHeight += 100;
+ } else {
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "宸茶秴鏈�澶у�硷紒");
+ }
+
+ }
+ });
+
+ // 涓嬮檷
+ dropBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+
+ if (liftHeight >= 400) {
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(HandLift.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) liftHeight));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ liftHeight -= 100;
+ } else {
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "宸茶秴鏈�灏忓�硷紒");
+ }
+ }
+ });
+
+ // 浼稿嚭
+ extendForkBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ if (extendWidth <= 450) {
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 21));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ extendWidth += 50;
+ } else {
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "宸茶秴鏈�澶у�硷紒");
+ }
+
+ }
+ });
+
+ // 鏀跺弶
+ collectForkBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ if (extendWidth >= -450) {
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(HandExtendCollect.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 21));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔埛绔�
+ extendWidth -= 50;
+ } else {
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "宸茶秴鏈�澶у�硷紒");
+ }
+ }
+ });
+
+ // 宸︽棆
+ turnLeftBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ if (angle <= 91) {
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 21));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ angle += 7;
+ } else {
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "宸茶秴鏈�澶у�硷紒");
+ }
+ }
+ });
+
+ // 鍙虫棆
+ turnRightBtn.setOnClickListener(new View.OnClickListener() {
+ @Override
+ public void onClick(View v) {
+ if (vibrator != null && vibrator.hasVibrator()) {
+ vibrator.vibrate(500);
+ }
+ if (angle >= -91) {
+ String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16);
+ AgvAction agvAction = new AgvAction<>(HandForkRotatopn.class)
+ .setAgvNo(AgvNo)
+ .setSerialNo(substring)
+ .setVal(1)
+ .bodySync((action) -> action.setPwd((short) 21));
+ nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
+ angle -= 7;
+ } else {
+ DialogUtil.showAlertDialog(MainActivity.this, "鎻愮ず", "宸茶秴鏈�灏忓�硷紒");
+ }
+
+ }
+ });
+
+ // 鐩告満澶嶄綅鎸夐挳
+ cameraResetBtn.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<>(CameraResetAction.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�
+ }
+ });
+
+ // 璺緞娓呴櫎鎸夐挳
+ loadResetBtn.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<>(LoadResetAction.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�
+ }
+ });
+
+ // 璐у弶褰掗浂鎸夐挳
+ forkResetBtn.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<>(ForkResetAction.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�
+ }
+ });
+
+ // 闄�铻轰华澶嶄綅鎸夐挳
+ gyroResetBtn.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<>(GyroResetAction.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�
+ }
+ });
+
+ // 鍗囬檷褰掗浂鎸夐挳
+ liftResetBtn.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<>(LiftResetAction.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�
+ }
+ });
+
+ // 鏁存満澶嶄綅鎸夐挳
+ allResetBtn.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<>(AllResetAction.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�
+ }
+ });
// 鎵嬭嚜鍔ㄦā寮忓紑鍏�
modelSwitchBtn.setOnClickListener(new View.OnClickListener() {
@@ -174,14 +728,8 @@
nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔�
}
-
-
-
-
boolean result = false;
long timestamp = System.currentTimeMillis();
-
- Log.i("substring",substring);
while (System.currentTimeMillis() - timestamp < 5000) {
Object o = map.get(substring);
@@ -211,11 +759,568 @@
}
}
});
+
+ 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());
goBackwardBtn.setOnTouchListener(new CarTouchButton());
rotatopnLeftBtn.setOnTouchListener(new CarTouchButton());
rotatopnRightBtn.setOnTouchListener(new CarTouchButton());
+
+// frontPaddleExtendBtn.setOnTouchListener(new CarTouchButton());
+// frontPaddleCollectBtn.setOnTouchListener(new CarTouchButton());
+// backPaddleExtendBtn.setOnTouchListener(new CarTouchButton());
+// backPaddleCollectBtn.setOnTouchListener(new CarTouchButton());
+// riseBtn.setOnTouchListener(new CarTouchButton());
+// dropBtn.setOnTouchListener(new CarTouchButton());
+// extendForkBtn.setOnTouchListener(new CarTouchButton());
+// collectForkBtn.setOnTouchListener(new CarTouchButton());
+// turnLeftBtn.setOnTouchListener(new CarTouchButton());
+// turnRightBtn.setOnTouchListener(new CarTouchButton());
}
@@ -223,6 +1328,7 @@
@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) {
@@ -231,6 +1337,7 @@
} 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) {
@@ -239,6 +1346,7 @@
} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
isGoBackward = false;
}
+
} else if (view.getId() == R.id.btn_rotatopn_left) {
// 宸︽棆杞�
if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
@@ -247,6 +1355,7 @@
} else if (motionEvent.getAction() == KeyEvent.ACTION_UP) {
isRotatopnLeft = false;
}
+
} else if (view.getId() == R.id.btn_rotatopn_right) {
// 鍙虫棆杞�
if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) {
@@ -256,10 +1365,49 @@
isRotatopnRight = false;
}
}
+
+
return false;
+
}
}
+ private boolean isVisble = true;
+
+ // 璐у弶绛夋寜閽�
+ public void switchover(View view) {
+ if (isVisble) {
+ layout_bottom.setVisibility(View.GONE);
+ layout_top.setVisibility(View.VISIBLE);
+ bodySwitchBtn.setText("璐у弶");
+ } else {
+ layout_bottom.setVisibility(View.VISIBLE);
+ layout_top.setVisibility(View.GONE);
+ bodySwitchBtn.setText("搴曠洏");
+ }
+ isVisble = !isVisble;
+
+ layout_single.setVisibility(View.GONE);
+ layout_reset.setVisibility(View.GONE);
+
+ }
+
+ // 鍗曡酱浣胯兘鎸夐挳
+ public void switchSingle(View view) {
+ layout_bottom.setVisibility(View.GONE);
+ layout_top.setVisibility(View.GONE);
+ layout_single.setVisibility(View.VISIBLE);
+ layout_reset.setVisibility(View.GONE);
+ }
+
+ // 澶嶄綅鎸夐挳
+ public void switchRest(View view) {
+ layout_bottom.setVisibility(View.GONE);
+ layout_top.setVisibility(View.GONE);
+ layout_single.setVisibility(View.GONE);
+ layout_reset.setVisibility(View.VISIBLE);
+ }
+
@Override
protected void onDestroy() {
super.onDestroy();
--
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