package com.example.rougheningapp; import static java.lang.Integer.parseInt; import androidx.appcompat.app.AppCompatActivity; import androidx.databinding.DataBindingUtil; import android.os.Bundle; import android.text.Editable; import android.text.TextUtils; import android.text.TextWatcher; import android.view.View; import android.view.WindowManager; import android.widget.Toast; import com.example.rougheningapp.databinding.ActivityMainBinding; import com.example.rougheningapp.models.BspPV; import com.example.rougheningapp.models.DisplayPV; import com.example.rougheningapp.services.ModbusCRC; import com.example.rougheningapp.services.MyDataHelper; import com.example.rougheningapp.services.PopupHelper; import com.example.rougheningapp.services.USBSerialPortHelper; import com.example.rougheningapp.services.ttySerialPortHelper; import java.util.List; import java.util.Timer; import java.util.TimerTask; public class MainActivity extends AppCompatActivity { public ActivityMainBinding mainBinding;//通过Binding可以获取界面数据 //USB 串口服务 public USBSerialPortHelper serialPortHelper; private BspPV.PV_struct_define _toSendPV; Timer timer = new Timer(); public MyDataHelper myDataHelper = new MyDataHelper(this); public PopupHelper popupHelper = new PopupHelper(this); public static byte[] stopgetAllChData = new byte[]{0x55, 0x66, 0x01, 0x01, 0x00, 0x00, 0x00, 0x42, 0x00, (byte) (0xf7 & 0xff), (byte) (0xe0 & 0xff)}; public static int sendStopDataCount = 0; public String _parameters_Call_Value = "1"; public String _manual_Mode_Call_Value = "未启用"; public String _automatic_Mode_Call_Value = "未启用"; public String _Tool_Rotation_Direction_Value = "正向"; public int _operation_Mode_Call_Value_int = 0; public int WorkDistance = 0; public int WorkWidth = 0; public int leftCompensation = 0; public int rightCompensation = 0; public int leftRightCompensationNeedToSend = 0; @Override protected void onCreate(Bundle savedInstanceState) { super.onCreate(savedInstanceState); //设置全屏显示 getWindow().setFlags(WindowManager.LayoutParams.FLAG_FULLSCREEN, WindowManager.LayoutParams.FLAG_FULLSCREEN); // 加载 XML 布局（关键：将 Activity 与 activity_main.xml 绑定） mainBinding = DataBindingUtil.setContentView(this, R.layout.activity_main); /* USB串口 控制区域*/ serialPortHelper = new USBSerialPortHelper(this); serialPortHelper.intialize(); serialPortHelper.connect(); // ttySerialPortHelper.MainActivity = this; // ttySerialPortHelper.Open(); mainBinding.setManualModeBtn.setOnClickListener(new View.OnClickListener() { @Override public void onClick(View v) { // 实现界面跳转（弹出子界面）:弹窗的具体逻辑实现细节见popupHelper popupHelper.ManualModePopUp(this); } }); mainBinding.setAutomaticModeBtn.setOnClickListener(new View.OnClickListener() { @Override public void onClick(View v) { popupHelper.AutomaticModeSetPopUp(this); } }); // mainBinding.setRobotSpeedBtn.setOnClickListener(new View.OnClickListener() { // @Override // public void onClick(View v) { // popupHelper.RobotSpeedPopUp(this); // // } // }); // mainBinding.setLaneChangeDistanceBtn.setOnClickListener(new View.OnClickListener() { // @Override // public void onClick(View v) { // popupHelper.LaneChangeSelectionPopUp(this); // // } // }); // mainBinding.setEndPressureBtn.setOnClickListener(new View.OnClickListener() { // @Override // public void onClick(View v) { // popupHelper.EndPressureSetPopUp(this); // // } // }); // mainBinding.setVerticalCalibrationBtn.setOnClickListener(new View.OnClickListener() { // @Override // public void onClick(View v) { // popupHelper.VerticalCalibrationPopUp(this); // // } // }); // mainBinding.mainViewRobotSpeedTxView.addTextChangedListener(new TextWatcher() { // @Override // public void beforeTextChanged(CharSequence charSequence, int i, int i1, int i2) { // // } // // @Override // public void onTextChanged(CharSequence charSequence, int i, int i1, int i2) { // // } // // @Override // public void afterTextChanged(Editable s) { // // 文本变化后的回调，在这里进行范围检查 // String input = s.toString(); // if (!input.isEmpty()) { // try { // int value = Integer.parseInt(input); // // 检查输入值是否在 -50 到 100 范围内 // if (value < 0 || value > 20) { // showToast("请输入 0 到 20 之间的数字"); // // 可以选择清除输入或限制在范围内 // mainBinding.mainViewRobotSpeedTxView.setText(""); // } else { // showToast("输入有效: " + value); // } // } catch (NumberFormatException e) { // showToast("请输入有效的数字"); // } // } // // } // // }); mainBinding.mainViewLaneChangeDistanceTxView.addTextChangedListener(new TextWatcher() { @Override public void beforeTextChanged(CharSequence charSequence, int i, int i1, int i2) { } @Override public void onTextChanged(CharSequence charSequence, int i, int i1, int i2) { } @Override public void afterTextChanged(Editable s) { // 文本变化后的回调，在这里进行范围检查 String input = s.toString(); if (!input.isEmpty()) { try { int value = Integer.parseInt(input); // 检查输入值是否在 -50 到 100 范围内 if (value < 1 || value > 100) { showToast("请输入 1 到 100 之间的数字"); // 可以选择清除输入或限制在范围内 mainBinding.mainViewLaneChangeDistanceTxView.setText(""); } else { showToast("输入有效: " + value); } } catch (NumberFormatException e) { showToast("请输入有效的数字"); } } } }); mainBinding.mainViewEndPressureTxView.addTextChangedListener(new TextWatcher() { @Override public void beforeTextChanged(CharSequence charSequence, int i, int i1, int i2) { } @Override public void onTextChanged(CharSequence charSequence, int i, int i1, int i2) { } @Override public void afterTextChanged(Editable s) { // 文本变化后的回调，在这里进行范围检查 String input = s.toString(); if (!input.isEmpty()) { try { int value = Integer.parseInt(input); // 检查输入值是否在 -50 到 100 范围内 if (value < 0 || value > 3000) { showToast("请输入 0 到 3000 之间的数字"); // 可以选择清除输入或限制在范围内 mainBinding.mainViewEndPressureTxView.setText(""); } else { showToast("输入有效: " + value); } } catch (NumberFormatException e) { showToast("请输入有效的数字"); } } } }); mainBinding.mainViewVerticalCalibrationTxView.addTextChangedListener(new TextWatcher() { @Override public void beforeTextChanged(CharSequence charSequence, int i, int i1, int i2) { } @Override public void onTextChanged(CharSequence charSequence, int i, int i1, int i2) { } @Override public void afterTextChanged(Editable s) { String input = s.toString().trim(); // 1. 允许空输入（用户正在删除） if (TextUtils.isEmpty(input)) { return; } // 2. 允许合法的中间状态（如"-10."） if (input.matches("^-?\\d*(\\.\\d*)?$")) { // 合法格式：整数、负数、小数、小数点开头 try { double value = Double.parseDouble(input); // 检查输入值是否在 -50 到 100 范围内 if (value < -10 || value > 10) { showToast("请输入 -10 到 10 之间的数字"); // 可以选择清除输入或限制在范围内 mainBinding.mainViewVerticalCalibrationTxView.setText(""); } else { showToast("输入有效: " + value); } // 尝试转换为double（处理小数） //lastValidValue = Double.parseDouble(input); } catch (NumberFormatException e) { // 中间状态，忽略 } } } }); mainBinding.setToolRotationDirectionBtn.setOnClickListener(new View.OnClickListener() { @Override public void onClick(View v) { popupHelper.ToolRotationDirectionPopUp(this); } }); mainBinding.callParametersBtn.setOnClickListener(new View.OnClickListener() { @Override public void onClick(View v) { popupHelper.ParametersCallPopUp(this); } }); mainBinding. mainViewErrMessageBtn.setOnClickListener(new View.OnClickListener() { @Override public void onClick(View v) { popupHelper.RobotErrorListPopUp(this); } }); myDataHelper.IntializeDataBase(); //程序初始化，读取数据库，进行界面显示 String parame = mainBinding.mainViewParametersTxView.getText().toString(); //读取数据 // 下面这一堆像是界面左边的sensor实时data显示，从PV里取值。具体怎么取，见MyDataHelper文件 int paraIndex = parseInt(parame); List pvList = myDataHelper.getDisplayData(paraIndex); mainBinding.mainViewManualModeTxView.setText(_manual_Mode_Call_Value); mainBinding.mainViewAutomaticModeTxView.setText(_automatic_Mode_Call_Value); mainBinding.mainViewLaneChangeDistanceTxView.setText(String.valueOf(pvList.get(0).getLaneChangeDistance())); mainBinding.mainViewEndPressureTxView.setText(String.valueOf(pvList.get(0).getEndForceValue())); WorkDistance = pvList.get(0).getWorkDistanceMeters(); WorkWidth = pvList.get(0).getWorkWidthMeters(); mainBinding.mainViewVerticalCalibrationTxView.setText(String.valueOf(pvList.get(0).getVerticalCalibration())); mainBinding.mainViewToolRotationDirectionTxView.setText(_Tool_Rotation_Direction_Value); leftCompensation = pvList.get(0).getLeftCompSelect(); rightCompensation = pvList.get(0).getRightCompSelect(); leftRightCompensationNeedToSend = 3; timer.schedule(new TimerTask() { @Override public void run() { // 使用 Handler 或 runOnUiThread 更新 UI runOnUiThread(new Runnable() { @Override public void run() { //调试 报错处理功能 //String Value = ErrorDeocdeHelper.ErrorDeocde(0b11000000); // 更新 UI 的代码 _toSendPV = BspPV.PV_struct_define.newBuilder(). build(); // try { // if(mainBinding.mainViewRobotSpeedTxView.getText().toString().isEmpty() ) // { // mainBinding.mainViewRobotSpeedFrameLayout.setBackgroundResource(R.drawable.orange_rounded_rectangle); // } // else { // mainBinding.mainViewRobotSpeedFrameLayout.setBackgroundResource(R.drawable.blue_rounded_rectangle); // _toSendPV = _toSendPV.toBuilder().setRobotSpeed( // Integer.parseInt(String.valueOf(mainBinding.mainViewRobotSpeedTxView.getText())) // ).build(); // // } // } catch (Exception e) { // // } //移动速度 try { //换道距离 if(mainBinding.mainViewLaneChangeDistanceTxView.getText().toString().isEmpty() ) { mainBinding.mainViewLaneChangeDistanceFrameLayout.setBackgroundResource(R.drawable.orange_rounded_rectangle); } else { mainBinding.mainViewLaneChangeDistanceFrameLayout.setBackgroundResource(R.drawable.blue_rounded_rectangle); _toSendPV = _toSendPV.toBuilder().setLaneChangeDistance( Integer.parseInt(String.valueOf(mainBinding.mainViewLaneChangeDistanceTxView.getText())) ).build(); } } catch (Exception e) { } try { //压力设定 if(mainBinding.mainViewEndPressureTxView.getText().toString().isEmpty() ) { mainBinding.mainViewEndPressureFrameLayout.setBackgroundResource(R.drawable.orange_rounded_rectangle); } else { mainBinding.mainViewEndPressureFrameLayout.setBackgroundResource(R.drawable.blue_rounded_rectangle); _toSendPV = _toSendPV.toBuilder().setEndPushForceValue( Integer.parseInt(String.valueOf(mainBinding.mainViewEndPressureTxView.getText())) ).build(); } } catch (Exception e) { } //竖直微调--小数 *10 try { if(mainBinding.mainViewVerticalCalibrationTxView.getText().toString().isEmpty() ) { mainBinding.mainViewVerticalCalibrationFrameLayout.setBackgroundResource(R.drawable.orange_rounded_rectangle); } else { mainBinding.mainViewVerticalCalibrationFrameLayout.setBackgroundResource(R.drawable.blue_rounded_rectangle); _toSendPV = _toSendPV.toBuilder().setVerticalCalibration( Double.parseDouble(String.valueOf(mainBinding.mainViewVerticalCalibrationTxView.getText())) ).build(); } } catch (Exception e) { // showToast(e+"等你输完我再发送吧哥们"); } _toSendPV = _toSendPV.toBuilder() .setWorkDistanceMeters(WorkDistance) .setWorkWidthMeters(WorkWidth) .build(); if(leftRightCompensationNeedToSend > 0 ) { _toSendPV = _toSendPV.toBuilder() .setLeftCompensation(leftCompensation) .setRightCompensation(rightCompensation) .build(); leftRightCompensationNeedToSend --; showToast("下发成功"); } // else{ //// if(mainBinding.rxLeftCompensation.getText().toString().isEmpty()){ //// mainBinding.rxLeftCompensation.setText("0.0"); //// } //// if(mainBinding.rxRightCompensation.getText().toString().isEmpty()){ //// mainBinding.rxRightCompensation.setText("0.0"); //// } //// leftCompensation = (int)(Double.parseDouble(mainBinding.rxLeftCompensation.getText().toString()) * 100); //// rightCompensation = (int)(Double.parseDouble(mainBinding.rxRightCompensation.getText().toString()) * 100); //// _toSendPV = _toSendPV.toBuilder() //// .setLeftCompensation(leftCompensation) //// .setRightCompensation(rightCompensation) //// .build(); // } String manualModeDAta = mainBinding.mainViewManualModeTxView.getText().toString(); switch (manualModeDAta) { case "无": _toSendPV = _toSendPV.toBuilder().setRunMode(1).build(); break; case "水平": _toSendPV = _toSendPV.toBuilder().setRunMode(2).build(); break; case "竖直向左": _toSendPV = _toSendPV.toBuilder().setRunMode(3).build(); break; case "竖直向右": _toSendPV = _toSendPV.toBuilder().setRunMode(4).build(); break; } String automaticModeDAta = mainBinding.mainViewAutomaticModeTxView.getText().toString(); switch (automaticModeDAta) { // case "无": // _toSendPV = _toSendPV.toBuilder().setRunMode(0).build(); // break; case "水平": _toSendPV = _toSendPV.toBuilder().setRunMode(5).build(); break; case "竖直向左": _toSendPV = _toSendPV.toBuilder().setRunMode(6).build(); break; case "竖直向右": _toSendPV = _toSendPV.toBuilder().setRunMode(7).build(); break; } String toolRotationDirectionDAta = mainBinding.mainViewToolRotationDirectionTxView.getText().toString(); switch (toolRotationDirectionDAta) { case "关闭": _toSendPV = _toSendPV.toBuilder().setToolRotationDirection(0).build(); break; case "正向": _toSendPV = _toSendPV.toBuilder().setToolRotationDirection(1).build(); break; case "反向": _toSendPV = _toSendPV.toBuilder().setToolRotationDirection(2).build(); break; } // _toSendPV = _toSendPV.toBuilder() // .setRunMode(3) // .setRobotSpeed(20) // .setLaneChangeDistance(40) // .build(); byte[] byteArray = _toSendPV.toByteArray(); byte[] sendbyteArray = new byte[byteArray.length + 4]; byte[] sendbyteArray3 = new byte[byteArray.length + 6]; if (byteArray.length != 0) { System.arraycopy(byteArray, 0, sendbyteArray, 4, byteArray.length); } sendbyteArray[0] = (byte) 0x55; sendbyteArray[1] = (byte) 0x55; sendbyteArray[2] = (byte) 0x01; sendbyteArray[3] = (byte) 0x01; byte[] byteArray2 = ModbusCRC.calculateCRC(sendbyteArray); System.arraycopy(sendbyteArray, 0, sendbyteArray3, 0, sendbyteArray.length); System.arraycopy(byteArray2, 0, sendbyteArray3, sendbyteArray3.length - 2, 2); //ttySerialPortHelper.SendData(sendbyteArray); serialPortHelper.SendData(sendbyteArray3); } }); } }, 0, 250); // 延迟 0 毫秒，每隔 1000 毫秒执行一次 } private void showToast(String message) { Toast.makeText(this, message, Toast.LENGTH_SHORT).show(); } @Override protected void onStart() { super.onStart(); serialPortHelper.onStart(); } @Override public void onStop() { serialPortHelper.onStop(); super.onStop(); } @Override public void onResume() { super.onResume(); serialPortHelper.onResume(); } @Override public void onPause() { serialPortHelper.onPause(); super.onPause(); } @Override protected void onDestroy() { super.onDestroy(); if (timer != null) { timer.cancel(); } } }