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