添加刀具位置和刀具步进的显示和配置

diaoerqiege/BHBF_Robot_Lifting_Lug/.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="464747038937607816" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1028326133965575499" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="464747038937607816" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1028326133965575499" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_CV.pb.h

@@ -68,7 +68,7 @@ extern const pb_msgdesc_t CV_struct_define_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define BSP_CV_PB_H_MAX_SIZE                     CV_struct_define_size
-#define CV_struct_define_size                    123
+#define CV_struct_define_size                    134
 
 #ifdef __cplusplus
 } /* extern "C" */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_GV.pb.h

@@ -112,7 +112,7 @@ extern const pb_msgdesc_t GV_struct_define_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define BSP_GV_PB_H_MAX_SIZE                     GV_struct_define_size
-#define GV_struct_define_size                    1669
+#define GV_struct_define_size                    1680
 
 #ifdef __cplusplus
 } /* extern "C" */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_IV.pb.h

@@ -18,6 +18,7 @@ typedef struct _IV_struct_define {
     int32_t laser_sensor_2_measure_distance;
     int32_t laser_sensor_3_measure_distance;
     int32_t kinfe_complete_signal;
+    int32_t kinfe_position;
 } IV_struct_define;
 
 
@@ -26,8 +27,8 @@ extern "C" {
 #endif
 
 /* Initializer values for message structs */
-#define IV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0}
+#define IV_struct_define_init_default            {0, 0, 0, 0, 0, 0, 0, 0}
-#define IV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0}
+#define IV_struct_define_init_zero               {0, 0, 0, 0, 0, 0, 0, 0}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define IV_struct_define_Robot_Move_Speed_tag    1
@@ -37,6 +38,7 @@ extern "C" {
 #define IV_struct_define_laser_sensor_2_measure_distance_tag 5
 #define IV_struct_define_laser_sensor_3_measure_distance_tag 6
 #define IV_struct_define_kinfe_complete_signal_tag 7
+#define IV_struct_define_kinfe_position_tag      8
 
 /* Struct field encoding specification for nanopb */
 #define IV_struct_define_FIELDLIST(X, a) \
@@ -46,7 +48,8 @@ X(a, STATIC,   SINGULAR, INT32,    Remote_Status,     3) \
 X(a, STATIC,   SINGULAR, INT32,    laser_sensor_1_measure_distance,   4) \
 X(a, STATIC,   SINGULAR, INT32,    laser_sensor_2_measure_distance,   5) \
 X(a, STATIC,   SINGULAR, INT32,    laser_sensor_3_measure_distance,   6) \
-X(a, STATIC,   SINGULAR, INT32,    kinfe_complete_signal,   7)
+X(a, STATIC,   SINGULAR, INT32,    kinfe_complete_signal,   7) \
+X(a, STATIC,   SINGULAR, INT32,    kinfe_position,    8)
 #define IV_struct_define_CALLBACK NULL
 #define IV_struct_define_DEFAULT NULL
 
@@ -57,7 +60,7 @@ extern const pb_msgdesc_t IV_struct_define_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define BSP_IV_PB_H_MAX_SIZE                     IV_struct_define_size
-#define IV_struct_define_size                    75
+#define IV_struct_define_size                    86
 
 #ifdef __cplusplus
 } /* extern "C" */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/PSource/bsp_PV.pb.h

@@ -14,6 +14,7 @@ typedef struct _PV_struct_define {
     int32_t robot_operation_mode;
     int32_t knife_descending_height;
     int32_t main_axis_speed;
+    int32_t step_len;
 } PV_struct_define;
 
 
@@ -22,19 +23,21 @@ extern "C" {
 #endif
 
 /* Initializer values for message structs */
-#define PV_struct_define_init_default            {0, 0, 0}
+#define PV_struct_define_init_default            {0, 0, 0, 0}
-#define PV_struct_define_init_zero               {0, 0, 0}
+#define PV_struct_define_init_zero               {0, 0, 0, 0}
 
 /* Field tags (for use in manual encoding/decoding) */
 #define PV_struct_define_robot_operation_mode_tag 1
 #define PV_struct_define_knife_descending_height_tag 2
 #define PV_struct_define_main_axis_speed_tag     3
+#define PV_struct_define_step_len_tag            4
 
 /* Struct field encoding specification for nanopb */
 #define PV_struct_define_FIELDLIST(X, a) \
 X(a, STATIC,   SINGULAR, INT32,    robot_operation_mode,   1) \
 X(a, STATIC,   SINGULAR, INT32,    knife_descending_height,   2) \
-X(a, STATIC,   SINGULAR, INT32,    main_axis_speed,   3)
+X(a, STATIC,   SINGULAR, INT32,    main_axis_speed,   3) \
+X(a, STATIC,   SINGULAR, INT32,    step_len,          4)
 #define PV_struct_define_CALLBACK NULL
 #define PV_struct_define_DEFAULT NULL
 
@@ -45,7 +48,7 @@ extern const pb_msgdesc_t PV_struct_define_msg;
 
 /* Maximum encoded size of messages (where known) */
 #define BSP_PV_PB_H_MAX_SIZE                     PV_struct_define_size
-#define PV_struct_define_size                    33
+#define PV_struct_define_size                    44
 
 #ifdef __cplusplus
 } /* extern "C" */

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_IV.proto

@@ -12,5 +12,6 @@ message IV_struct_define{
 	  int32 laser_sensor_2_measure_distance = 5;
 	  int32 laser_sensor_3_measure_distance = 6;
 	  int32 kinfe_complete_signal = 7;
+	  int32 kinfe_position = 8;
 	  
 };

diaoerqiege/BHBF_Robot_Lifting_Lug/Core/Protobuf/Proto/bsp_PV.proto

@@ -4,4 +4,5 @@ message PV_struct_define{
 	int32 robot_operation_mode = 1;
  	int32 knife_descending_height = 2;
  	int32 main_axis_speed = 3;
+ 	int32 step_len = 4;
 };

diaoerqiege/diaoerqige_V1.0/.idea/vcs.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <project version="4">
   <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
   </component>
 </project>

diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_IV.proto

@@ -12,4 +12,5 @@ message IV_struct_define
 	  int32 laser_sensor_2_measure_distance = 5;
 	  int32 laser_sensor_3_measure_distance = 6;
 	  int32 kinfe_complete_signal = 7;
+	  int32 kinfe_position = 8;
 };

diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_PV.proto

@@ -6,4 +6,5 @@ message PV_struct_define{
 	int32 robot_operation_mode = 1;
  	int32 knife_descending_height = 2;
  	int32 main_axis_speed = 3;
+ 	int32 step_len = 4;
 };

diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java

@@ -77,6 +77,7 @@ public class MainActivity extends AppCompatActivity {
                                 .setRobotOperationMode(1)
                                 .setKnifeDescendingHeight(1)
                                 .setMainAxisSpeed(10)
+                                .setStepLen(1)
 
                                 .build();
 
@@ -108,6 +109,19 @@ public class MainActivity extends AppCompatActivity {
 
                         }
 
+                        // 刀具步进步长
+                        String step_len = mainBinding.stepLen.getText().toString();
+                        try {
+                            if( step_len.isEmpty() ) {_toSendPV = _toSendPV.toBuilder().setStepLen(1).build();}
+
+                            else { _toSendPV = _toSendPV.toBuilder()
+                                    .setStepLen(Integer.parseInt(step_len)).build();
+                            }
+                        }
+                        catch (Exception e)
+                        {
+
+                        }
 
                         if(_Operate_Mode_Call_Value.equals("手动作业"))
                         {

diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspIV.java

@@ -70,6 +70,12 @@ public final class BspIV {
      * @return The kinfeCompleteSignal.
      */
     int getKinfeCompleteSignal();
+
+    /**
+     * <code>int32 kinfe_position = 8;</code>
+     * @return The kinfePosition.
+     */
+    int getKinfePosition();
   }
   /**
    * Protobuf type {@code IV_struct_define}
@@ -185,6 +191,17 @@ public final class BspIV {
       return kinfeCompleteSignal_;
     }
 
+    public static final int KINFE_POSITION_FIELD_NUMBER = 8;
+    private int kinfePosition_ = 0;
+    /**
+     * <code>int32 kinfe_position = 8;</code>
+     * @return The kinfePosition.
+     */
+    @java.lang.Override
+    public int getKinfePosition() {
+      return kinfePosition_;
+    }
+
     private byte memoizedIsInitialized = -1;
     @java.lang.Override
     public final boolean isInitialized() {
@@ -220,6 +237,9 @@ public final class BspIV {
       if (kinfeCompleteSignal_ != 0) {
         output.writeInt32(7, kinfeCompleteSignal_);
       }
+      if (kinfePosition_ != 0) {
+        output.writeInt32(8, kinfePosition_);
+      }
       getUnknownFields().writeTo(output);
     }
 
@@ -257,6 +277,10 @@ public final class BspIV {
         size += com.google.protobuf.CodedOutputStream
           .computeInt32Size(7, kinfeCompleteSignal_);
       }
+      if (kinfePosition_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(8, kinfePosition_);
+      }
       size += getUnknownFields().getSerializedSize();
       memoizedSize = size;
       return size;
@@ -287,6 +311,8 @@ public final class BspIV {
           != other.getLaserSensor3MeasureDistance()) return false;
       if (getKinfeCompleteSignal()
           != other.getKinfeCompleteSignal()) return false;
+      if (getKinfePosition()
+          != other.getKinfePosition()) return false;
       if (!getUnknownFields().equals(other.getUnknownFields())) return false;
       return true;
     }
@@ -313,6 +339,8 @@ public final class BspIV {
       hash = (53 * hash) + getLaserSensor3MeasureDistance();
       hash = (37 * hash) + KINFE_COMPLETE_SIGNAL_FIELD_NUMBER;
       hash = (53 * hash) + getKinfeCompleteSignal();
+      hash = (37 * hash) + KINFE_POSITION_FIELD_NUMBER;
+      hash = (53 * hash) + getKinfePosition();
       hash = (29 * hash) + getUnknownFields().hashCode();
       memoizedHashCode = hash;
       return hash;
@@ -451,6 +479,7 @@ public final class BspIV {
         laserSensor2MeasureDistance_ = 0;
         laserSensor3MeasureDistance_ = 0;
         kinfeCompleteSignal_ = 0;
+        kinfePosition_ = 0;
         return this;
       }
 
@@ -505,6 +534,9 @@ public final class BspIV {
         if (((from_bitField0_ & 0x00000040) != 0)) {
           result.kinfeCompleteSignal_ = kinfeCompleteSignal_;
         }
+        if (((from_bitField0_ & 0x00000080) != 0)) {
+          result.kinfePosition_ = kinfePosition_;
+        }
       }
 
       @java.lang.Override
@@ -540,6 +572,9 @@ public final class BspIV {
         if (other.getKinfeCompleteSignal() != 0) {
           setKinfeCompleteSignal(other.getKinfeCompleteSignal());
         }
+        if (other.getKinfePosition() != 0) {
+          setKinfePosition(other.getKinfePosition());
+        }
         this.mergeUnknownFields(other.getUnknownFields());
         onChanged();
         return this;
@@ -601,6 +636,11 @@ public final class BspIV {
                 bitField0_ |= 0x00000040;
                 break;
               } // case 56
+              case 64: {
+                kinfePosition_ = input.readInt32();
+                bitField0_ |= 0x00000080;
+                break;
+              } // case 64
               default: {
                 if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                   done = true; // was an endgroup tag
@@ -842,6 +882,38 @@ public final class BspIV {
         return this;
       }
 
+      private int kinfePosition_ ;
+      /**
+       * <code>int32 kinfe_position = 8;</code>
+       * @return The kinfePosition.
+       */
+      @java.lang.Override
+      public int getKinfePosition() {
+        return kinfePosition_;
+      }
+      /**
+       * <code>int32 kinfe_position = 8;</code>
+       * @param value The kinfePosition to set.
+       * @return This builder for chaining.
+       */
+      public Builder setKinfePosition(int value) {
+
+        kinfePosition_ = value;
+        bitField0_ |= 0x00000080;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>int32 kinfe_position = 8;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearKinfePosition() {
+        bitField0_ = (bitField0_ & ~0x00000080);
+        kinfePosition_ = 0;
+        onChanged();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:IV_struct_define)
     }
 
@@ -907,14 +979,15 @@ public final class BspIV {
       descriptor;
   static {
     java.lang.String[] descriptorData = {
-      "\n\014bsp_IV.proto\"\364\001\n\020IV_struct_define\022\030\n\020R" +
+      "\n\014bsp_IV.proto\"\214\002\n\020IV_struct_define\022\030\n\020R" +
       "obot_Move_Speed\030\001 \001(\001\022\025\n\rRF_Angle_Roll\030\002" +
       " \001(\005\022\025\n\rRemote_Status\030\003 \001(\005\022\'\n\037laser_sen" +
       "sor_1_measure_distance\030\004 \001(\005\022\'\n\037laser_se" +
       "nsor_2_measure_distance\030\005 \001(\005\022\'\n\037laser_s" +
       "ensor_3_measure_distance\030\006 \001(\005\022\035\n\025kinfe_" +
-      "complete_signal\030\007 \001(\005B%\n!com.example.dia" +
+      "complete_signal\030\007 \001(\005\022\026\n\016kinfe_position\030" +
-      "oerqiegeapp.modelsP\000b\006proto3"
+      "\010 \001(\005B%\n!com.example.diaoerqiegeapp.mode" +
+      "lsP\000b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -925,7 +998,7 @@ public final class BspIV {
     internal_static_IV_struct_define_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessage.FieldAccessorTable(
         internal_static_IV_struct_define_descriptor,
-        new java.lang.String[] { "RobotMoveSpeed", "RFAngleRoll", "RemoteStatus", "LaserSensor1MeasureDistance", "LaserSensor2MeasureDistance", "LaserSensor3MeasureDistance", "KinfeCompleteSignal", });
+        new java.lang.String[] { "RobotMoveSpeed", "RFAngleRoll", "RemoteStatus", "LaserSensor1MeasureDistance", "LaserSensor2MeasureDistance", "LaserSensor3MeasureDistance", "KinfeCompleteSignal", "KinfePosition", });
     descriptor.resolveAllFeaturesImmutable();
   }
 

diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspPV.java

@@ -46,6 +46,12 @@ public final class BspPV {
      * @return The mainAxisSpeed.
      */
     int getMainAxisSpeed();
+
+    /**
+     * <code>int32 step_len = 4;</code>
+     * @return The stepLen.
+     */
+    int getStepLen();
   }
   /**
    * Protobuf type {@code PV_struct_define}
@@ -117,6 +123,17 @@ public final class BspPV {
       return mainAxisSpeed_;
     }
 
+    public static final int STEP_LEN_FIELD_NUMBER = 4;
+    private int stepLen_ = 0;
+    /**
+     * <code>int32 step_len = 4;</code>
+     * @return The stepLen.
+     */
+    @java.lang.Override
+    public int getStepLen() {
+      return stepLen_;
+    }
+
     private byte memoizedIsInitialized = -1;
     @java.lang.Override
     public final boolean isInitialized() {
@@ -140,6 +157,9 @@ public final class BspPV {
       if (mainAxisSpeed_ != 0) {
         output.writeInt32(3, mainAxisSpeed_);
       }
+      if (stepLen_ != 0) {
+        output.writeInt32(4, stepLen_);
+      }
       getUnknownFields().writeTo(output);
     }
 
@@ -161,6 +181,10 @@ public final class BspPV {
         size += com.google.protobuf.CodedOutputStream
           .computeInt32Size(3, mainAxisSpeed_);
       }
+      if (stepLen_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(4, stepLen_);
+      }
       size += getUnknownFields().getSerializedSize();
       memoizedSize = size;
       return size;
@@ -182,6 +206,8 @@ public final class BspPV {
           != other.getKnifeDescendingHeight()) return false;
       if (getMainAxisSpeed()
           != other.getMainAxisSpeed()) return false;
+      if (getStepLen()
+          != other.getStepLen()) return false;
       if (!getUnknownFields().equals(other.getUnknownFields())) return false;
       return true;
     }
@@ -199,6 +225,8 @@ public final class BspPV {
       hash = (53 * hash) + getKnifeDescendingHeight();
       hash = (37 * hash) + MAIN_AXIS_SPEED_FIELD_NUMBER;
       hash = (53 * hash) + getMainAxisSpeed();
+      hash = (37 * hash) + STEP_LEN_FIELD_NUMBER;
+      hash = (53 * hash) + getStepLen();
       hash = (29 * hash) + getUnknownFields().hashCode();
       memoizedHashCode = hash;
       return hash;
@@ -333,6 +361,7 @@ public final class BspPV {
         robotOperationMode_ = 0;
         knifeDescendingHeight_ = 0;
         mainAxisSpeed_ = 0;
+        stepLen_ = 0;
         return this;
       }
 
@@ -375,6 +404,9 @@ public final class BspPV {
         if (((from_bitField0_ & 0x00000004) != 0)) {
           result.mainAxisSpeed_ = mainAxisSpeed_;
         }
+        if (((from_bitField0_ & 0x00000008) != 0)) {
+          result.stepLen_ = stepLen_;
+        }
       }
 
       @java.lang.Override
@@ -398,6 +430,9 @@ public final class BspPV {
         if (other.getMainAxisSpeed() != 0) {
           setMainAxisSpeed(other.getMainAxisSpeed());
         }
+        if (other.getStepLen() != 0) {
+          setStepLen(other.getStepLen());
+        }
         this.mergeUnknownFields(other.getUnknownFields());
         onChanged();
         return this;
@@ -439,6 +474,11 @@ public final class BspPV {
                 bitField0_ |= 0x00000004;
                 break;
               } // case 24
+              case 32: {
+                stepLen_ = input.readInt32();
+                bitField0_ |= 0x00000008;
+                break;
+              } // case 32
               default: {
                 if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                   done = true; // was an endgroup tag
@@ -552,6 +592,38 @@ public final class BspPV {
         return this;
       }
 
+      private int stepLen_ ;
+      /**
+       * <code>int32 step_len = 4;</code>
+       * @return The stepLen.
+       */
+      @java.lang.Override
+      public int getStepLen() {
+        return stepLen_;
+      }
+      /**
+       * <code>int32 step_len = 4;</code>
+       * @param value The stepLen to set.
+       * @return This builder for chaining.
+       */
+      public Builder setStepLen(int value) {
+
+        stepLen_ = value;
+        bitField0_ |= 0x00000008;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>int32 step_len = 4;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearStepLen() {
+        bitField0_ = (bitField0_ & ~0x00000008);
+        stepLen_ = 0;
+        onChanged();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:PV_struct_define)
     }
 
@@ -617,11 +689,11 @@ public final class BspPV {
       descriptor;
   static {
     java.lang.String[] descriptorData = {
-      "\n\014bsp_PV.proto\"j\n\020PV_struct_define\022\034\n\024ro" +
+      "\n\014bsp_PV.proto\"|\n\020PV_struct_define\022\034\n\024ro" +
       "bot_operation_mode\030\001 \001(\005\022\037\n\027knife_descen" +
       "ding_height\030\002 \001(\005\022\027\n\017main_axis_speed\030\003 \001" +
-      "(\005B%\n!com.example.diaoerqiegeapp.modelsP" +
+      "(\005\022\020\n\010step_len\030\004 \001(\005B%\n!com.example.diao" +
-      "\000b\006proto3"
+      "erqiegeapp.modelsP\000b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -632,7 +704,7 @@ public final class BspPV {
     internal_static_PV_struct_define_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessage.FieldAccessorTable(
         internal_static_PV_struct_define_descriptor,
-        new java.lang.String[] { "RobotOperationMode", "KnifeDescendingHeight", "MainAxisSpeed", });
+        new java.lang.String[] { "RobotOperationMode", "KnifeDescendingHeight", "MainAxisSpeed", "StepLen", });
     descriptor.resolveAllFeaturesImmutable();
   }
 

diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java

@@ -357,6 +357,8 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
                 activityPolish.mainBinding.kinfeSignal.setText("未到位");
                 activityPolish.mainBinding.kinfeSignal.setTextColor(activityPolish.getResources().getColor(android.R.color.holo_red_light));
             }
+
+            activityPolish.mainBinding.kinfePosition.setText(_toReceiveIV1.getKinfePosition());
         }
     }
 

diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml

@@ -266,7 +266,46 @@
 
                     </LinearLayout>
 
+                    <LinearLayout
+                        android:layout_width="match_parent"
+                        android:layout_height="0dp"
+                        android:layout_weight="1"
+
+                        >
+
+                        <TextView
+                            android:layout_width="0dp"
+                            android:layout_height="match_parent"
+                            android:layout_gravity="center"
+                            android:layout_weight="1"
+                            android:gravity="left|center"
+                            android:text="@string/KnifePosition"
+                            android:layout_marginLeft="8dp"
 
+                            android:textColor="@color/black"
+                            android:textSize="12dp"
+                            android:textStyle="bold" />
+                        <TextView
+                            android:id="@+id/kinfe_position"
+                            android:layout_width="0dp"
+                            android:layout_height="match_parent"
+                            android:layout_weight="2"
+                            android:gravity="center"
+                            android:text="xxx"
+                            android:textColor="@color/navy_blue"
+                            android:textSize="15dp"
+                            android:textStyle="bold" />
+
+                        <TextView
+                            android:layout_width="35dp"
+                            android:layout_height="match_parent"
+                            android:gravity="center"
+                            android:text="mm"
+                            android:textColor="@color/dark_ink_blue"
+                            android:textSize="10dp" />
+
+
+                    </LinearLayout>
 <!--                    <LinearLayout-->
 <!--                        android:layout_width="match_parent"-->
 <!--                        android:layout_height="0dp"-->
@@ -563,39 +602,53 @@
 
                                 <TextView
                                     android:layout_width="0dp"
-                                    android:layout_height="wrap_content"
+                                    android:layout_height="match_parent"
                                     android:layout_gravity="center"
                                     android:layout_weight="1"
                                     android:gravity="left|center"
-
+                                    android:text="@string/KnifeStepLen"
                                     android:textColor="@color/dark_ink_blue"
                                     android:textSize="15dp"
                                     android:textStyle="bold" />
-                                <!--   android:imeOptions="actionDone" 不会切换下一个文本输入 -->
+
-<!--                                <EditText-->
+                                <!--                                <TextView-->
-<!--                                    android:id="@+id/Maintv_VerticalAdjustTo32"-->
                                 <!--                                    android:layout_width="0dp"-->
                                 <!--                                    android:layout_height="match_parent"-->
+                                <!--                                    android:layout_gravity="center"-->
                                 <!--                                    android:layout_weight="2"-->
-<!--                                    android:background="@drawable/rounded_edittext"-->
+                                <!--                                    android:gravity="left|center"-->
-<!--                                    android:imeOptions="actionDone"-->
-<!--                                    android:hint="请输入-10到10之间的数字"-->
-<!--                                    android:inputType="numberSigned|numberDecimal"-->
-<!--                                    android:digits="-0123456789."-->
-
 
-<!--                                    android:gravity="center"-->
+                                <!--                                    android:textColor="@color/dark_ink_blue"-->
-<!--                                    android:text="0.0"-->
+                                <!--                                    android:textSize="15dp"-->
-<!--                                    android:textColor="@color/blue_green"-->
-<!--                                    android:textSize="20dp"-->
                                 <!--                                    android:textStyle="bold" />-->
 
-                                <TextView
+                                <EditText
-                                    android:layout_width="50dp"
+                                    android:id="@+id/step_len"
+                                    android:layout_width="0dp"
                                     android:layout_height="match_parent"
+                                    android:layout_weight="2"
+                                    android:background="@drawable/rounded_edittext"
                                     android:gravity="center"
-
+                                    android:hint="请输入0到20之间的数字"
+                                    android:imeOptions="actionDone"
+                                    android:inputType="number"
+                                    android:digits="0123456789"
+                                    android:text="1"
                                     android:textColor="@color/blue_green"
+                                    android:textCursorDrawable="@drawable/my_cursor"
+                                    android:textSize="20dp"
+                                    android:textStyle="bold">
+
+                                </EditText>
+
+
+                                <TextView
+                                    android:layout_width="0dp"
+                                    android:layout_weight="1"
+                                    android:layout_height="match_parent"
+                                    android:gravity="center"
+                                    android:text="mm"
+                                    android:textColor="@color/dark_ink_blue"
                                     android:textSize="15dp" />
                             </LinearLayout>
 

diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml

@@ -6,9 +6,11 @@
     <string name="measure_distance3">测量\n距离(右)</string>
     <string name="slidePosition">滑台\n位置</string>
     <string name="MainAxisSpeed">主轴\n速度</string>
+    <string name="KnifeStepLen">刀具\n步长</string>
     <string name="OperateMode">作业\n模式</string>
     <string name="ChangeLineDistance">下降\n高度</string>
     <string name="RobotSpeed">车体\n速度</string>
+    <string name="KnifePosition">刀具\n位置</string>
     <string name="KnifeReadyComplete">夹刀\n信号</string>
     <string name="RightCompensation">右侧\n补偿</string>