From fe9f146f29c677fc164b613a1b900e045366586f Mon Sep 17 00:00:00 2001 From: whycq <913841844@qq.com> Date: 星期六, 04 一月 2025 08:25:36 +0800 Subject: [PATCH] Merge remote-tracking branch 'origin/master' into master --- app/src/main/java/com/example/agvcontroller/MainActivity.java | 675 +++++++++++++++++++++++++++++++++++++------------------ 1 files changed, 452 insertions(+), 223 deletions(-) diff --git a/app/src/main/java/com/example/agvcontroller/MainActivity.java b/app/src/main/java/com/example/agvcontroller/MainActivity.java index 20629c5..6157c46 100644 --- a/app/src/main/java/com/example/agvcontroller/MainActivity.java +++ b/app/src/main/java/com/example/agvcontroller/MainActivity.java @@ -67,6 +67,13 @@ 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 Button bodySwitchBtn; // 搴曠洏/璐у弶鍒囨崲 private Socket socket; @@ -75,6 +82,10 @@ private RelativeLayout layout_top; private RelativeLayout layout_single; private RelativeLayout layout_reset; + + int liftHeight = 400; + int extendWidth = -450; + int angle = -91; // 7 搴� SocketManager socketManager; @@ -103,6 +114,8 @@ + + // 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) { @@ -114,7 +127,7 @@ .setVal(1) .bodySync((action) -> action.setPwd((short) 10)); nettyServerHandler.sendMessageToClient(clientId, agvAction); // 鍙戦�佹秷鎭埌瀹㈡埛绔� - handler.sendEmptyMessageDelayed(0, 100); + handler.sendEmptyMessageDelayed(0, 100); // 100ms 鍚庡彂閫佷笅涓�鏉℃秷鎭� } if (isGoBackward) { String substring = String.valueOf(new SnowflakeIdWorker().nextId()).substring(0,16); @@ -147,116 +160,116 @@ 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) -10)); - 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) -10)); - 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) -10)); - 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) -10)); - 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); - } +// // 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; } }); @@ -297,26 +310,325 @@ layout_single = findViewById(R.id.layout_single); layout_reset = findViewById(R.id.layout_reset); + + 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"); 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<>(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� + } + }); + + // 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<>(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� + } + }); + + // 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<>(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� + } + }); + + // 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<>(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� + } + }); + + // 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<>(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� + } + }); + + // 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<>(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� + } + }); // 鎵嬭嚜鍔ㄦā寮忓紑鍏� modelSwitchBtn.setOnClickListener(new View.OnClickListener() { @@ -342,14 +654,8 @@ 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); @@ -379,22 +685,24 @@ } } }); + + // 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()); +// 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()); } @@ -438,88 +746,9 @@ } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { isRotatopnRight = false; } - } else if (view.getId() == R.id.btn_front_paddle_extend) { - // 鍓嶆嫧鏉嗕几鍑� - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isFrontPaddleExtendBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isFrontPaddleExtendBtn = false; - } - } else if (view.getId() == R.id.btn_front_paddle_collect) { - // 鍓嶆嫧鏉嗘敹璧� - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isFrontPaddleCollectBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isFrontPaddleCollectBtn = false; - } - } else if (view.getId() == R.id.btn_back_paddle_extend) { - // 鍚庢嫧鏉嗕几鍑� - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isBackPaddleExtendBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isBackPaddleExtendBtn = false; - } - } else if (view.getId() == R.id.btn_back_paddle_collect) { - // 鍚庢嫧鏉嗘敹璧� - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isBackPaddleCollectBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isBackPaddleCollectBtn = false; - } - } else if (view.getId() == R.id.btn_rise) { - // 涓婂崌 - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isRiseBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isRiseBtn = false; - } - } else if (view.getId() == R.id.btn_drop) { - // 涓嬮檷 - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isDropBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isDropBtn = false; - } - } else if (view.getId() == R.id.btn_extend_fork) { - // 浼稿弶 - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isExtendForkBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isExtendForkBtn = false; - } - } else if (view.getId() == R.id.btn_collect_fork) { - // 鏀跺弶 - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isCollectForkBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isCollectForkBtn = false; - } - } else if (view.getId() == R.id.btn_turn_left) { - // 宸︽棆杞� - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isTurnLeftBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isTurnLeftBtn = false; - } - } else if (view.getId() == R.id.btn_turn_right) { - // 宸︽棆杞� - if (motionEvent.getAction() == KeyEvent.ACTION_DOWN) { - isTurnRightBtn = true; - handler.sendEmptyMessage(0); - } else if (motionEvent.getAction() == KeyEvent.ACTION_UP) { - isTurnRightBtn = false; - } } + return false; } -- Gitblit v1.9.1