getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.example.rougheningapp.models.BspIV.IV_struct_define getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private static final com.google.protobuf.Descriptors.Descriptor
+ internal_static_IV_struct_define_descriptor;
+ private static final
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internal_static_IV_struct_define_fieldAccessorTable;
+
+ public static com.google.protobuf.Descriptors.FileDescriptor
+ getDescriptor() {
+ return descriptor;
+ }
+ private static com.google.protobuf.Descriptors.FileDescriptor
+ descriptor;
+ static {
+ java.lang.String[] descriptorData = {
+ "\n\014bsp_IV.proto\"\272\002\n\020IV_struct_define\022\021\n\tT" +
+ "empature\030\001 \001(\005\022\017\n\007RunMode\030\002 \001(\005\022\030\n\020LeftC" +
+ "ompensation\030\003 \001(\005\022\031\n\021RightCompensation\030\004" +
+ " \001(\005\022\024\n\014CurrentAngle\030\005 \001(\005\022\026\n\016RobotMoveS" +
+ "peed\030\006 \001(\005\022\023\n\013EndPressure\030\007 \001(\005\022\023\n\013Syste" +
+ "mError\030\010 \001(\005\022\026\n\016Left_Motor_Err\030\t \001(\005\022\027\n\017" +
+ "Right_Motor_Err\030\n \001(\005\022\027\n\017Left_Motor_Temp" +
+ "\030\013 \001(\005\022\030\n\020Right_Motor_Temp\030\014 \001(\005\022\021\n\tIsWo" +
+ "rking\030\r \001(\005B$\n com.example.rougheningapp" +
+ ".modelsP\000b\006proto3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ });
+ internal_static_IV_struct_define_descriptor =
+ getDescriptor().getMessageTypes().get(0);
+ internal_static_IV_struct_define_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable(
+ internal_static_IV_struct_define_descriptor,
+ new java.lang.String[] { "Tempature", "RunMode", "LeftCompensation", "RightCompensation", "CurrentAngle", "RobotMoveSpeed", "EndPressure", "SystemError", "LeftMotorErr", "RightMotorErr", "LeftMotorTemp", "RightMotorTemp", "IsWorking", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/rougheningapp/models/BspPV.java b/app/src/main/java/com/example/rougheningapp/models/BspPV.java
new file mode 100644
index 0000000..5d8e383
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/models/BspPV.java
@@ -0,0 +1,1350 @@
+// Generated by the protocol buffer compiler. DO NOT EDIT!
+// NO CHECKED-IN PROTOBUF GENCODE
+// source: bsp_PV.proto
+// Protobuf Java Version: 4.27.2
+
+package com.example.rougheningapp.models;
+
+public final class BspPV {
+ private BspPV() {}
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ BspPV.class.getName());
+ }
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistryLite registry) {
+ }
+
+ public static void registerAllExtensions(
+ com.google.protobuf.ExtensionRegistry registry) {
+ registerAllExtensions(
+ (com.google.protobuf.ExtensionRegistryLite) registry);
+ }
+ public interface PV_struct_defineOrBuilder extends
+ // @@protoc_insertion_point(interface_extends:PV_struct_define)
+ com.google.protobuf.MessageOrBuilder {
+
+ /**
+ *
+ * 拉毛项目
+ *
+ *
+ * int32 RobotSpeed = 1;
+ * @return The robotSpeed.
+ */
+ int getRobotSpeed();
+
+ /**
+ *
+ * 1 手动无校准作业 2 手动水平作业 3 手动竖直向左作业 4 手动竖直向右作业 5 自动水平作业 6 自动竖直向左作业 7 自动竖直向右作业；
+ *
+ *
+ * int32 RunMode = 2;
+ * @return The runMode.
+ */
+ int getRunMode();
+
+ /**
+ *
+ * 0-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 3;
+ * @return The laneChangeDistance.
+ */
+ int getLaneChangeDistance();
+
+ /**
+ *
+ * 水平方向 作业长度0-200m
+ *
+ *
+ * int32 WorkDistanceMeters = 4;
+ * @return The workDistanceMeters.
+ */
+ int getWorkDistanceMeters();
+
+ /**
+ *
+ * 竖直方向 作业宽度度0-200m
+ *
+ *
+ * int32 WorkWidthMeters = 5;
+ * @return The workWidthMeters.
+ */
+ int getWorkWidthMeters();
+
+ /**
+ *
+ * 0停止 1正向 2反向
+ *
+ *
+ * int32 ToolRotationDirection = 6;
+ * @return The toolRotationDirection.
+ */
+ int getToolRotationDirection();
+
+ /**
+ *
+ * 下压到某个值之后，停止运动
+ *
+ *
+ * int32 EndPushForceValue = 7;
+ * @return The endPushForceValue.
+ */
+ int getEndPushForceValue();
+
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @return The leftCompensation.
+ */
+ int getLeftCompensation();
+
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @return The rightCompensation.
+ */
+ int getRightCompensation();
+
+ /**
+ *
+ * 1°
+ *
+ *
+ * double Vertical_Calibration = 10;
+ * @return The verticalCalibration.
+ */
+ double getVerticalCalibration();
+ }
+ /**
+ * Protobuf type {@code PV_struct_define}
+ */
+ public static final class PV_struct_define extends
+ com.google.protobuf.GeneratedMessage implements
+ // @@protoc_insertion_point(message_implements:PV_struct_define)
+ PV_struct_defineOrBuilder {
+ private static final long serialVersionUID = 0L;
+ static {
+ com.google.protobuf.RuntimeVersion.validateProtobufGencodeVersion(
+ com.google.protobuf.RuntimeVersion.RuntimeDomain.PUBLIC,
+ /* major= */ 4,
+ /* minor= */ 27,
+ /* patch= */ 2,
+ /* suffix= */ "",
+ PV_struct_define.class.getName());
+ }
+ // Use PV_struct_define.newBuilder() to construct.
+ private PV_struct_define(com.google.protobuf.GeneratedMessage.Builder builder) {
+ super(builder);
+ }
+ private PV_struct_define() {
+ }
+
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.rougheningapp.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.rougheningapp.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.rougheningapp.models.BspPV.PV_struct_define.class, com.example.rougheningapp.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ public static final int ROBOTSPEED_FIELD_NUMBER = 1;
+ private int robotSpeed_ = 0;
+ /**
+ *
+ * 拉毛项目
+ *
+ *
+ * int32 RobotSpeed = 1;
+ * @return The robotSpeed.
+ */
+ @java.lang.Override
+ public int getRobotSpeed() {
+ return robotSpeed_;
+ }
+
+ public static final int RUNMODE_FIELD_NUMBER = 2;
+ private int runMode_ = 0;
+ /**
+ *
+ * 1 手动无校准作业 2 手动水平作业 3 手动竖直向左作业 4 手动竖直向右作业 5 自动水平作业 6 自动竖直向左作业 7 自动竖直向右作业；
+ *
+ *
+ * int32 RunMode = 2;
+ * @return The runMode.
+ */
+ @java.lang.Override
+ public int getRunMode() {
+ return runMode_;
+ }
+
+ public static final int LANECHANGEDISTANCE_FIELD_NUMBER = 3;
+ private int laneChangeDistance_ = 0;
+ /**
+ *
+ * 0-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 3;
+ * @return The laneChangeDistance.
+ */
+ @java.lang.Override
+ public int getLaneChangeDistance() {
+ return laneChangeDistance_;
+ }
+
+ public static final int WORKDISTANCEMETERS_FIELD_NUMBER = 4;
+ private int workDistanceMeters_ = 0;
+ /**
+ *
+ * 水平方向 作业长度0-200m
+ *
+ *
+ * int32 WorkDistanceMeters = 4;
+ * @return The workDistanceMeters.
+ */
+ @java.lang.Override
+ public int getWorkDistanceMeters() {
+ return workDistanceMeters_;
+ }
+
+ public static final int WORKWIDTHMETERS_FIELD_NUMBER = 5;
+ private int workWidthMeters_ = 0;
+ /**
+ *
+ * 竖直方向 作业宽度度0-200m
+ *
+ *
+ * int32 WorkWidthMeters = 5;
+ * @return The workWidthMeters.
+ */
+ @java.lang.Override
+ public int getWorkWidthMeters() {
+ return workWidthMeters_;
+ }
+
+ public static final int TOOLROTATIONDIRECTION_FIELD_NUMBER = 6;
+ private int toolRotationDirection_ = 0;
+ /**
+ *
+ * 0停止 1正向 2反向
+ *
+ *
+ * int32 ToolRotationDirection = 6;
+ * @return The toolRotationDirection.
+ */
+ @java.lang.Override
+ public int getToolRotationDirection() {
+ return toolRotationDirection_;
+ }
+
+ public static final int ENDPUSHFORCEVALUE_FIELD_NUMBER = 7;
+ private int endPushForceValue_ = 0;
+ /**
+ *
+ * 下压到某个值之后，停止运动
+ *
+ *
+ * int32 EndPushForceValue = 7;
+ * @return The endPushForceValue.
+ */
+ @java.lang.Override
+ public int getEndPushForceValue() {
+ return endPushForceValue_;
+ }
+
+ public static final int LEFTCOMPENSATION_FIELD_NUMBER = 8;
+ private int leftCompensation_ = 0;
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @return The leftCompensation.
+ */
+ @java.lang.Override
+ public int getLeftCompensation() {
+ return leftCompensation_;
+ }
+
+ public static final int RIGHTCOMPENSATION_FIELD_NUMBER = 9;
+ private int rightCompensation_ = 0;
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @return The rightCompensation.
+ */
+ @java.lang.Override
+ public int getRightCompensation() {
+ return rightCompensation_;
+ }
+
+ public static final int VERTICAL_CALIBRATION_FIELD_NUMBER = 10;
+ private double verticalCalibration_ = 0D;
+ /**
+ *
+ * 1°
+ *
+ *
+ * double Vertical_Calibration = 10;
+ * @return The verticalCalibration.
+ */
+ @java.lang.Override
+ public double getVerticalCalibration() {
+ return verticalCalibration_;
+ }
+
+ private byte memoizedIsInitialized = -1;
+ @java.lang.Override
+ public final boolean isInitialized() {
+ byte isInitialized = memoizedIsInitialized;
+ if (isInitialized == 1) return true;
+ if (isInitialized == 0) return false;
+
+ memoizedIsInitialized = 1;
+ return true;
+ }
+
+ @java.lang.Override
+ public void writeTo(com.google.protobuf.CodedOutputStream output)
+ throws java.io.IOException {
+ if (robotSpeed_ != 0) {
+ output.writeInt32(1, robotSpeed_);
+ }
+ if (runMode_ != 0) {
+ output.writeInt32(2, runMode_);
+ }
+ if (laneChangeDistance_ != 0) {
+ output.writeInt32(3, laneChangeDistance_);
+ }
+ if (workDistanceMeters_ != 0) {
+ output.writeInt32(4, workDistanceMeters_);
+ }
+ if (workWidthMeters_ != 0) {
+ output.writeInt32(5, workWidthMeters_);
+ }
+ if (toolRotationDirection_ != 0) {
+ output.writeInt32(6, toolRotationDirection_);
+ }
+ if (endPushForceValue_ != 0) {
+ output.writeInt32(7, endPushForceValue_);
+ }
+ if (leftCompensation_ != 0) {
+ output.writeInt32(8, leftCompensation_);
+ }
+ if (rightCompensation_ != 0) {
+ output.writeInt32(9, rightCompensation_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(verticalCalibration_) != 0) {
+ output.writeDouble(10, verticalCalibration_);
+ }
+ getUnknownFields().writeTo(output);
+ }
+
+ @java.lang.Override
+ public int getSerializedSize() {
+ int size = memoizedSize;
+ if (size != -1) return size;
+
+ size = 0;
+ if (robotSpeed_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(1, robotSpeed_);
+ }
+ if (runMode_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(2, runMode_);
+ }
+ if (laneChangeDistance_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(3, laneChangeDistance_);
+ }
+ if (workDistanceMeters_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(4, workDistanceMeters_);
+ }
+ if (workWidthMeters_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(5, workWidthMeters_);
+ }
+ if (toolRotationDirection_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(6, toolRotationDirection_);
+ }
+ if (endPushForceValue_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(7, endPushForceValue_);
+ }
+ if (leftCompensation_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(8, leftCompensation_);
+ }
+ if (rightCompensation_ != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeInt32Size(9, rightCompensation_);
+ }
+ if (java.lang.Double.doubleToRawLongBits(verticalCalibration_) != 0) {
+ size += com.google.protobuf.CodedOutputStream
+ .computeDoubleSize(10, verticalCalibration_);
+ }
+ size += getUnknownFields().getSerializedSize();
+ memoizedSize = size;
+ return size;
+ }
+
+ @java.lang.Override
+ public boolean equals(final java.lang.Object obj) {
+ if (obj == this) {
+ return true;
+ }
+ if (!(obj instanceof com.example.rougheningapp.models.BspPV.PV_struct_define)) {
+ return super.equals(obj);
+ }
+ com.example.rougheningapp.models.BspPV.PV_struct_define other = (com.example.rougheningapp.models.BspPV.PV_struct_define) obj;
+
+ if (getRobotSpeed()
+ != other.getRobotSpeed()) return false;
+ if (getRunMode()
+ != other.getRunMode()) return false;
+ if (getLaneChangeDistance()
+ != other.getLaneChangeDistance()) return false;
+ if (getWorkDistanceMeters()
+ != other.getWorkDistanceMeters()) return false;
+ if (getWorkWidthMeters()
+ != other.getWorkWidthMeters()) return false;
+ if (getToolRotationDirection()
+ != other.getToolRotationDirection()) return false;
+ if (getEndPushForceValue()
+ != other.getEndPushForceValue()) return false;
+ if (getLeftCompensation()
+ != other.getLeftCompensation()) return false;
+ if (getRightCompensation()
+ != other.getRightCompensation()) return false;
+ if (java.lang.Double.doubleToLongBits(getVerticalCalibration())
+ != java.lang.Double.doubleToLongBits(
+ other.getVerticalCalibration())) return false;
+ if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+ return true;
+ }
+
+ @java.lang.Override
+ public int hashCode() {
+ if (memoizedHashCode != 0) {
+ return memoizedHashCode;
+ }
+ int hash = 41;
+ hash = (19 * hash) + getDescriptor().hashCode();
+ hash = (37 * hash) + ROBOTSPEED_FIELD_NUMBER;
+ hash = (53 * hash) + getRobotSpeed();
+ hash = (37 * hash) + RUNMODE_FIELD_NUMBER;
+ hash = (53 * hash) + getRunMode();
+ hash = (37 * hash) + LANECHANGEDISTANCE_FIELD_NUMBER;
+ hash = (53 * hash) + getLaneChangeDistance();
+ hash = (37 * hash) + WORKDISTANCEMETERS_FIELD_NUMBER;
+ hash = (53 * hash) + getWorkDistanceMeters();
+ hash = (37 * hash) + WORKWIDTHMETERS_FIELD_NUMBER;
+ hash = (53 * hash) + getWorkWidthMeters();
+ hash = (37 * hash) + TOOLROTATIONDIRECTION_FIELD_NUMBER;
+ hash = (53 * hash) + getToolRotationDirection();
+ hash = (37 * hash) + ENDPUSHFORCEVALUE_FIELD_NUMBER;
+ hash = (53 * hash) + getEndPushForceValue();
+ hash = (37 * hash) + LEFTCOMPENSATION_FIELD_NUMBER;
+ hash = (53 * hash) + getLeftCompensation();
+ hash = (37 * hash) + RIGHTCOMPENSATION_FIELD_NUMBER;
+ hash = (53 * hash) + getRightCompensation();
+ hash = (37 * hash) + VERTICAL_CALIBRATION_FIELD_NUMBER;
+ hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+ java.lang.Double.doubleToLongBits(getVerticalCalibration()));
+ hash = (29 * hash) + getUnknownFields().hashCode();
+ memoizedHashCode = hash;
+ return hash;
+ }
+
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(
+ java.nio.ByteBuffer data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(
+ java.nio.ByteBuffer data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.ByteString data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.ByteString data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(byte[] data)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data);
+ }
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(
+ byte[] data,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ return PARSER.parseFrom(data, extensionRegistry);
+ }
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseDelimitedFrom(java.io.InputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input);
+ }
+
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseDelimitedFrom(
+ java.io.InputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+ }
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.CodedInputStream input)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input);
+ }
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define parseFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ return com.google.protobuf.GeneratedMessage
+ .parseWithIOException(PARSER, input, extensionRegistry);
+ }
+
+ @java.lang.Override
+ public Builder newBuilderForType() { return newBuilder(); }
+ public static Builder newBuilder() {
+ return DEFAULT_INSTANCE.toBuilder();
+ }
+ public static Builder newBuilder(com.example.rougheningapp.models.BspPV.PV_struct_define prototype) {
+ return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+ }
+ @java.lang.Override
+ public Builder toBuilder() {
+ return this == DEFAULT_INSTANCE
+ ? new Builder() : new Builder().mergeFrom(this);
+ }
+
+ @java.lang.Override
+ protected Builder newBuilderForType(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ Builder builder = new Builder(parent);
+ return builder;
+ }
+ /**
+ * Protobuf type {@code PV_struct_define}
+ */
+ public static final class Builder extends
+ com.google.protobuf.GeneratedMessage.Builder implements
+ // @@protoc_insertion_point(builder_implements:PV_struct_define)
+ com.example.rougheningapp.models.BspPV.PV_struct_defineOrBuilder {
+ public static final com.google.protobuf.Descriptors.Descriptor
+ getDescriptor() {
+ return com.example.rougheningapp.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internalGetFieldAccessorTable() {
+ return com.example.rougheningapp.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+ .ensureFieldAccessorsInitialized(
+ com.example.rougheningapp.models.BspPV.PV_struct_define.class, com.example.rougheningapp.models.BspPV.PV_struct_define.Builder.class);
+ }
+
+ // Construct using com.example.rougheningapp.models.BspPV.PV_struct_define.newBuilder()
+ private Builder() {
+
+ }
+
+ private Builder(
+ com.google.protobuf.GeneratedMessage.BuilderParent parent) {
+ super(parent);
+
+ }
+ @java.lang.Override
+ public Builder clear() {
+ super.clear();
+ bitField0_ = 0;
+ robotSpeed_ = 0;
+ runMode_ = 0;
+ laneChangeDistance_ = 0;
+ workDistanceMeters_ = 0;
+ workWidthMeters_ = 0;
+ toolRotationDirection_ = 0;
+ endPushForceValue_ = 0;
+ leftCompensation_ = 0;
+ rightCompensation_ = 0;
+ verticalCalibration_ = 0D;
+ return this;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Descriptors.Descriptor
+ getDescriptorForType() {
+ return com.example.rougheningapp.models.BspPV.internal_static_PV_struct_define_descriptor;
+ }
+
+ @java.lang.Override
+ public com.example.rougheningapp.models.BspPV.PV_struct_define getDefaultInstanceForType() {
+ return com.example.rougheningapp.models.BspPV.PV_struct_define.getDefaultInstance();
+ }
+
+ @java.lang.Override
+ public com.example.rougheningapp.models.BspPV.PV_struct_define build() {
+ com.example.rougheningapp.models.BspPV.PV_struct_define result = buildPartial();
+ if (!result.isInitialized()) {
+ throw newUninitializedMessageException(result);
+ }
+ return result;
+ }
+
+ @java.lang.Override
+ public com.example.rougheningapp.models.BspPV.PV_struct_define buildPartial() {
+ com.example.rougheningapp.models.BspPV.PV_struct_define result = new com.example.rougheningapp.models.BspPV.PV_struct_define(this);
+ if (bitField0_ != 0) { buildPartial0(result); }
+ onBuilt();
+ return result;
+ }
+
+ private void buildPartial0(com.example.rougheningapp.models.BspPV.PV_struct_define result) {
+ int from_bitField0_ = bitField0_;
+ if (((from_bitField0_ & 0x00000001) != 0)) {
+ result.robotSpeed_ = robotSpeed_;
+ }
+ if (((from_bitField0_ & 0x00000002) != 0)) {
+ result.runMode_ = runMode_;
+ }
+ if (((from_bitField0_ & 0x00000004) != 0)) {
+ result.laneChangeDistance_ = laneChangeDistance_;
+ }
+ if (((from_bitField0_ & 0x00000008) != 0)) {
+ result.workDistanceMeters_ = workDistanceMeters_;
+ }
+ if (((from_bitField0_ & 0x00000010) != 0)) {
+ result.workWidthMeters_ = workWidthMeters_;
+ }
+ if (((from_bitField0_ & 0x00000020) != 0)) {
+ result.toolRotationDirection_ = toolRotationDirection_;
+ }
+ if (((from_bitField0_ & 0x00000040) != 0)) {
+ result.endPushForceValue_ = endPushForceValue_;
+ }
+ if (((from_bitField0_ & 0x00000080) != 0)) {
+ result.leftCompensation_ = leftCompensation_;
+ }
+ if (((from_bitField0_ & 0x00000100) != 0)) {
+ result.rightCompensation_ = rightCompensation_;
+ }
+ if (((from_bitField0_ & 0x00000200) != 0)) {
+ result.verticalCalibration_ = verticalCalibration_;
+ }
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(com.google.protobuf.Message other) {
+ if (other instanceof com.example.rougheningapp.models.BspPV.PV_struct_define) {
+ return mergeFrom((com.example.rougheningapp.models.BspPV.PV_struct_define)other);
+ } else {
+ super.mergeFrom(other);
+ return this;
+ }
+ }
+
+ public Builder mergeFrom(com.example.rougheningapp.models.BspPV.PV_struct_define other) {
+ if (other == com.example.rougheningapp.models.BspPV.PV_struct_define.getDefaultInstance()) return this;
+ if (other.getRobotSpeed() != 0) {
+ setRobotSpeed(other.getRobotSpeed());
+ }
+ if (other.getRunMode() != 0) {
+ setRunMode(other.getRunMode());
+ }
+ if (other.getLaneChangeDistance() != 0) {
+ setLaneChangeDistance(other.getLaneChangeDistance());
+ }
+ if (other.getWorkDistanceMeters() != 0) {
+ setWorkDistanceMeters(other.getWorkDistanceMeters());
+ }
+ if (other.getWorkWidthMeters() != 0) {
+ setWorkWidthMeters(other.getWorkWidthMeters());
+ }
+ if (other.getToolRotationDirection() != 0) {
+ setToolRotationDirection(other.getToolRotationDirection());
+ }
+ if (other.getEndPushForceValue() != 0) {
+ setEndPushForceValue(other.getEndPushForceValue());
+ }
+ if (other.getLeftCompensation() != 0) {
+ setLeftCompensation(other.getLeftCompensation());
+ }
+ if (other.getRightCompensation() != 0) {
+ setRightCompensation(other.getRightCompensation());
+ }
+ if (other.getVerticalCalibration() != 0D) {
+ setVerticalCalibration(other.getVerticalCalibration());
+ }
+ this.mergeUnknownFields(other.getUnknownFields());
+ onChanged();
+ return this;
+ }
+
+ @java.lang.Override
+ public final boolean isInitialized() {
+ return true;
+ }
+
+ @java.lang.Override
+ public Builder mergeFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws java.io.IOException {
+ if (extensionRegistry == null) {
+ throw new java.lang.NullPointerException();
+ }
+ try {
+ boolean done = false;
+ while (!done) {
+ int tag = input.readTag();
+ switch (tag) {
+ case 0:
+ done = true;
+ break;
+ case 8: {
+ robotSpeed_ = input.readInt32();
+ bitField0_ |= 0x00000001;
+ break;
+ } // case 8
+ case 16: {
+ runMode_ = input.readInt32();
+ bitField0_ |= 0x00000002;
+ break;
+ } // case 16
+ case 24: {
+ laneChangeDistance_ = input.readInt32();
+ bitField0_ |= 0x00000004;
+ break;
+ } // case 24
+ case 32: {
+ workDistanceMeters_ = input.readInt32();
+ bitField0_ |= 0x00000008;
+ break;
+ } // case 32
+ case 40: {
+ workWidthMeters_ = input.readInt32();
+ bitField0_ |= 0x00000010;
+ break;
+ } // case 40
+ case 48: {
+ toolRotationDirection_ = input.readInt32();
+ bitField0_ |= 0x00000020;
+ break;
+ } // case 48
+ case 56: {
+ endPushForceValue_ = input.readInt32();
+ bitField0_ |= 0x00000040;
+ break;
+ } // case 56
+ case 64: {
+ leftCompensation_ = input.readInt32();
+ bitField0_ |= 0x00000080;
+ break;
+ } // case 64
+ case 72: {
+ rightCompensation_ = input.readInt32();
+ bitField0_ |= 0x00000100;
+ break;
+ } // case 72
+ case 81: {
+ verticalCalibration_ = input.readDouble();
+ bitField0_ |= 0x00000200;
+ break;
+ } // case 81
+ default: {
+ if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+ done = true; // was an endgroup tag
+ }
+ break;
+ } // default:
+ } // switch (tag)
+ } // while (!done)
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.unwrapIOException();
+ } finally {
+ onChanged();
+ } // finally
+ return this;
+ }
+ private int bitField0_;
+
+ private int robotSpeed_ ;
+ /**
+ *
+ * 拉毛项目
+ *
+ *
+ * int32 RobotSpeed = 1;
+ * @return The robotSpeed.
+ */
+ @java.lang.Override
+ public int getRobotSpeed() {
+ return robotSpeed_;
+ }
+ /**
+ *
+ * 拉毛项目
+ *
+ *
+ * int32 RobotSpeed = 1;
+ * @param value The robotSpeed to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRobotSpeed(int value) {
+
+ robotSpeed_ = value;
+ bitField0_ |= 0x00000001;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 拉毛项目
+ *
+ *
+ * int32 RobotSpeed = 1;
+ * @return This builder for chaining.
+ */
+ public Builder clearRobotSpeed() {
+ bitField0_ = (bitField0_ & ~0x00000001);
+ robotSpeed_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int runMode_ ;
+ /**
+ *
+ * 1 手动无校准作业 2 手动水平作业 3 手动竖直向左作业 4 手动竖直向右作业 5 自动水平作业 6 自动竖直向左作业 7 自动竖直向右作业；
+ *
+ *
+ * int32 RunMode = 2;
+ * @return The runMode.
+ */
+ @java.lang.Override
+ public int getRunMode() {
+ return runMode_;
+ }
+ /**
+ *
+ * 1 手动无校准作业 2 手动水平作业 3 手动竖直向左作业 4 手动竖直向右作业 5 自动水平作业 6 自动竖直向左作业 7 自动竖直向右作业；
+ *
+ *
+ * int32 RunMode = 2;
+ * @param value The runMode to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRunMode(int value) {
+
+ runMode_ = value;
+ bitField0_ |= 0x00000002;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 1 手动无校准作业 2 手动水平作业 3 手动竖直向左作业 4 手动竖直向右作业 5 自动水平作业 6 自动竖直向左作业 7 自动竖直向右作业；
+ *
+ *
+ * int32 RunMode = 2;
+ * @return This builder for chaining.
+ */
+ public Builder clearRunMode() {
+ bitField0_ = (bitField0_ & ~0x00000002);
+ runMode_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int laneChangeDistance_ ;
+ /**
+ *
+ * 0-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 3;
+ * @return The laneChangeDistance.
+ */
+ @java.lang.Override
+ public int getLaneChangeDistance() {
+ return laneChangeDistance_;
+ }
+ /**
+ *
+ * 0-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 3;
+ * @param value The laneChangeDistance to set.
+ * @return This builder for chaining.
+ */
+ public Builder setLaneChangeDistance(int value) {
+
+ laneChangeDistance_ = value;
+ bitField0_ |= 0x00000004;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 0-100cm
+ *
+ *
+ * int32 LaneChangeDistance = 3;
+ * @return This builder for chaining.
+ */
+ public Builder clearLaneChangeDistance() {
+ bitField0_ = (bitField0_ & ~0x00000004);
+ laneChangeDistance_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int workDistanceMeters_ ;
+ /**
+ *
+ * 水平方向 作业长度0-200m
+ *
+ *
+ * int32 WorkDistanceMeters = 4;
+ * @return The workDistanceMeters.
+ */
+ @java.lang.Override
+ public int getWorkDistanceMeters() {
+ return workDistanceMeters_;
+ }
+ /**
+ *
+ * 水平方向 作业长度0-200m
+ *
+ *
+ * int32 WorkDistanceMeters = 4;
+ * @param value The workDistanceMeters to set.
+ * @return This builder for chaining.
+ */
+ public Builder setWorkDistanceMeters(int value) {
+
+ workDistanceMeters_ = value;
+ bitField0_ |= 0x00000008;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 水平方向 作业长度0-200m
+ *
+ *
+ * int32 WorkDistanceMeters = 4;
+ * @return This builder for chaining.
+ */
+ public Builder clearWorkDistanceMeters() {
+ bitField0_ = (bitField0_ & ~0x00000008);
+ workDistanceMeters_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int workWidthMeters_ ;
+ /**
+ *
+ * 竖直方向 作业宽度度0-200m
+ *
+ *
+ * int32 WorkWidthMeters = 5;
+ * @return The workWidthMeters.
+ */
+ @java.lang.Override
+ public int getWorkWidthMeters() {
+ return workWidthMeters_;
+ }
+ /**
+ *
+ * 竖直方向 作业宽度度0-200m
+ *
+ *
+ * int32 WorkWidthMeters = 5;
+ * @param value The workWidthMeters to set.
+ * @return This builder for chaining.
+ */
+ public Builder setWorkWidthMeters(int value) {
+
+ workWidthMeters_ = value;
+ bitField0_ |= 0x00000010;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 竖直方向 作业宽度度0-200m
+ *
+ *
+ * int32 WorkWidthMeters = 5;
+ * @return This builder for chaining.
+ */
+ public Builder clearWorkWidthMeters() {
+ bitField0_ = (bitField0_ & ~0x00000010);
+ workWidthMeters_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int toolRotationDirection_ ;
+ /**
+ *
+ * 0停止 1正向 2反向
+ *
+ *
+ * int32 ToolRotationDirection = 6;
+ * @return The toolRotationDirection.
+ */
+ @java.lang.Override
+ public int getToolRotationDirection() {
+ return toolRotationDirection_;
+ }
+ /**
+ *
+ * 0停止 1正向 2反向
+ *
+ *
+ * int32 ToolRotationDirection = 6;
+ * @param value The toolRotationDirection to set.
+ * @return This builder for chaining.
+ */
+ public Builder setToolRotationDirection(int value) {
+
+ toolRotationDirection_ = value;
+ bitField0_ |= 0x00000020;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 0停止 1正向 2反向
+ *
+ *
+ * int32 ToolRotationDirection = 6;
+ * @return This builder for chaining.
+ */
+ public Builder clearToolRotationDirection() {
+ bitField0_ = (bitField0_ & ~0x00000020);
+ toolRotationDirection_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int endPushForceValue_ ;
+ /**
+ *
+ * 下压到某个值之后，停止运动
+ *
+ *
+ * int32 EndPushForceValue = 7;
+ * @return The endPushForceValue.
+ */
+ @java.lang.Override
+ public int getEndPushForceValue() {
+ return endPushForceValue_;
+ }
+ /**
+ *
+ * 下压到某个值之后，停止运动
+ *
+ *
+ * int32 EndPushForceValue = 7;
+ * @param value The endPushForceValue to set.
+ * @return This builder for chaining.
+ */
+ public Builder setEndPushForceValue(int value) {
+
+ endPushForceValue_ = value;
+ bitField0_ |= 0x00000040;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 下压到某个值之后，停止运动
+ *
+ *
+ * int32 EndPushForceValue = 7;
+ * @return This builder for chaining.
+ */
+ public Builder clearEndPushForceValue() {
+ bitField0_ = (bitField0_ & ~0x00000040);
+ endPushForceValue_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int leftCompensation_ ;
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @return The leftCompensation.
+ */
+ @java.lang.Override
+ public int getLeftCompensation() {
+ return leftCompensation_;
+ }
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @param value The leftCompensation to set.
+ * @return This builder for chaining.
+ */
+ public Builder setLeftCompensation(int value) {
+
+ leftCompensation_ = value;
+ bitField0_ |= 0x00000080;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 LeftCompensation = 8;
+ * @return This builder for chaining.
+ */
+ public Builder clearLeftCompensation() {
+ bitField0_ = (bitField0_ & ~0x00000080);
+ leftCompensation_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private int rightCompensation_ ;
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @return The rightCompensation.
+ */
+ @java.lang.Override
+ public int getRightCompensation() {
+ return rightCompensation_;
+ }
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @param value The rightCompensation to set.
+ * @return This builder for chaining.
+ */
+ public Builder setRightCompensation(int value) {
+
+ rightCompensation_ = value;
+ bitField0_ |= 0x00000100;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 0.01°
+ *
+ *
+ * int32 RightCompensation = 9;
+ * @return This builder for chaining.
+ */
+ public Builder clearRightCompensation() {
+ bitField0_ = (bitField0_ & ~0x00000100);
+ rightCompensation_ = 0;
+ onChanged();
+ return this;
+ }
+
+ private double verticalCalibration_ ;
+ /**
+ *
+ * 1°
+ *
+ *
+ * double Vertical_Calibration = 10;
+ * @return The verticalCalibration.
+ */
+ @java.lang.Override
+ public double getVerticalCalibration() {
+ return verticalCalibration_;
+ }
+ /**
+ *
+ * 1°
+ *
+ *
+ * double Vertical_Calibration = 10;
+ * @param value The verticalCalibration to set.
+ * @return This builder for chaining.
+ */
+ public Builder setVerticalCalibration(double value) {
+
+ verticalCalibration_ = value;
+ bitField0_ |= 0x00000200;
+ onChanged();
+ return this;
+ }
+ /**
+ *
+ * 1°
+ *
+ *
+ * double Vertical_Calibration = 10;
+ * @return This builder for chaining.
+ */
+ public Builder clearVerticalCalibration() {
+ bitField0_ = (bitField0_ & ~0x00000200);
+ verticalCalibration_ = 0D;
+ onChanged();
+ return this;
+ }
+
+ // @@protoc_insertion_point(builder_scope:PV_struct_define)
+ }
+
+ // @@protoc_insertion_point(class_scope:PV_struct_define)
+ private static final com.example.rougheningapp.models.BspPV.PV_struct_define DEFAULT_INSTANCE;
+ static {
+ DEFAULT_INSTANCE = new com.example.rougheningapp.models.BspPV.PV_struct_define();
+ }
+
+ public static com.example.rougheningapp.models.BspPV.PV_struct_define getDefaultInstance() {
+ return DEFAULT_INSTANCE;
+ }
+
+ private static final com.google.protobuf.Parser
+ PARSER = new com.google.protobuf.AbstractParser() {
+ @java.lang.Override
+ public PV_struct_define parsePartialFrom(
+ com.google.protobuf.CodedInputStream input,
+ com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+ throws com.google.protobuf.InvalidProtocolBufferException {
+ Builder builder = newBuilder();
+ try {
+ builder.mergeFrom(input, extensionRegistry);
+ } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+ throw e.setUnfinishedMessage(builder.buildPartial());
+ } catch (com.google.protobuf.UninitializedMessageException e) {
+ throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+ } catch (java.io.IOException e) {
+ throw new com.google.protobuf.InvalidProtocolBufferException(e)
+ .setUnfinishedMessage(builder.buildPartial());
+ }
+ return builder.buildPartial();
+ }
+ };
+
+ public static com.google.protobuf.Parser parser() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.google.protobuf.Parser getParserForType() {
+ return PARSER;
+ }
+
+ @java.lang.Override
+ public com.example.rougheningapp.models.BspPV.PV_struct_define getDefaultInstanceForType() {
+ return DEFAULT_INSTANCE;
+ }
+
+ }
+
+ private static final com.google.protobuf.Descriptors.Descriptor
+ internal_static_PV_struct_define_descriptor;
+ private static final
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable
+ internal_static_PV_struct_define_fieldAccessorTable;
+
+ public static com.google.protobuf.Descriptors.FileDescriptor
+ getDescriptor() {
+ return descriptor;
+ }
+ private static com.google.protobuf.Descriptors.FileDescriptor
+ descriptor;
+ static {
+ java.lang.String[] descriptorData = {
+ "\n\014bsp_PV.proto\"\225\002\n\020PV_struct_define\022\022\n\nR" +
+ "obotSpeed\030\001 \001(\005\022\017\n\007RunMode\030\002 \001(\005\022\032\n\022Lane" +
+ "ChangeDistance\030\003 \001(\005\022\032\n\022WorkDistanceMete" +
+ "rs\030\004 \001(\005\022\027\n\017WorkWidthMeters\030\005 \001(\005\022\035\n\025Too" +
+ "lRotationDirection\030\006 \001(\005\022\031\n\021EndPushForce" +
+ "Value\030\007 \001(\005\022\030\n\020LeftCompensation\030\010 \001(\005\022\031\n" +
+ "\021RightCompensation\030\t \001(\005\022\034\n\024Vertical_Cal" +
+ "ibration\030\n \001(\001B$\n com.example.roughening" +
+ "app.modelsP\000b\006proto3"
+ };
+ descriptor = com.google.protobuf.Descriptors.FileDescriptor
+ .internalBuildGeneratedFileFrom(descriptorData,
+ new com.google.protobuf.Descriptors.FileDescriptor[] {
+ });
+ internal_static_PV_struct_define_descriptor =
+ getDescriptor().getMessageTypes().get(0);
+ internal_static_PV_struct_define_fieldAccessorTable = new
+ com.google.protobuf.GeneratedMessage.FieldAccessorTable(
+ internal_static_PV_struct_define_descriptor,
+ new java.lang.String[] { "RobotSpeed", "RunMode", "LaneChangeDistance", "WorkDistanceMeters", "WorkWidthMeters", "ToolRotationDirection", "EndPushForceValue", "LeftCompensation", "RightCompensation", "VerticalCalibration", });
+ descriptor.resolveAllFeaturesImmutable();
+ }
+
+ // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/app/src/main/java/com/example/rougheningapp/models/DisplayIV.java b/app/src/main/java/com/example/rougheningapp/models/DisplayIV.java
new file mode 100644
index 0000000..721996f
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/models/DisplayIV.java
@@ -0,0 +1,51 @@
+package com.example.rougheningapp.models;
+
+import androidx.databinding.BaseObservable;
+import androidx.databinding.Bindable;
+
+public class DisplayIV extends BaseObservable {
+ private double leftCompensation;
+ private double rightCompensation;
+ private double currentAngle;
+
+ public double getLeftCompensation() {
+ return leftCompensation;
+ }
+
+ public void setLeftCompensation(double leftCompensation) {
+ this.leftCompensation = leftCompensation;
+ }
+
+ public double getRightCompensation() {
+ return rightCompensation;
+ }
+
+ public void setRightCompensation(double rightCompensation) {
+ this.rightCompensation = rightCompensation;
+ }
+
+ public double getCurrentAngle() {
+ return currentAngle;
+ }
+
+ public void setCurrentAngle(double currentAngle) {
+ this.currentAngle = currentAngle;
+ }
+
+ public double getRobotMoveSpeed() {
+ return robotMoveSpeed;
+ }
+
+ public void setRobotMoveSpeed(double robotMoveSpeed) {
+ this.robotMoveSpeed = robotMoveSpeed;
+ }
+
+ private double robotMoveSpeed;
+
+ public DisplayIV(double leftCompensation, double rightCompensation, double currentAngle, double robotMoveSpeed) {
+ this.leftCompensation = leftCompensation;
+ this.rightCompensation = rightCompensation;
+ this.currentAngle = currentAngle;
+ this.robotMoveSpeed = robotMoveSpeed;
+ }
+}
diff --git a/app/src/main/java/com/example/rougheningapp/models/DisplayPV.java b/app/src/main/java/com/example/rougheningapp/models/DisplayPV.java
new file mode 100644
index 0000000..44ff12a
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/models/DisplayPV.java
@@ -0,0 +1,120 @@
+package com.example.rougheningapp.models;
+
+import androidx.databinding.BaseObservable;
+
+public class DisplayPV extends BaseObservable {
+
+
+
+ private int leftCompSelect;
+ public int getLeftCompSelect() {
+ return leftCompSelect;
+ }
+
+ public void setLeftCompSelect(int leftCompSelect) {
+ this.leftCompSelect = leftCompSelect;
+ }
+
+ private int rightCompSelect;
+ public int getRightCompSelect() {
+ return rightCompSelect;
+ }
+ public void setRightCompSelect(int rightCompSelect) {
+ this.rightCompSelect = rightCompSelect;
+ }
+
+
+
+ private int id;
+ public int getId() {
+ return id;
+ }
+ public void setId(int id) {
+ this.id = id;
+ }
+
+ private int RobotSpeedValue;
+ public int getRobotSpeedValue() {
+ return RobotSpeedValue;
+ }
+ public void setRobotSpeedValue(int speedSelect) {
+ this.RobotSpeedValue = speedSelect;
+ }
+
+
+ private int laneChangeDistance;
+ public int getLaneChangeDistance() {
+ return laneChangeDistance;
+ }
+ public void setLaneChangeDistance(int laneChangeDistance) {
+ this.laneChangeDistance = laneChangeDistance;
+ }
+
+ private int endForceValue;//下压到某个值之后，停止运动
+ public int getEndForceValue() {
+ return endForceValue;
+ }
+ public void setEndForceValue(int endForceValue) {
+ this.endForceValue = endForceValue;
+ }
+
+ private int workDistanceMeters;
+ public int getWorkDistanceMeters() {
+ return workDistanceMeters;
+ }
+ public void setWorkDistanceMeters(int workDistanceMeters) {
+ this.workDistanceMeters = workDistanceMeters;
+ }
+
+ private int workWidthMeters;
+ public int getWorkWidthMeters() {
+ return workWidthMeters;
+ }
+ public void setWorkWidthMeters(int workWidthMeters) {
+ this.workWidthMeters = workWidthMeters;
+ }
+
+ private double verticalCalibration;
+ public double getVerticalCalibration() {
+ return verticalCalibration;
+ }
+ public void setVerticalCalibration(double verticalCalibration) {
+ this.verticalCalibration = verticalCalibration;
+ }
+
+ private int toolRotationDirection;
+ public int getToolRotationDirection() {
+ return toolRotationDirection;
+ }
+ public void setToolRotationDirection(int toolRotationDirection) {
+ this.toolRotationDirection = toolRotationDirection;
+ }
+
+ public DisplayPV(int id,int RobotSpeedValue, int laneChangeDistance, int endForceValue, int workDistance, int workWidth,
+ double verticalCalibration, int toolRotationDirection)
+ {
+ this.id = id;
+ this.RobotSpeedValue = RobotSpeedValue;
+ this.laneChangeDistance = laneChangeDistance;
+ this.endForceValue = endForceValue;
+ this.workDistanceMeters = workDistance;
+ this.workWidthMeters = workWidth;
+ this.verticalCalibration = verticalCalibration;
+ this.toolRotationDirection = toolRotationDirection;
+ }
+
+ public DisplayPV(int id,int RobotSpeedValue, int laneChangeDistance, int endForceValue, int workDistance, int workWidth,
+ int leftCompSelect,int rightCompSelect,double verticalCalibration, int toolRotationDirection)
+ {
+ this.id = id;
+ this.RobotSpeedValue = RobotSpeedValue;
+ this.laneChangeDistance = laneChangeDistance;
+ this.endForceValue = endForceValue;
+ this.workDistanceMeters = workDistance;
+ this.workWidthMeters = workWidth;
+ this.leftCompSelect = leftCompSelect;
+ this.rightCompSelect = rightCompSelect;
+ this.verticalCalibration = verticalCalibration;
+ this.toolRotationDirection = toolRotationDirection;
+ }
+}
diff --git a/app/src/main/java/com/example/rougheningapp/models/ErrorModel.java b/app/src/main/java/com/example/rougheningapp/models/ErrorModel.java
new file mode 100644
index 0000000..64f6810
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/models/ErrorModel.java
@@ -0,0 +1,44 @@
+package com.example.rougheningapp.models;
+
+public class ErrorModel {
+
+ public ErrorModel(long timeID, String errorInfo) {
+ this.timeID = timeID;
+ this.errorInfo = errorInfo;
+ }
+ private long timeID;
+
+
+ public void setDateTimeBJ(String dateTimeUTC) {
+ this.dateTimeBJ = dateTimeUTC;
+ }
+
+ private String errorInfo;
+
+ public String getDateTimeBJ() {
+ return dateTimeBJ;
+ }
+
+ private String dateTimeBJ;
+
+
+ @Override
+ public String toString() {
+ return String.valueOf(dateTimeBJ + errorInfo);
+ }
+ public void setTimeID(long timeID) {
+ this.timeID = timeID;
+ }
+
+ public void setErrorInfo(String errorInfo) {
+ this.errorInfo = errorInfo;
+ }
+
+ public long getTimeID() {
+ return timeID;
+ }
+
+ public String getErrorInfo() {
+ return errorInfo;
+ }
+}
diff --git a/app/src/main/java/com/example/rougheningapp/models/ScrollBottomScrollView.java b/app/src/main/java/com/example/rougheningapp/models/ScrollBottomScrollView.java
new file mode 100644
index 0000000..44aaa68
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/models/ScrollBottomScrollView.java
@@ -0,0 +1,43 @@
+package com.example.rougheningapp.models;
+
+import android.content.Context;
+import android.util.AttributeSet;
+import android.view.View;
+import android.widget.ScrollView;
+
+public class ScrollBottomScrollView extends ScrollView {
+
+ private OnScrollBottomListener listener;
+ private int calCount;
+
+ public interface OnScrollBottomListener {
+ void scrollToBottom();
+ }
+
+ public void onScrollViewScrollToBottom(OnScrollBottomListener l) {
+ listener = l;
+ }
+
+ public void unRegisterOnScrollViewScrollToBottom() {
+ listener = null;
+ }
+
+ public ScrollBottomScrollView(Context context, AttributeSet attrs) {
+ super(context, attrs);
+ }
+
+ @Override
+ protected void onScrollChanged(int l, int t, int oldl, int oldt) {
+ View view = this.getChildAt(0);
+ if (this.getHeight() + this.getScrollY() == view.getHeight()) {
+ calCount++;
+ if (calCount == 1) {
+ if (listener != null) {
+ listener.scrollToBottom();
+ }
+ }
+ } else {
+ calCount = 0;
+ }
+ }
+}
diff --git a/app/src/main/java/com/example/rougheningapp/services/ConvertHelper.java b/app/src/main/java/com/example/rougheningapp/services/ConvertHelper.java
new file mode 100644
index 0000000..fb7a9ee
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/ConvertHelper.java
@@ -0,0 +1,26 @@
+package com.example.rougheningapp.services;
+
+import android.widget.EditText;
+import android.widget.TextView;
+
+public class ConvertHelper {
+
+ public static int convertEditTextToInt(TextView editText) {
+ // 获取 EditText 中的文本
+ String input = editText.getText().toString().trim();
+ try {
+ // 尝试将字符串转换为整数
+ return Integer.parseInt(input);
+ } catch (NumberFormatException e) {
+ // 输入不是有效的整数格式，返回 -1 表示转换失败
+ return -1;
+ }
+ }
+
+ public static boolean isEditTextNullOrEmpty(EditText editText) {
+
+ String str = String.valueOf(editText.getText());
+
+ return str == null || str.isEmpty();
+ }
+}
diff --git a/app/src/main/java/com/example/rougheningapp/services/CustomProber.java b/app/src/main/java/com/example/rougheningapp/services/CustomProber.java
new file mode 100644
index 0000000..1029001
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/CustomProber.java
@@ -0,0 +1,22 @@
+package com.example.rougheningapp.services;
+
+import com.hoho.android.usbserial.driver.FtdiSerialDriver;
+import com.hoho.android.usbserial.driver.ProbeTable;
+import com.hoho.android.usbserial.driver.UsbSerialProber;
+
+/**
+ * add devices here, that are not known to DefaultProber
+ *
+ * if the App should auto start for these devices, also
+ * add IDs to app/src/main/res/xml/device_filter.xml
+ */
+public class CustomProber {
+
+ public static UsbSerialProber getCustomProber() {
+ ProbeTable customTable = new ProbeTable();
+ customTable.addProduct(0x1234, 0x0001, FtdiSerialDriver.class); // e.g. device with custom VID+PID
+ customTable.addProduct(0x1234, 0x0002, FtdiSerialDriver.class); // e.g. device with custom VID+PID
+ return new UsbSerialProber(customTable);
+ }
+
+}
diff --git a/app/src/main/java/com/example/rougheningapp/services/ErrorDeocdeHelper.java b/app/src/main/java/com/example/rougheningapp/services/ErrorDeocdeHelper.java
new file mode 100644
index 0000000..01eca38
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/ErrorDeocdeHelper.java
@@ -0,0 +1,64 @@
+package com.example.rougheningapp.services;
+import com.example.rougheningapp.MainActivity;
+import com.example.rougheningapp.models.BspError;
+
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+public class ErrorDeocdeHelper {
+
+ //private static Map flagMap = new HashMap<>();
+
+// public static void AddMap(String errorName, Integer bitPosition)
+// {
+// flagMap.put(errorName,bitPosition);
+// }
+ private static String ErrorResult;
+ private static String addErrorResult;
+ public static String ErrorDeocde(int data)
+ {
+ ErrorResult="";
+
+ // 循环遍历 Map
+ for (BspError.ComError err : BspError.ComError.values()) {
+
+ int bitPosiiton = err.ordinal();
+// if (err.toString().equals("UNRECOGNIZED")) continue;
+// if (err.toString().equals("TL720D"))
+// addErrorResult = " 作业模式已切换至手动";
+// else
+// addErrorResult = " ";
+//
+// if (err.toString().equals("MK32_InitialState"))
+// addErrorResult = " 遥控器按键未复位";
+// else
+// addErrorResult = " ";
+
+
+ // 使用左移操作生成要检查的标志位
+ int bitToCheck = 1 << bitPosiiton;
+
+ // 判断该位置是否有对应的标志位
+ if ((data & bitToCheck) != 0)
+ {
+
+ // ErrorResult += String.valueOf(bitPosiiton);
+
+ if (err.toString().equals("MK32_InitialState"))
+ {
+ ErrorResult = "未复位" ;
+ }
+// else
+// {
+// ErrorResult += err.toString()+addErrorResult+"\t";
+// }
+ }
+ }
+ return ErrorResult;
+ }
+
+
+
+}
diff --git a/app/src/main/java/com/example/rougheningapp/services/LogUtil.java b/app/src/main/java/com/example/rougheningapp/services/LogUtil.java
new file mode 100644
index 0000000..32f3209
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/LogUtil.java
@@ -0,0 +1,39 @@
+package com.example.rougheningapp.services;
+
+import android.util.Log;
+
+public class LogUtil {
+ private String TAG;
+ private boolean isRelease = false;
+ private boolean isDebug;
+
+ public LogUtil(Class c, boolean isDebug) {
+ this.TAG = c.getName();
+ this.isDebug = isDebug;
+ }
+
+ public void d(String msg) {
+ if (!isRelease && isDebug) {
+ Log.d(TAG, "--------->" + msg);
+ }
+ }
+
+ public void i(String msg) {
+ if (!isRelease && isDebug) {
+ Log.i(TAG, "--------->" + msg);
+ }
+ }
+
+ public void w(String msg) {
+ if (!isRelease && isDebug) {
+ Log.w(TAG, "--------->" + msg);
+ }
+ }
+
+ public void e(String msg) {
+ if (!isRelease && isDebug) {
+ Log.e(TAG, "--------->" + msg);
+ }
+ }
+}
+
diff --git a/app/src/main/java/com/example/rougheningapp/services/ModbusCRC.java b/app/src/main/java/com/example/rougheningapp/services/ModbusCRC.java
new file mode 100644
index 0000000..55f326b
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/ModbusCRC.java
@@ -0,0 +1,72 @@
+package com.example.rougheningapp.services;
+
+public class ModbusCRC {
+
+// /**
+// * 一个字节包含位的数量 8
+// */
+// private static final int BITS_OF_BYTE = 8;
+// /**
+// * 多项式
+// */
+// private static final int POLYNOMIAL = 0xA001;
+// /**
+// * 初始值
+// */
+// private static final int INITIAL_VALUE = 0xFFFF;
+//
+// /**
+// * CRC16 编码
+// *
+// * @param bytes 编码内容
+// * @return 编码结果
+// */
+// public static int crc16(byte[] bytes) {
+// int res = INITIAL_VALUE;
+// for (int data : bytes) {
+// res = res ^ data;
+// for (int i = 0; i < BITS_OF_BYTE; i++) {
+// res = (res & 0x0001) == 1 ? (res >> 1) ^ POLYNOMIAL : res >> 1;
+// }
+// }
+// return revert(res);
+// }
+//
+// /**
+// * 翻转16位的高八位和低八位字节
+// *
+// * @param src 翻转数字
+// * @return 翻转结果
+// */
+// private static int revert(int src) {
+// int lowByte = (src & 0xFF00) >> 8;
+// int highByte = (src & 0x00FF) << 8;
+// return lowByte | highByte;
+// }
+
+
+ /**
+ * 计算 Modbus CRC 校验值
+ * @param data 要计算校验值的字节数组
+ * @return CRC 校验值，以 2 字节的数组形式返回
+ */
+ public static byte[] calculateCRC(byte[] data) {
+ int crc = 0xFFFF;
+ for (byte b : data) {
+ crc ^= (b & 0xFF);
+ for (int i = 0; i < 8; i++) {
+ if ((crc & 0x0001) != 0) {
+ crc >>= 1;
+ crc ^= 0xA001;
+ } else {
+ crc >>= 1;
+ }
+ }
+ }
+ // 将 CRC 结果拆分为两个字节
+ byte[] crcBytes = new byte[2];
+ crcBytes[0] = (byte) (crc & 0xFF);
+ crcBytes[1] = (byte) ((crc >> 8) & 0xFF);
+ return crcBytes;
+ }
+}
diff --git a/app/src/main/java/com/example/rougheningapp/services/MyDataHelper.java b/app/src/main/java/com/example/rougheningapp/services/MyDataHelper.java
new file mode 100644
index 0000000..17db98b
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/MyDataHelper.java
@@ -0,0 +1,249 @@
+package com.example.rougheningapp.services;
+
+import android.annotation.SuppressLint;
+import android.content.ContentValues;
+import android.content.Context;
+import android.database.Cursor;
+import android.database.SQLException;
+import android.database.sqlite.SQLiteDatabase;//具体进行数据库、数据表的一个操作
+import android.database.sqlite.SQLiteOpenHelper;//用来创建数据库和对数据库进行版本管理
+import android.util.Log;
+
+import androidx.annotation.Nullable;
+
+import com.example.rougheningapp.models.DisplayPV;
+import com.example.rougheningapp.models.ErrorModel;
+
+import java.text.SimpleDateFormat;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Date;
+import java.util.TimeZone;
+
+public class MyDataHelper extends SQLiteOpenHelper {
+ public static final String COLUMN_ID = "id";
+ public static final String TABLE_NAME = "information";
+ public static final String COLUMN_LEFT_COMPENSATION = "leftCompensation";
+ public static final String COLUMN_RIGHT_COMPENSATION = "rightCompensation";
+ public static final String COLUMN_LANCE_CHANGE_DISTANCE = "lanceChangeDistance";
+ public static final String COLUMN_END_FORCE_VALUE = "endForceValue";
+ public static final String COLUMN_SPEED = "speed";
+ public static final String COLUMN_WORK_WIDTH = "workDistance";
+ public static final String COLUMN_WORK_DISTANCE = "workWidth";
+ public static final String COLUMN_VERTICAL_CALIBRATION = "verticalCalibration";
+ public static final String COLUMN_TOOl_ROTATION_DIRECTION = "toolRotationDirection";
+
+
+ public static final String Error_TABLE_NAME = "error";
+ public static final String Error_COLUMN_Iime_ID = "timeID";
+ public static final String Error_COLUMN_ERROR_INFO = "errorInfo";
+
+ List robotErrorList = new ArrayList<>() ;
+
+ public MyDataHelper(@Nullable Context context) {
+ super(context, "bingbot.db", null, 21);
+ }
+
+ @SuppressLint("SQLiteString")
+ @Override
+ public void onCreate(SQLiteDatabase db) {
+
+ String sql = "CREATE TABLE " + TABLE_NAME + "(" + COLUMN_ID + " INTEGER PRIMARY KEY ," +
+ COLUMN_SPEED + " INTEGER," +
+ COLUMN_LANCE_CHANGE_DISTANCE + " INTEGER," +
+ COLUMN_END_FORCE_VALUE + " INTEGER," +
+ COLUMN_WORK_WIDTH + " INTEGER," +
+ COLUMN_WORK_DISTANCE + " INTEGER," +
+ COLUMN_TOOl_ROTATION_DIRECTION + " INTEGER," +
+ COLUMN_LEFT_COMPENSATION + " DOUBLE," +
+ COLUMN_RIGHT_COMPENSATION + " DOUBLE," +
+ COLUMN_VERTICAL_CALIBRATION + " DOUBLE" +
+ ")";
+ db.execSQL(sql);
+
+
+ // (int id, int leftCompSelect, int rightCompSelect, int speedSelect, int laneChangeSelect, int endForceValue)
+
+ sql = "CREATE TABLE " + Error_TABLE_NAME + "(" + Error_COLUMN_Iime_ID + " INTEGER PRIMARY KEY ," +
+ Error_COLUMN_ERROR_INFO + " STRING " + ")";
+ db.execSQL(sql);
+
+ }
+
+ @Override
+ public void onUpgrade(SQLiteDatabase db, int oldVersion, int newVersion) {
+ db.execSQL("DROP TABLE IF EXISTS " + TABLE_NAME);
+ db.execSQL("DROP TABLE IF EXISTS " + Error_TABLE_NAME);
+ onCreate(db);
+ }
+
+ //增 删 改 查
+ public String addOrUpdateDisplayData(DisplayPV pv) {
+ ContentValues cv = new ContentValues();
+ cv.put(COLUMN_ID, pv.getId());
+ cv.put(COLUMN_SPEED, pv.getRobotSpeedValue());
+ cv.put(COLUMN_LANCE_CHANGE_DISTANCE, pv.getLaneChangeDistance());
+ cv.put(COLUMN_END_FORCE_VALUE, pv.getEndForceValue());
+ cv.put(COLUMN_WORK_DISTANCE, pv.getWorkDistanceMeters());
+ cv.put(COLUMN_WORK_WIDTH, pv.getWorkWidthMeters());
+ cv.put(COLUMN_LEFT_COMPENSATION, pv.getLeftCompSelect());
+ cv.put(COLUMN_RIGHT_COMPENSATION, pv.getRightCompSelect());
+ cv.put(COLUMN_VERTICAL_CALIBRATION, pv.getVerticalCalibration());
+ cv.put(COLUMN_TOOl_ROTATION_DIRECTION, pv.getToolRotationDirection());
+
+ SQLiteDatabase sqliteDatabase = this.getWritableDatabase();
+ long insert = sqliteDatabase.insertWithOnConflict(TABLE_NAME, null, cv, SQLiteDatabase.CONFLICT_REPLACE);
+
+ if (insert == -1) {
+ // 插入失败，按时间戳删除最早的100行
+ try {
+ // 开始事务
+ sqliteDatabase.beginTransaction();
+
+ String deleteQuery = "DELETE FROM error WHERE timeID IN (SELECT timeID FROM error ORDER BY timeID ASC LIMIT 100)";
+ sqliteDatabase.execSQL(deleteQuery);
+ // 标记事务成功
+ sqliteDatabase.setTransactionSuccessful();
+
+ Log.d("DB_OPERATION", "插入失败，已按时间戳删除最早的100行数据");
+ } catch (SQLException e) {
+ Log.e("DB_ERROR", "删除时发生错误: " + e.getMessage());
+ } finally {
+ // 结束事务（若setTransactionSuccessful()被调用则提交，否则回滚）
+ sqliteDatabase.endTransaction();
+ }
+ sqliteDatabase.close();
+ return "failed";
+ }
+ sqliteDatabase.close();
+
+
+ return "success";
+ }
+
+ public String deleteAll() {
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+ int delete = sqLiteDatabase.delete(TABLE_NAME, null,
+ null);
+
+ sqLiteDatabase.close();
+ if (delete == 0) {
+ return "failed";
+ }
+ return "success";
+
+ }
+
+ public void IntializeDataBase() {
+
+ for (int i = 1; i < 6; i++) {
+ List list = getDisplayData(i);
+ if (list.isEmpty()) {
+ DisplayPV pv = new DisplayPV(i, 1, 40, 1000, 1, 1, 0,0,0, 0);
+ addOrUpdateDisplayData(pv);
+ }
+ }
+
+ }
+
+ public List getDisplayData(int id) {
+ List list = new ArrayList<>();
+ String sql = "SELECT * FROM " + TABLE_NAME + " WHERE " + COLUMN_ID + " = " + String.valueOf(id);
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+
+
+ Cursor cursor = sqLiteDatabase.rawQuery(sql, null);
+
+ int idIndex = cursor.getColumnIndex(COLUMN_ID);
+
+
+ int _endForceValueIndex = cursor.getColumnIndex(COLUMN_END_FORCE_VALUE);
+ int _laneChangeDistanceIndex = cursor.getColumnIndex(COLUMN_LANCE_CHANGE_DISTANCE);
+ int _speedIndex = cursor.getColumnIndex(COLUMN_SPEED);
+ int _workdWidth = cursor.getColumnIndex(COLUMN_WORK_WIDTH);
+ int _workdDistance = cursor.getColumnIndex(COLUMN_WORK_DISTANCE);
+ int _leftCompSelect = cursor.getColumnIndex(COLUMN_LEFT_COMPENSATION);
+ int _rightCompSelect = cursor.getColumnIndex(COLUMN_RIGHT_COMPENSATION);
+ int _vertical_calibraton = cursor.getColumnIndex(COLUMN_VERTICAL_CALIBRATION);
+ int _toolRotationDirection = cursor.getColumnIndex(COLUMN_TOOl_ROTATION_DIRECTION);
+ while (cursor.moveToNext()) {
+
+ DisplayPV pv = new DisplayPV(cursor.getInt(idIndex),
+ cursor.getInt(_speedIndex), cursor.getInt(_laneChangeDistanceIndex), cursor.getInt(_endForceValueIndex),
+ cursor.getInt(_workdDistance), cursor.getInt(_workdWidth),
+ cursor.getInt(_leftCompSelect),cursor.getInt(_rightCompSelect),
+ cursor.getDouble(_vertical_calibraton), cursor.getInt(_toolRotationDirection)
+ );
+
+ // (int id, int leftCompSelect, int rightCompSelect, int speedSelect, int laneChangeSelect, int endForceValue)
+
+ list.add(pv);
+ }
+ cursor.close();
+ sqLiteDatabase.close();
+ return list;
+
+ }
+
+ public String AddOrUpdateErrorModel(ErrorModel em) {
+ ContentValues cv = new ContentValues();
+ cv.put(Error_COLUMN_Iime_ID, em.getTimeID());
+ cv.put(Error_COLUMN_ERROR_INFO, em.getErrorInfo());
+
+ SQLiteDatabase sqliteDatabase = this.getWritableDatabase();
+ long insert = sqliteDatabase.insertWithOnConflict(Error_TABLE_NAME, null, cv, SQLiteDatabase.CONFLICT_REPLACE);
+ sqliteDatabase.close();
+ if (insert == -1) {
+ return "failed";
+ }
+ return "success";
+ }
+
+ public String DeleteAllErrorModels() {
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+ int delete = sqLiteDatabase.delete(Error_TABLE_NAME, null,
+ null);
+
+ sqLiteDatabase.close();
+ if (delete == 0) {
+ return "failed";
+ }
+ return "success";
+
+ }
+
+ public List GetAllErrorModels() {
+ List list = new ArrayList<>();
+
+ String sql = "SELECT * FROM " + Error_TABLE_NAME;
+ SQLiteDatabase sqLiteDatabase = this.getWritableDatabase();
+ Cursor cursor = sqLiteDatabase.rawQuery(sql, null);
+
+
+
+ int _time_id_Index = cursor.getColumnIndex(Error_COLUMN_Iime_ID);
+ int _error_Index = cursor.getColumnIndex(Error_COLUMN_ERROR_INFO);
+
+ while (cursor.moveToNext()) {
+
+ ErrorModel em = new ErrorModel(cursor.getLong(_time_id_Index),cursor.getString(_error_Index));
+
+ Date date = new Date(em.getTimeID()); // 将时间戳转换为Date对象
+ // 创建SimpleDateFormat实例，并设置时区为UTC
+ SimpleDateFormat sdf = new SimpleDateFormat("yyyy-MM-dd HH:mm:ss");
+ sdf.setTimeZone(TimeZone.getTimeZone("Asia/Shanghai")); // 设置为UTC时区
+ // 格式化日期
+ String utcTime = sdf.format(date);
+ // System.out.println("UTC时间: " + utcTime);
+ em.setDateTimeBJ(utcTime);
+
+ list.add(em);
+ }
+ cursor.close();
+ sqLiteDatabase.close();
+ return list;
+
+ }
+
+
+}
diff --git a/app/src/main/java/com/example/rougheningapp/services/PopupHelper.java b/app/src/main/java/com/example/rougheningapp/services/PopupHelper.java
new file mode 100644
index 0000000..42e2e80
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/PopupHelper.java
@@ -0,0 +1,781 @@
+package com.example.rougheningapp.services;
+
+import android.app.Dialog;
+import android.text.method.ScrollingMovementMethod;
+import android.view.View;
+import android.widget.Button;
+import android.widget.EditText;
+import android.widget.RadioButton;
+import android.widget.RadioGroup;
+import android.widget.ScrollView;
+import android.widget.TextView;
+import android.widget.Toast;
+
+import com.example.rougheningapp.MainActivity;
+import com.example.rougheningapp.R;
+import com.example.rougheningapp.models.DisplayPV;
+import com.example.rougheningapp.models.ErrorModel;
+import com.example.rougheningapp.models.ScrollBottomScrollView;
+
+import java.util.List;
+import java.util.Objects;
+
+public class PopupHelper {
+ String manual_Mode_Call_Value = "无";
+ String automatic_Mode_Call_Value = "无";
+ int tool_Rotation_Direction_Value = 0;
+
+ private final MainActivity mainActivity;
+
+ public PopupHelper(MainActivity mainActivity)
+ {
+ this.mainActivity = mainActivity;
+ }
+
+ // 子XML——ManualModePopUp是一个弹窗布局，用于手动模式的设置界面
+ public void ManualModePopUp(View.OnClickListener context) {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.manualmodepopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.manualModeCancel);
+ Button confirmButton = dialog.findViewById(R.id.manualModeModeApply);
+ //EditText landeChangeDistanceEditText = dialog.findViewById(R.id.);
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ // 设置单选按钮点击事件
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.manualModeSelectorGroup);
+ radioGroup.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(RadioGroup group, int checkedId) {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ manual_Mode_Call_Value = radioButton.getText().toString();
+ }
+ });
+ String ii = (mainActivity._manual_Mode_Call_Value);
+ switch (ii)
+ {
+ case "无": {
+ radioGroup.check(R.id.rb_one);
+ break;
+ }
+ case "水平": {
+ radioGroup.check(R.id.rb_two);
+ break;
+ }
+ case "竖直向左": {
+ radioGroup.check(R.id.rb_three);
+ break;
+ }
+ case "竖直向右": {
+ radioGroup.check(R.id.rb_four);
+ break;
+ }
+ }
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ mainActivity._manual_Mode_Call_Value = manual_Mode_Call_Value;
+ if(!Objects.equals(mainActivity._manual_Mode_Call_Value, "")){
+ mainActivity._automatic_Mode_Call_Value="未启用";
+ mainActivity.mainBinding.mainViewAutomaticModeTxView.setText("未启用");
+ }
+ mainActivity.mainBinding.mainViewManualModeTxView.setText(mainActivity._manual_Mode_Call_Value);
+
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+ public void AutomaticModeSetPopUp(View.OnClickListener context) {
+
+
+
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.automodepopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+
+ Button confirmButton = dialog.findViewById(R.id.automaticModeModeApply);
+ Button cancelButton = dialog.findViewById(R.id.automaticModeCancel);
+
+ EditText workDistanceEditText = dialog.findViewById(R.id.popupViewWorkDistanceEdTxView);
+ EditText workWidthEditText = dialog.findViewById(R.id.popupViewWorkWidthEdTxView);
+
+ if (mainActivity.WorkDistance>0)
+ {
+ workDistanceEditText.setText(String.valueOf(mainActivity.WorkDistance));
+ }
+ if(mainActivity.WorkWidth>0)
+ {
+ workWidthEditText.setText(String.valueOf(mainActivity.WorkWidth));
+ }
+
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ // 设置单选按钮点击事件
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.autoModeSelectorGroup);
+ radioGroup.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(RadioGroup group, int checkedId) {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ automatic_Mode_Call_Value = radioButton.getText().toString();
+ }
+ });
+ String ii = (mainActivity._automatic_Mode_Call_Value);
+ switch (ii)
+ {
+// case "无": {
+// radioGroup.check(R.id.rb_one);
+// break;
+// }
+ case "水平": {
+ radioGroup.check(R.id.rb_two);
+ break;
+ }
+// case "竖直向左": {
+// radioGroup.check(R.id.rb_three);
+// break;
+// }
+// case "竖直向右": {
+// radioGroup.check(R.id.rb_four);
+// break;
+// }
+ }
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+ String inputWorkDistanceValueStr = workDistanceEditText.getText().toString();
+ if(inputWorkDistanceValueStr.isEmpty() ||inputWorkDistanceValueStr.length()>10)
+ {
+ Toast.makeText(mainActivity, "请正确设定作业长度", Toast.LENGTH_SHORT).show();
+ //workDistanceEditText.requestFocus();
+ return;
+ }
+ int workDistance_tempValue = Integer.parseInt(inputWorkDistanceValueStr);
+ if (workDistance_tempValue <= 200 && workDistance_tempValue >= 0)
+ {
+ mainActivity.WorkDistance = workDistance_tempValue;
+ //Toast.makeText(mainActivity, "作业长度设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "作业长度不应大于200或者小于0", Toast.LENGTH_SHORT).show();
+ return;
+ }
+
+ String inputWorkWidthValueStr = workWidthEditText.getText().toString();
+ if(inputWorkWidthValueStr.isEmpty() ||inputWorkWidthValueStr.length()>10)
+ {
+ Toast.makeText(mainActivity, "请正确设定作业宽度", Toast.LENGTH_SHORT).show();
+ //workWidthEditText.requestFocus();
+ return;
+ }
+ int workWidth_tempValue = Integer.parseInt(inputWorkWidthValueStr);
+ if (workWidth_tempValue <= 200 && workWidth_tempValue >= 0)
+ {
+ mainActivity.WorkWidth = workWidth_tempValue;
+ //Toast.makeText(mainActivity, "作业宽度设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "作业宽度不应大于200或者小于0", Toast.LENGTH_SHORT).show();
+ return;
+ }
+
+ mainActivity._automatic_Mode_Call_Value = automatic_Mode_Call_Value;
+ if(!Objects.equals(mainActivity._automatic_Mode_Call_Value, "")){
+ mainActivity._manual_Mode_Call_Value ="未启用";
+ mainActivity.mainBinding.mainViewManualModeTxView.setText("未启用");
+ }
+ mainActivity.mainBinding.mainViewAutomaticModeTxView.setText(mainActivity._automatic_Mode_Call_Value);
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+ public void RobotSpeedPopUp(View.OnClickListener context) {
+
+
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.robotspeedpopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.Cancel);
+ Button confirmButton = dialog.findViewById(R.id.Apply);
+ EditText robotSppedEditText = dialog.findViewById(R.id.robotSpeed_input);
+ robotSppedEditText.setText(mainActivity.mainBinding.mainViewRobotSpeedTxView.getText());
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ String robotSpped = robotSppedEditText.getText().toString();
+ if(robotSpped.isEmpty() ||robotSpped.length()>10)
+ {
+ Toast.makeText(mainActivity, "数据输入错误或输入长度过长", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ return;
+ }
+ Integer _tempValue = Integer.parseInt(robotSpped);
+ if (_tempValue >= 0 && _tempValue <= 20)
+ {
+ mainActivity.mainBinding.mainViewRobotSpeedTxView.setText(String.valueOf(_tempValue));
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "输入数据不应大于20或者小于0", Toast.LENGTH_SHORT).show();
+ }
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+ public void LaneChangeSelectionPopUp(View.OnClickListener context) {
+
+
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.lanechangepopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.lanechangeCancel);
+ Button confirmButton = dialog.findViewById(R.id.lanechangeApply);
+ EditText landeChangeDistanceEditText = dialog.findViewById(R.id.lanechange_input);
+ landeChangeDistanceEditText.setText(mainActivity.mainBinding.mainViewLaneChangeDistanceTxView.getText());
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ String laneChangeDistance = landeChangeDistanceEditText.getText().toString();
+ if(laneChangeDistance.isEmpty() ||laneChangeDistance.length()>10)
+ {
+ Toast.makeText(mainActivity, "数据输入错误或输入长度过长", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ return;
+ }
+ Integer _tempValue = Integer.parseInt(laneChangeDistance);
+ if (_tempValue <= 100 && _tempValue >= 1)
+ {
+ mainActivity.mainBinding.mainViewLaneChangeDistanceTxView.setText(String.valueOf(_tempValue));
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "输入数据不应大于100或者小于1", Toast.LENGTH_SHORT).show();
+ }
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+ public void EndPressureSetPopUp(View.OnClickListener context) {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.endpressurepopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.pressureCancel);
+ Button confirmButton = dialog.findViewById(R.id.pressureApply);
+ EditText pressureEditText = dialog.findViewById(R.id.pressure_input);
+
+ pressureEditText.setText(mainActivity.mainBinding.mainViewEndPressureTxView.getText());
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ String pressureTorque = pressureEditText.getText().toString();
+ //if(pressureTorque.equals("")||pressureTorque.length()>10)
+ if(pressureTorque.isEmpty() ||pressureTorque.length()>10)
+ {
+ Toast.makeText(mainActivity, "数据输入错误或输入长度过长", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ return;
+ }
+ int _tempValue = Integer.parseInt(pressureTorque);
+ if (_tempValue <= 24200 && _tempValue >= 0) {
+ mainActivity.mainBinding.mainViewEndPressureTxView.setText(String.valueOf(_tempValue));
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "输入数据不应大于24200或者小于0", Toast.LENGTH_SHORT).show();
+ }
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+ public void VerticalCalibrationPopUp(View.OnClickListener context) {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.verticalcalibrationpopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.vertical_calibration_Cancel);
+ Button confirmButton = dialog.findViewById(R.id.vertical_calibration_Apply);
+ EditText inputEditText = dialog.findViewById(R.id.vertical_calibration_input);
+
+ inputEditText.setText(mainActivity.mainBinding.mainViewVerticalCalibrationTxView.getText());
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ String inputValueStr = inputEditText.getText().toString();
+ try {
+ if(inputValueStr.isEmpty() ||inputValueStr.length()>10)
+ {
+ Toast.makeText(mainActivity, "数据输入错误或输入数据过长", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ return;
+ }
+ double _tempValue = Double.parseDouble(inputValueStr);
+ if (_tempValue <= 10 && _tempValue >= -10)
+ {
+ mainActivity.mainBinding.mainViewVerticalCalibrationTxView.setText(String.valueOf(_tempValue));
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "输入数据应当在±10度内", Toast.LENGTH_SHORT).show();
+ }
+
+ // 可能会发生异常的语句
+ } catch (Throwable e) {
+ // 处理异常 e
+ Toast.makeText(mainActivity, "数据输入错误或输入数据过长", Toast.LENGTH_SHORT).show();
+ } finally {
+ dialog.dismiss(); // 关闭弹窗
+ }
+
+
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+ public void ToolRotationDirectionPopUp(View.OnClickListener context) {
+
+
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.toolrotationdirectionpopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.Cancel);
+ Button confirmButton = dialog.findViewById(R.id.Apply);
+
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.toolRotationDirectionSelectorGroup);
+
+ radioGroup.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(RadioGroup group, int checkedId) {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ mainActivity._Tool_Rotation_Direction_Value = radioButton.getText().toString();
+ }
+ });
+ String ii=
+
+ (mainActivity.mainBinding.mainViewToolRotationDirectionTxView.getText().toString());
+
+ switch (ii)
+ {
+// case "关闭": { radioGroup.check(R.id.rb_one);
+// break;
+// }
+ case "正向": { radioGroup.check(R.id.rb_two);
+ break;
+ }
+ case "反向": { radioGroup.check(R.id.rb_three);
+ break;
+ }
+
+ }
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ ;
+ mainActivity.mainBinding.mainViewToolRotationDirectionTxView.setText(mainActivity._Tool_Rotation_Direction_Value);
+
+ String kk= (mainActivity.mainBinding.mainViewToolRotationDirectionTxView.getText().toString());
+ switch (kk)
+ {
+// case "关闭": { tool_Rotation_Direction_Value = 0;
+// break;
+// }
+ case "正向": { tool_Rotation_Direction_Value = 1;
+ break;
+ }
+ case "反向": { tool_Rotation_Direction_Value = 2;
+ break;
+ }
+
+ }
+ //读取数据库，并对其他控件进行赋值
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+ public void ParametersCallPopUp(View.OnClickListener context) {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.parameters_call); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button saveButton = dialog.findViewById(R.id.saveParametersBtn);
+ Button clearButton = dialog.findViewById(R.id.clearParametersBtn);
+
+ Button cancelButton = dialog.findViewById(R.id.parametersCancel);
+ Button confirmButton = dialog.findViewById(R.id.parametersApply);
+
+ // 设置保存按钮点击事件
+ saveButton.setOnClickListener(v -> {
+ int paraIndex = Integer.parseInt(mainActivity._parameters_Call_Value);
+ //int paraIndex = Integer.parseInt(mainActivity.mainBinding.mainViewParametersTxView.getText().toString());
+ int endforceValue = Integer.parseInt(mainActivity.mainBinding.mainViewEndPressureTxView.getText().toString());
+ int lanceChangeValue = Integer.parseInt(mainActivity.mainBinding.mainViewLaneChangeDistanceTxView.getText().toString());
+ int workDistanceMeters = mainActivity.WorkDistance;
+ int workWidthMeters = mainActivity.WorkWidth;
+ int robotSpped = Integer.parseInt(mainActivity.mainBinding.mainViewRobotSpeedTxView.getText().toString());
+
+ int leftCompSelect = 0;
+ int rightCompSelect = 0;
+ if(!mainActivity.mainBinding.rxLeftCompensation.getText().toString().equals("")){
+ leftCompSelect = (int)(Double.parseDouble(mainActivity.mainBinding.rxLeftCompensation.getText().toString()) * 100);
+ }
+ if(!mainActivity.mainBinding.rxLeftCompensation.getText().toString().equals("")){
+ rightCompSelect = (int)(Double.parseDouble(mainActivity.mainBinding.rxRightCompensation.getText().toString()) * 100);
+ }
+
+ double vertical_Calibration = Double.parseDouble(mainActivity.mainBinding.mainViewVerticalCalibrationTxView.getText().toString());
+
+ int toolRotationDirection = tool_Rotation_Direction_Value;
+
+ DisplayPV displayPV = new DisplayPV(paraIndex, robotSpped, lanceChangeValue, endforceValue, workDistanceMeters, workWidthMeters,
+ leftCompSelect, rightCompSelect, vertical_Calibration,toolRotationDirection);
+
+
+ mainActivity.myDataHelper.addOrUpdateDisplayData(displayPV);
+
+ Toast.makeText(mainActivity, "保存成功", Toast.LENGTH_SHORT).show();
+
+ });
+
+ // 设置清除按钮点击事件
+ clearButton.setOnClickListener(v -> {
+ int paraIndex = Integer.parseInt(mainActivity._parameters_Call_Value);
+ //int paraIndex = Integer.parseInt(mainActivity.mainBinding.mainViewParametersTxView.getText().toString());
+ DisplayPV displayPV = new DisplayPV(paraIndex, 0, 0, 0, 0, 0,
+ 0,0,0,0);
+ mainActivity.myDataHelper.addOrUpdateDisplayData(displayPV);
+ Toast.makeText(mainActivity, "清除成功", Toast.LENGTH_SHORT).show();
+
+ });
+
+
+ // 设置退出按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了退出", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ });
+
+ RadioGroup radioGroup = (RadioGroup) dialog.findViewById(R.id.parameters_call_group);
+
+ radioGroup.setOnCheckedChangeListener(new RadioGroup.OnCheckedChangeListener() {
+ @Override
+ public void onCheckedChanged(RadioGroup group, int checkedId) {
+ RadioButton radioButton = (RadioButton) group.findViewById(checkedId);
+ mainActivity._parameters_Call_Value = radioButton.getText().toString();
+ }
+ });
+
+ int ii= ConvertHelper.convertEditTextToInt(mainActivity.mainBinding.mainViewParametersTxView);
+ switch (ii)
+ {
+ case 1: { radioGroup.check(R.id.rb_one);
+ break;
+ }
+ case 2: { radioGroup.check(R.id.rb_two);
+ break;
+ }
+ case 3: { radioGroup.check(R.id.rb_three);
+ break;
+ }
+ case 4: { radioGroup.check(R.id.rb_four);
+ break;
+ }
+ case 5: { radioGroup.check(R.id.rb_five);
+ break;
+ }
+ }
+
+
+ // 设置读取按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ mainActivity.mainBinding.mainViewParametersTxView.setText(mainActivity._parameters_Call_Value);
+
+ //读取数据
+ int paraIndex = Integer.parseInt(mainActivity._parameters_Call_Value);
+ List pvList = mainActivity.myDataHelper.getDisplayData(paraIndex);
+
+ //mainActivity.mainBinding.mainViewRobotSpeedTxView.setText(String.valueOf(pvList.get(0).getRobotSpeedValue()));
+ mainActivity.mainBinding.mainViewLaneChangeDistanceTxView.setText(String.valueOf(pvList.get(0).getLaneChangeDistance()));
+ mainActivity.mainBinding.mainViewEndPressureTxView.setText(String.valueOf(pvList.get(0).getEndForceValue()));
+
+ mainActivity.WorkWidth = pvList.get(0).getWorkWidthMeters();
+ mainActivity.WorkDistance = pvList.get(0).getWorkDistanceMeters();
+
+ mainActivity.mainBinding.mainViewVerticalCalibrationTxView.setText(String.valueOf(pvList.get(0).getVerticalCalibration()));
+
+ tool_Rotation_Direction_Value =pvList.get(0).getToolRotationDirection();
+
+ mainActivity.leftCompensation = pvList.get(0).getLeftCompSelect();
+ mainActivity.rightCompensation = pvList.get(0).getRightCompSelect();
+ mainActivity.leftRightCompensationNeedToSend = 3;
+
+ switch (tool_Rotation_Direction_Value)
+ {
+// case 0: { mainActivity._Tool_Rotation_Direction_Value = "关闭";
+// break;
+// }
+ case 1: { mainActivity._Tool_Rotation_Direction_Value = "正向";
+ break;
+ }
+ case 2: { mainActivity._Tool_Rotation_Direction_Value = "反向";
+ break;
+ }
+
+ }
+ mainActivity.mainBinding.mainViewToolRotationDirectionTxView.setText(mainActivity._Tool_Rotation_Direction_Value);
+
+ //读取数据库，并对其他控件进行赋值
+ Toast.makeText(mainActivity, "调用成功", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+ public void RobotErrorListPopUp(View.OnClickListener context) {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.log_item); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ TextView LogText = dialog.findViewById(R.id.popUpErrorLogTextView);
+ ScrollBottomScrollView LogScrollView = dialog.findViewById(R.id.popUpErrorLogScrollview);
+ List list = mainActivity.myDataHelper.GetAllErrorModels();
+ LogText.setMovementMethod(ScrollingMovementMethod.getInstance());
+
+ final int[] firstDisplay = {1};
+ final int[] display = {2};
+ final int[] displayOver = {0};
+ int displayNum = 25;
+ LogScrollView.post(new Runnable() {
+ @Override
+ public void run() {
+ if(firstDisplay[0] == 1){
+ //滑动顶部
+ LogScrollView.fullScroll(ScrollView.FOCUS_UP);
+ firstDisplay[0] = 0;
+ }
+ }
+ });
+
+ LogScrollView.onScrollViewScrollToBottom(new ScrollBottomScrollView.OnScrollBottomListener() {
+ @Override
+ public void scrollToBottom() {
+ //请求数据
+ if (!list.isEmpty()) {
+ if(list.size()>displayNum * display[0]) {
+ for(int i = list.size() - displayNum * (display[0]-1); i-- > list.size() - displayNum * display[0];){
+ ErrorModel item = list.get(i);
+ String RobotErrorLog = item.getDateTimeBJ() + item.getErrorInfo() +"\n";
+ LogText.append(RobotErrorLog);
+ }
+ display[0] ++;
+ }
+ else{
+ if(displayOver[0]==0){
+ for(int i = list.size() - displayNum * (display[0]-1); i-- > 0;){
+ ErrorModel item = list.get(i);
+ String RobotErrorLog = item.getDateTimeBJ() + item.getErrorInfo() +"\n";
+ LogText.append(RobotErrorLog);
+ displayOver[0]=1;
+ }
+ }
+ }
+ }
+ }});
+
+ if (!list.isEmpty()) {
+
+ if(list.size() > displayNum) {
+
+ for(int i = list.size(); i-- > list.size() - displayNum;){
+ ErrorModel item = list.get(i);
+ String RobotErrorLog = item.getDateTimeBJ() + item.getErrorInfo() +"\n";
+ LogText.append(RobotErrorLog);
+ }
+ }
+ else{
+ for(int i = list.size(); i-- > 0;){
+ ErrorModel item = list.get(i);
+ String RobotErrorLog = item.getDateTimeBJ() + item.getErrorInfo() +"\n";
+ LogText.append(RobotErrorLog);
+ }
+ }
+
+ }
+// String list3 = mainActivity.myDataHelper.DeleteAllErrorModels();
+
+ dialog.show(); // 显示弹窗
+ }
+
+
+ public void WorkWidthSetPopUp(Dialog mainDialog) {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.workwidthpopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.workWidthCancel);
+ Button confirmButton = dialog.findViewById(R.id.workWidthApply);
+ EditText inputEditText = dialog.findViewById(R.id.workWidth_input);
+
+ //inputEditText.setText(mainActivity.mainBinding.mainViewWorkWidthTxView.getText());
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ String inputValueStr = inputEditText.getText().toString();
+ if(inputValueStr.isEmpty() ||inputValueStr.length()>10)
+ {
+ Toast.makeText(mainActivity, "数据输入错误或输入数据过长", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ return;
+ }
+ int _tempValue = Integer.parseInt(inputValueStr);
+ if (_tempValue <= 200 && _tempValue >= 0)
+ {
+ mainActivity.WorkWidth = _tempValue;
+
+ //mainActivity.mainBinding.mainViewWorkWidthTxView.setText(String.valueOf(_tempValue));
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "输入数据不应大于200或者小于0", Toast.LENGTH_SHORT).show();
+ }
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+
+ public void WorkDistanceSetPopUp(Dialog mainDialog) {
+ Dialog dialog = new Dialog(mainActivity);
+
+ dialog.setContentView(R.layout.workdistancepopup); // 设置自定义布局
+ dialog.setCancelable(true); // 设置点击外部是否关闭弹窗
+
+ // 获取布局中的视图
+ Button cancelButton = dialog.findViewById(R.id.workDistanceCancel);
+ Button confirmButton = dialog.findViewById(R.id.workDistanceApply);
+ EditText inputEditText = dialog.findViewById(R.id.workDistance_input);
+
+ //inputEditText.setText(mainActivity.mainBinding.popupViewWorkDistanceTxView.getText());
+
+ // 设置取消按钮点击事件
+ cancelButton.setOnClickListener(v -> {
+ Toast.makeText(mainActivity, "点击了取消", Toast.LENGTH_SHORT).show();
+
+ dialog.dismiss(); // 关闭弹窗
+ });
+ // 设置确定按钮点击事件
+ confirmButton.setOnClickListener(v -> {
+
+ String inputValueStr = inputEditText.getText().toString();
+ if(inputValueStr.isEmpty() ||inputValueStr.length()>10)
+ {
+ Toast.makeText(mainActivity, "数据输入错误或输入数据过长", Toast.LENGTH_SHORT).show();
+ dialog.dismiss(); // 关闭弹窗
+ return;
+ }
+ int _tempValue = Integer.parseInt(inputValueStr);
+ if (_tempValue <= 200 && _tempValue >= 0)
+ {
+ mainActivity.WorkDistance =_tempValue;
+ //mainActivity.mainBinding.mainViewWorkDistanceTxView.setText(String.valueOf(_tempValue));
+ Toast.makeText(mainActivity, "设置成功", Toast.LENGTH_SHORT).show();
+ } else {
+ Toast.makeText(mainActivity, "输入数据不应大于200或者小于0", Toast.LENGTH_SHORT).show();
+ }
+ dialog.dismiss(); // 关闭弹窗
+ });
+ dialog.show(); // 显示弹窗
+
+ }
+
+}
diff --git a/app/src/main/java/com/example/rougheningapp/services/RobotDataHanlder.java b/app/src/main/java/com/example/rougheningapp/services/RobotDataHanlder.java
new file mode 100644
index 0000000..3ebf485
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/RobotDataHanlder.java
@@ -0,0 +1,69 @@
+package com.example.rougheningapp.services;
+
+
+import com.example.rougheningapp.models.BspIV;
+import com.example.rougheningapp.models.BspPV;
+import com.google.protobuf.InvalidProtocolBufferException;
+
+import java.io.UnsupportedEncodingException;
+import com.google.protobuf.InvalidProtocolBufferException;
+
+import java.io.UnsupportedEncodingException;
+
+public class RobotDataHanlder {
+
+
+ public static void test()
+ {
+ //byte[] data=hexToByteArray("080110830118313A04B1CBBACF");
+ byte[] data=hexToByteArray("100A180A28013A32B1CBBACF00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000");
+
+
+
+ }
+ public static void DeoodeDataFromRobot(byte[] data)
+ {
+ try
+ {
+ if(data[0]==0x55&&data[1]==0x55)
+ {
+ if (data[2]==0x01)
+ {
+ BspIV.IV_struct_define iv = BspIV.IV_struct_define.parseFrom(data);
+ }else if(data[2]==0x02)
+ {
+ BspPV.PV_struct_define pv = BspPV.PV_struct_define.parseFrom(data);
+ }
+ }
+ } catch (InvalidProtocolBufferException e)
+ {
+
+ }
+
+
+ }
+
+ public static byte[] hexToByteArray(String inHex){
+ int hexlen = inHex.length();
+ byte[] result;
+ if (hexlen % 2 == 1){
+ //奇数
+ hexlen++;
+ result = new byte[(hexlen/2)];
+ inHex="0"+inHex;
+ }else {
+ //偶数
+ result = new byte[(hexlen/2)];
+ }
+ int j=0;
+ for (int i = 0; i < hexlen; i+=2){
+ result[j]=hexToByte(inHex.substring(i,i+2));
+ j++;
+ }
+ return result;
+ }
+ public static byte hexToByte(String inHex){
+ return (byte)Integer.parseInt(inHex,16);
+ }
+
+}
diff --git a/app/src/main/java/com/example/rougheningapp/services/USBSerialPortHelper.java b/app/src/main/java/com/example/rougheningapp/services/USBSerialPortHelper.java
new file mode 100644
index 0000000..0b69a0a
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/USBSerialPortHelper.java
@@ -0,0 +1,597 @@
+package com.example.rougheningapp.services;
+
+
+import static com.example.rougheningapp.services.ErrorDeocdeHelper.ErrorDeocde;
+
+import android.annotation.SuppressLint;
+import android.app.PendingIntent;
+import android.content.BroadcastReceiver;
+import android.content.Context;
+import android.content.Intent;
+import android.content.IntentFilter;
+import android.hardware.usb.UsbDevice;
+import android.hardware.usb.UsbDeviceConnection;
+import android.hardware.usb.UsbManager;
+import android.os.Build;
+import android.os.CountDownTimer;
+import android.os.Handler;
+import android.os.Looper;
+
+import androidx.core.content.ContextCompat;
+
+import com.example.rougheningapp.BuildConfig;
+import com.example.rougheningapp.MainActivity;
+import com.example.rougheningapp.R;
+import com.example.rougheningapp.models.BspIV;
+import com.example.rougheningapp.models.ErrorModel;
+import com.hoho.android.usbserial.driver.UsbSerialDriver;
+import com.hoho.android.usbserial.driver.UsbSerialPort;
+import com.hoho.android.usbserial.driver.UsbSerialProber;
+import com.hoho.android.usbserial.util.SerialInputOutputManager;
+
+import java.io.IOException;
+import java.util.ArrayList;
+import java.util.Iterator;
+import java.util.List;
+import java.util.Objects;
+
+public class USBSerialPortHelper implements SerialInputOutputManager.Listener {
+
+
+ public USBSerialPortHelper(MainActivity mainActivity)
+ {
+ this.MainActivity=mainActivity;
+ }
+
+ private final MainActivity MainActivity;
+ //sserial port part start
+
+ private enum UsbPermission {Unknown, Requested, Granted, Denied}
+
+ private final String INTENT_ACTION_GRANT_USB = BuildConfig.APPLICATION_ID + ".GRANT_USB";
+
+
+ //
+ //
+ //
+
+
+ private int deviceId = 60000;
+ private int deviceId_test = 60000;
+ private int portNum;
+ private final int WRITE_WAIT_MILLIS = 500;
+ private final int READ_WAIT_MILLIS = 100;
+ private String PortNameContians = "SILICON";/**/
+ // private static String PortNameContians="FTD";
+ private int baudRate = 57600;
+ private boolean withIoManager = true;
+
+ private BroadcastReceiver broadcastReceiver;
+ private Handler mainLooper;
+
+ private SerialInputOutputManager usbIoManager;
+ private UsbSerialPort usbSerialPort;
+ private UsbPermission usbPermission = UsbPermission.Unknown;
+ private boolean connected = false;
+ String errorLast = "";
+ public void intialize() {
+
+ broadcastReceiver = new BroadcastReceiver() {
+ @Override
+ public void onReceive(Context context, Intent intent) {
+ if (INTENT_ACTION_GRANT_USB.equals(intent.getAction())) {
+ usbPermission = intent.getBooleanExtra(UsbManager.EXTRA_PERMISSION_GRANTED, false) ? UsbPermission.Granted : UsbPermission.Denied;
+ connect();
+ }
+ }
+ };
+ mainLooper = new Handler(Looper.getMainLooper());
+ _receiveBufferlist = new ArrayList();
+ }
+
+ /*
+ * Serial
+ */
+ @Override
+ public void onNewData(byte[] data) {
+ status("new data");
+ mainLooper.post(() -> {
+ receive(data);
+ // receive data
+ });
+ }
+
+ @Override
+ public void onRunError(Exception e) {
+ mainLooper.post(() -> {
+ status("connection lost: " + e.getMessage());
+ disconnect();
+ });
+ }
+
+ /*
+ * Serial + UI
+ */
+
+ public void connect() {
+
+ UsbDevice device = null;
+ UsbManager usbManager = (UsbManager) MainActivity.getSystemService(Context.USB_SERVICE);
+ for (UsbDevice v : usbManager.getDeviceList().values()) {
+ status(v.getManufacturerName().toUpperCase());
+ if (v.getManufacturerName().toUpperCase().contains(PortNameContians)) {
+ device = v;
+ break;
+ }
+ }
+
+ if (device == null) {
+ // _serialPortSwitch.setChecked(false);
+
+ status("找不到设备");
+ return;
+ }
+ UsbSerialDriver driver = UsbSerialProber.getDefaultProber().probeDevice(device);
+ if (driver == null) {
+ driver = CustomProber.getCustomProber().probeDevice(device);
+ }
+ if (driver == null) {
+ // _serialPortSwitch.setChecked(false);
+ status("无驱动");
+ return;
+ }
+ if (driver.getPorts().size() < portNum) //就是0 cp2102 或者同一个驱动，第一个
+ {
+ status("connection failed: not enough ports at device");
+ status("找不到设备");
+ return;
+ }
+ usbSerialPort = driver.getPorts().get(portNum);
+
+ UsbDeviceConnection usbConnection = usbManager.openDevice(driver.getDevice());
+ if (usbConnection == null && usbPermission == UsbPermission.Unknown && !usbManager.hasPermission(driver.getDevice())) {
+ usbPermission = UsbPermission.Requested;
+ int flags = Build.VERSION.SDK_INT >= Build.VERSION_CODES.M ? PendingIntent.FLAG_MUTABLE : 0;
+ Intent intent = new Intent(INTENT_ACTION_GRANT_USB);
+ intent.setPackage(MainActivity.getPackageName());
+ PendingIntent usbPermissionIntent = PendingIntent.getBroadcast(MainActivity, 0, intent, flags);
+ usbManager.requestPermission(driver.getDevice(), usbPermissionIntent);
+ return;
+ }
+ if (usbConnection == null) {
+ if (!usbManager.hasPermission(driver.getDevice())) {
+ status("connection failed: permission denied");
+ } else {
+ status("connection failed: open failed");
+ }
+
+ return;
+ }
+
+ try {
+ usbSerialPort.open(usbConnection);
+ try {
+ usbSerialPort.setParameters(baudRate, 8, 1, UsbSerialPort.PARITY_NONE);
+ status("connected: ");
+
+ } catch (UnsupportedOperationException e) {
+ status("unsupport setparameters");
+ }
+ if (withIoManager) {
+ usbIoManager = new SerialInputOutputManager(usbSerialPort, this);
+ usbIoManager.setReadBufferSize(40960);
+ usbIoManager.setReadTimeout(READ_WAIT_MILLIS);
+ usbIoManager.start();
+ }
+ //status("connected");
+ connected = true;
+ // _serialPortSwitch.setChecked(true);
+ //switch set true
+
+ } catch (Exception e) {
+ status("connection failed: " + e.getMessage());
+ disconnect();
+ }
+ }
+
+ private void disconnect() {
+ connected = false;
+
+ if (usbIoManager != null) {
+ usbIoManager.setListener(null);
+ usbIoManager.stop();
+ }
+ usbIoManager = null;
+ try {
+ usbSerialPort.close();
+ } catch (IOException ignored) {
+
+ }
+ usbSerialPort = null;
+ }
+
+ List _receiveBufferlist;
+
+ private static byte[] listTobyte(List list) {
+ if (list == null || list.size() < 0) return null;
+ byte[] bytes = new byte[list.size()];
+ int i = 0;
+ Iterator iterator = list.iterator();
+ while (iterator.hasNext()) {
+ bytes[i] = iterator.next();
+ i++;
+ }
+ return bytes;
+ }
+
+ boolean StartCountDown = false;
+
+ // byte _receivedData
+ private void receive(byte[] data) {
+
+ // status("read data");
+ for (int i = 0; i < data.length; i++) {
+ _receiveBufferlist.add(data[i]);
+ }
+
+ //decodeRceive(data);
+ if (!StartCountDown)//从收到第一个数据开始计时
+ {
+ StartCountDown = true;
+ new CountDownTimer(400, 200) {
+ public void onTick(long millisUntilFinished) {
+
+ }
+ public void onFinish() {
+
+ status("read finished");
+ decodeRceive(listTobyte(_receiveBufferlist));
+ _receiveBufferlist.clear();
+ StartCountDown = false;
+ }
+ }.start();
+ }
+ }
+
+ void status(String str) {
+// SpannableStringBuilder spn = new SpannableStringBuilder(str+'\r'+'\n');
+//
+// // spn.append(getTime());
+//
+// spn.setSpan(new ForegroundColorSpan(MainActivity.getResources().getColor(R.color.colorAccent)), 0, spn.length(), Spannable.SPAN_EXCLUSIVE_EXCLUSIVE);
+// receiveText.append(spn);
+ // mainBinding.roll.fullScroll(ScrollView.FOCUS_DOWN);
+
+
+ // MainActivity.mainBinding.message.setText(str);
+ }
+ /*
+ 逐位检查并构建二进制字符串
+ */
+ String unsignedIntToBinary(int value) {
+ StringBuilder sb = new StringBuilder(32);
+ for (int i = 7; i >= 0; i--) {
+ sb.append((value & (1 << i)) == 0 ? '0' : '1');
+ }
+ return sb.toString();
+ }
+ /*
+ 逐位检查并构建二进制字符串 每4位添加一个分隔符
+ */
+ String unsignedIntToBinaryWithSeparator(int value) {
+ StringBuilder sb = new StringBuilder(35);
+ for (int i = 7; i >= 0; i--) {
+ sb.append((value & (1 << i)) == 0 ? '0' : '1');
+ if (i % 4 == 0 && i != 0) {
+ sb.append(' '); // 每4位添加一个分隔符
+ }
+ }
+ return sb.toString();
+ }
+ String toHex4Digits(int value) {
+ char[] hexChars = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'};
+ int low16Bits = value & 0xFFFF;
+
+ char[] result = new char[4];
+ result[0] = hexChars[(low16Bits >> 12) & 0xF];
+ result[1] = hexChars[(low16Bits >> 8) & 0xF];
+ result[2] = hexChars[(low16Bits >> 4) & 0xF];
+ result[3] = hexChars[low16Bits & 0xF];
+
+ return new String(result);
+ }
+ @SuppressLint({"SetTextI18n", "ResourceAsColor"})
+ private void decodeRceive(byte[] data) {
+ try {
+
+ // String dataReceived = bytesToHex(data);
+ //status(dataReceived);
+ // if ((data[0] == 0xFE) && (data[1] == 0xFE))
+ byte[] crcbytes = new byte[data.length - 2];
+ System.arraycopy(data, 0, crcbytes, 0, data.length - 2);
+ byte[] crc=ModbusCRC.calculateCRC(crcbytes);
+ // status(bytesToHex(data));
+ status(String.valueOf(crc[0]+" "+ String.valueOf(crc[1])));
+ if(data[data.length-2]==(byte)(crc[1]&0xff) && data[data.length-1]==(byte)(crc[0] & 0xff))
+ {
+
+ if ((data[0] == 0x55) && (data[1] == 0x55) )
+ {
+ status("verified");
+ byte[] bytes = new byte[data.length - 4];
+ System.arraycopy(data, 2, bytes, 0, data.length - 4);
+ status("verified1");
+ BspIV.IV_struct_define _toReceiveIV=BspIV.IV_struct_define.parseFrom(bytes);
+ status(bytesToHex(bytes));
+ if (_toReceiveIV!=null)
+ {
+ MainActivity.mainBinding.mainViewRobotSpeedTxView.setText(String.valueOf(_toReceiveIV.getRobotMoveSpeed()));
+ MainActivity.mainBinding.rxRobotSpeed.setText(String.valueOf(_toReceiveIV.getRobotMoveSpeed()));
+ MainActivity.mainBinding.rxRobotAngle.setText(String.valueOf((double)_toReceiveIV.getCurrentAngle()/100));
+ MainActivity.mainBinding.rxEndPrssure.setText(String.valueOf((double) _toReceiveIV.getEndPressure()));
+
+
+ // MainActivity.mainBinding.rxTemp.setText(String.valueOf(((double) _toReceiveIV.getTempature()/100)));
+// MainActivity.mainBinding.rxRobotTemp.setText(String.valueOf(_toReceiveIV.getLeftMotorTemp())+
+// " " +String.valueOf(_toReceiveIV.getRightMotorTemp()));
+
+
+ // MainActivity.mainBinding.rxRunMode.setText(String.valueOf(_toReceiveIV.getRunMode()));
+
+
+ //#define IV_Run_Mode_Automation 1
+ //#define IV_Run_Mode_Maunal 0
+ //#define IV_Run_Mode_EmergencyStop 2
+ //#define IV_Run_Mode_Vertical_LaneChange 3
+ //#define IV_Run_Mode_Horizontal_LaneChange 4
+ //#define IV_Run_Mode_Forward 5
+ //#define IV_Run_Mode_BackWard 6
+ //#define IV_Run_Mode_TurnLeft 7
+ //#define IV_Run_Mode_TurnRight 8
+ //#define IV_Run_Mode_HALT 9
+ switch (_toReceiveIV.getRunMode())
+ {
+ case 0:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("手动模式");
+ break;
+ }
+ case 1:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("自动运行");
+ break;
+ }
+ case 2:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("急停");
+ break;
+ }
+ case 3:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("竖直换道");
+ break;
+ }
+ case 4:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("水平换道");
+ break;
+ }
+ case 5:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("前进");
+ break;
+ }
+ case 6:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("后退");
+ break;
+ }
+ case 7:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("左转");
+ break;
+ }
+ case 8:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("右转");
+ break;
+ }
+ case 9:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("停止");
+ break;
+ }
+ }
+ if(MainActivity.mainBinding.rxRunMode.getText().toString().equals("急停"))
+ {
+ MainActivity.mainBinding.messageRounded.setBackgroundResource(R.drawable.message_rounded_rectangle_red);
+ // MainActivity.mainBinding.rxRunMode.setTextColor(ContextCompat.getColor(MainActivity,R.color.red));
+
+ }
+ else{
+ MainActivity.mainBinding.messageRounded.setBackgroundResource(R.drawable.message_rounded_rectangle);
+ //MainActivity.mainBinding.rxRunMode.setTextColor(ContextCompat.getColor(MainActivity,R.color.midnightblue));
+ }
+ MainActivity.mainBinding.rxLeftCompensation.setText(String.valueOf((double) _toReceiveIV.getLeftCompensation()/100));
+ MainActivity.mainBinding.rxRightCompensation.setText(String.valueOf((double)_toReceiveIV.getRightCompensation()/100));
+
+
+ int errorInt = _toReceiveIV.getSystemError();
+ String errorString2 = ErrorDeocde(errorInt);
+ String errorString = " # " + unsignedIntToBinaryWithSeparator(errorInt);
+ errorString += " " + toHex4Digits(_toReceiveIV.getLeftMotorErr());
+ errorString += " " + toHex4Digits(_toReceiveIV.getRightMotorErr());
+
+ if(errorInt !=0 || _toReceiveIV.getLeftMotorErr()!=0 ||_toReceiveIV.getRightMotorErr()!=0)
+ {
+ if(!Objects.equals(errorLast, errorString)){
+ ErrorModel em = new ErrorModel(System.currentTimeMillis(), errorString);
+ MainActivity.myDataHelper.AddOrUpdateErrorModel(em);
+
+ if(Objects.equals(errorString2, "未复位"))
+ {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText(String.valueOf(errorString2));
+ MainActivity.mainBinding.messageRounded.setBackgroundResource(R.drawable.message_rounded_rectangle_red);
+ }
+ else
+ {
+// if(_toReceiveIV.getLeftMotorTemp() >=60 || _toReceiveIV.getRightMotorTemp()>=60 )
+// {
+// MainActivity.mainBinding.mainViewErrMessageTxView.setText("高温预警");
+// }
+// else
+// {
+// MainActivity.mainBinding.mainViewErrMessageTxView.setText("有");
+// }
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText("有");
+ //MainActivity.mainBinding.mainViewErrMessageTxView.setTextColor(ContextCompat.getColor(MainActivity,R.color.red));
+ MainActivity.mainBinding.messageRounded.setBackgroundResource(R.drawable.message_rounded_rectangle_red);
+ }
+
+ errorLast = errorString;
+ }
+ }
+ else
+ {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText("无");
+ MainActivity.mainBinding.messageRounded.setBackgroundResource(R.drawable.message_rounded_rectangle);
+ //MainActivity.mainBinding.mainViewErrMessageTxView.setTextColor(ContextCompat.getColor(MainActivity,R.color.midnightblue));
+ }
+
+ if(_toReceiveIV.getIsWorking() == 1){
+ MainActivity.mainBinding.setManualModeBtn.setEnabled(false);
+ MainActivity.mainBinding.setManualModeBtnFrameLayout.setAlpha(0.5f);
+
+ MainActivity.mainBinding.setAutomaticModeBtn.setEnabled(false);
+ MainActivity.mainBinding.setAutomaticModeBtnFrameLayout.setAlpha(0.5f);
+
+
+ MainActivity.mainBinding.mainViewRobotSpeedTxView.setEnabled(false);
+ MainActivity.mainBinding.mainViewRobotSpeedFrameLayout.setAlpha(0.5f);
+
+ MainActivity.mainBinding.mainViewLaneChangeDistanceTxView.setEnabled(false);
+ MainActivity.mainBinding.mainViewLaneChangeDistanceFrameLayout.setAlpha(0.5f);
+
+
+ MainActivity.mainBinding.mainViewEndPressureTxView.setEnabled(false);
+ MainActivity.mainBinding.mainViewEndPressureFrameLayout.setAlpha(0.5f);
+
+ MainActivity.mainBinding.mainViewVerticalCalibrationTxView.setEnabled(false);
+ MainActivity.mainBinding.mainViewVerticalCalibrationFrameLayout.setAlpha(0.5f);
+
+
+ MainActivity.mainBinding.setToolRotationDirectionBtn.setEnabled(false);
+ MainActivity.mainBinding.setToolRotationDirectionBtnFrameLayout.setAlpha(0.5f);
+
+ MainActivity.mainBinding.callParametersBtn.setEnabled(false);
+ MainActivity.mainBinding.callParametersBtnFrameLayout.setAlpha(0.5f);
+
+ }
+ else{
+ MainActivity.mainBinding.setManualModeBtn.setEnabled(true);
+ MainActivity.mainBinding.setManualModeBtnFrameLayout.setAlpha(1.0f);
+
+ MainActivity.mainBinding.setAutomaticModeBtn.setEnabled(true);
+ MainActivity.mainBinding.setAutomaticModeBtnFrameLayout.setAlpha(1.0f);
+
+
+ MainActivity.mainBinding.mainViewRobotSpeedTxView.setEnabled(true);
+ MainActivity.mainBinding.mainViewRobotSpeedFrameLayout.setAlpha(1.0f);
+
+ MainActivity.mainBinding.mainViewLaneChangeDistanceTxView.setEnabled(true);
+ MainActivity.mainBinding.mainViewLaneChangeDistanceFrameLayout.setAlpha(1.0f);
+
+
+ MainActivity.mainBinding.mainViewEndPressureTxView.setEnabled(true);
+ MainActivity.mainBinding.mainViewEndPressureFrameLayout.setAlpha(1.0f);
+
+ MainActivity.mainBinding.mainViewVerticalCalibrationTxView.setEnabled(true);
+ MainActivity.mainBinding.mainViewVerticalCalibrationFrameLayout.setAlpha(1.0f);
+
+
+ MainActivity.mainBinding.setToolRotationDirectionBtn.setEnabled(true);
+ MainActivity.mainBinding.setToolRotationDirectionBtnFrameLayout.setAlpha(1.0f);
+
+ MainActivity.mainBinding.callParametersBtn.setEnabled(true);
+ MainActivity.mainBinding.callParametersBtnFrameLayout.setAlpha(1.0f);
+
+ }
+
+ }else
+ {
+ status("null");
+ }
+
+ }else
+ {
+
+ }
+
+ }else
+ {
+ //status("crc failed");
+ }
+
+
+
+
+ } catch (Exception e) {
+
+ }
+ }
+
+ public static String bytesToHex(byte[] bytes) {
+ StringBuilder result = new StringBuilder();
+ for (byte b : bytes) {
+ result.append(String.format("%02X ", b & 0xFF));
+ }
+ return result.toString();
+ }
+
+ public void onStart() {
+
+ ContextCompat.registerReceiver(MainActivity, broadcastReceiver, new IntentFilter(INTENT_ACTION_GRANT_USB), ContextCompat.RECEIVER_NOT_EXPORTED);
+ status("onStart");
+
+ }
+
+ public void onStop() {
+ MainActivity.unregisterReceiver(broadcastReceiver);
+ status("onStop");
+ }
+
+
+ public void onResume() {
+
+ if (!connected && (usbPermission == UsbPermission.Unknown || usbPermission == UsbPermission.Granted)) {
+ mainLooper.post(this::connect);
+
+ }
+ }
+
+
+ public void onPause() {
+ if (connected) {
+ status("串口断开");
+ // _serialPortSwitch.setChecked(false);
+ disconnect();
+ }
+ }
+ public void SendData(byte[] data) {
+ if (connected) {
+ try {
+ usbSerialPort.write(data, WRITE_WAIT_MILLIS);
+ } catch (IOException e)
+ {
+ status("Send Failed");
+ connected = false;
+ }
+ } else {
+ status("usb serialport disconnected");
+
+ }
+
+
+ }
+
+}
diff --git a/app/src/main/java/com/example/rougheningapp/services/VideoPlayerHelper.java b/app/src/main/java/com/example/rougheningapp/services/VideoPlayerHelper.java
new file mode 100644
index 0000000..3c51461
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/VideoPlayerHelper.java
@@ -0,0 +1,27 @@
+package com.example.rougheningapp.services;
+
+
+import cn.nodemedia.NodePlayer;
+import cn.nodemedia.NodePlayerView;
+
+public class VideoPlayerHelper {
+
+
+
+ public static void startVedio(NodePlayerView nodePlayerView, NodePlayer nodePlayer,String address ){
+
+
+ nodePlayerView.setRenderType(NodePlayerView.RenderType.SURFACEVIEW);//设置渲染器类型
+ nodePlayerView.setUIViewContentMode(NodePlayerView.UIViewContentMode.ScaleToFill);//设置视频画面缩放模式
+ //nodePlayer=new NodePlayer(this);
+ nodePlayer.setPlayerView(nodePlayerView);//设置播放视图
+ //设置RTSP流使用的传输协议,支持的模式有:
+ nodePlayer.setRtspTransport(NodePlayer.RTSP_TRANSPORT_TCP);//设置传输
+ nodePlayer.setInputUrl(address);
+ nodePlayer.setVideoEnable(true);//设置视频启用
+ nodePlayer.setBufferTime(100);//设置缓冲时间
+ nodePlayer.setMaxBufferTime(200);//设置最大缓冲时间
+ nodePlayer.start();
+ }
+}
+
diff --git a/app/src/main/java/com/example/rougheningapp/services/ttySerialPortHelper.java b/app/src/main/java/com/example/rougheningapp/services/ttySerialPortHelper.java
new file mode 100644
index 0000000..0b21bc3
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/services/ttySerialPortHelper.java
@@ -0,0 +1,267 @@
+package com.example.rougheningapp.services;
+
+import static com.example.rougheningapp.services.ErrorDeocdeHelper.ErrorDeocde;
+
+import android.util.Log;
+
+
+import com.example.rougheningapp.models.BspIV;
+import com.example.rougheningapp.models.ErrorModel;
+import com.example.rougheningapp.viewmodels.MainViewModel;
+
+import java.util.Objects;
+
+import android_serialport_api.SerialPortFinder;
+import tp.xmaihh.serialport.SerialHelper;
+import tp.xmaihh.serialport.bean.ComBean;
+
+public class ttySerialPortHelper {
+ public static com.example.rougheningapp.MainActivity MainActivity;
+ private static final String TAG = "ttySerialPortHelper";
+ private static SerialHelper serialHelper;
+ private static SerialPortFinder serialPortFinder;
+
+ final String[] ports = serialPortFinder.getAllDevicesPath();
+ final String[] botes = new String[]{"0", "50", "75", "110", "134", "150", "200", "300", "600", "1200", "1800", "2400", "4800", "9600", "19200", "38400", "57600", "115200", "230400", "460800", "500000", "576000", "921600", "1000000", "1152000", "1500000", "2000000", "2500000", "3000000", "3500000", "4000000", "CUSTOM"};
+ final String[] databits = new String[]{"8", "7", "6", "5"};
+ final String[] paritys = new String[]{"NONE", "ODD", "EVEN", "SPACE", "MARK"};
+ final String[] stopbits = new String[]{"1", "2"};
+ final String[] flowcons = new String[]{"NONE", "RTS/CTS", "XON/XOFF"};
+
+ static String errorLast = "";
+
+ public static int[] decodedCH=new int[17];
+
+ public static void Open()
+ {
+
+ try {
+ // serialPortFinder = new SerialPortFinder();
+ serialHelper = new SerialHelper("dev/ttyHS0", 115200)//MK32
+ //serialHelper = new SerialHelper("/dev/ttyHS3", 115200) //UR7
+ {
+
+ @Override
+ protected void onDataReceived(ComBean comBean) {
+
+ MainActivity.runOnUiThread(new Runnable() {
+ @Override
+ public void run() {
+ // 更新 UI 的代码
+ byte[] data=comBean.bRec;
+
+
+ try {
+ decodeRceive(data);
+
+ } catch (Exception e) {
+
+ }
+
+ }
+ });
+ }
+ };
+ serialHelper.open();
+ }
+ catch (Exception exception)
+ {
+ Log.d(TAG,"Data Received");
+ }
+
+ }
+ private static int index =0;
+ /*
+ 逐位检查并构建二进制字符串
+ */
+ static String unsignedIntToBinary(int value) {
+ StringBuilder sb = new StringBuilder(32);
+ for (int i = 7; i >= 0; i--) {
+ sb.append((value & (1 << i)) == 0 ? '0' : '1');
+ }
+ return sb.toString();
+ }
+ /*
+ 逐位检查并构建二进制字符串 每4位添加一个分隔符
+ */
+ static String unsignedIntToBinaryWithSeparator(int value) {
+ StringBuilder sb = new StringBuilder(35);
+ for (int i = 7; i >= 0; i--) {
+ sb.append((value & (1 << i)) == 0 ? '0' : '1');
+ if (i % 4 == 0 && i != 0) {
+ sb.append(' '); // 每4位添加一个分隔符
+ }
+ }
+ return sb.toString();
+ }
+ static String toHex4Digits(int value) {
+ char[] hexChars = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9', 'A', 'B', 'C', 'D', 'E', 'F'};
+ int low16Bits = value & 0xFFFF;
+
+ char[] result = new char[4];
+ result[0] = hexChars[(low16Bits >> 12) & 0xF];
+ result[1] = hexChars[(low16Bits >> 8) & 0xF];
+ result[2] = hexChars[(low16Bits >> 4) & 0xF];
+ result[3] = hexChars[low16Bits & 0xF];
+
+ return new String(result);
+ }
+
+ private static void decodeRceive(byte[] data) {
+ try {
+
+ // String dataReceived = bytesToHex(data);
+ //status(dataReceived);
+ // if ((data[0] == 0xFE) && (data[1] == 0xFE))
+ byte[] crcbytes = new byte[data.length - 2];
+ System.arraycopy(data, 0, crcbytes, 0, data.length - 2);
+ byte[] crc=ModbusCRC.calculateCRC(crcbytes);
+ // status(bytesToHex(data));
+
+ if(data[data.length-2]==(byte)(crc[1]&0xff) && data[data.length-1]==(byte)(crc[0] & 0xff))
+ {
+
+ if ((data[0] == 0x55) && (data[1] == 0x55) )
+ {
+
+ byte[] bytes = new byte[data.length - 4];
+ System.arraycopy(data, 2, bytes, 0, data.length - 4);
+
+ BspIV.IV_struct_define _toReceiveIV=BspIV.IV_struct_define.parseFrom(bytes);
+
+ if (_toReceiveIV!=null)
+ {
+ MainActivity.mainBinding.rxRobotSpeed.setText(String.valueOf(_toReceiveIV.getRobotMoveSpeed()));
+ MainActivity.mainBinding.rxRobotAngle.setText(String.valueOf((double)_toReceiveIV.getCurrentAngle()/100));
+ MainActivity.mainBinding.rxEndPrssure.setText(String.valueOf((double) _toReceiveIV.getEndPressure()));
+
+
+ switch (_toReceiveIV.getRunMode())
+ {
+ case 0:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("手动模式");
+ break;
+ }
+ case 1:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("自动运行");
+ break;
+ }
+ case 2:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("急停");
+ break;
+ }
+ case 3:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("竖直换道");
+ break;
+ }
+ case 4:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("水平换道");
+ break;
+ }
+ case 5:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("前进");
+ break;
+ }
+ case 6:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("后退");
+ break;
+ }
+ case 7:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("左转");
+ break;
+ }
+ case 8:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("右转");
+ break;
+ }
+ case 9:
+ {
+ MainActivity.mainBinding.rxRunMode.setText("停止");
+ break;
+ }
+ }
+
+ MainActivity.mainBinding.rxLeftCompensation.setText(String.valueOf((double) _toReceiveIV.getLeftCompensation()/100));
+ MainActivity.mainBinding.rxRightCompensation.setText(String.valueOf((double)_toReceiveIV.getRightCompensation()/100));
+
+ int errorInt = _toReceiveIV.getSystemError();
+ String errorString2 = ErrorDeocde(errorInt);
+ String errorString = " # " + unsignedIntToBinaryWithSeparator(errorInt);
+ errorString += " " + toHex4Digits(_toReceiveIV.getLeftMotorErr());
+ errorString += " " + toHex4Digits(_toReceiveIV.getRightMotorErr());
+
+ if(errorInt !=0 || _toReceiveIV.getLeftMotorErr()!=0 ||_toReceiveIV.getRightMotorErr()!=0)
+ {
+ if(!Objects.equals(errorLast, errorString)){
+ ErrorModel em = new ErrorModel(System.currentTimeMillis(), errorString);
+ MainActivity.myDataHelper.AddOrUpdateErrorModel(em);
+
+ if(Objects.equals(errorString2, "未复位"))
+ {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText(String.valueOf(errorString2));
+ }
+ else
+ {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText("有");
+ }
+
+ errorLast = errorString;
+ }
+ }
+ else
+ {
+ MainActivity.mainBinding.mainViewErrMessageTxView.setText("无");
+ }
+ }else
+ {
+
+ }
+
+ }else
+ {
+
+ }
+
+ }else
+ {
+ //status("crc failed");
+ }
+
+
+
+
+ } catch (Exception e) {
+
+ }
+ }
+
+
+ public static void SendData(byte[] data) {
+
+ serialHelper.send( data); // 发送byte[]
+ }
+
+ public static byte[] getAllChData=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x02,(byte)(0xB5&0xff),(byte)(0xC0&0xff)};
+ public static byte[] stopgetAllChData=new byte[]{0x55, 0x66,0x01,0x01,0x00,0x00,0x00,0x42,0x00,(byte)(0xf7&0xff),(byte)(0xe0&0xff)};
+ public static void sendTxt(String sTxt)
+ {
+ serialHelper.sendTxt( sTxt); // 发送byte[]
+ }
+//serialHelper.send(byte[] bOutArray); // 发送byte[]
+//serialHelper.sendHex(String sHex); // 发送Hex
+//serialHelper.sendTxt(String sTxt); // 发送ASCII
+ public static void onDestroy() {
+
+ serialHelper.close();
+ }
+
+}
diff --git a/app/src/main/java/com/example/rougheningapp/viewmodels/MainViewModel.java b/app/src/main/java/com/example/rougheningapp/viewmodels/MainViewModel.java
new file mode 100644
index 0000000..4f4b99c
--- /dev/null
+++ b/app/src/main/java/com/example/rougheningapp/viewmodels/MainViewModel.java
@@ -0,0 +1,21 @@
+package com.example.rougheningapp.viewmodels;
+
+import com.example.rougheningapp.MainActivity;
+import com.example.rougheningapp.databinding.ActivityMainBinding;
+import com.example.rougheningapp.models.BspIV;
+import com.example.rougheningapp.models.BspPV;
+import com.example.rougheningapp.models.DisplayPV;
+import com.example.rougheningapp.services.USBSerialPortHelper;
+
+import androidx.lifecycle.MutableLiveData;
+import androidx.lifecycle.ViewModel;
+
+import android.widget.SeekBar;
+
+public class MainViewModel extends ViewModel {
+
+ public MainViewModel() {
+
+ }
+
+}
\ No newline at end of file
diff --git a/app/src/main/java/generate_java.bat b/app/src/main/java/generate_java.bat
new file mode 100644
index 0000000..59085ae
--- /dev/null
+++ b/app/src/main/java/generate_java.bat
@@ -0,0 +1 @@
+ protoc --java_out . *.proto
diff --git a/app/src/main/java/protoc.7z b/app/src/main/java/protoc.7z
new file mode 100644
index 0000000000000000000000000000000000000000..b4ac7a16c39c2ae907f07178552d4ef8cfe884f7
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