From c95a4f6f74789c30d8685d0779c04bf21acebe07 Mon Sep 17 00:00:00 2001 From: Lizongdi <1210855344@qq.com> Date: Mon, 27 Apr 2026 16:51:16 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E4=B8=BA=E6=9C=80=E6=96=B0?= =?UTF-8?q?=E7=A8=8B=E5=BA=8F?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../app/src/main/java/bsp_IV.proto | 1 + .../example/diaoerqiegeapp/MainActivity.java | 2 +- .../example/diaoerqiegeapp/models/BspIV.java | 81 +++++++++++++++++- .../services/USBSerialPortHelper.java | 18 +++- .../src/main/res/layout/activity_polish.xml | 42 +++++++++ .../app/src/main/res/values/strings.xml | 2 +- .../parse/Kelaifen_V6.0_ETController.py.sisc | Bin 0 -> 8599 bytes .../parse/Kelaifen_V6.0_Example_0_5.py.sisc | Bin 0 -> 38152 bytes .../cache/parse/Kelaifen_V6.0_gpio.py.sisc | Bin 0 -> 3413 bytes .../Kelaifen_V6.0_program_config.py.sisc | Bin 0 -> 4610 bytes .../Kelaifen_V6.0_serial_handler.py.sisc | Bin 0 -> 16442 bytes .../parse/Kelaifen_V6.0_serial_init.py.sisc | Bin 0 -> 3643 bytes .../Kelaifen_V6.0_trajectory_data.py.sisc | Bin 0 -> 4890 bytes .../Kelaifen_V6.0_trajectory_program.py.sisc | Bin 0 -> 90660 bytes .../parse/Kelaifen_V6.0_transform.py.sisc | Bin 0 -> 3788 bytes .../kelaifen.bookmarks.xml | 7 ++ kelaifen/kelaifen.si4project/kelaifen.sip_sym | Bin 0 -> 19412 bytes kelaifen/kelaifen.si4project/kelaifen.sip_xab | Bin 0 -> 12288 bytes kelaifen/kelaifen.si4project/kelaifen.sip_xad | Bin 0 -> 448 bytes kelaifen/kelaifen.si4project/kelaifen.sip_xc | Bin 0 -> 40992 bytes kelaifen/kelaifen.si4project/kelaifen.sip_xf | Bin 0 -> 40992 bytes kelaifen/kelaifen.si4project/kelaifen.sip_xm | Bin 0 -> 92 bytes kelaifen/kelaifen.si4project/kelaifen.sip_xr | Bin 0 -> 40992 bytes kelaifen/kelaifen.si4project/kelaifen.sip_xsb | Bin 0 -> 4096 bytes kelaifen/kelaifen.si4project/kelaifen.sip_xsd | Bin 0 -> 368 bytes kelaifen/kelaifen.si4project/kelaifen.siproj | Bin 0 -> 8056 bytes .../kelaifen.siproj_settings.xml | 22 +++++ kelaifen/kelaifen.si4project/kelaifen.siwork | Bin 0 -> 39824 bytes 28 files changed, 166 insertions(+), 9 deletions(-) create mode 100644 kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_ETController.py.sisc create mode 100644 kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_Example_0_5.py.sisc create mode 100644 kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_gpio.py.sisc create mode 100644 kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_program_config.py.sisc create mode 100644 kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_serial_handler.py.sisc create mode 100644 kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_serial_init.py.sisc create mode 100644 kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_trajectory_data.py.sisc create mode 100644 kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_trajectory_program.py.sisc create mode 100644 kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_transform.py.sisc create mode 100644 kelaifen/kelaifen.si4project/kelaifen.bookmarks.xml create mode 100644 kelaifen/kelaifen.si4project/kelaifen.sip_sym create mode 100644 kelaifen/kelaifen.si4project/kelaifen.sip_xab create mode 100644 kelaifen/kelaifen.si4project/kelaifen.sip_xad create mode 100644 kelaifen/kelaifen.si4project/kelaifen.sip_xc create mode 100644 kelaifen/kelaifen.si4project/kelaifen.sip_xf create mode 100644 kelaifen/kelaifen.si4project/kelaifen.sip_xm create mode 100644 kelaifen/kelaifen.si4project/kelaifen.sip_xr create mode 100644 kelaifen/kelaifen.si4project/kelaifen.sip_xsb create mode 100644 kelaifen/kelaifen.si4project/kelaifen.sip_xsd create mode 100644 kelaifen/kelaifen.si4project/kelaifen.siproj create mode 100644 kelaifen/kelaifen.si4project/kelaifen.siproj_settings.xml create mode 100644 kelaifen/kelaifen.si4project/kelaifen.siwork diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_IV.proto b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_IV.proto index b92ec98..12372da 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_IV.proto +++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/bsp_IV.proto @@ -11,4 +11,5 @@ message IV_struct_define int32 laser_sensor_1_measure_distance = 4; int32 laser_sensor_2_measure_distance = 5; int32 laser_sensor_3_measure_distance = 6; + int32 kinfe_complete_signal = 7; }; diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java index edf2b2a..09eac4a 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java +++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/MainActivity.java @@ -139,7 +139,7 @@ public class MainActivity extends AppCompatActivity { } }); } - }, 0, 1000); // 延迟 0 毫秒，每隔 1000 毫秒执行一次 + }, 0, 250); // 延迟 0 毫秒，每隔 1000 毫秒执行一次 mainBinding.operateModeDisplay.setOnClickListener(new View.OnClickListener() { diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspIV.java b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspIV.java index 9816a3a..99ed92f 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspIV.java +++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/models/BspIV.java @@ -64,6 +64,12 @@ public final class BspIV { * @return The laserSensor3MeasureDistance. */ int getLaserSensor3MeasureDistance(); + + /** + * int32 kinfe_complete_signal = 7; + * @return The kinfeCompleteSignal. + */ + int getKinfeCompleteSignal(); } /** * Protobuf type {@code IV_struct_define} @@ -168,6 +174,17 @@ public final class BspIV { return laserSensor3MeasureDistance_; } + public static final int KINFE_COMPLETE_SIGNAL_FIELD_NUMBER = 7; + private int kinfeCompleteSignal_ = 0; + /** + * int32 kinfe_complete_signal = 7; + * @return The kinfeCompleteSignal. + */ + @java.lang.Override + public int getKinfeCompleteSignal() { + return kinfeCompleteSignal_; + } + private byte memoizedIsInitialized = -1; @java.lang.Override public final boolean isInitialized() { @@ -200,6 +217,9 @@ public final class BspIV { if (laserSensor3MeasureDistance_ != 0) { output.writeInt32(6, laserSensor3MeasureDistance_); } + if (kinfeCompleteSignal_ != 0) { + output.writeInt32(7, kinfeCompleteSignal_); + } getUnknownFields().writeTo(output); } @@ -233,6 +253,10 @@ public final class BspIV { size += com.google.protobuf.CodedOutputStream .computeInt32Size(6, laserSensor3MeasureDistance_); } + if (kinfeCompleteSignal_ != 0) { + size += com.google.protobuf.CodedOutputStream + .computeInt32Size(7, kinfeCompleteSignal_); + } size += getUnknownFields().getSerializedSize(); memoizedSize = size; return size; @@ -261,6 +285,8 @@ public final class BspIV { != other.getLaserSensor2MeasureDistance()) return false; if (getLaserSensor3MeasureDistance() != other.getLaserSensor3MeasureDistance()) return false; + if (getKinfeCompleteSignal() + != other.getKinfeCompleteSignal()) return false; if (!getUnknownFields().equals(other.getUnknownFields())) return false; return true; } @@ -285,6 +311,8 @@ public final class BspIV { hash = (53 * hash) + getLaserSensor2MeasureDistance(); hash = (37 * hash) + LASER_SENSOR_3_MEASURE_DISTANCE_FIELD_NUMBER; hash = (53 * hash) + getLaserSensor3MeasureDistance(); + hash = (37 * hash) + KINFE_COMPLETE_SIGNAL_FIELD_NUMBER; + hash = (53 * hash) + getKinfeCompleteSignal(); hash = (29 * hash) + getUnknownFields().hashCode(); memoizedHashCode = hash; return hash; @@ -422,6 +450,7 @@ public final class BspIV { laserSensor1MeasureDistance_ = 0; laserSensor2MeasureDistance_ = 0; laserSensor3MeasureDistance_ = 0; + kinfeCompleteSignal_ = 0; return this; } @@ -473,6 +502,9 @@ public final class BspIV { if (((from_bitField0_ & 0x00000020) != 0)) { result.laserSensor3MeasureDistance_ = laserSensor3MeasureDistance_; } + if (((from_bitField0_ & 0x00000040) != 0)) { + result.kinfeCompleteSignal_ = kinfeCompleteSignal_; + } } @java.lang.Override @@ -505,6 +537,9 @@ public final class BspIV { if (other.getLaserSensor3MeasureDistance() != 0) { setLaserSensor3MeasureDistance(other.getLaserSensor3MeasureDistance()); } + if (other.getKinfeCompleteSignal() != 0) { + setKinfeCompleteSignal(other.getKinfeCompleteSignal()); + } this.mergeUnknownFields(other.getUnknownFields()); onChanged(); return this; @@ -561,6 +596,11 @@ public final class BspIV { bitField0_ |= 0x00000020; break; } // case 48 + case 56: { + kinfeCompleteSignal_ = input.readInt32(); + bitField0_ |= 0x00000040; + break; + } // case 56 default: { if (!super.parseUnknownField(input, extensionRegistry, tag)) { done = true; // was an endgroup tag @@ -770,6 +810,38 @@ public final class BspIV { return this; } + private int kinfeCompleteSignal_ ; + /** + * int32 kinfe_complete_signal = 7; + * @return The kinfeCompleteSignal. + */ + @java.lang.Override + public int getKinfeCompleteSignal() { + return kinfeCompleteSignal_; + } + /** + * int32 kinfe_complete_signal = 7; + * @param value The kinfeCompleteSignal to set. + * @return This builder for chaining. + */ + public Builder setKinfeCompleteSignal(int value) { + + kinfeCompleteSignal_ = value; + bitField0_ |= 0x00000040; + onChanged(); + return this; + } + /** + * int32 kinfe_complete_signal = 7; + * @return This builder for chaining. + */ + public Builder clearKinfeCompleteSignal() { + bitField0_ = (bitField0_ & ~0x00000040); + kinfeCompleteSignal_ = 0; + onChanged(); + return this; + } + // @@protoc_insertion_point(builder_scope:IV_struct_define) } @@ -835,13 +907,14 @@ public final class BspIV { descriptor; static { java.lang.String[] descriptorData = { - "\n\014bsp_IV.proto\"\325\001\n\020IV_struct_define\022\030\n\020R" + + "\n\014bsp_IV.proto\"\364\001\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(\005B%\n!com.ex" + - "ample.diaoerqiegeapp.modelsP\000b\006proto3" + "ensor_3_measure_distance\030\006 \001(\005\022\035\n\025kinfe_" + + "complete_signal\030\007 \001(\005B%\n!com.example.dia" + + "oerqiegeapp.modelsP\000b\006proto3" }; descriptor = com.google.protobuf.Descriptors.FileDescriptor .internalBuildGeneratedFileFrom(descriptorData, @@ -852,7 +925,7 @@ 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", }); + new java.lang.String[] { "RobotMoveSpeed", "RFAngleRoll", "RemoteStatus", "LaserSensor1MeasureDistance", "LaserSensor2MeasureDistance", "LaserSensor3MeasureDistance", "KinfeCompleteSignal", }); descriptor.resolveAllFeaturesImmutable(); } diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java index 97e16d8..7e29a8a 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java +++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/java/com/example/diaoerqiegeapp/services/USBSerialPortHelper.java @@ -20,6 +20,7 @@ import androidx.core.content.ContextCompat; import com.example.diaoerqiegeapp.BuildConfig; import com.example.diaoerqiegeapp.MainActivity; +import com.example.diaoerqiegeapp.R; import com.example.diaoerqiegeapp.models.BspIV; import com.hoho.android.usbserial.driver.UsbSerialDriver; import com.hoho.android.usbserial.driver.UsbSerialPort; @@ -330,9 +331,9 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener { { if(activityPolish!=null) { - activityPolish.mainBinding.measureDistance1.setText(String.valueOf(_toReceiveIV1.getLaserSensor1MeasureDistance())); - activityPolish.mainBinding.measureDistance2.setText(String.valueOf(_toReceiveIV1.getLaserSensor2MeasureDistance())); - activityPolish.mainBinding.measureDistance3.setText(String.valueOf(_toReceiveIV1.getLaserSensor3MeasureDistance())); + activityPolish.mainBinding.measureDistance1.setText(String.format("%.1f", _toReceiveIV1.getLaserSensor1MeasureDistance() / 100.0)); + activityPolish.mainBinding.measureDistance2.setText(String.format("%.1f", _toReceiveIV1.getLaserSensor2MeasureDistance() / 100.0)); + activityPolish.mainBinding.measureDistance3.setText(String.format("%.1f", _toReceiveIV1.getLaserSensor3MeasureDistance() / 100.0)); // 保留两位小数显示 activityPolish.mainBinding.robotSpeed.setText(String.format("%.2f", _toReceiveIV1.getRobotMoveSpeed())); @@ -345,6 +346,17 @@ public class USBSerialPortHelper implements SerialInputOutputManager.Listener { { activityPolish.mainBinding.tvSignal.setText("已连接"); } + + if(_toReceiveIV1.getKinfeCompleteSignal() == 1) + { + activityPolish.mainBinding.kinfeSignal.setText("到位"); + activityPolish.mainBinding.kinfeSignal.setTextColor(activityPolish.getResources().getColor(R.color.dark_ink_blue)); + } + else if(_toReceiveIV1.getKinfeCompleteSignal() == 0) + { + activityPolish.mainBinding.kinfeSignal.setText("未到位"); + activityPolish.mainBinding.kinfeSignal.setTextColor(activityPolish.getResources().getColor(android.R.color.holo_red_light)); + } } } diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml index 8ba0c96..6ec1735 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml +++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/layout/activity_polish.xml @@ -62,6 +62,47 @@ android:textSize="10dp" /> + + + + + + + + + + + diff --git a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml index 378e92b..c3c855e 100644 --- a/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml +++ b/diaoerqiege/diaoerqige_V1.0/app/src/main/res/values/strings.xml @@ -9,7 +9,7 @@ 作业\n模式 下降\n高度 车体\n速度 - 左侧\n补偿 + 夹刀\n信号 右侧\n补偿 diff --git a/kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_ETController.py.sisc b/kelaifen/kelaifen.si4project/cache/parse/Kelaifen_V6.0_ETController.py.sisc new file mode 100644 index 0000000000000000000000000000000000000000..745d67087b20b8aa5579a001e38676448d2f8032 GIT binary patch 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